A three-way stacker high-position operation safety control system and method

Abstract

The application discloses a three-way stacking vehicle high-position operation safety control system and method, which comprises a safety pedal device, a control unit and an execution unit; the safety pedal device comprises a pair of pedals and microswitches, and the microswitches are signal-connected with the control unit; the execution unit comprises a portal driving mechanism, a walking driving mechanism and a braking mechanism; the execution unit is signal-connected with the control unit; the control unit comprises a logic operation module and a driver program module; the logic operation module is used for acquiring opening signals and closing signals of the microswitches, and obtains a portal enabling signal for realizing a vehicle lifting function and / or a walking enabling signal for realizing a vehicle walking function after logic operation, and delivers the signals to the driver program module; the driver program module flexibly controls the walking function and the portal lifting function of the three-way stacking vehicle according to the received portal enabling signal and the walking enabling signal, so as to adapt to different working conditions, avoid accidents and ensure the operation safety of the driver.

Description

Technical Field

[0001] This invention relates to the field of stacker truck technology, and more specifically, to a three-way stacker truck high-level operation safety control system. Furthermore, this invention also relates to a safety control method applied to the aforementioned three-way stacker truck high-level operation safety control system. Background Technology

[0002] Three-way stacker trucks are used for side loading and unloading of goods on high racks in warehouses. A safety pedal is located under the driver's seat in the cab. Currently, most safety pedals are single-pedal, small in size, and inconvenient for drivers to operate safely while using a single pedal. Furthermore, safety control systems often use a single pedal to control vehicle movement and gantry lifting. When the driver is in position, both functions operate normally; when the driver leaves, both functions are restricted to prevent accidents.

[0003] However, the single pedal control function is limited and can only output two status signals: the driver is completely off the seat or in the seat. When the three-way stacker is working at a high position, the driver will leave the seat and move on the driving platform. At this time, the gantry lifting function is limited, which is not convenient for the driver to work at a high position and is easy to create blind spots on the ground. Therefore, the safety control system uses a single pedal to control the three-way stacker, which has poor safety and flexibility.

[0004] In conclusion, improving the flexibility and safety of the three-way stacker truck high-position operation safety control system is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a safety control system for high-level operation of a three-way stacker truck, which can flexibly and safely control the three-way stacker truck.

[0006] Another objective of this invention is to provide a safety control method including the above-mentioned three-way stacker truck high-level operation safety control system.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A security control method, comprising:

[0009] Obtain the pedal signal output by a pair of microswitches in the safety pedal device;

[0010] The control signal is obtained based on the pedal signal. When the pedal signal is triggered by a single pedal, the output signal is the first control signal; when the pedal signal is triggered by two pedals, the output signal is the second control signal; when the pedal signal is triggered by no pedal, the output signal is the third control signal.

[0011] Send the corresponding control signal to the execution unit;

[0012] The first control signal is used to send a release command to the gantry drive mechanism and the braking mechanism, and a restriction command to the travel drive mechanism; the second control signal is used to send a release command to the gantry drive mechanism and the travel drive mechanism; and the third control signal is used to send a restriction command to the gantry drive mechanism and the travel drive mechanism, and a release command to the braking mechanism.

[0013] A three-way stacker truck high-level operation safety control system is used to implement the above-mentioned safety control method, including a safety pedal device, a control unit and an execution unit;

[0014] The safety pedal device includes a pair of pedals for the driver to step on during operation and a pair of microswitches for determining whether the driver has stepped on the pedals. One end of the pedal is configured to cooperate with the switch contacts of the microswitches, and the pedal can be rotated to press or disengage from the switch contacts. The microswitches are signal-connected to the control unit.

[0015] The execution unit includes a gantry drive mechanism for realizing the gantry lifting function, a travel drive mechanism for realizing the vehicle travel function, and a braking mechanism for limiting the vehicle travel function. The execution unit is signal-connected to the control unit.

[0016] The control unit includes a logic operation module and a driver module. The logic operation module is used to acquire the open and close signals of the micro switch and thereby obtain a gantry enable signal for realizing the gantry lifting function, and / or a travel enable signal for realizing the vehicle travel function, and transmits it to the driver module. When the driver module receives the gantry enable signal, it releases the gantry drive mechanism; otherwise, it restricts the use of the gantry drive mechanism. When the driver module receives the travel enable signal, it releases the travel drive mechanism; otherwise, it restricts the use of the travel drive mechanism and releases the braking mechanism.

[0017] Preferably, the braking mechanism includes a parking brake to prevent the vehicle from slipping after it stops and a feedback controller to control the regenerative braking function of the travel drive mechanism. When the rotational speed of the travel drive mechanism is zero, the driver module releases the parking brake; when the rotational speed of the travel drive mechanism is not zero, the driver module releases the feedback controller.

[0018] Preferably, the pair of pedals are designed with different colors so that the driver can press a single pedal to realize the vehicle coasting function; the logic operation module obtains the activation signal of the pedal used to realize the vehicle coasting function and obtains the coasting power signal, and sends it to the driver module, the driver module restricting the use of the feedback controller.

[0019] Preferably, the output signal of the micro switch is a level signal, which includes an on signal and an off signal of the micro switch, so as to facilitate the logic operation of the logic operation module.

[0020] Preferably, the safety pedal device further includes a pair of bases, each base including a horizontally arranged base limiting plate and a pair of ear plates, the pair of ear plates being respectively disposed on both sides of the base limiting plate; one end of the pedal is provided with a pedal limiting plate parallel to the pedal, the lower end of the pedal limiting plate is provided with a roller and placed between the pair of ear plates, and the roller is connected to the pair of ear plates through a pin.

[0021] Preferably, spacers are fitted inside the shaft holes at both ends of the roller, the pin is fitted into the roller and a pair of ear plates, and tightened with washers and shaft elastic retaining rings.

[0022] Preferably, an elastic limiting structure for limiting the pedal lifting angle is provided between the pedal limiting plate and the base limiting plate;

[0023] The elastic limiting structure includes a connecting plate, an elastic element, a limiting bolt, and a pressing bolt. One end of the connecting plate is connected to one end of the base limiting plate, and the other end is connected to the pedal limiting plate through the elastic element. The limiting bolt is fixed to the other end of the connecting plate and is fitted into the elastic element. When the pedal is in a horizontal state, the limiting bolt abuts against the pedal limiting plate. The pressing bolt is fixed to the pedal limiting plate. When the pedal is not stepped on, the pressing bolt abuts against the base limiting plate and uses the elastic element to press up the pedal.

[0024] Preferably, the micro switch is fixed to the base limiting plate, and the pedal limiting plate is provided with a contact block near the switch contact. When the pedal is stepped on, the contact block presses the switch contact, and when the pedal is not stepped on, the contact block disengages from the switch contact.

[0025] Preferably, one end of the base limiting plate is provided with a switch ear plate, and the micro switch is fixed to the switch ear plate by a first nut. The extension length of the switch contact can be adjusted by adjusting the installation position of the first nut.

[0026] Compared to the above-mentioned background technology, the three-way stacker truck high-position operation safety control system provided by the present invention includes a safety pedal device, a control unit and an execution unit; the safety pedal device includes a pair of pedals for the driver to step on during operation and a pair of microswitches for determining whether the driver has stepped on the pedals. One end of each pedal is configured to cooperate with the switch contacts of the microswitches, and the pedals can be rotated to press or disengage from the switch contacts. The microswitches are signal connected to the control unit.

[0027] The execution unit includes a gantry drive mechanism for realizing the gantry lifting function, a travel drive mechanism for realizing the vehicle travel function, and a braking mechanism for limiting the vehicle travel function. The execution unit is signal-connected to the control unit.

[0028] The control unit includes a logic operation module and a driver module. The logic operation module is used to acquire the open and close signals of the micro switch and thereby obtain the gantry enable signal for realizing the vehicle lifting function, and / or the travel enable signal for realizing the vehicle travel function, and sends it to the driver module. When the driver module receives the gantry enable signal, it releases the gantry drive mechanism; otherwise, it restricts the use of the gantry drive mechanism. When the driver module receives the travel enable signal, it releases the travel drive mechanism; otherwise, it restricts the use of the travel drive mechanism and releases the braking mechanism.

[0029] When the driver presses both pedals, both pedals press the switch contacts to activate the microswitch. The microswitch sends a double activation signal to the logic module in the control unit, indicating that the driver is in position, which is a safe driving state. After receiving the double activation signal, the logic module calculates the gantry enable signal and the travel enable signal, and sends them to the driver module. The driver module sends a release command to the gantry drive mechanism in the execution unit and a release command to the travel drive mechanism in the execution unit to ensure the normal use of the gantry lifting function and the vehicle travel function.

[0030] When the driver presses a single pedal, the pedal disengages from the switch contact to close the microswitch. The microswitch then sends a single open and close signal to the logic module in the control unit to indicate that the driver has left the position. After receiving the single open and close signal, the logic module calculates the gantry enable signal and sends it to the driver module. The driver module sends a release command to the gantry drive mechanism in the execution unit to ensure that the driver can perform gantry lifting operations simply by pressing any pedal when moving on the aerial platform. At the same time, it sends a restriction command to the travel drive mechanism in the execution unit and a release command to the braking mechanism to restrict vehicle movement and ensure the driver's safe operation.

[0031] When neither driver presses a pedal, both pedals disengage from the switch contacts to close the microswitch, indicating an unmanned driving state. Since the logic module does not receive the open and close signals, it fails to calculate the lifting and travel enable signals. The driver module also does not receive the gantry enable and travel enable signals. Therefore, the driver module sends a restriction command to the gantry drive mechanism in the execution unit, simultaneously sending a restriction command to the travel drive mechanism in the execution unit and a release command to the braking mechanism. This ensures that both the gantry lifting and vehicle travel functions are disabled to prevent accidents and guarantee driver safety.

[0032] In summary, the three-way stacker truck high-position operation safety control system of this application allows the driver to flexibly control the three-way stacker truck's traveling and gantry lifting functions according to various driving states when operating the vehicle on the double pedals, adapting to different working conditions and thus avoiding accidents and ensuring driver safety. In addition, the driver's double pedals are relatively large, making it easier for the driver to operate safely on a single pedal, thereby reducing the driver's burden. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0034] Figure 1 This is a structural diagram of the three-way stacker truck high-position operation safety control system provided by the present invention;

[0035] Figure 2 This is a flowchart illustrating the operational logic of the driver module for the three-way stacker truck high-position operation safety control system provided by the present invention.

[0036] Figure 3 This is a diagram of the pedal signals for the three-way stacker truck high-position operation safety control system provided by the present invention.

[0037] Figure 4 This is a schematic diagram showing the installation position of the safety pedal device in the three-way stacker truck high-position operation safety control system provided by the present invention.

[0038] Figure 5 This is a schematic diagram of the single-sided safety pedal device of the three-way stacker truck high-position operation safety control system provided by the present invention;

[0039] Figure 6An exploded view of the single-sided safety pedal device of the three-way stacker truck high-position operation safety control system provided by the present invention;

[0040] Figure 7 This is a schematic diagram of the safety pedal device in the three-way stacker truck high-position operation safety control system provided by the present invention;

[0041] Figure 8 This is a schematic diagram of the base of the safety pedal device in the three-way stacker truck high-position operation safety control system provided by the present invention.

[0042] Figure 9 This is a schematic diagram of the micro switch in the safety pedal device of the three-way stacker truck high-position operation safety control system provided by the present invention.

[0043] Figures 1-9 In the accompanying drawings, the reference numerals include:

[0044] 1 is the pedal, 2 is the washer, 3 is the elastic retaining ring for the shaft, 4 is the pin, 5 is the spacer, 6 is the base, 7 is the elastic element, 8 is the press-up bolt, 9 is the second nut, 10 is the limit bolt, 11 is the pedal pad, 12 is the third nut, 13 is the seat, 14 is the protective cover, 15 is the micro switch, 16 is the pedal limit plate, 17 is the threaded hole on the limit surface, 18 is the contact block, 19 is the connecting plate, 20 is the base limit plate, 21 is the switch ear plate, 22 is the ear plate, 23 is the roller, 24 is the first nut, and 25 is the switch contact. Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] The core of this invention is to provide a safety control system for high-level operation of a three-way stacker truck, which can flexibly and safely control the three-way stacker truck.

[0047] Another core aspect of this invention is to provide a safety control method that includes the aforementioned three-way stacker truck high-level operation safety control system.

[0048] Please refer to Figures 1 to 9 This application provides a three-way stacker truck high-position operation safety control system, including a safety pedal device, a control unit, and an execution unit.

[0049] The safety pedal device includes a pair of pedals 1 for the driver to step on during operation and a pair of microswitches 15 for determining whether the driver has stepped on the pedals 1. One end of the pedal 1 is configured to cooperate with the switch contact 25 of the microswitch 15. The pedal 1 can be rotated to press or disengage from the switch contact 25. The microswitch 15 is signal-connected to the control unit.

[0050] The execution unit includes a gantry drive mechanism for realizing the gantry lifting function, a travel drive mechanism for realizing the vehicle travel function, and a braking mechanism for limiting the vehicle travel function. The execution unit is signal-connected to the control unit.

[0051] The control unit includes a logic operation module and a driver module. The logic operation module is used to acquire the open and close signals of the micro switch 15 and thereby obtain a gantry enable signal for realizing the gantry lifting function, and / or a travel enable signal for realizing the vehicle travel function, and sends it to the driver module. When the driver module receives the gantry enable signal, it releases the gantry drive mechanism; otherwise, it restricts the use of the gantry drive mechanism. When the driver module receives the travel enable signal, it releases the travel drive mechanism; otherwise, it restricts the use of the travel drive mechanism and releases the braking mechanism.

[0052] It should be noted that the safety pedal device in this application is installed under the seat 13 in the driver's cab. The mast drive mechanism consists of an oil pump motor and a solenoid valve. The oil pump motor and the solenoid valve can realize functions such as mast lifting, rotation and lateral movement. The travel drive mechanism is a traction motor, which can drive the vehicle to travel. In addition, the mast enable signal is used to release the oil pump motor and the solenoid valve, and the travel enable signal is used to release the traction motor.

[0053] During operation, when the driver presses a pair of pedals 1, both pedals 1 press the switch contact 25 to activate the micro switch 15. The micro switch 15 sends a double activation signal to the logic operation module in the control unit to indicate that the driver is in position, which is a safe driving state. After receiving the double activation signal, the logic operation module calculates the gantry enable signal and the travel enable signal and sends them to the driver module. The driver module sends a release command to the gantry drive mechanism in the execution unit and a release command to the travel drive mechanism in the execution unit to ensure the normal use of the gantry lifting function and the vehicle travel function.

[0054] When the driver presses a single pedal 1, the single pedal 1 disengages from the switch contact 25 to close the micro switch 15. The micro switch 15 sends a single open signal and a single close signal to the logic operation module in the control unit to indicate that the driver has left the position. After receiving the single open signal and the single close signal, the logic operation module calculates the gantry enable signal and sends it to the driver module. The driver module sends a release command to the gantry drive mechanism in the execution unit to ensure that when the driver moves while working on the aerial platform, he only needs to press any pedal to perform the gantry lifting operation. At the same time, it sends a restriction command to the travel drive mechanism in the execution unit and a release command to the braking mechanism to restrict the vehicle's movement and ensure the driver's safe operation.

[0055] When neither driver presses the pedals 1, both pedals 1 disengage from the switch contacts 25 to close the microswitch 15, indicating an unmanned driving state. Since the logic module does not receive the open and close signals, it does not calculate the lifting enable signal and the travel enable signal. The driver module does not receive the gantry enable signal and the travel enable signal. The driver module sends a restriction command to the gantry drive mechanism in the execution unit, and simultaneously sends a restriction command to the travel drive mechanism in the execution unit, and a release command to the braking mechanism, to ensure that both the gantry lifting function and the vehicle travel function cannot be used normally, thus preventing accidents and ensuring safe operation for the driver.

[0056] In summary, the three-way stacker truck high-position operation safety control system of this application allows the driver to flexibly control the three-way stacker truck's traveling and gantry lifting functions according to various driving states when operating the vehicle on the double pedals, adapting to different working conditions and thus avoiding accidents and ensuring driver safety. In addition, the driver's double pedals are relatively large, making it easier for the driver to operate safely on a single pedal, thereby reducing the driver's burden.

[0057] It should be noted that when the driver module receives the walking enable signal, it releases the walking drive mechanism and can further determine whether other safety signals, such as handle sensor switches, guardrail switches, chain switches, etc., are present. If other safety status signals are present, for the walking function, the driver module releases the parking brake according to the input of the accelerator and provides the target direction and speed of the motor to accelerate the traction motor; for the gantry lifting function, the driver module provides the motor speed according to the input of the operating handle and opens the corresponding solenoid valve to drive the hydraulic system to perform the corresponding action.

[0058] Optionally, the mast of the three-way stacker truck can be divided into a main mast and a sub-mast. The sub-mast can be slidably installed inside the main mast. The sub-mast can be flexibly used in the high-altitude picking operation of the three-way stacker truck. The sub-mast can realize rotation, lateral movement and lifting functions, while the main mast cannot be easily triggered in the high-altitude picking operation. Therefore, a pair of pedals 1 must be pressed simultaneously to enable the lifting function of the main mast. The output of the enable signal for the other pair of pedal 1 states is the opposite. As long as either pedal 1 is pressed, the oil pump motor and solenoid valve are not restricted, and the sub-mast can realize the lifting, rotation and lateral movement functions, thereby realizing the function of the driver moving on the operating platform while operating the sub-mast.

[0059] Based on the above embodiments, the braking mechanism includes a parking brake to prevent the vehicle from sliding after it stops and a feedback controller to control the regenerative braking function of the travel drive mechanism. When the rotational speed of the travel drive mechanism is zero, the driver module releases the parking brake; when the rotational speed of the travel drive mechanism is not zero, the driver module releases the feedback controller.

[0060] Specifically, the parking brake prevents the vehicle from sliding after it stops, and the feedback controller controls the travel drive mechanism to decelerate rapidly and feeds the kinetic energy generated by the travel drive mechanism back to the power grid, thereby achieving deceleration and saving energy. When the drive module does not receive a travel enable signal, it indicates that the driver is pressing a single pedal 1 or neither pedal 1 is pressed, meaning the driver is not in a safe driving state. The vehicle's movement should be restricted, i.e., the use of the travel drive mechanism should be limited, and the braking mechanism should be released. When the travel drive mechanism's speed is not zero, the drive module releases the feedback controller, and the travel drive mechanism's strong feedback braking intervenes to decelerate the vehicle to a stop. When the travel drive mechanism's speed is zero, the drive module releases the parking brake to prevent the vehicle from sliding after it stops.

[0061] Based on the above embodiment, the pair of pedals 1 are designed with different colors so that the driver can press a single pedal 1 to realize the vehicle coasting function; the logic operation module obtains the activation signal of the pedal 1 used to realize the vehicle coasting function and obtains the coasting power signal, and sends it to the driver module, which restricts the use of the feedback controller.

[0062] Specifically, when the driver operates the coasting function, one foot needs to act as a buffer point to absorb inertia. Therefore, the coasting function should be controlled by a single pedal 1, fixed as one pedal A, with a pedal pad 11 installed on it. A color-coded design helps the driver develop a habit and avoids accidental operation. The coasting function is related to the regenerative braking force of the motor. The logic module obtains the activation signal of pedal 1 used to implement the vehicle's coasting function, performs logic operations to obtain the coasting energy signal, and sends it to the driver module. The driver module limits the effect of the feedback controller on the travel drive mechanism. The feedback controller weakens the regenerative braking force, thus weakening the regenerative braking of the travel drive mechanism to keep the vehicle in a coasting state.

[0063] Based on the above embodiments, the output signal of the micro switch 15 is a level signal, and the level limit includes the on signal and the off signal of the micro switch 15, so as to facilitate the logic operation of the logic operation module.

[0064] It should be noted that microswitch 15 is connected to a power supply, which needs to continuously supply power to microswitch 15. Microswitch 15 outputs a level signal, and the data representation of the level signal is binary, which is beneficial for the transmission of the microswitch 15 output signal and also has low power consumption. When pedal 1 is pressed, microswitch 15 is turned on, and the level signal outputs a high-level signal "1", that is, an on signal. When pedal 1 is not pressed, microswitch 15 is not turned on, and the level signal outputs a low-level signal "0", that is, an off signal. Therefore, the logical truth values ​​"1" and "0" of the input status signal represent the on signal and the off signal, respectively, and are input to the logic operation module. The enable signals used for the traction motor, parking brake, feedback controller, oil pump motor, and solenoid valve are as follows: "0" indicates that the current action is prohibited, and "1" indicates that the current action can be performed. The logic truth value operation table applied to the output of the dual-pedal microswitch 15 is as follows:

[0065]

[0066] Based on the above embodiments, the safety pedal device further includes a pair of bases 6. The bases 6 include a base limiting plate 20 parallel to the pedal and a pair of ear plates 22. The pair of ear plates 22 are disposed on both sides of the base limiting plate 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, which is placed between the pair of ear plates 22. The roller 23 is connected to the pair of ear plates 22 through a pin 4.

[0067] Specifically, the safety pedal device also includes a pair of bases 6, which are used to fix the entire safety pedal device under the seat in the driver's cab. Each base 6 includes a horizontally arranged base limiting plate 20 and a pair of ear plates 22, which are arranged on both sides of the base limiting plate 20. One end of each pair of pedals 1 is welded with a pedal limiting plate 16, which is parallel to the pedal 1. Therefore, the pedal limiting plate 16 is parallel to the base limiting plate 20. A roller 23 is fixedly provided at the lower end of the pedal limiting plate 16. The roller 23 is placed between the pair of ear plates 22, and the roller 23 is connected to the pair of ear plates 22 by a pin. Therefore, the pedal 1 can be rotated relative to the base 6 so that the driver can step on the pedal 1.

[0068] Based on the above embodiment, spacers 5 are fitted inside the shaft holes at both ends of the roller 23, and pins 4 are fitted into the roller 23 and a pair of ear plates 22, and tightened with washers 2 and shaft elastic retaining rings 3.

[0069] Specifically, spacer 5 is fitted into the shaft holes at both ends of roller 23, and pin 4 is fitted into roller 23 and contacts spacer 5 to prevent wear between pin 4 and roller 23; pin 4 is fitted into a pair of ear plates 22, one end of which is fitted with washer 2 and shaft elastic retaining ring 3, and shaft elastic retaining ring 3 is engaged in the groove of pin 4. Therefore, washer 2 and shaft elastic retaining ring 3 can restrict the axial movement of pin 4 so as to fasten pin 4 to a pair of ear plates 22, thereby preventing pedal 1 from falling off.

[0070] Optionally, the spacer 5 can be coated with grease to further reduce wear between the pin 4 and the roller 23, and reduce the resistance to rotation of the pedal 1.

[0071] Based on the above embodiment, an elastic limiting structure for limiting the lifting angle of the pedal is provided between the pedal limiting plate 16 and the base limiting plate 20. The elastic limiting structure includes a connecting plate 19, an elastic element 7, a limiting bolt 10, and a pressing bolt 8. One end of the connecting plate 19 is connected to one end of the base limiting plate 20, and the other end is connected to the pedal limiting plate 16 through the elastic element 7. The limiting bolt 10 is fixed to the other end of the connecting plate 19 and is fitted into the elastic element 7. 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 fixed to the pedal limiting plate 16. When the pedal 1 is not stepped on, the pressing bolt 8 abuts against the base limiting plate 16 and uses the elastic element 7 to press up the pedal 1.

[0072] It should be noted that when the driver steps on pedal 1, pedal 1 needs to be raised relative to base 6 so that the micro switch can determine whether the driver is in position based on the lifting angle of pedal 1. However, the lifting angle of pedal 1 needs to be limited to avoid the pedal 1 lifting angle being too large, which would make it inconvenient for the driver to step on it and affect the micro switch's transmission of driver position information.

[0073] Specifically, an elastic limiting structure is provided between the pedal limiting plate 16 and the base limiting plate 20, which includes a connecting plate 19, an elastic element 7, a limiting bolt 10, and a pressing bolt 8; one end of the connecting plate 19 is welded to the base limiting plate 20, and the other end is connected to the pedal limiting plate 16 through the elastic element 7, and a bolt through hole is provided at the connection between the connecting plate 19 and the elastic element 7, and the limiting bolt 10 is tightened at the bolt through hole by the second nut 9, and the elastic element 7 is inserted through the bolt through hole; the pedal limiting plate 16 is provided with a limiting surface threaded hole 17, and the pressing bolt 8 passes through the limiting surface threaded hole 17 and is fastened to the pedal limiting plate 16 by the third nut 13.

[0074] During use, the elastic limiting structure allows for adjustment of the length of the limiting bolt 10 extending out of the bolt through hole at the end of the connecting plate 19, so that when the limiting bolt 10 abuts against the pedal limiting plate 16, the pedal 1 is in a horizontal state; the length of the pressing bolt 8 extending out of the threaded hole 17 on the limiting surface is also adjustable, so that when the pressing bolt 8 abuts against the base limiting plate 20, it cooperates with the elastic element 7 to press up the pedal 1, so that the pedal 1 is a certain distance away from the cab floor A when it is not stepped on.

[0075] Optionally, the elastic element 7 in this application is a compression spring, but other types of elastic elements can also be selected according to actual needs.

[0076] Based on the above embodiment, the micro switch 15 is fixedly placed on the base limiting plate 16, and the pedal limiting plate 20 is provided with a contact block 18 near the switch contact 25. When the pedal 1 is stepped down, the contact block 18 presses the switch contact 25. When the pedal 1 is not stepped down, the contact block 18 disengages from the switch contact 25.

[0077] Specifically, the micro switch 15 is installed at one end of the base limiting plate 16. A contact block 18 is provided on the pedal limiting plate 20, which is parallel to the base limiting plate 16. The contact block 18 is located close to the switch contact 25 of the micro switch 15. 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 micro switch 15 can input the pedal status to the control unit.

[0078] Based on the above embodiment, a switch ear plate 21 is provided at one end of the base limiting plate 16. The micro switch 25 is fixed to the switch ear plate 21 by the first nut 24. The extension length of the switch contact 25 can be adjusted by adjusting the installation position of the first nut 24.

[0079] It should be noted that, as Figure 3 and Figure 5As shown, in its natural state, pedal 1 is supported by the elastic element 7 and the pressing bolt 8, and is raised to a certain angle. When a force is applied to the front of pedal 1 to overcome the damping of the elastic element 7, the angle of pedal 1 gradually changes to 0, and the output electrical signal changes from off to on. After the applied force is removed, the output electrical signal returns to off. The pedal travel has a dead zone (~), and the extension length of the switch contact 25 can be adjusted by adjusting the installation position of the first nut 24, thereby controlling the sensitivity of the microswitch 15. Here, the level signal on is 1, and off is 0.

[0080] This application also provides a safety control method applied to the above-described three-way stacker truck high-level operation safety control system, including:

[0081] Step S1: Obtain the pedal signal;

[0082] Step S2: Obtain the control signal based on the pedal signal. When the pedal signal is triggered by a single pedal, the output signal is the first control signal; when the pedal signal is triggered by two pedals, the output signal is the second control signal; when the pedal signal is triggered by no pedal, the output signal is the third control signal.

[0083] Step S3: Send the corresponding control signal to the execution unit.

[0084] Specifically, the control unit acquires pedal signals: when the driver presses both pedals 1, both pedals 1 press the switch contact 25 to activate the microswitch 15, and the microswitch 15 sends a double-on signal to the logic operation module; when the driver presses a single pedal 1, one pedal 1 disengages from the switch contact 25 to deactivate the microswitch 15, and the microswitch 15 sends a single-on signal and a single-off signal to the logic operation module; when the driver does not press either pedal 1, both pedals 1 disengage from the switch contact 25 to deactivate the microswitch 15, and the microswitch 15 sends a double-off signal to the logic operation module.

[0085] The control unit obtains control signals based on the pedal signals: when the logic operation module receives a single open signal and a single close signal, it sends a gantry enable signal to the driver module; when the logic operation module receives two open signals, it sends a gantry enable signal and a travel enable signal to the driver module; when the logic operation module receives two close signals, it does not send a gantry enable signal and a travel enable signal to the driver module.

[0086] The driver module sends corresponding control signals to the execution unit: When the driver module receives the gantry enable signal and does not receive the travel enable signal, the driver module sends a first control signal to the control unit, that is, a release command to the gantry drive mechanism, a restriction command to the travel drive mechanism, and a release command to the braking mechanism; when the driver module receives both the gantry enable signal and the travel enable signal, the driver module sends a second control signal to the control unit, that is, a release command to the gantry drive mechanism and a release command to the travel drive mechanism; when the driver module does not receive either the gantry enable signal or the travel enable signal, the driver module sends a third control signal to the control unit, that is, a restriction command to the gantry drive mechanism, a restriction command to the travel drive mechanism, and a release command to the braking mechanism.

[0087] Furthermore, the execution unit includes a braking mechanism for limiting the vehicle's walking function. The braking mechanism includes a parking brake and a feedback controller. When the driver module sends a release command to the braking mechanism, the driver module determines whether the rotational speed of the walking drive mechanism is zero. If so, the driver module releases the parking brake to prevent the vehicle from sliding after stopping. Otherwise, the driver module releases the feedback controller, and the feedback controller strongly brakes the walking drive mechanism to reduce the vehicle's speed to a stop.

[0088] Furthermore, a pedal 1 is defined for controlling vehicle coasting. The driver presses pedal 1 to achieve the vehicle coasting function. The logic operation module obtains the activation signal of pedal 1 to achieve the vehicle coasting function, performs logic operation to obtain the coasting energy signal, and sends it to the driver module. The driver module restricts the use of the feedback controller. The feedback controller provides weak feedback braking and driving mechanism to keep the vehicle in a coasting state.

[0089] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0090] The above provides a detailed description of the three-way stacker truck high-level operation safety control system and method provided by this invention. Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of this invention. It should be noted that those skilled in the art can make various improvements and modifications to this invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this invention.

Claims

1. A safety control method, characterized in that, include: Obtain the pedal signal output by a pair of microswitches in the safety pedal device; The control signal is obtained based on the pedal signal. When the pedal signal is triggered by a single pedal, the output signal is the first control signal; when the pedal signal is triggered by two pedals, the output signal is the second control signal; when the pedal signal is triggered by no pedal, the output signal is the third control signal. Send the corresponding control signal to the execution unit; The first control signal is used to send a release command to the gantry drive mechanism and the braking mechanism, and a restriction command to the travel drive mechanism; the second control signal is used to send a release command to the gantry drive mechanism and the travel drive mechanism; and the third control signal is used to send a restriction command to the gantry drive mechanism and the travel drive mechanism, and a release command to the braking mechanism.

2. A three-way stacker truck high-level operation safety control system, used to implement the safety control method described in claim 1, characterized in that, Includes a safety pedal device, a control unit, and an actuator unit; The safety pedal device includes a pair of pedals (1) for the driver to step on during operation and a pair of microswitches (15) for determining whether the driver has stepped on the pedals (1). One end of the pedal (1) is configured to cooperate with the switch contact (25) of the microswitch (15). The pedal (1) can be rotated to press or disengage from the switch contact (25). The microswitch (15) is signal-connected to the control unit. The execution unit includes a gantry drive mechanism for realizing the gantry lifting function, a travel drive mechanism for realizing the vehicle travel function, and a braking mechanism for limiting the vehicle travel function. The execution unit is signal-connected to the control unit. The control unit includes a logic operation module and a driver module; The logic operation module is used to obtain the open signal and the close signal of the micro switch (15) and thereby obtain the gantry enable signal for realizing the gantry lifting function, and / or the travel enable signal for realizing the vehicle travel function, and send it to the driver module. When the driver module receives the gantry enable signal, it releases the gantry drive mechanism; otherwise, it restricts the use of the gantry drive mechanism. When the driver module receives the travel enable signal, it releases the travel drive mechanism; otherwise, it restricts the use of the travel drive mechanism and releases the braking mechanism.

3. The three-way stacker truck high-position operation safety control system according to claim 2, characterized in that, The braking mechanism includes a parking brake to prevent the vehicle from sliding after it stops and a feedback controller to control the regenerative braking function of the travel drive mechanism. When the rotational speed of the travel drive mechanism is zero, the drive module releases the parking brake. When the rotational speed of the walking drive mechanism is not zero, the driver module releases the feedback controller.

4. The three-way stacker truck high-position operation safety control system according to claim 3, characterized in that, The pair of pedals (1) are designed with different colors so that the driver can press a single pedal (1) to realize the vehicle coasting function; the logic operation module obtains the opening signal of the pedal (1) used to realize the vehicle coasting function and obtains the coasting power signal, and sends it to the driver module, which restricts the use of the feedback controller.

5. The three-way stacker truck high-position operation safety control system according to claim 2, characterized in that, The output signal of the micro switch (15) is a level signal, which includes the on signal and the off signal of the micro switch (15) to facilitate the logic operation of the logic operation module.

6. The three-way stacker truck high-position operation safety control system according to any one of claims 2 to 5, characterized in that, The safety pedal device also includes a pair of bases (6), the bases (6) include a horizontally arranged base limiting plate (20) and a pair of ear plates (22), the pair of ear plates (22) are respectively arranged on both sides of the base limiting plate (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 placed between the pair of ear plates (22), and the roller (23) is connected to the pair of ear plates (22) through a pin (4).

7. The three-way stacker truck high-position operation safety control system according to claim 6, characterized in that, Spacers (5) are fitted inside the shaft holes at both ends of the roller (23). The pin (4) is fitted into the roller (23) and a pair of ear plates (22) and tightened with washers (2) and shaft elastic retaining rings (3).

8. The three-way stacker truck high-position operation safety control system according to claim 7, characterized in that, An elastic limiting structure for limiting the lifting angle of the pedal is provided between the pedal limiting plate (16) and the base limiting plate (20); The elastic limiting structure includes a connecting plate (19), an elastic element (7), a limiting bolt (10), and a pressing bolt (8). One end of the connecting plate (19) is connected to one end of the base limiting plate (20), and the other end is connected to the pedal limiting plate (16) through the elastic element (7). The limiting bolt (10) is fixed to the other end of the connecting plate (19) and inserted into the elastic element (7). 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 fixed to the pedal limiting plate (16). When the pedal (1) is not stepped on, the pressing bolt (8) abuts against the base limiting plate (16) and uses the elastic element (7) to press up the pedal (1).

9. The three-way stacker truck high-position operation safety control system according to claim 8, characterized in that, The micro switch (15) is fixed on the base limiting plate (20), and the pedal limiting plate (16) is provided with a contact block (18) near the switch contact (25). When the pedal (1) is stepped down, the contact block (18) presses the switch contact (25). When the pedal (1) is not stepped down, the contact block (18) disengages from the switch contact (25).

10. The three-way stacker truck high-position operation safety control system according to claim 9, characterized in that, The base limiting plate (20) has a switch ear plate (21) at one end. The micro switch (15) is fixed to the switch ear plate (21) by the first nut (24). The extension length of the switch contact (25) can be adjusted by adjusting the installation position of the first nut (24).

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