CN205634783U

CN205634783U - Cut fork truck electric controller

Info

Publication number: CN205634783U
Application number: CN201620396955.8U
Authority: CN
Inventors: 梁昊; 秦华
Original assignee: Weihai Huachuang Automation Equipment Co Ltd
Current assignee: Weihai Huachuang Automation Equipment Co Ltd
Priority date: 2016-05-05
Filing date: 2016-05-05
Publication date: 2016-10-12
Anticipated expiration: 2026-05-05

Abstract

The utility model discloses a cut fork truck electric controller, including the controller and the controller of getting off of getting on the bus, get on the bus controller and get off and pass through CAN bus connection between the controller, the controller of getting on the bus includes get on the bus control box and the controller of connecting, and the control box of getting on the bus is connected with the controller through the cable conductor, and the control box top of getting on the bus is equipped with first display screen and first control handle, is equipped with first scram knob before the control box of getting on the bus, the controller of getting off includes get off control box and the controller of connecting, and the control box of getting off is connected with the controller through the cable conductor, it is equipped with the second control handle to get off the control box top, is equipped with second display screen and second scram knob before the control box of getting off. The utility model discloses it is direct with the controller drive, high -speed stable, get on or off the bus and adopt CAN bus communication, reduce the control line of getting on or off the bus, it is difficult ageing to increase the setting of safe aspect, ensured to operate safe and reliable.

Description

A kind of scissor car electric controller

[technical field]

This utility model relates to the technical field of controller, the particularly technical field of scissor car electric controller.

[background technology]

Scissor car does a kind of movably aerial work platform in position, on airport, factory, construction site, shipyard Deng, with being widely applied.Diesel oil scissor car compared by driven shearing fork truck, has low noise, pollution-free, operation letter The advantages such as list uses, energy-conserving and environment-protective, have had and have developed on a large scale very much.Early production is all by on-off control relay Action, then control valve event, it is finally completed the forward/backward/rise/fall/left and right turn of vehicle.

But existing whole Vehicular system exists some problems, such as auxiliary reclay frequent movement, easily Aging, loose contact；Auxiliary reclay anti-seismic performance is bad, and water proofing property is bad, is easily damaged；Additionally go up Control line of getting off is a lot, minimum wants 10 a plurality of, each control function will at least one control line, including on Liter/decline/forward/backward/left/right turn/at a high speed/vulgar/startup/stopping/speed regulation/power supply etc., so Cause control cable of getting on or off the bus very thick, rise at platform, during decline, constantly bend, it is easy to be old Change.Meanwhile, when vehicle action stops, it will be apparent that inertial shake, cannot steadily stop.

The domestic controller not being specifically designed for driven shearing fork truck, general Programmable Logic Controller device (PLC) is used for Electronic detection car has certain limitation.Degree of protection: universal programmable control degree of protection is usually IP44, does not has dustproof and waterproof function.Development board degree of protection IP65, dustproof and waterproof.Meet electronic detection The operating environment requirements of car.Analog input: universal programmable control analog input is 0～10V.Need Want external analog quantity spread module, measure scope limited.The input of development board integrated analog quantity is 0～32V.Increase Measurement scope, appropriate angle sensor, weight sensor, battery voltage measurement protection etc. are added.Switching value Input: universal programmable control On-off signal is fixed.Development board On-off signal wide ranges (DC8V with Upper high level, once low level) controller power source: universal programmable control requires that supply voltage is fixed.Open Sending out plate and adapt to voltage range width (DC8V～DC32V), driven shearing fork truck, use level to power, level is fully loaded with When zero load/low electricity, mains fluctuations are big.Output switch parameter: driven shearing fork truck switching value is defeated Going out and mainly control switch valve, action current is usually 1-2A universal programmable control, transistor output one As wear loading capability maximum 0.5A；Loading capability 3A is worn in relay output, but switching speed is slow, and general 20MS (is subject to Current limiting coil movement time), it is impossible to frequent movement, gets an electric shock and has service life general 100000 times.Development board-adopt Use high-speed cmos pipe, switching speed fast US level, wear big more than the 3A of loading capability, meet demand.Analog quantity is defeated Go out: the output of driven shearing forklift simulation amount controls proportioning valve, and action current is usually 0.1～1.5A.General compile Range controller theme does not has analog output, needs external expansion module, and analog output is 0～20MA, very Difficulty meets demand.Development board-employing high-speed cmos pipe, PWM exports, control inductive load (proportioning valve) 0.1～3A can be exported.CAN: the typically no CAN of universal programmable control main body, needs External expansion module.Development board-integrated CAN.So general purpose controller has been difficult to the control of scissor car Function.

[utility model content]

The purpose of this utility model solves the problems of the prior art exactly, proposes a kind of scissor car Electronic control Device, directly drives with controller, the most stable, employing CAN communication of getting on or off the bus, and reduces control of getting on or off the bus Line processed, is difficult to aging, and adds secure context setting, it is ensured that operate safe and reliable.

For achieving the above object, the utility model proposes a kind of scissor car electric controller, including control of getting on the bus Device processed and lower vehicle controller, connected by CAN between described upper vehicle controller and lower vehicle controller；Institute Stating get on the bus control chamber and controller that vehicle controller includes connecting, control chamber of getting on the bus passes through cable and control Device is connected, and control chamber top of getting on the bus is provided with the first display screen and the first control crank, sets before control chamber of getting on the bus There is the first jerk knob；Lower vehicle controller includes get off control chamber and the controller connected, and control chamber of getting off leads to Cross cable to be connected with controller；Described control chamber top of getting off is provided with the second control crank, control of getting off Second display screen and the second jerk knob it is provided with before case.

As preferably, described upper vehicle controller input connects data acquisition unit, controller output end of getting off Connect control valve and motor.

As preferably, by described second display screen, it is provided with display lamp, below second display screen, is provided with regulation button, Regulation button includes that everything switchs, and the second jerk knob is arranged on and off switch.

As preferably, bottom described controller, it is provided with adapter, in adapter, is provided with several adapter stitch.

As preferably, built-in 32 bit processor ARM framework and the analog-digital converters of described controller.

The beneficial effects of the utility model: this utility model eliminates auxiliary reclay, directly drive with controller Dynamic, the most stable.Getting on or off the bus and use CAN communication, reduce control line of getting on or off the bus, last needs 5 1/CAN the communication of 2/jerk of control line power supply.

Secure context, scram button presses (normally closed disconnect) car load power supply and disconnects, vehicle power interruption braking, really Guarantor's danger occurs that, unconditional stopping vehicle action.Increase tilt detection, detect vehicle tilt, anti- When only platform raises, vehicle's center of gravity offsets, and prevents vehicle from tumbling.Increase steering angle detection, automatically control Inside take turns the steering angle with foreign steamer, make Vehicular turn steady, extend Life of Tyre.Increase platform weight inspection Survey, if aerial work platform load-carrying exceedes the weight that platform can bear, can danger close.Increase platform weight Amount detection is possible to prevent in this dangerous generation.The most forbidden function.When platform is raised to certain altitude (such as 5m), At this moment platform moves forward and backward and just has the biggest rocking.The most only allow low speed action.

Upper vehicle controller uses dual processor to do redundancy and processes, it is ensured that gather data reliable and stable.Actuating signal Reliably.

Feature of the present utility model and advantage will combine accompanying drawing by embodiment and be described in detail.

[accompanying drawing explanation]

Fig. 1 is the control chamber schematic diagram of getting on the bus of this utility model a kind of scissor car electric controller；

Fig. 2 is the controller front view of this utility model a kind of scissor car electric controller；

Fig. 3 is the controller upward view of this utility model a kind of scissor car electric controller；

Fig. 4 is the control chamber schematic diagram of getting off of this utility model a kind of scissor car electric controller；

Fig. 5 is the control module block diagram of this utility model a kind of scissor car electric controller；

Fig. 6 is the control block wiring diagram of getting on the bus of this utility model a kind of scissor car electric controller；

Fig. 7 is the control block wiring diagram of getting off of this utility model a kind of scissor car electric controller；

Fig. 8 is the power pack circuit connection diagram of this utility model a kind of scissor car electric controller；

Fig. 9 is the main control chip circuit connection diagram of this utility model a kind of scissor car electric controller；

Figure 10 is the operation code instruction figure of this utility model a kind of scissor car electric controller；

Figure 11 is that the analog quantity supply voltage handle position of this utility model a kind of scissor car electric controller reads Partial circuit connects figure；

Figure 12 is that the switching value function reading part parallel circuit of this utility model a kind of scissor car electric controller connects Figure；

Figure 13 is that the RS232 serial communication partial circuit of this utility model a kind of scissor car electric controller connects Figure；

Figure 14 is the CAN communication partial circuit connection figure of this utility model a kind of scissor car electric controller；

Figure 15 is that the redundant system circuit of the dual processor of this utility model a kind of scissor car electric controller connects Figure；

Figure 16 is the MCU processor circuit connection figure of this utility model a kind of scissor car electric controller；

Figure 17 is the CAN communication circuit connection figure of this utility model a kind of scissor car electric controller；

Figure 18 is switching value and the connection of PWM output circuit of this utility model a kind of scissor car electric controller Figure；

Figure 19 is the power supply circuits connection diagram of this utility model a kind of scissor car electric controller.

In figure: 1-gets on the bus control chamber, 2-the first jerk knob, 3-the first control crank, 4-controller, 5- Get off control chamber, 7-regulation button, 8-display lamp, 9-second of adapter, 51-adapter stitch, 6-shows Screen, 10-the second control crank, 11-on and off switch, 12-the second jerk knob.

[detailed description of the invention]

Refering to Fig. 1～Figure 19, this utility model, including upper vehicle controller and lower vehicle controller, described in get on the bus Connected by CAN between controller and lower vehicle controller；Described upper vehicle controller includes that connect gets on the bus Control chamber 1 and controller 4, control chamber 1 of getting on the bus is connected with controller 4 by cable, control chamber of getting on the bus 1 top is provided with the first display screen and the first control crank 3, is provided with the first jerk knob 2 before control chamber 1 of getting on the bus； Lower vehicle controller includes get off control chamber 6 and the controller 4 connected, and control chamber 6 of getting off is by cable and control Device 4 processed is connected；Described control chamber 6 top of getting off is provided with the second control crank 10, before control chamber 6 of getting off Being provided with second display screen 9 and the second jerk knob 12, fault and running status etc. are carried out by second display screen 9 Display.

Described upper vehicle controller input connects data acquisition unit, and controller output end of getting off connects control valve And motor.Described second display screen 9 is other is provided with display lamp 8, is provided with regulation button 7 below second display screen 9, Regulation button 7 includes that everything switchs, and vehicle can got on the bus or drive-through operation everything, and acquiescence is got on the bus Operation.Second jerk knob 12 is arranged on and off switch 11.It is provided with adapter 5 bottom described controller 4, Several adapter stitch 51 it are provided with in adapter 5.The built-in 32 bit processor ARM framves of described controller 4 Structure and analog-digital converter.

In Fig. 6, Fig. 7, get on the bus and control wire size via controller acquisition process, then CAN issues control of getting off Device.Ensure that whole system is safe and reliable.

Safety: scram button is pressed (normally closed disconnection) car load power supply and disconnected, vehicle power interruption braking, it is ensured that dangerous Occur that, unconditional stopping vehicle action.Upper vehicle controller uses dual processor to do redundancy and processes, it is ensured that Collection data are reliable and stable.Actuating signal is reliable.Increase tilt detection, detect vehicle tilt, prevent from putting down When platform raises, vehicle's center of gravity offsets, and prevents vehicle from tumbling.Increase steering angle detection, automatically control interior wheel With the steering angle of foreign steamer, make Vehicular turn steady, extend Life of Tyre.

Increase platform weight detection, if aerial work platform load-carrying exceedes the weight that platform can bear, meeting Danger close.Increase platform weight detection and be possible to prevent in this dangerous generation.The most forbidden function.When platform liter To certain altitude (such as 5m), at this moment platform moves forward and backward and just has the biggest rocking.The most only allow low Quick-action is made.

Adapter stitch defines

PIN NO.	Controller function	Pin NO.	Controller function
				1	Power supply is just	25	Analog input
2	Power supply is just	26	Analog input
				3	Power supply is just	27	Analog input
4	Power supply is born	28	Analog input
				5	Probe power is born	29	Analog input
6	The positive DC5V of probe power	30	Analog input
				7	CAN LOW	31	Analog input
8	CAN HIGH	32	Analog input
				9	Digital output (electric current control)	33	Digital quantity inputs
10	Digital output (electric current control)	34	Digital quantity inputs
				11	Digital output (electric current control)	35	Digital quantity inputs
12	Digital output (electric current control)	36	Digital quantity inputs
				13	Digital output (PWM)	37	Digital quantity inputs
14	Digital output (PWM)	38	Digital quantity inputs
				15	Digital output (PWM)	39	Digital quantity inputs
16	Digital output (PWM)	40	Digital quantity inputs
				17	Digital output	41	Digital quantity inputs
18	Digital output	42	Digital quantity inputs
				19	Digital output	43	Digital quantity inputs
20	Digital output	44	Digital quantity inputs
				21	Digital output	45	Communication power supply (DP_6)
22	Digital output	46	SWDIO (communication) (DP_7)
				23	Analog output	47	SWCLK (communication) (DP_8)
24	Analog output	48	Communicatively (DP_9)

In Fig. 8, power pack, new technique advantage: using DC-DC efficient pressure regulation scheme, actual usefulness can Reaching 85%, Width funtion input DC8V～DC32V, PWM pressure regulating energy-saving, system standby electric current only has 20MA Below.The LM2596 pressure regulation chip feature used in figure: adjustable output voltage scope 1.2V～37V ± 4%； Output linearity is good and loads scalable；Output electric current may be up to 3A；Input voltage may be up to 40V；Adopt With the internal oscillation frequency of 150KHz, belonging to second filial generation regulator, power consumption is little, efficiency is high；Low Power-consumption standby pattern, the representative value of IQ is 80 μ A；TTL cut-off capacity；There is overtemperature protection and current limliting Defencive function.

Ordinary skill shortcoming: common directly blood pressure lowering, consumes the standby current typically having greatly more than 100MA.Cutting Fork truck long-term standby time, performance is substantially.

In Fig. 9, chip part, the Cortex that ARM is 32^TM-M3 industry kernel, the most stable.

The Cortex that kernel: ARM is 32^TM-M3CPU.The highest 72MHz operating frequency, at the 0 of memorizer Up to 1.25DMips/MHz (Dhrystone 2.1) when latent period accesses.

Monocycle multiplication and hardware division.

Memorizer: from the FLASH program memory of 256K to 512K byte.The up to SRAM of 64K byte.

Static memory controller with 4 sheet choosings.Support CF card, SRAM, PSRAM, NOR and NAND Memorizer, parallel LCD interface, compatible 8080/6800 pattern.

Clock, reset and power management.

Power and I/O pin for 2.0～3.6 volts.

Power-up/down reset (POR/PDR), programmable voltage monitor (PVD).

4～16MHz crystal oscillators.

The RC agitator of the embedded 8MHz through adjustment of dispatching from the factory.

The RC agitator of the 40kHz of interior band calibration.

32kHz RTC oscillator with calibration function.

Low-power consumption, sleeps, shuts down and standby mode, and VBAT is RTC and backing register is powered.

3 12 analog-digital converters, 1 μ s conversion time (up to 21 input channels).

Conversion range: 0 to 3.6V.

Three samplings and holding function.

Temperature sensor.

2 Channel 12-Bit D/A converters.

DMA:12 channel DMA controller.

The peripheral hardware supported: intervalometer, ADC, DAC, SDIO, I2S, SPI, I2C and USART.

Debugging mode, serial single line debugging (SWD) and jtag interface, the embedded tracking module of Cortex-M3 (ETM)。

Up to 112 quick I/O ports.

The I/O mouth of 51/80/112 multi-function double-way, all I/O mouths can be videoed 16 external interrupt； Nearly all port equal tolerable 5V signal.

Up to 11 intervalometers, up to 4 16 bit timing devices, each intervalometer has up to 4 for defeated Enter capture/output and compare/PWM or the passage of step-by-step counting and incremental encoder input.

2 16 bit strip dead zone function and emergency brakes, the senior control timer of PWM controlled for motor, 2 Individual WatchDog Timer (independent and Window-type), system time intervalometer: 24 from subtracting type enumerator.

2 16 basic intervalometers are used for driving DAC.

Up to 13 communication interfaces, up to 2 I2C interfaces (supporting SMBus/PMBus), up to 5 USART interface (supports that ISO7816, LIN, IrDA interface and modulation /demodulation control), and up to 3 SPI connect Mouth (18M bps), 2 reusables are I2S interface.

CAN interface (2.0B is actively), USB 2.0 interface, SDIO interface at full speed.

CRC computing unit, the chip-unique code of 96.

Common single-chip microcomputer: speed and the stability of common 51 series to differ from a lot.

In Figure 10, operation code part, increase travel condition of vehicle and show, the speed of service, failure code. LED short in size pipe shows.

LED light emitting diode indicates, on power supply instruction/communication instruction/indicating fault/at a high speed/low speed/platform Liter/platform decline/vehicle advance/vehicle rollback/

Ordinary skill shortcoming: control function choosing-item with toggle switch, does not has operating state to indicate.

In Figure 11, analog quantity supply voltage handle position reading part, supply voltage/5V handle voltage, Detection feedback.Realizing the protection of power supply high-pressure and low-pressure, the detection of handle supply voltage ensures handle safe action, protects Card vehicle safety.

In Figure 12, switching value function reads part, integrated handle switching value, completes vehicle functions.

Use electric resistance partial pressure, capacitor filtering scheme detection On-off signal point and analog input, high resistance measurement The input voltage range of input point can be brought up to (0～100V), comparator/amplifier is used for inputting spot check Survey, voltage of transformation signal.

In Figure 13, serial port communication chip, it is used for downloading, malfunction test monitoring etc..

In Figure 14, CAN transceiver, can be according to CAN controller (the internal collection of STM32F single-chip microcomputer Become CAN controller) control transceiver bus data.

In Figure 15, redundant system, action and receipt protection, it is ensured that gather data reliable and stable.Backup master control Device processed runs significant data, and detection storage device service data is (when failure code/time of origin/and generation fault Vehicle operation data).

Failure code table

Utility model works process:

This utility model one scissor car electric controller in the course of the work, is divided into vehicle controller and gets off Controller two parts, upper vehicle controller real-time data collection, by CAN, data are returned to control of getting off Device processed, lower vehicle controller, control valve/motor does corresponding actions.

This utility model eliminates auxiliary reclay, directly drives with controller, the most stable.Get on or off the bus and adopt Using CAN communication, reduce control line of getting on or off the bus, last needs 2/jerk of 5 control line power supplys 1 The communication of/CAN.During vehicle action, add and start and stop slope, start and stop steady safety.

Above-described embodiment is to explanation of the present utility model, is not to restriction of the present utility model, any to this Scheme after utility model simple transformation belongs to protection domain of the present utility model.

Claims

1. a scissor car electric controller, it is characterised in that: include vehicle controller and lower vehicle controller, described Connected by CAN between upper vehicle controller and lower vehicle controller；Described upper vehicle controller includes connecting Control chamber of getting on the bus (1) and controller (4), control chamber of getting on the bus (1) is connected with controller (4) by cable Connecing, control chamber of getting on the bus (1) top is provided with the first display screen and the first control crank (3), control chamber of getting on the bus (1) Before be provided with the first jerk knob (2)；Lower vehicle controller includes control chamber of getting off (6) and the controller connected (4) control chamber (6) of, getting off is connected with controller (4) by cable；Described control chamber of getting off (6) is pushed up Portion is provided with the second control crank (10), and control chamber of getting off (6) is front is provided with second display screen (9) and the second jerk Knob (12).

2. a kind of scissor car electric controller as claimed in claim 1, it is characterised in that: described upper vehicle controller Input connects data acquisition unit, and controller output end of getting off connects control valve and motor.

3. a kind of scissor car electric controller as claimed in claim 1, it is characterised in that: described second display screen (9) the other display lamp (8) that is provided with, second display screen (9) lower section is provided with regulation button (7), regulation button (7) Switching including everything, the second jerk knob (12) is arranged on and off switch (11).

4. a kind of scissor car electric controller as claimed in claim 1, it is characterised in that: described controller (4) Bottom is provided with adapter (5), is provided with several adapter stitch (51) in adapter (5).

5. a kind of scissor car electric controller as claimed in claim 1, it is characterised in that: described controller (4) Built-in 32 bit processor ARM framework and analog-digital converters.