CN115947270A - Three-way stacker high-position operation safety control system and method - Google Patents
Three-way stacker high-position operation safety control system and method Download PDFInfo
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- CN115947270A CN115947270A CN202211675051.5A CN202211675051A CN115947270A CN 115947270 A CN115947270 A CN 115947270A CN 202211675051 A CN202211675051 A CN 202211675051A CN 115947270 A CN115947270 A CN 115947270A
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Abstract
The invention discloses a safety control system and a method for high-position operation of a three-way stacker, which comprises a safety pedal device, a control unit and an execution unit; the safety pedal device comprises a pair of pedals and a microswitch, and the microswitch is in signal connection with the control unit; the execution unit comprises a gantry driving mechanism, a walking driving mechanism and a braking mechanism; the execution unit is in signal connection with the control unit; the control unit comprises a logic operation module and a driving program module; the logic operation module is used for acquiring an opening signal and a closing signal of the microswitch, obtaining a gantry enabling signal for realizing the vehicle lifting function and/or a walking enabling signal for realizing the vehicle walking function after logic operation, and transmitting the gantry enabling signal to the driving program module; the driving program module flexibly controls the walking function and the gantry lifting function of the three-way stacking car according to the received gantry enabling signal and the walking enabling signal so as to be suitable for different working conditions, avoid accidents and ensure the operation safety of a driver.
Description
Technical Field
The invention relates to the technical field of stacking trucks, in particular to a safety control system for high-position operation of a three-way stacking truck. In addition, the invention also relates to a safety control method applied to the three-way stacker high-position operation safety control system.
Background
The three-way stacker is used for laterally loading and unloading goods on a high goods shelf in a warehouse, and a safety pedal for a driver to step on is arranged below a seat in a cab of the three-way stacker. At present, a single pedal is adopted as a safety pedal, the size is small, and a driver cannot conveniently step on the single pedal to perform safety operation; in addition, the safety control system usually controls the vehicle walking function and the gantry lifting function through a single pedal, when a driver is in place, the vehicle walking function and the gantry lifting function are normally used, and when the driver is out of place, the vehicle walking function and the gantry lifting function are limited, so that the vehicle walking and the gantry lifting are prevented from occurring when the driver is out of place, and accidents are prevented.
However, the single pedal has a single control function, only two state signals can be output, namely, a driver is completely out of position or in position, when the three-way stacker works at a high position, the driver can leave the seat and move on the driving platform, at the moment, the lifting function of the portal frame is limited, the high-position operation of the driver is not convenient, and a visual blind spot is easily generated on the ground.
In summary, how to improve the flexibility and the safety of the high-position operation safety control system of the three-way stacker is a problem to be solved urgently by those skilled in the art.
Disclosure of Invention
In view of the above, the present invention is to provide a safety control system for high-position operation of a three-way stacker, which can flexibly control and safely control the three-way stacker.
Another object of the present invention is to provide a safety control method including the above three-way stacker high-position operation safety control system.
In order to achieve the above purpose, the invention provides the following technical scheme:
a three-way stacker high-position operation safety control system comprises a safety pedal device, a control unit and an execution unit;
the safety pedal device comprises a pair of pedals for a driver to step, and a pair of microswitches for judging whether the driver steps on the pedals, wherein one end of each pedal is matched with a switch contact of each microswitch, the pedals can be rotated to press or separate from the switch contacts, and the microswitches are in signal connection with the control unit;
the executing unit comprises a gantry driving mechanism for realizing a gantry lifting function, a walking driving mechanism for realizing a vehicle walking function and a braking mechanism for limiting the vehicle walking function, and is in signal connection with the control unit;
the control unit comprises a logic operation module and a driving program module; the logic operation module is used for acquiring an opening signal and a closing signal of the microswitch so as to obtain a gantry enabling signal for realizing a gantry lifting function and/or a walking enabling signal for realizing a vehicle walking function, and transmitting the signals to the driving program module; when the driving program module receives the gantry enabling signal, the gantry driving mechanism is released, otherwise, the gantry driving mechanism is limited to be used; and when the driving program module receives the walking enabling signal, the walking driving mechanism is released, otherwise, the use of the walking driving mechanism is limited, and the braking mechanism is released.
Preferably, the braking mechanism comprises a parking brake for preventing the vehicle from sliding after stopping and a feedback controller for controlling a feedback braking function of the travel driving mechanism, and when the rotating speed of the travel driving mechanism is zero, the driving program module releases the parking brake; and when the rotating speed of the walking driving mechanism is not zero, the driving program module releases the feedback controller.
Preferably, a pair of pedals are designed in a color separation mode, so that a driver can step on a single pedal to realize a vehicle sliding function; the logic operation module obtains an opening signal of the pedal for realizing the vehicle sliding function, obtains a sliding enable signal according to the opening signal, and transmits the sliding enable signal to the driving program module, and the driving program module limits the use of the feedback controller.
Preferably, the output signal of the micro switch is a level signal, and the level signal includes an on signal and an off signal of the micro switch, so as to facilitate the logic operation of the logic operation module.
Preferably, the safety pedal device further comprises a pair of bases, each base comprises a base limiting plate parallel to the pedal and a pair of lug plates, and the pair of lug plates are respectively arranged on two sides of the base limiting plate; the pedal limiting plate is parallel to the pedal, a roller is arranged at the lower end of the pedal limiting plate and arranged between the ear plates, and the roller is connected with the ear plates through a pin shaft.
Preferably, the shaft holes at the two ends of the rolling shaft are internally sleeved with a spacer sleeve, and the pin shaft is sleeved in the rolling shaft and the pair of lug plates and is screwed up by a gasket and a shaft elastic check ring.
Preferably, an elastic limiting structure for limiting the lifting angle of the pedal is arranged between the pedal limiting plate and the base limiting plate;
the elastic limiting structure comprises a connecting plate, an elastic part, a limiting bolt and a pressing bolt, one end of the connecting plate is connected with one end of the base limiting plate, the other end of the connecting plate is connected with the pedal limiting plate through the elastic part, the limiting bolt is fixedly arranged at the other end of the connecting plate and sleeved in the elastic part, and when the pedal is in a horizontal state, the limiting bolt abuts against the pedal limiting plate; the pressing bolt is fixedly arranged on the pedal limiting plate, and when the pedal is not trampled, the pressing bolt abuts against the base limiting plate and presses the pedal by using the elastic piece.
Preferably, the microswitch is fixedly arranged on the base limiting plate, a contact block is arranged on the pedal limiting plate and close to the switch contact point, when the pedal is stepped on, the contact block presses the switch contact point, and when the pedal is not stepped on, the contact block is separated from the switch contact point.
Preferably, base limiting plate one end is equipped with the switch otic placode, micro-gap switch through first nut set firmly in switch otic placode department, the accessible adjustment the mounted position of first nut and regulation switch contact protrusion length.
A safety control method is applied to the safety control system for the high-position operation of the three-way stacker, and comprises the following steps:
obtaining a pedal signal;
acquiring a control signal according to the pedal signal, and outputting a first control signal when the pedal signal is triggered by a single pedal; when the pedal signals are triggered by two pedals, the output signals are second control signals; when the pedal signal is triggered without the pedal, the output signal is a third control signal;
and sending the corresponding control signal to an execution unit.
Compared with the background technology, the high-position operation safety control system of the three-way stacker provided by the invention comprises a safety pedal device, a control unit and an execution unit; the safety pedal device comprises a pair of pedals for the operation of a driver to tread and a pair of microswitches for judging whether the driver treads the pedals, one end of each pedal is matched with a switch contact of the corresponding microswitch, the pedals can be rotated to press or separate from the switch contacts, and the microswitches are in signal connection with the control unit.
The execution unit comprises a gantry driving mechanism for realizing a gantry lifting function, a walking driving mechanism for realizing a vehicle walking function and a braking mechanism for limiting the vehicle walking function, and is in signal connection with the control unit.
The control unit comprises a logic operation module and a driving program module; the logic operation module is used for acquiring an opening signal and a closing signal of the microswitch so as to obtain a gantry enabling signal for realizing the vehicle lifting function and/or a walking enabling signal for realizing the vehicle walking function, and transmitting the signals to the driving program module; when the driving program module receives the portal enabling signal, the portal driving mechanism is released, otherwise, the use of the portal driving mechanism is limited; when the driving program module receives the walking enabling signal, the walking driving mechanism is released, otherwise, the use of the walking driving mechanism is limited, and the braking mechanism is released.
When a driver steps on a pair of pedals, the pair of pedals press a switch contact to turn on a microswitch, the microswitch transmits a double-opening signal to a logic operation module in a control unit to indicate that the driver is in place, namely, a safe driving state, the logic operation module receives the double-opening signal, calculates to obtain a gantry enabling signal and a walking enabling signal and transmits the gantry enabling signal and the walking enabling signal to a driving program module, and the driving program module sends a releasing command to a gantry driving mechanism in an execution unit and sends a releasing command to a walking driving mechanism in the execution unit to ensure the normal use of a gantry lifting function and a vehicle walking function.
When a driver steps on a single pedal, the single pedal is separated from a switch contact to close the micro switch, the micro switch transmits a single opening signal and a single closing signal to a logic operation module in the control unit to indicate that the driver is out of position, the logic operation module receives the single opening signal and the single closing signal to calculate a gantry enabling signal and transmit the gantry enabling signal to a driving program module, the driving program module sends a release command to a gantry driving mechanism in the execution unit to ensure that the gantry lifting operation can be carried out only by stepping on any pedal when the driver moves in the operation of the high-altitude platform, meanwhile, a limiting command is sent to a walking driving mechanism in the execution unit, and a release command is sent to a braking mechanism to limit the walking of a vehicle so as to ensure the safe operation of the driver.
When a driver does not step on the pair of pedals, the pair of pedals are separated from the switch contacts to close the micro switch to represent an unmanned state, the logic operation module does not receive an opening signal and a closing signal and then does not calculate to obtain a lifting enabling signal and a walking enabling signal, the driving program module does not receive a gantry enabling signal and a walking enabling signal, the driving program module sends a limiting command to a gantry driving mechanism in the execution unit, meanwhile sends a limiting command to the walking driving mechanism in the execution unit and sends a releasing command to the braking mechanism to ensure that both the gantry lifting function and the vehicle walking function cannot be normally used, so that accidents are avoided, and the safe operation of the driver is ensured.
In summary, according to the high-position operation safety control system of the three-way stacker, when a driver operates a vehicle on the double pedals, the traveling function and the gantry lifting function of the three-way stacker can be flexibly controlled according to various driving states of the driver so as to be suitable for different working conditions, so that accidents are avoided, and the operation safety of the driver is ensured; in addition, the driver treads on the double pedals, the size of the double pedals is large, the driver can conveniently tread on the single pedal to perform safe operation, and therefore the burden of the driver is relieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a structural diagram of a three-way stacker high-position operation safety control system provided by the invention;
FIG. 2 is a logic flow diagram illustrating the operation of the driver module of the three-way stacker high-level operation safety control system according to the present invention;
FIG. 3 is a signal diagram of the pedal of the safety control system for high-position operation of the three-way stacker provided in the present invention;
fig. 4 is a schematic view illustrating an installation position of a safety pedal device of the high-position operation safety control system of the three-way stacker provided in the invention;
fig. 5 is a schematic structural view of a single-side safety pedal device of the high-position operation safety control system of the three-way stacker provided in the invention;
FIG. 6 is an exploded view of the structure of a single-side safety pedal device of the three-way stacker high-level operation safety control system provided by the present invention;
FIG. 7 is a schematic view of the structure of the pedal of the safety pedal device of the safety control system for high-level operation of the three-way stacker provided in the present invention;
FIG. 8 is a schematic structural view of a base of the safety pedal device of the safety control system for high-level operation of the three-way stacker provided in the present invention;
fig. 9 is a schematic structural view of a microswitch in the safety pedal device of the three-way stacker high-position operation safety control system provided by the invention.
In fig. 1 to 9, reference numerals include:
the device comprises a pedal 1, a gasket 2, an elastic collar for a shaft 3, a pin shaft 4, a spacer 5, a base 6, an elastic part 7, a press-up bolt 8, a second nut 9, a limit bolt 10, a pedal pad 11, a third nut 12, a seat 13, a protective housing 14, a microswitch 15, a pedal limit plate 16, a limit surface threaded hole 17, a contact block 18, a connecting plate 19, a base limit plate 20, a switch lug plate 21, a switch lug plate 22, a roller 23, a first nut 24 and a switch contact 25.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The core of the invention is to provide a safety control system for high-position operation of a three-way stacker, and the safety control system can flexibly control and safely control the three-way stacker.
The other core of the invention is to provide a safety control method comprising the three-way stacker high-position operation safety control system.
Referring to fig. 1 to 9, the present application provides a safety control system for high-level operation of a three-way stacker, which includes a safety pedal device, a control unit and an execution unit.
The safety pedal device comprises a pair of pedals 1 used for a driver to operate and a pair of micro switches 15 used for judging whether the driver treads the pedals 1, one end of each pedal 1 is matched with a switch contact 25 of each micro switch 15, the rotatable pedal 1 is pressed or separated from the switch contact 25, and the micro switches 15 are in signal connection with a control unit.
The execution unit comprises a gantry driving mechanism for realizing a gantry lifting function, a walking driving mechanism for realizing a vehicle walking function and a braking mechanism for limiting the vehicle walking function, and is in signal connection with the control unit.
The control unit comprises a logic operation module and a driving program module; the logic operation module is used for acquiring an opening signal and a closing signal of the microswitch 15, and accordingly acquiring a gantry enabling signal for realizing the gantry lifting function and/or a walking enabling signal for realizing the vehicle walking function, and transmitting the signals to the driving program module; when the driving program module receives the portal enabling signal, the portal driving mechanism is released, otherwise, the use of the portal driving mechanism is limited; when the driving program module receives the walking enabling signal, the walking driving mechanism is released, otherwise, the use of the walking driving mechanism is limited, and the braking mechanism is released.
The safety pedal device is arranged below a seat 13 of a cab, a gantry driving mechanism is an oil pump motor and an electromagnetic valve, the oil pump motor and the electromagnetic valve can realize the functions of gantry lifting, rotating, lateral moving and the like, and a walking driving mechanism is a traction motor which can drive a vehicle to walk; in addition, the portal enabling signal is used for liberating the oil pump motor and the electromagnetic valve, and the walking enabling signal is used for liberating the traction motor.
When a driver steps on the pair of pedals 1 in the using process of the safety control system, the pair of pedals 1 both press the switch contact 25 to turn on the microswitch 15, the microswitch 15 transmits a double-opening signal to the logic operation module in the control unit to indicate that the driver is in place, namely, the safety driving state, the logic operation module receives the double-opening signal, calculates to obtain a gantry enabling signal and a walking enabling signal and transmits the gantry enabling signal and the walking enabling signal to the driving program module, and the driving program module sends a releasing command to the gantry driving mechanism in the execution unit and sends a releasing command to the walking driving mechanism in the execution unit to ensure the normal use of the gantry lifting function and the vehicle walking function.
When a driver steps on a single pedal 1, the single pedal 1 is separated from a switch contact 25 to close the microswitch 15, the microswitch 15 transmits a single opening signal and a single closing signal to a logic operation module in the control unit to indicate that the driver is out of position, the logic operation module calculates a gantry enabling signal after receiving the single opening signal and the single closing signal and transmits the gantry enabling signal to a driving program module, the driving program module sends a release command to a gantry driving mechanism in the execution unit to ensure that the gantry lifting operation can be carried out only by stepping on any pedal when the driver moves in the high-altitude platform operation, and meanwhile, a limiting command is sent to a walking driving mechanism in the execution unit and a release command is sent to a braking mechanism to limit the vehicle to walk so as to ensure the safe operation of the driver.
When a driver does not tread on the pair of pedals 1, the pair of pedals 1 are separated from the switch contacts 25 to close the micro switch 15 to represent an unmanned driving state, the logic operation module does not receive an opening signal and a closing signal and then does not calculate to obtain a lifting enabling signal and a walking enabling signal, the driving program module does not receive a gantry enabling signal and a walking enabling signal, the driving program module sends a limiting command to a gantry driving mechanism in the execution unit, and simultaneously sends a limiting command to a walking driving mechanism in the execution unit and sends a releasing command to the brake mechanism to ensure that the gantry lifting function and the vehicle walking function cannot be normally used, so that accidents are avoided, and the safe operation of the driver is ensured.
In summary, according to the high-position operation safety control system of the three-way stacker, when a driver operates a vehicle on the double pedals, the traveling function and the gantry lifting function of the three-way stacker can be flexibly controlled according to various driving states of the driver so as to be suitable for different working conditions, so that accidents are avoided, and the operation safety of the driver is ensured; in addition, the driver treads on the double pedals, the size of the double pedals is large, the driver can conveniently tread on the single pedal to perform safe operation, and therefore the burden of the driver is relieved.
It should be noted that when the driving program module receives the walking enabling signal, the walking driving mechanism is released, and it can further judge whether other safety signals, such as handle inductive switch, guardrail switch, chain switch, etc., exist, if other safety state signals all exist, for the walking function, the driving program module releases the parking brake according to the input of the accelerator, and gives the target steering and rotation speed of the motor, so as to accelerate the traction motor; for the lifting function of the portal frame, the driving program module gives the rotating speed of the motor according to the input of the operating handle, opens the corresponding electromagnetic valve and drives the hydraulic system to execute corresponding actions.
Optionally, the door frames of the three-way stacker can be divided into a main door frame and an auxiliary door frame, the auxiliary door frame is slidably mounted in the main door frame, the auxiliary door frame can be flexibly used in the high-altitude picking working condition of the three-way stacker, the auxiliary door frame can achieve the functions of rotation, lateral movement and lifting, and the main door frame cannot be easily triggered in the high-altitude picking working condition. Therefore, one pair of pedals 1 must be simultaneously stepped on, the lifting function of the main portal frame can be enabled, and the output of the enabling signals of the combination of the states of the other pair of pedals 1 is opposite to the output of the enabling signals; only any pedal 1 needs to be stepped on, the oil pump motor and the electromagnetic valve are not limited, and the auxiliary portal frame can achieve the lifting function, the rotating function and the side shifting function, so that the function that a driver operates the auxiliary portal frame while moving on the operating platform is achieved.
On the basis of the above embodiment, the brake mechanism includes a parking brake for preventing the vehicle from sliding after stopping and a feedback controller for controlling the feedback brake function of the travel driving mechanism, and when the rotation speed of the travel driving mechanism is zero, the driver module releases the parking brake; when the rotating speed of the walking driving mechanism is not zero, the driving program module releases the feedback controller.
Specifically, the parking brake is used for preventing the vehicle from sliding after stopping, the feedback controller is used for controlling the traveling driving mechanism to rapidly reduce the speed, and kinetic energy generated by the traveling driving mechanism is fed back to a power grid, so that the speed reduction is realized, and the energy is saved. When the driving program module does not receive the walking enabling signal, the driving program module indicates that a driver steps on a single pedal 1 or does not step on a pair of pedals 1, the driver is not in a safe driving state, the walking of the vehicle is limited, namely, the use of the walking driving mechanism is limited, the braking mechanism is released, when the rotating speed of the walking driving mechanism is not zero, the driving program module releases the feedback controller, the walking driving mechanism strongly feeds back the braking intervention so as to decelerate the vehicle to stop, and when the rotating speed of the walking driving mechanism is zero, the driving program module releases the parking brake so as to prevent the vehicle from sliding after stopping.
On the basis of the above embodiment, a pair of pedals 1 are designed in a color separation manner, so that a driver can step on a single pedal 1 to realize the vehicle sliding function; the logic operation module obtains an opening signal of the pedal 1 for realizing the vehicle sliding function, obtains a sliding enabling signal according to the opening signal, and transmits the sliding enabling signal to the driving program module, and the driving program module limits the use of the feedback controller.
Specifically, when the driver operates the sliding function, one foot is required to be used as a stress point for buffering inertia, so that the sliding function is controlled by a single pedal 1, the pedal A is fixed to be one of the pedals A, the pedal pad 11 is arranged on the pedal A, and the color separation design is adopted, so that the driver can form a habit, and misoperation is avoided. The sliding function is related to motor feedback braking force, the logic operation module obtains an opening signal of the pedal 1 for realizing the vehicle sliding function, the sliding function signal is obtained after the logic operation and is transmitted to the driving program module, the driving program limits the effect of the feedback controller on the walking driving mechanism, the feedback controller weakens the feedback braking force, and the walking driving mechanism is braked by weak feedback, so that the vehicle keeps a sliding state.
On the basis of the above embodiment, the output signal of the micro switch 15 is a level signal, and the level limit signal includes an on signal and an off signal of the micro switch 15, so as to facilitate the logic operation of the logic operation module.
It should be noted that, the micro switch 15 is connected to a power supply, the power supply needs to continuously supply power to the micro switch 15, the micro switch 15 outputs a level signal, and data representation of the level signal adopts a binary system, which is beneficial to transmission of the output signal of the micro switch 15 and has low power consumption. When the pedal 1 is stepped on, the microswitch 15 is switched on, the level signal outputs a high level signal "1", namely, a start signal, and when the pedal 1 is not stepped on, the microswitch 15 is not switched on, the level signal outputs a low level signal "0", namely, a close signal, so that the logic true values "1" and "0" of the input state signal respectively represent a start signal and a close signal and are input into the logic operation module; enable signals for the traction motor, parking brake, feedback controller, oil pump motor and solenoid valve, "0" indicates that the current action is prohibited from being executed, "1" indicates that the current action can be executed, and the logic truth table applied to the output of the dual-pedal microswitch 15 is as follows:
on the basis of the above embodiment, the safety pedal device further includes a pair of bases 6, the bases 6 include base limiting plates 20 parallel to the pedal and a pair of ear plates 22, and the pair of ear plates 22 are disposed on two sides of the base limiting plates 20; one end of the pedal 1 is provided with a pedal limiting plate 16 parallel to the pedal 1, the lower end of the pedal limiting plate 16 is provided with a roller 23 and is arranged between the pair of ear plates 22, and the roller 23 is connected with the pair of ear plates 22 through a pin shaft 4.
Specifically, the safety pedal device further comprises a pair of bases 6, the pair of bases 6 are used for fixing the whole safety pedal device below a seat of a cab, each base 6 comprises a base limiting plate 20 and a pair of ear plates 22, the base limiting plate 20 is parallel to the pedal 1, and the pair of ear plates 22 are arranged on two sides of the base limiting plate 20; one end of each of the pair of pedals 1 is welded with a pedal limiting plate 16 and is parallel to the pedal 1, so that the pedal limiting plates 16 are parallel to the base limiting plate 20, the lower end of the pedal limiting plate 16 is fixedly provided with a roller 23, the roller 23 is placed between the pair of ear plates 22, and the roller 23 is connected with the pair of ear plates 22 through a pin shaft, so that the rotation of the pedal 1 relative to the base 6 can be realized, and a driver can conveniently step on the pedal 1.
On the basis of the above embodiment, the shaft holes at the two ends of the rolling shaft 23 are sleeved with the spacer 5, the pin shaft 4 is sleeved in the rolling shaft 23 and the pair of ear plates 22, and is screwed by the gasket 2 and the shaft circlip 3.
Specifically, the spacer 5 is sleeved in the axle holes at two ends of the rolling shaft 23, and the pin shaft 4 is sleeved in the rolling shaft 23 and contacts with the spacer 5, so that abrasion between the pin shaft 4 and the rolling shaft 23 is avoided; the pin 4 is fitted into the pair of lug plates 22 with one end fitted into the washer 2 and the circlip 3 for the shaft, and the circlip 3 for the shaft is fitted into the groove of the pin 4, so that the washer 2 and the circlip 3 for the shaft can restrict the axial movement of the pin 4 to fasten the pin 4 to the pair of lug plates 22, thereby preventing the pedal 1 from falling off.
Optionally, the spacer 5 may be coated with grease to further reduce wear between the pin 4 and the roller 23 and to reduce resistance to rotation of the pedal 1.
On the basis of the above embodiment, an elastic limiting structure for limiting the pedal lifting angle is arranged between the pedal limiting plate 16 and the base limiting plate 20; the elastic limiting structure comprises a connecting plate 19, an elastic part 7, a limiting bolt 10 and a pressing bolt 8, one end of the connecting plate 19 is connected with one end of a base limiting plate 20, the other end of the connecting plate is connected with a pedal limiting plate 16 through the elastic part 7, the limiting bolt 10 is fixedly arranged at the other end of the connecting plate 19 and sleeved in the elastic part 7, and when the pedal 1 is in a horizontal state, the limiting bolt 10 abuts against the pedal limiting plate 16; the pressing bolt 8 is fixedly arranged on the pedal limiting plate 16, when the pedal 1 is not stepped, the pressing bolt 8 abuts against the base limiting plate 16, and the elastic piece 7 is used for pressing the pedal 1.
It should be noted that, when the driver steps on the pedal 1, the pedal 1 needs to be lifted up relative to the base 6, so that the micro switch can judge whether the driver is in position according to the lifting angle of the pedal 1, but the lifting angle of the pedal 1 needs to be limited, so as to avoid that the pedal 1 is too large in lifting angle range, so that the driver is inconvenient to step on, and the micro switch is influenced to transmit the in-position information of the driver.
Specifically, an elastic limiting structure is arranged between the pedal limiting plate 16 and the base limiting plate 20, and comprises a connecting plate 19, an elastic part 7, a limiting bolt 10 and a pressing bolt 8; one end of a connecting plate 19 is welded on the base limiting plate 20, the other end of the connecting plate passes through the elastic part 7 and the pedal limiting plate 16, a bolt through hole is formed in the joint of the connecting plate 19 and the elastic part 7, a limiting bolt 10 is screwed in the bolt through hole through a second nut 9, and the elastic part 7 is sleeved in the limiting bolt through the bolt through hole; the pedal limiting plate 16 is provided with a limiting surface threaded hole 17, and the press-up bolt 8 penetrates through the limiting surface threaded hole 17 and is fastened on the pedal limiting plate 16 through a third nut 13.
When the elastic limiting structure is used, the length of the limiting bolt 10 screwed out of the bolt through hole at the end part of the connecting plate 19 can be adjusted, so that the pedal 1 is in a horizontal state when the limiting bolt 10 abuts against the pedal limiting plate 16; the length that spacing face screw hole 17 was twisted out to adjustable pressure bolt 8 makes pressure bolt 8 when propping base limiting plate 20, presses up footboard 1 with the cooperation of elastic component 7 to make footboard 1 keep a certain distance away from driver's cabin floor A when not trampled.
Optionally, the elastic member 7 in this application is a compression spring, and other types of elastic members may be selected according to actual needs.
In addition to the above embodiments, the micro switch 15 is fixed on the base limiting plate 16, and the pedal limiting plate 20 is provided with the contact block 18 near the switch contact 25, when the pedal 1 is pressed down, the contact block 18 presses the switch contact 25, and when the pedal 1 is not pressed down, the contact block 18 is separated from the switch contact 25.
Specifically, the microswitch 15 is installed at one end of the base limit plate 16, the pedal limit plate 20 which is located on the base limit plate 16 and parallel to the base limit plate is provided with the contact block 18, the contact block 18 is arranged close to the switch contact 25 of the microswitch 15, and when the pedal 1 rotates up and down by a certain angle, the contact block 18 presses or disengages from the switch contact 25, so that the microswitch 15 inputs the pedal state into the control unit.
On the basis of the above embodiment, one end of the base limiting plate 16 is provided with a switch ear plate 21, the micro switch 25 is fixedly arranged at the switch ear plate 21 through a first nut 24, and the extension length of the switch contact 25 can be adjusted by adjusting the installation position of the first nut 24.
As shown in fig. 3 and 5, the step 1 is naturally supported by the elastic member 7 and the jack bolt 8 and lifted up by a certain angle. Applying a force on the front surface of the pedal 1 to overcome the damping of the elastic member 7, the angle of the pedal 1 will be theta max Gradually changing to 0, and changing output electric signal from offOn, the electrical signal output is turned off after the applied force is removed. The pedal stroke has a dead zone (theta) max ～θ a ) The sensitivity of the micro switch 15 can be controlled by adjusting the length of the protrusion of the switch contact 25 by adjusting the installation position of the first nut 24. Wherein, the level signal is 1 on and 0 off.
The application also provides a safety control method applied to the three-way stacker high-position operation safety control system, which comprises the following steps:
step S1: obtaining a pedal signal;
step S2: acquiring a control signal according to the pedal signal, and outputting a first control signal when the pedal signal is triggered by a single pedal; when the pedal signals are triggered by two pedals, the output signals are second control signals; when the pedal signal is triggered without the pedal, the output signal is a third control signal;
and step S3: and sending the corresponding control signal to an execution unit.
Specifically, the control unit acquires a pedal signal: when a driver steps on a pair of pedals 1, the pair of pedals 1 press the switch contact 25 to turn on the microswitch 15, and the microswitch 15 transmits a double-turn-on signal to the logic operation module; when the driver steps on a single pedal 1, one pedal 1 is separated from the switch contact 25 to close the microswitch 15, and the microswitch 15 transmits a single opening signal and a single closing signal to the logic operation module; when the driver does not step on the pair of pedals 1, the pair of pedals 1 are separated from the switch contact 25 to close the microswitch 15, and the microswitch 15 transmits a double-closing signal to the logic operation module;
the control unit obtains a control signal according to the pedal signal: when the logic operation module receives a single opening signal and a single closing signal, a portal enabling signal is sent to the driving program module; when the logic operation module receives the double-opening signal, a portal enabling signal and a walking enabling signal are sent to the driving program module; when the logic operation module receives the double-closing signal, the portal enabling signal and the walking enabling signal are not sent to the driving program module;
sending corresponding control signals to the execution unit: when the driving program module receives the portal enabling signal and does not receive the walking enabling signal, the driving program module sends a first control signal to the control unit, namely sends a liberation command to the portal driving mechanism, simultaneously sends a limiting command to the walking driving mechanism and sends a liberation command to the braking mechanism; when the driving program module receives the portal enabling signal and the walking enabling signal, the driving program module sends a second control signal to the control unit, namely sends a liberation command to the portal driving mechanism and sends the liberation command to the walking driving mechanism; when the driving program module does not receive the gantry enabling signal and the walking enabling signal, the driving program module sends a third control signal to the control unit, namely a limiting command is sent to the gantry driving mechanism, meanwhile, the limiting command is sent to the walking driving mechanism, and a releasing command is sent to the braking mechanism.
Further, the execution unit comprises a brake mechanism for limiting the vehicle walking function, and the brake mechanism comprises a parking brake and a feedback controller; when the driving program module sends a releasing command to the braking mechanism, the driving program module judges whether the rotating speed of the walking driving mechanism is zero or not, if so, the driving program module releases the parking brake to prevent the vehicle from sliding after stopping, otherwise, the driving program module releases the feedback controller, and the feedback controller strongly feedbacks the braking walking driving mechanism to slow down the vehicle to stop.
Further, a pedal 1 is determined to be used for controlling the vehicle to slide, a driver treads the pedal 1 for realizing the vehicle sliding function, the logic operation module obtains a starting signal of the pedal 1 for realizing the vehicle sliding function, a sliding performance signal is obtained after the logic operation and is transmitted to the driving program module, the driving program module limits the use of a feedback controller, and the feedback controller weakly feeds back a braking walking driving mechanism so as to enable the vehicle to keep a sliding state.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The three-way stacker high-position operation safety control system and method provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A three-way stacker high-position operation safety control system is characterized by comprising a safety pedal device, a control unit and an execution unit;
the safety pedal device comprises a pair of pedals (1) for a driver to work and a pair of micro switches (15) for judging whether the driver treads the pedals (1), one end of each pedal (1) is matched with a switch contact (25) of each micro switch (15), the pedals (1) can be rotated to press or separate from the switch contacts (25), and the micro switches (15) are in signal connection with the control unit;
the executing unit comprises a gantry driving mechanism for realizing a gantry lifting function, a walking driving mechanism for realizing a vehicle walking function and a braking mechanism for limiting the vehicle walking function, and is in signal connection with the control unit;
the control unit comprises a logic operation module and a driving program module; the logic operation module is used for acquiring an opening signal and a closing signal of the microswitch (15) so as to obtain a gantry enabling signal for realizing a gantry lifting function and/or a walking enabling signal for realizing a vehicle walking function, and transmitting the signals to the driving program module; when the driving program module receives the portal enabling signal, the portal driving mechanism is released, otherwise, the use of the portal driving mechanism is limited; and when the driving program module receives the walking enabling signal, the walking driving mechanism is released, otherwise, the use of the walking driving mechanism is limited, and the braking mechanism is released.
2. The system of claim 1, wherein the brake mechanism includes a parking brake for preventing slippage of the vehicle after a stop and a regenerative brake controller for controlling a regenerative braking function of the travel drive mechanism, the driver module being configured to release the parking brake when the rotational speed of the travel drive mechanism is zero; and when the rotating speed of the walking driving mechanism is not zero, the driving program module releases the feedback controller.
3. The safety control system for high-position operation of a three-way stacker according to claim 2, wherein a pair of pedals (1) is designed in a color separation manner, so that a driver can step on a single pedal (1) to realize a vehicle sliding function; the logic operation module obtains an opening signal of the pedal (1) for realizing the vehicle sliding function, obtains a sliding enabling signal according to the opening signal, and transmits the sliding enabling signal to the driving program module, and the driving program module limits the use of the feedback controller.
4. The high-order operation safety control system of a three-way stacker according to claim 1, wherein the output signal of the microswitch (15) is a level signal, and the level signal comprises an on signal and an off signal of the microswitch (15) to facilitate the logic operation of the logic operation module.
5. The safety control system for the high-position operation of the three-way stacker according to any one of claims 1 to 4, wherein the safety pedal device further comprises a pair of bases (6), the bases (6) comprise base limiting plates (20) parallel to the pedals and a pair of ear plates (22), and the pair of ear plates (22) are respectively arranged at two sides of the base limiting plates (20); footboard (1) one end is equipped with and is on a parallel with footboard limiting plate (16) of footboard (1), the lower extreme of footboard limiting plate (16) is equipped with roller bearing (23), and places a pair of between otic placode (22), just roller bearing (23) are through round pin axle (4) and a pair of otic placode (22) are connected.
6. The high-position operation safety control system of the three-way stacker as claimed in claim 5, wherein the shaft holes at two ends of the roller (23) are sleeved with spacers (5), the pin (4) is sleeved on the roller (23) and the pair of ear plates (22) and is screwed by the washer (2) and the shaft circlip (3).
7. The safety control system for high-level operation of three-way stacker as claimed in claim 6, wherein an elastic limiting structure for limiting the lifting angle of the pedal is arranged between the pedal limiting plate (16) and the base limiting plate (20);
the elastic limiting structure comprises a connecting plate (19), an elastic piece (7), a limiting bolt (10) and a pressing bolt (8), one end of the connecting plate (19) is connected with one end of the base limiting plate (20), the other end of the connecting plate is connected with the pedal limiting plate (16) through the elastic piece (7), the limiting bolt (10) is fixedly arranged at the other end of the connecting plate (19) and sleeved into the elastic piece (7), and when the pedal (1) is in a horizontal state, the limiting bolt (10) abuts against the pedal limiting plate (16); the pressing bolt (8) is fixedly arranged on the pedal limiting plate (16), when the pedal (1) is not trampled, the pressing bolt (8) abuts against the base limiting plate (16), and the elastic piece (7) is utilized to press the pedal (1).
8. The high-level operation safety control system of a three-way stacker according to claim 7, wherein the microswitch (15) is fixed on the base limiting plate (16), the pedal limiting plate (20) is provided with a contact block (18) near the switch contact (25), the contact block (18) presses the switch contact (25) when the pedal (1) is depressed, and the contact block (18) is separated from the switch contact (25) when the pedal (1) is not depressed.
9. The safety control system for high-position operation of a three-way stacker according to claim 8, wherein a switch lug plate (21) is arranged at one end of the base limit plate (16), the microswitch (25) is fixedly arranged at the switch lug plate (21) through a first nut (24), and the extension length of the switch contact (25) can be adjusted by adjusting the installation position of the first nut (24).
10. A safety control method applied to the safety control system for the high-position operation of the three-way stacker truck as claimed in any one of claims 1 to 9, comprising:
obtaining a pedal signal;
acquiring a control signal according to the pedal signal, and outputting a first control signal when the pedal signal is triggered by a single pedal; when the pedal signals are triggered by two pedals, the output signals are second control signals; when the pedal signal is triggered without the pedal, the output signal is a third control signal;
and sending the corresponding control signal to an execution unit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211675051.5A CN115947270A (en) | 2022-12-26 | 2022-12-26 | Three-way stacker high-position operation safety control system and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211675051.5A CN115947270A (en) | 2022-12-26 | 2022-12-26 | Three-way stacker high-position operation safety control system and method |
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| CN202211675051.5A Pending CN115947270A (en) | 2022-12-26 | 2022-12-26 | Three-way stacker high-position operation safety control system and method |
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