A swinging pedal device

Abstract

The present invention discloses a swing pedal device, which includes a mounting frame and a pedal. The mounting frame is installed on the vehicle body and is equipped with a driving mechanism. It is characterized in that the driving mechanism drives a driving arm through driving connection, the driving arm is connected to the pedal, one end of a swing arm is connected to the pedal, and the other end is connected to the mounting frame. The driving mechanism drives the pedal to swing out and retract by driving the driving arm to rotate; the driving mechanism includes a motor with a brake, a torque sensor, a speed sensor, a reducer and a transmission shaft. The output end of the motor is connected to the transmission shaft through the reducer. The torque sensor is installed on the transmission shaft and is used to monitor the output torque of the transmission shaft and feedback it to the controller. The speed sensor is integrated on the motor and is used to monitor the motor speed and feedback it to the controller. This device adopts double locking of electric motor braking and mechanical locking, and has a relatively high locking strength.

Description

Technical Field

[0001] The present invention relates to the field of rail transit, and in particular to a swing pedal device. Background Art

[0002] Patent CN206766032U discloses a train safety pedal system. The driving device includes a driving motor fixedly arranged at the bottom of the cavity, a lead screw fixedly connected to the output shaft of the driving motor, a lead screw nut adapted to the lead screw, and two hinge members fixedly connected to the lead screw nut and hinged to the pedal.

[0003] The research object in "Analysis of Stress and Residual Deformation of Swing Pedals of High-Speed EMUs" (Natural Science Edition of Nanjing Institute of Technology) is a lead screw type transmission method, which uses a driving device, a nut, and a lead screw to achieve transmission;

[0004] While patent CN202110597015.0 uses a cylinder as a driving mechanism for a multifunctional pedal for rail transit.

[0005] It can be seen from the above that at present, most swing pedals use cylinders or motors plus lead screws for transmission. Among them, the cylinder transmission has low precision and is not easy to control. The lead screw transmission occupies a large space and is not conducive to installation and layout under the vehicle. Moreover, the structural limitations result in relatively small supplementary angles and compensation distances.

[0006] Swing pedals are mostly installed under the vehicle, which is not conducive to maintenance, and the operating environment is relatively harsh, requiring high sealing performance for core components.

[0007] The existing locking method of swing pedals is single, and there is a risk that the pedal will swing out after locking failure.

[0008] The operating lock core of the existing pedal is located on the pedal, which is prone to dust accumulation, water seepage, resulting in lock core jamming, and is restricted by the installation space. Summary of the Invention

[0009] The technical problem to be solved by the present invention is to provide a swing pedal device, a pedal device driven in a driving arm manner, and having dual locking and high safety.

[0010] To solve the above technical problem, the present invention provides a swing pedal device, including a mounting bracket and a pedal. The mounting bracket is mounted on the vehicle body and is provided with a driving mechanism. The driving mechanism drives a driving arm through a driving connection. The driving arm is connected to the pedal. One end of the swing arm is connected to the pedal, and the other end is connected to the mounting bracket. The driving mechanism drives the pedal to swing out and retract by driving the driving arm to rotate;

[0011] The driving mechanism includes a motor with a brake, a torque sensor, a speed sensor, a reducer, and a transmission shaft. The output end of the motor is connected to the transmission shaft through the reducer. The torque sensor is installed on the transmission shaft and is used to monitor the output torque of the transmission shaft and feedback it to the controller. The speed sensor is integrated on the motor and is used to monitor the motor speed and feedback it to the controller;

[0012] The driving mechanism further includes a mechanical locking device and an isolation lock device. The mechanical locking device is used to cooperate with the brake to double-lock the driving mechanism, and the isolation lock device is used for the pedal to isolate and withdraw from service.

[0013] Preferably, the mechanical locking device includes a mechanical locking component, an electric unlocking component, and an emergency unlocking component.

[0014] Preferably, it further includes an emergency unlocking device and an isolation device. The emergency unlocking device is connected to an emergency unlocking operating device, and the isolation device is connected to the wire spool of the isolation operating device.

[0015] Preferably, the driving mechanism further includes a sealing frame. The motor is installed inside the sealing frame, and the reducer is installed outside the sealing frame. The output end of the motor is connected to the reducer outside, the output end of the reducer is connected to the transmission shaft, and the transmission shaft passes through the inside of the sealing frame, and both ends thereof have mounting portions for mounting driving arms.

[0016] Preferably, the locking component includes an unlocking shaft and a mechanical locking disc fixedly connected to the transmission shaft. The mechanical locking disc is provided with a groove. A return torsion spring and a mechanical locking tongue are sleeved on the unlocking shaft. When the pedal is retracted, the rotating shaft drives the mechanical turntable to rotate. The mechanical locking tongue closely adheres to the mechanical locking disc under the action of the return torsion spring until one end of the mechanical locking tongue is caught in the groove.

[0017] Preferably, a stop block is installed on the mechanical locking disc and is used to trigger a switch when the closing is in place. A lock-in-place switch is arranged on one side of the mechanical locking tongue and is used to trigger the lock-in-place switch when the mechanical locking tongue is in the locked position by the end away from the mechanical locking disc.

[0018] Preferably, the electric unlocking component includes an electromagnet and an armature. The armature is sleeved on the mechanical locking tongue. When the electromagnet is attracted, it drives the up-and-down movement of the armature, and the armature drives the mechanical locking tongue to rotate reciprocally, so that the mechanical locking tongue limits and releases the limit on the mechanical locking disc.

[0019] Preferably, the emergency unlocking component includes an unlocking bracket mounting shaft and an unlocking bracket installed on the unlocking bracket mounting shaft. The unlocking bracket has a turning structure, and the turning point divides it into two sections. When the unlocking bracket rotates along the unlocking bracket mounting shaft, the first section close to the unlocking bracket mounting shaft contacts and pushes the mechanical locking tongue, and the second section is used to trigger the emergency unlocking switch.

[0020] Preferably, the isolation lock device includes an isolation lock disc fixedly connected to the transmission shaft, an isolation lock torsion spring, and an isolation shaft. The isolation lock disc has a planar notch. A wire drawing disc is sleeved on the isolation shaft, and an isolation lock turntable is fixedly connected to the wire drawing disc. One end of the isolation lock turntable is connected to the isolation lock torsion spring, and the other end of the isolation lock torsion spring is installed on a torsion spring installation shaft and can rotate. The isolation lock turntable includes a first sector-shaped boss and a second sector-shaped boss;

[0021] When not isolated, the isolation lock turntable is kept in the unlocked position under the action of the isolation lock torsion spring, and the second sector-shaped boss is blocked by a limit pin. In this state, the notch between the first sector-shaped boss and the second sector-shaped boss is aligned with the planar notch of the isolation lock disc;

[0022] When isolating, the wire drawing disc is rotated by pulling the wire rope, and the wire drawing disc drives the isolation lock turntable to rotate until the first sector-shaped boss of the isolation lock turntable is limited by the limit pin, and the first sector-shaped boss is aligned with the planar notch of the isolation lock disc. The isolation operation is completed, and the disconnector is triggered by the second sector-shaped boss.

[0023] Preferably, the brake, lock-in place switch, close-in place switch, electromagnet, disconnector, and emergency unlocking switch are all connected to a controller, and the controller is connected to the train signal and power supply line.

[0024] The beneficial effects of the present invention are as follows:

[0025] 1. The present invention provides a swing pedal device. The motor and the transmission shaft are arranged in parallel double rows, and gear transmission is adopted. It occupies a small space, has high transmission precision, is convenient for electrical control, the swing angle is not limited by the driving part and the transmission part, and a large compensation distance can be achieved.

[0026] 2. The device adopts a sealed frame formed by integral bending and welding. For the four maintenance windows on the upper, lower, front, and rear, sealing gaskets and sealing covers are used, which is convenient for maintenance and has good sealing performance.

[0027] 3. The device adopts double locking of electric motor braking and mechanical locking, and has a high locking strength.

[0028] 4. The device has an isolation function, can perform remote operation isolation and unlocking, and the operating parts can be flexibly arranged without being limited by the space under the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic structural diagram of the swing pedal device of the present invention, and the pedal is in the retracted state;

[0030] Figure 2 It is a schematic structural diagram of the pedal of the present invention;

[0031] Figure 3 It is a schematic structural diagram of the mounting bracket of the present invention;

[0032] Figure 4 Schematic diagram of the external structure of the driving mechanism of the present invention;

[0033] Figure 5 Schematic diagram of the position of the isolation lock device inside the driving mechanism of the present invention;

[0034] Figure 6 Schematic diagram of the position of the mechanical locking device inside the driving mechanism of the present invention;

[0035] Figure 7 Schematic diagram of the structure of the isolation lock device of the present invention;

[0036] Figure 8 Schematic diagram of the structure of the mechanical locking device of the present invention;

[0037] Figure 9 Schematic diagram of the structure of the speed reducer of the present invention;

[0038] Figure 10 Schematic diagram of the electrical control principle of the present invention;

[0039] Figure 11 Flow chart of the pedal opening control of the present invention;

[0040] Figure 12 Flow chart of the pedal closing control of the present invention;

[0041] Figure 13 Schematic diagram of the isolation state of the isolation lock device of the present invention;

[0042] Figure 14 Schematic diagram of the non-isolation state of the isolation lock device of the present invention;

[0043] Figure 15 Schematic diagram of the side rear of the pedal structure of the present invention;

[0044] Among them, 1. swing arm; 2. mounting bracket; 3. drive mechanism; 4. pedal; 5. tension spring; 6. emergency unlocking operation device; 7. isolation operation device; 8. drive arm; 401. short support; 402. first roller; 403. tension spring mounting shaft; 404. long support; 405. baffle; 406. handle; 201. mounting seat; 202. left bracket; 203. second roller; 204. roller shaft; 205. buffer head; 206. lateral support; 207. right bracket; 301. reducer; 302. upper cover plate; 303. rear cover plate; 304. sealing frame; 305. motor; 306. wire rope reversing roller; 307. isolation lock device; 308. disconnecting switch; 309. gasket; 310. bearing end cover; 311. switch when closed in place; 312. locking assembly; 313. electric unlocking assembly; 314. emergency unlocking switch; 315. emergency unlocking device; 316. switch when locked in place; 3071. pin shaft; 3072. isolation lock disk; 3073. limit pin; 3074. torsion spring mounting shaft; 3075. isolation lock torsion spring; 3076. isolation turntable; 3077. isolation shaft; 3078. wire pulling disk; 3121. pin shaft; 3122. mechanical lock disk; 3123. stop block; 3131. electromagnet bracket; 3132. electromagnet; 3133. armature; 3151. unlocking bracket mounting shaft; 3152. unlocking bracket; 3143. mechanical lock tongue; 3142. return torsion spring; 3141. unlocking shaft; 3011. transmission shaft; 3012. bearing end cover; 3013. sealing cover plate; 3014. reducer housing; 3015. large gear; 3016. sealing ring; 3017. bearing bushing; 3018. gear shaft; 3019. small gear. Detailed implementation manners

[0045] As Figure 1 , <N Figure 10 , Figure 15 shown, a swinging pedal device includes a mounting bracket 2 and a pedal 4 mounted on a vehicle body. A drive mechanism 3 is mounted on the mounting bracket 2. The drive mechanism 3 drives a drive arm 8 through driving connection. The drive arm 8 is connected to the pedal 4. One end of a swing arm 1 is connected to the pedal 4, and the other end is connected to the mounting bracket 2. The drive mechanism 3 drives the drive arm 8 to rotate, driving the pedal 4 to swing out and retract. The pedal device also has a controller for controlling the drive mechanism 3, and the controller is connected to train signals and power lines.

[0046] The drive mechanism 3 includes a motor 35 with a brake, a torque sensor, a speed sensor, a speed reducer 31, and a transmission shaft 311. The output end of the motor 35 is connected to the transmission shaft 311 through the speed reducer 31. Among them, the motor 35 and the speed reducer 31 are connected through a coupling. The torque sensor is installed on the transmission shaft 311 and is used to monitor the output torque of the transmission shaft and feedback it to the controller. The speed sensor is integrated on the motor 35 and is used to monitor the rotation speed of the motor 35 and feedback it to the controller. The speed reducer 31 can reduce the output speed of the motor 35 and increase the output torque of the motor 35, and then distribute the driving force to the driving arms 8 on both sides through the transmission shaft to drive the pedal 4 to swing out and retract. The brake is connected to the controller. When the pedal 4 swings out in place or retracts in place, the motor brake is activated to lock the motor output shaft, realizing the electric braking and locking of the pedal 4.

[0047] Figure 2 As shown in the figure, two short supports 41 and two long supports 44 are symmetrically installed on the pedal 4, and the pedal 4 is simultaneously connected to the baffle 405. The pedal 4 is entirely located obliquely below the baffle 405, and the handle 406 is installed on the baffle 405 for manually pushing and pulling the pedal 4. The long support 404 is provided with a spring mounting shaft 403, and the spring mounting shaft 403 is installed with a first roller 402. One end of the tension spring 5 is installed on the first roller 402. Both the short support 41 and the long support 44 are fixedly connected to the lower end of the pedal 4, and they are also strengthenedly connected to the inner side of the pedal 4. Figure 3 The mounting bracket 2 shown in the figure is a symmetric structure, including a left bracket 202 and a right bracket 207, which are fixedly connected through a transverse support 206. The front ends of the left bracket 202 and the right bracket 207 are mounting seats 201. The top and side of the two mounting seats 201 have waist-shaped mounting holes for connecting to the vehicle body. The roller shafts 204 are respectively installed on the sides of the left bracket 202 and the right bracket 207, and the second rollers 203 are installed on the roller shafts 204. The other end of the tension spring 5 is installed on the second roller 203. The buffer heads 205 are respectively installed on the lower parts of the left bracket 202 and the right bracket 207 for buffering the inertia when the pedal retracts. When the retraction is in place, the buffer head 205 abuts against the driving arm 8.

[0048] In this embodiment, the upper end of the swing arm 1 is rotatably connected to the front end of the mounting bracket 2, and the lower end is rotatably connected to the short support 41. One end of the driving arm 8 is drivingly connected to the transmission shaft, and the other end is rotatably connected to the long support 44.

[0049] When the pedal is in the process of swinging out or retracting, the drive mechanism 3 will drive the drive arm 8 to perform a pendulum motion. Affected by the gravity factor, the magnitude of the driving force and the driving speed required by the motor 305 at each stage during the process of the pedal 4 swinging out change in a parabolic form. Through theoretical calculation, the theoretical driving force and driving speed values required at each stage during the process of the pedal swinging out can be obtained. By pre-storing the theoretical driving force and driving speed value information in the controller and comparing it with the actual value information read in real time from the torque sensor and speed sensor during the movement of the pedal, the controller can timely adjust the magnitude of the driving force and speed output by the motor 305. When the actual torque value is lower than the theoretical value, the controller will increase the output current of the motor to increase the output torque; when the actual torque value is higher than the theoretical value, the controller will decrease the output current of the motor to reduce the output torque. Similarly, when the actual speed value is lower than the theoretical value, the controller will increase the motor speed; when the actual speed value is higher than the theoretical value, the controller will decrease the motor speed.

[0050] When the pedal 4 is in the process of swinging out and retracting, if an obstacle is detected, such as a passenger standing on the pedal 4, with the help of the feedback information from the torque sensor and speed sensor, the controller can identify the obstacle and control the drive mechanism 3 to stop moving, and at the same time control the motor brake to activate to lock the transmission shaft. After the obstacle is removed, the controller can continue to control the pedal 4 to perform the swinging out and retracting actions.

[0051] Specifically, when the pedal contacts an obstacle during the process of swinging out or retracting, the movement speed of the pedal will decrease due to the obstruction of the obstacle, and at the same time, the torque on the transmission shaft will increase due to squeezing the obstacle. After the speed sensor and torque sensor monitor the changes in speed and torque, they will feedback to the controller in real time. The controller will control the pedal to stop moving, and at the same time control the motor brake to activate, so that the pedal stops at the current position until the obstacle is removed. After the obstacle is removed, the controller will control the release of the motor brake and control the motor to continue rotating in the swinging out or retracting direction to drive the pedal to continue swinging out or retracting.

[0052] The drive mechanism 3 further includes a mechanical locking device and an isolation lock device 307. The mechanical locking device is used to cooperate with the brake to double-lock the drive mechanism 3. The isolation lock device 307 is used for the pedal to be isolated and taken out of service. The swing pedal device has an emergency unlocking device 6 and an isolation device 7. Among them, the emergency unlocking device 6 is connected to the emergency unlocking assembly, and the isolation device 7 is connected to the wire pulling disc 3078 of the isolation lock device. The isolation operation device 7 and the emergency unlocking operation device 6 of the pedal can be arranged at any suitable position on the vehicle body, without being restricted by the installation space of the pedal.

[0053] Figure 4The drive mechanism 3 shown also includes a sealing frame 304. The motor 305 is installed inside the sealing frame 304, and the speed reducer 301 is installed outside the sealing frame 304. The output end of the motor 305 is connected to the speed reducer 301 outside, and the output end of the speed reducer 301 is connected to the transmission shaft. The transmission shaft passes through the entire sealing frame 304, and both ends of the transmission shaft have mounting parts for installing the drive arm 8. On the upper part of the sealing frame 304, there is an upper cover plate 302, and on the rear part, there is a rear cover plate 303. Sealing cover plates are also installed on the lower part and the front part for sealing the drive mechanism.

[0054] Figure 9 For the speed reducer structure shown, the input shaft of the speed reducer, i.e., the gear shaft 3018, and the output shaft, i.e., the transmission shaft 3011, are installed on the speed reducer housing 3014 through bearing bushes 3017 and bearings. Bearing end covers 3012 are installed at the ends of the bearings, and the bearing bushes 3017 are used to fix the bearings. Sealing cover plates 3013 are provided on both the upper and lower parts of the speed reducer housing 3014 for easy maintenance. The small gear 3019 is installed on the gear shaft 3018, the large gear 3015 is installed on the transmission shaft 3011, and the small gear 3019 and the large gear 3015 are meshed. A sealing ring 3016 is provided for sealing between the speed reducer housing 3014 and the sealing frame 304.

[0055] The mechanical locking device includes a mechanical locking assembly 312, an electric unlocking assembly 313, and an emergency unlocking assembly 315.

[0056] Figure 6 As shown, the closed-in-place switch 311, the emergency unlocking switch 314, and the locked-in-place switch 316 are all installed inside the sealing frame 304. The operating part of the locking assembly 312 is installed on the sealing frame 304, and the locking part is installed on the output shaft of the speed reducer 301.

[0057] Among them, Figure 8 As shown, the locking assembly includes an unlocking shaft 3141 and a mechanical locking disk 3122 fixedly connected to the output shaft of the speed reducer, i.e., the transmission shaft 3011, through a pin shaft 3121. The mechanical locking disk 3122 rotates synchronously with the transmission shaft 3011. Grooves are provided on the mechanical locking disk 3122. A return torsion spring 3142 and a mechanical locking tongue 3143 are sleeved on the unlocking shaft 3141. The unlocking shaft 3141 is installed on the sealing frame 304. When the pedal is retracted, the rotating shaft 3011 drives the mechanical turntable 3122 to rotate clockwise. The mechanical locking tongue 3143 has a clockwise rotation tendency under the action of the return torsion spring 3142. The mechanical locking tongue 3143 closely adheres to the mechanical locking disk 3122 under the action of the return torsion spring 3142 until one end of the mechanical locking tongue 3143 snaps into the groove. At this time, the pedal is retracted in place, and the mechanical locking tongue 3143 just falls into the groove, thus realizing mechanical locking.

[0058] When the pedal is fully retracted, the buffer head 205 prevents the driving arm from continuing to rotate. Under the action of the return torsion spring 3142, the mechanical lock tongue 3143 snaps into the groove on the mechanical lock disc 3122, restricting the reverse rotation of the mechanical lock disc 3122. At the same time, the controller controls the activation of the motor brake to lock the motor output shaft and restrict its rotation, realizing the mechanical double locking function.

[0059] A stop block 3123 is installed on the mechanical lock disc 3122 to trigger the closed position switch 311 when the door is closed. A lock-in-place switch 316 is provided on one side of the mechanical lock tongue 3143. When the lock is in place, the end of the mechanical lock tongue 3143 away from the mechanical lock disc 3122 triggers the lock-in-place switch 316.

[0060] The unlocking assembly includes an electromagnet 3132 and an armature 3133. The electromagnet 3132 is installed on the sealing frame 304, and the armature 3133 is sleeved on the mechanical lock tongue 3143. Specifically, the long cantilever of the mechanical lock tongue 3143 is inserted into the rectangular opening of the armature 3133. The attraction of the electromagnet drives the up and down movement of the armature 3133, and the armature 3133 drives the mechanical lock tongue 3143 to rotate reciprocally, so that the mechanical lock tongue 3143 limits and releases the limit on the mechanical lock disc 3122.

[0061] The closed position switch 311, the lock-in-place switch 316, and the electromagnet 3132 are all connected to the controller. When unlocking, the controller controls the electromagnet 3132 to drive the mechanical lock tongue 3143 away from the groove of the mechanical lock disc 3122, and at the same time triggers the lock-in-place switch 316 to feedback the unlocking signal to the controller. When unlocking by controlling the electromagnet 3132 through the controller, in order to better make the mechanical lock tongue 3143 leave the groove of the mechanical turntable, first control the motor to drive the transmission shaft to move a certain distance in the retracting direction, so that there is a certain gap between the mechanical lock tongue and the inner wall of the groove of the mechanical turntable, that is, the end of the lock tongue is no longer in close contact with the inner wall of the groove. Then the controller controls the electromagnet 3132 to drive the mechanical lock tongue 3143 away from the groove of the mechanical lock disc 3122, which can reduce the frictional resistance between the mechanical lock tongue 3143 and the groove of the mechanical lock disc 3122.

[0062] That is, during electric unlocking, the controller controls the release of the motor brake and controls the motor 305 to rotate in the retracting direction to retract the pedal 4 a certain distance. At the same time, the controller controls the electromagnet 3132 to attract, and the armature 3133 installed on the electromagnet 3132 drives the mechanical lock tongue 3143 to rotate, so that the short cantilever of the mechanical lock tongue 3143 leaves the groove of the mechanical lock disc 3122. At the same time, the long cantilever of the mechanical lock tongue 3143 triggers the lock-in-place switch 316 to feedback the unlocking signal to the controller. Then, the controller controls the motor 305 to rotate in the swinging-out direction to swing out the pedal 4.

[0063] Such as Figure 8As shown, the emergency unlocking assembly includes an unlocking bracket mounting shaft 3151 and an unlocking bracket 3152 mounted on the unlocking bracket mounting shaft 3151. The unlocking bracket mounting shaft 3151 is mounted on the sealing frame 304. The unlocking bracket 3152 has a turning structure, and the folding point divides it into two sections. When the unlocking bracket 3152 rotates along the unlocking bracket mounting shaft 3151, the first section close to the unlocking bracket mounting shaft 3151 contacts and pushes the mechanical locking tongue 3143, and the second section is used to trigger the emergency unlocking switch 314. The emergency unlocking switch 314 is also connected to the controller.

[0064] When performing the emergency unlocking function, operate the emergency unlocking operating device 6 to pull the unlocking bracket 3152 through the steel wire rope, so that the unlocking bracket 3152 rotates around the unlocking bracket mounting shaft 3151. The unlocking bracket 3152 drives the mechanical locking tongue 3143 to rotate, so that the short cantilever of the mechanical locking tongue 3143 leaves the groove of the mechanical locking disc 3122. At the same time, the long cantilever of the mechanical locking tongue 3143 triggers the lock-in place switch 316 to feedback an unlocking signal to the controller. The unlocking bracket 3152 triggers the emergency unlocking switch 314 to feedback an emergency unlocking signal to the controller, and the controller controls the motor brake to release the brake of the brake.

[0065] Figure 5 As shown in the isolation lock device 307, the steel wire rope reversing roller 306 is mounted on the sealing frame 304 for reversing the steel wire rope. The steel wire rope reversing roller 306 is connected to the pulling wire disc 3078 through the steel wire rope. The operating part of the isolation lock device 307 is mounted on the sealing frame 304, and the isolation part is mounted on the output shaft of the reducer 301. A bearing is installed between the output shaft and the sealing frame 304, and a bearing end cover is installed thereon. 310. A sealing gasket 309 is provided between the sealing frame 304 and the upper cover plate 302, and the isolating switch 308 is fixedly installed on the sealing frame 304.

[0066] As Figure 7 As shown, the above-mentioned isolation lock device 307 includes an isolation lock disc 3072 with a pin shaft 3071 fixedly connected to the output shaft of the reducer 301, i.e., the transmission shaft 3011, an isolation lock torsion spring 3075 and an isolation shaft 3077. The isolation lock disc 3072 is a disc with a planar notch. The isolation shaft 3077 is mounted on the sealing frame 304. A pulling wire disc 3078 is sleeved on the isolation shaft 3077. The pulling wire disc 3078 is fixedly connected with an isolation lock turntable 3076. One end of the isolation lock turntable 3076 is connected to the isolation lock torsion spring 3075, and the other end of the isolation lock torsion spring 3075 is fixedly connected to the torsion spring mounting shaft 3074. The torsion spring mounting shaft 3074 is fixedly installed on the sealing frame 304. The isolation lock turntable 3076 includes a first sector-shaped boss and a second sector-shaped boss. There are circumferential gaps between both ends of the first sector-shaped boss and the second sector-shaped boss. The limit pin 3073 and the trigger part of the isolating switch 308 are respectively located at these two gaps.

[0067] As Figure 14 shown, when the isolation operation is not performed, the isolation lock turntable 3076 is always kept in the unlocked position under the action of the isolation lock torsion spring 3075. The end of the second sector boss is blocked by the limit pin 3073, and the limit pin 3073 is fixedly installed on the sealing frame 304. In this state, the notch between the first sector boss and the second sector boss faces the plane notch of the isolation lock disk 3072, and the isolation lock disk 3072 is not restricted by the isolation lock turntable 3076 and can rotate forward and backward. When the isolation lock device 307 is in the non-isolated state, as Figure 14 shown, in this state, the arc surface of the isolation lock disk 3072 can also hinder the rotation of the isolation lock turntable 3076.

[0068] When the pedal needs to be isolated and taken out of service, first retract the pedal 4 to the in-place position, drive the wire spool 3078 to rotate through the wire rope, and the wire spool 3078 drives the isolation lock turntable 3076 to rotate until the first sector boss of the isolation lock turntable 3076 is limited by the limit pin 3073, as Figure 13 shown, the first sector boss aligns with the plane notch of the isolation lock disk 3072, the isolation operation is completed, and the disconnecting switch 308 is triggered by the second sector boss. The disconnecting switch 308 is connected to the controller and feeds back an isolation signal to the controller. When the pedal is not retracted to the in-place position, the isolation device cannot be operated, which can avoid incorrect isolation. Specifically, when it is not retracted to the in-place position, as Figure 14 shown, the arc surface of the isolation lock disk 3072 will hinder the rotation of the isolation lock turntable 3076, thereby preventing the isolation device from being operated when the pedal is not retracted to the in-place position.

[0069] In summary, when the vertical lathe enters the station during the operation of the present invention, as Figure 11 shown, the following steps are executed:

[0070] 1. The controller determines whether to allow the pedal to swing out. If not, continue to judge. If so, execute step 2;

[0071] 2. After obtaining permission to swing out, control the release of the motor brake;

[0072] 3. The pedal motor rotates a certain distance in the retracting direction;

[0073] 4. The electromagnet drives the mechanical lock tongue to leave the groove of the mechanical turntable, and the pedal is unlocked;

[0074] 5. The pedal motor rotates in the swinging-out direction, and the pedal swings out;

[0075] 6. Determine whether it has swung out to the in-place position;

[0076] 7. If it has swung out to the in-place position, activate the motor brake, and the pedal is locked in the swung-out in-place position, and the process ends. If not, execute step 8;

[0077] 8. The pedal continues to swing out;

[0078] 9. Determine whether an obstacle is detected; if so, the pedal stops moving, the motor brake is activated, and the operator removes the obstacle and continues the detection; if not, the motor brake is released;

[0079] 10. Execute step 5 until the end.

[0080] When listing outbound, as Figure 12 shown, execute the following steps:

[0081] 1. The controller determines whether the pedal is allowed to retract. If not, continue the determination. If so, execute step 2;

[0082] 2. The motor brake is released;

[0083] 3. The pedal motor rotates in the retracting direction, and the pedal retracts;

[0084] 4. Determine whether the retraction is in place. If so, execute step 5; otherwise, execute step 6;

[0085] 5. The motor brake is activated, and the pedal is locked in the retracted position, and the process ends;

[0086] 6. The pedal continues to retract;

[0087] 7. Determine whether an obstacle is detected. If so, the pedal stops moving, the motor brake is activated, and the operator removes the obstacle and continues the detection; if not, the motor brake is released;

[0088] 8. Execute step 3 until the end.

Claims

1. A swing pedal device, comprising a mounting bracket (2) and a pedal (4), the mounting bracket (2) being mounted on a vehicle body and having a drive mechanism (3) mounted thereon, characterized in that, The driving mechanism (3) drives the driving arm (8) through a driving connection. The driving arm (8) is connected to the pedal (4). One end of the swing arm (1) is connected to the pedal (4), and the other end is connected to the mounting bracket (2). The driving mechanism (3) drives the pedal (4) to swing out and retract by driving the driving arm (8) to rotate; the driving mechanism (3) includes a motor (305) with a brake, a torque sensor, a speed sensor, a reducer (301), and a transmission shaft. The output end of the motor (305) is connected to the transmission shaft through the reducer (301). The torque sensor is installed on the transmission shaft and is used to monitor the output torque of the transmission shaft and feedback it to the controller. The speed sensor is integrated on the motor (305) and is used to monitor the rotation speed of the motor (305) and feedback it to the controller; the driving mechanism (3) further includes a mechanical locking device and an isolation lock device (307). The mechanical locking device is used to cooperate with the brake to double-lock the driving mechanism (3), and the isolation lock device (307) is used for the pedal to be isolated and taken out of service; The isolation lock device (307) includes an isolation lock disc (3072) fixedly connected to the transmission shaft (3011), an isolation lock torsion spring (3075), and an isolation shaft (3077). The isolation lock disc (3072) has a planar notch. A wire drawing disc (3078) is sleeved on the isolation shaft (3077). The wire drawing disc (3078) is fixedly connected to an isolation lock turntable (3076). One end of the isolation lock turntable (3076) is connected to the isolation lock torsion spring (3075), and the other end of the isolation lock torsion spring (3075) is fixedly connected to the torsion spring mounting shaft (3074). The isolation lock turntable (3076) includes a first sector-shaped boss and a second sector-shaped boss; when not isolated, the isolation lock turntable (3076) is kept in the unlocked position under the action of the isolation lock torsion spring (3075), and the second sector-shaped boss is blocked by the limit pin (3073). In this state, the notch between the first sector-shaped boss and the second sector-shaped boss is aligned with the planar notch of the isolation lock disc (3072); when isolating, the wire drawing disc (3078) is rotated by pulling the wire rope, and the wire drawing disc (3078) drives the isolation lock turntable (3076) to rotate until the first sector-shaped boss of the isolation lock turntable (3076) is limited by the limit pin (3073), and the first sector-shaped boss aligns with the planar notch of the isolation lock disc (3072). The isolation operation is completed, and the disconnect switch (308) is triggered by the second sector-shaped boss.

2. The swing pedal device according to claim 1, wherein The mechanical locking device includes a mechanical locking component, an electric unlocking component, and an emergency unlocking component.

3. The swing pedal device according to claim 2, wherein It further includes an emergency unlocking device (6) and an isolation device (7). The emergency unlocking device (6) is connected to the emergency unlocking component, and the isolation device (7) is connected to the wire drawing disc (3078) of the isolation lock device (307).

4. The swing pedal device according to claim 2, wherein, The driving mechanism (3) further includes a sealing frame (304). The motor (305) is installed inside the sealing frame (304), and the speed reducer (301) is installed outside the sealing frame (304). The output end of the motor (305) is connected to the speed reducer (301) on the outside. The output end of the speed reducer (301) is connected to a transmission shaft, and the transmission shaft passes through the inside of the sealing frame (304), and both ends thereof have mounting portions for mounting the driving arm (8).

5. The swing pedal device according to claim 2, wherein, The locking assembly includes an unlocking shaft and a mechanical lock disc (3122) fixedly connected to the transmission shaft. The mechanical lock disc (3122) is provided with a groove. A return torsion spring (3142) and a mechanical lock tongue (3143) are sleeved on the unlocking shaft (3141). When the pedal is retracted, the rotating shaft drives the mechanical lock disc (3122) to rotate. The mechanical lock tongue (3143) closely adheres to the mechanical lock disc (3122) under the action of the return torsion spring (3142) until one end of the mechanical lock tongue (3143) snaps into the groove.

6. The swing pedal device according to claim 5, wherein, A stop block (3123) is installed on the mechanical lock disc (3122) for triggering the closed-in-place switch (311) when the closing is in place. A lock-in-place switch (316) is arranged on one side of the mechanical lock tongue (3143) for triggering the lock-in-place switch (316) by the end of the mechanical lock tongue (3143) away from the mechanical lock disc (3122) when the locking is in place.

7. The swing pedal device according to claim 6, wherein, The electric unlocking assembly includes an electromagnet (3132) and an armature (3133). The armature (3133) is sleeved on the mechanical lock tongue (3143). The attraction of the electromagnet drives the up-and-down movement of the armature (3133), and the armature (3133) drives the mechanical lock tongue (3143) to rotate reciprocally, so that the mechanical lock tongue (3143) limits and releases the limit on the mechanical lock disc (3122).

8. The swing pedal device according to claim 7, wherein, The emergency unlocking assembly includes an unlocking bracket mounting shaft (3151) and an unlocking bracket (3152) mounted on the unlocking bracket mounting shaft (3151). The unlocking bracket (3152) has a turning structure, and the turning point divides it into two sections. When the unlocking bracket (3152) rotates along the unlocking bracket mounting shaft (3151), the first section close to the unlocking bracket mounting shaft (3151) contacts and pushes the mechanical lock tongue (3143), and the second section is used for triggering the emergency unlocking switch (314).

9. The swing pedal device according to claim 1 or 8, characterized in that, The brake, the lock-in-place switch (316), the closed-in-place switch (311), the electromagnet (3132), the isolating switch (308), and the emergency unlocking switch (314) are all connected to a controller, and the controller is connected to the train signal and the power supply line.

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