Three-way tool intelligent adjustment control method and system
By installing rotation angle sensors, lateral displacement angle sensors, and limit switches on the three-way attachments, and combining them with a controller for precise control, the safety hazards and operational discomfort issues of existing three-way attachments in the lateral displacement direction are solved, enabling safe and comfortable cargo handling and stacking.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HANGCHA GRP
- Filing Date
- 2023-09-01
- Publication Date
- 2026-07-07
AI Technical Summary
Existing three-way attachments rely on physical devices for lateral movement, which results in large impacts, easy damage to the limiting blocks, and small lateral movement, leading to a small gap between the attachment and the cargo, posing safety hazards, especially when using high masts, where interference with the cargo is likely.
By employing rotation angle sensors, lateral displacement angle sensors, and limit switches, the position of the attachment is precisely controlled by the controller. Combined with the proportional buffer principle, this enables safe and comfortable rotation and lateral displacement operation of the attachment.
It improves the operational safety and comfort of the attachments, avoids damage to physical limit devices, increases lateral displacement, reduces the risk of interference with cargo, and ensures safety when using high gantry structures.
Smart Images
Figure CN117246951B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of three-way attachment technology, and specifically to a three-way attachment intelligent adjustment and control method and system. Background Technology
[0002] Three-way attachments, mounted on forklifts, enable stacking operations in three directions, allowing forklifts to handle and stack goods without steering. However, existing three-way attachments rely on physical devices for lateral movement, which suffers from high impact and easy damage to the limit blocks, potentially leading to accidents. Furthermore, the limited lateral movement results in small gaps between the attachment and the goods, affecting operational efficiency. At high masts, mast deformation can cause interference between the attachment and the goods, posing a safety hazard.
[0003] The Chinese patent document CN216687363U discloses a three-way stacker for forklifts, which includes a mounting cover with an assembly plate connected to its end face. Forklift arms are connected side-by-side on the assembly plate. Both outer walls of the mounting cover have through-holes for turning. The mounting cover contains a turning adjustment mechanism, which includes a concave seat on the back of the assembly plate. A connecting shaft passes through the concave seat, and the two ends of the connecting shaft are connected to the top and bottom walls of the mounting cover, respectively. However, the Chinese patent CN216687363U only involves a simple structure and does not involve a control method for the three-way attachments. Summary of the Invention
[0004] This invention solves the safety hazard caused by existing three-way attachments relying on physical devices for lateral movement limiting. It also addresses the safety concerns of existing attachments having small lateral movement ranges and narrow gaps between the attachment and cargo, which can easily interfere with cargo due to mast deformation in high mast applications. The invention proposes an intelligent adjustment and control method and system for three-way attachments. By incorporating rotation angle sensors, lateral movement angle sensors, and limit switches, and using a controller, the position of the attachment is precisely controlled, ensuring both operational comfort and safety.
[0005] To achieve the above objectives, the present invention adopts the following technical solution: a three-way attachment intelligent adjustment and control method, comprising the following steps:
[0006] S1, power-on self-test, determine the voltage range corresponding to the attachment rotating to the bottom according to the rotation angle sensor, and determine the rotation direction of the attachment and whether it has rotated to the bottom;
[0007] S2, based on the rotation state of the attachment and the voltage value of the thumb switch, determine whether the attachment is moved out or in, and then perform operation control;
[0008] S3, during rotation and lateral movement, reduces the rotation speed or lateral movement speed to the minimum based on the voltage values corresponding to the rotation angle sensor and the lateral movement angle sensor.
[0009] In this invention, a power-on self-test is first performed to ensure that the attachment is in a safe position during lateral movement, preventing accidents caused by driver negligence and improving safety. The voltage range of the rotation angle sensor and the voltage range corresponding to the attachment reaching its full rotation point are determined. The rotation direction and whether the attachment has reached its full rotation point are determined based on the real-time voltage values collected by the rotation angle sensor. Subsequently, the voltage range of the thumb switch, combined with the attachment's rotation state, determines whether the attachment is moving in or out. Finally, during both rotation and lateral movement, a proportional buffer principle is used to reduce the rotation or lateral movement speed, further improving operational comfort and safety.
[0010] Preferably, step S1 includes the following steps:
[0011] S11. Determine the voltage change range of the rotation angle sensor based on the rotation angle of the attachment and the number of rotations of the rotation angle detection mechanism set on the attachment.
[0012] S12, after physically calibrating the rotation angle sensor, set the voltage range for right rotation to the bottom and the voltage range for left rotation to the bottom.
[0013] S13. Based on the voltage range of right rotation to the bottom and the voltage range of left rotation to the bottom, determine whether the attachment has been rotated to the bottom. If it has not been rotated to the bottom, perform manual operation according to the instrument prompts.
[0014] In this invention, the state of the attachment is determined by whether the voltage value collected in real time falls within the voltage range. Then, the attachment is checked to see if it has moved to the side to the bottom by checking whether the proximity switch is triggered. If the switch is triggered, the verification is correct. If the switch is not triggered, manual adjustment is required. If the collected voltage value does not fall within the voltage range, manual adjustment is required.
[0015] Preferably, step S2 includes the following steps:
[0016] S21, determine the direction of attachment lateral movement based on the position of the thumb switch and the voltage range;
[0017] S22, Based on the direction of the attachment's lateral movement and in conjunction with the attachment's rotation direction, determine whether the attachment is moving out or moving in;
[0018] S23, when the attachment moves out, the deceleration and stopping are controlled by the side displacement angle sensor; when the attachment moves in, the deceleration is controlled by the side displacement angle sensor, and the stopping is controlled by the proximity switch.
[0019] In this invention, the thumb switch is normally in the middle position, allowing for forward and backward operation. In the middle position, its voltage value is also at the middle value. Forward operation corresponds to leftward movement, and backward operation corresponds to rightward movement. The movement of the attachment—whether it's moving out or in—is determined by whether it's moving left or right and its rotational state. When moving out, a lateral angle sensor is used for deceleration and limit control, allowing the attachment to exceed the total width of the three-way attachment, increasing its lateral movement. When moving in, a proximity switch provides limit control, ensuring the attachment doesn't exceed the total width of the three-way attachment, thus maintaining the gap between the attachment and the shelf and improving safety.
[0020] Preferably, step S3 includes the following steps:
[0021] S31, During the rotation of the attachment, when the voltage value of the rotation angle sensor exceeds the set threshold range, the rotation speed is reduced proportionally.
[0022] S32, during the lateral movement of the attachment, when the voltage value of the lateral movement angle sensor exceeds the set threshold range, the lateral movement speed is reduced proportionally.
[0023] In this invention, during the rotation or lateral movement of the attachment, speed buffering is performed according to actual needs to reduce the rotation or lateral movement speed, thereby improving the comfort and safety of attachment operation.
[0024] Preferably, the voltage variation range of the rotation angle sensor is k1, k2, the voltage range when rotating to the right to the bottom is k1, k1+a, and the voltage range when rotating to the left to the bottom is k2-a, k2.
[0025] In this invention, k1 needs to be greater than or equal to 0, k2 needs to be greater than k1, and the value of a can be adjusted according to actual needs.
[0026] As a preferred method, it is determined whether the voltage range of the rotation angle sensor is within k1, k1+a. If so, it is determined that the rotation is complete to the right. If not, it is not complete and manual adjustment is required.
[0027] In this invention, the method for determining whether the left rotation is complete is similar to that for determining whether the right rotation is complete. If the voltage range of the rotation angle sensor falls within the range of k2-a, k2, then it is determined that the attachment has rotated to the left.
[0028] Preferably, step S22 specifically includes:
[0029] When the attachment is determined to have rotated to the right to the end, if the attachment moves to the left, the attachment is moved forward; if the attachment moves to the right, the attachment is moved out.
[0030] When the attachment is determined to have rotated to the left to the end, if the attachment moves to the left, the attachment moves out; if the attachment moves to the right, the attachment moves in.
[0031] In this invention, "moving out" means pushing the goods out horizontally, and "moving in" means pushing the goods in horizontally. The movement of the attachment is related to the rotational position of the attachment. Therefore, the attachment is moved out or in based on the rotational direction of the attachment and the specific lateral movement direction of the attachment.
[0032] A three-way attachment intelligent adjustment control system, applicable to the above-mentioned three-way attachment intelligent adjustment control method, includes a rotation detection mechanism and a lateral movement detection mechanism installed on the attachment. The attachment is connected to a lateral movement fixing frame, and a proximity switch is installed on the lateral movement fixing frame. The rotation detection mechanism, the lateral movement detection mechanism, and the proximity switch are all connected to a controller, which performs precise control of the attachment.
[0033] In this invention, the rotation detection mechanism can determine the rotation direction of the attachment and whether it has rotated to the end, the lateral movement detection mechanism can determine whether the attachment is moving out or moving in, and the proximity switch can precisely control the movement of the attachment. After the proximity switch is detected, the motor stops and the power is cut off. The aforementioned rotation detection mechanism, lateral movement detection mechanism and proximity switch can all be implemented with a controller to achieve their respective control functions.
[0034] Preferably, the rotation detection mechanism includes a first detection plate and a rotation angle sensor, a transition member is provided between the first detection plate and the rotation angle sensor, a transition plate is provided between the first detection plate and the transition member, a first rubber plug is provided on the transition plate, the rotation angle sensor is provided on a first fixed plate, and the first fixed plate is connected to an attachment.
[0035] In this invention, the rotation direction of the attachment and whether it has rotated to the bottom are determined based on the specific voltage value of the rotation angle sensor in the rotation detection mechanism.
[0036] Preferably, the lateral displacement detection mechanism includes a second detection plate and a lateral displacement angle sensor, a detection transition piece is provided between the second detection plate and the lateral displacement angle sensor, a second rubber plug is provided between the second detection plate and the detection transition piece, the lateral displacement angle sensor is mounted on a second fixed plate, and the second fixed plate is connected to an attachment.
[0037] In this invention, the lateral displacement angle sensor of the lateral displacement detection mechanism is used to control whether the attachment moves out or not.
[0038] The present invention has the following beneficial effects:
[0039] The present invention relates to a three-way attachment intelligent adjustment and control method and system, which uses a rotation angle sensor, a lateral displacement angle sensor and a limit switch, and a controller to precisely control the position of the attachment, while ensuring the operation comfort and safety of the attachment. Attached Figure Description
[0040] Figure 1 This is a schematic diagram of the three-way attachment structure involved in the intelligent adjustment and control system for three-way attachments of the present invention;
[0041] Figure 2 This is a schematic diagram of the lateral displacement detection mechanism involved in the intelligent adjustment and control system for a three-way attachment of the present invention;
[0042] Figure 3 This is a schematic diagram of the rotating detection mechanism structure involved in the intelligent adjustment and control system for a three-way attachment of the present invention;
[0043] Figure 4 This is a schematic diagram of the proximity switch structure involved in the intelligent adjustment and control system for a three-way attachment of the present invention;
[0044] Figure 5 This is a flowchart of the power-on detection process of a specific embodiment of the intelligent adjustment and control method for three-way attachments of the present invention;
[0045] Figure 6 This is an operation control flowchart of a specific embodiment of the intelligent adjustment and control method for three-way attachments of the present invention;
[0046] Figure 7 This is a schematic diagram of the rotation detection mechanism from another perspective, which is part of the intelligent adjustment and control system for a three-way attachment of the present invention.
[0047] Among them, 1. Rotation detection mechanism, 2. Lateral displacement detection mechanism, 3. Lateral displacement fixing frame, 4. Proximity switch, and 5. Roller.
[0048] 1-1, First detection plate; 1-2, Transition piece; 1-3, Rotation angle sensor; 1-4, First fixing plate; 1-5, Transition plate; 1-6, First rubber plug
[0049] 2-1, Second detection plate; 2-2, Detection transition piece; 2-3, Lateral displacement angle sensor; 2-4, Second fixing plate; 2-5, Second rubber plug.
[0050] 4-1. First proximity switch; 4-2. Second proximity switch. Detailed Implementation
[0051] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only one preferred embodiment of this invention and are only used to explain this invention. They do not limit the scope of protection of this invention. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.
[0052] Example 1:
[0053] This embodiment proposes a three-directional attachment intelligent adjustment and control system. For details, please refer to... Figures 1 to 4 It includes the following components.
[0054] refer to Figure 1 This is a schematic diagram of a three-way attachment structure. The three-way attachment of the present invention mainly includes an attachment capable of lateral movement and rotation, and a lateral movement fixing frame 3. The attachment of the present invention can move laterally and rotate on the lateral movement fixing frame 3. A rotation detection mechanism 1 and a lateral movement detection mechanism 2 are respectively provided on the attachment. A proximity switch 4 is provided on the lateral movement fixing frame 3. At the same time, the rotation detection mechanism 1, the lateral movement detection mechanism 2, and the proximity switch 4 are all connected to a controller (not shown in the figure). The controller can precisely control the attachment. The position of the controller is not limited here. More specifically, the proximity switch 4 includes a first proximity switch 4-1 and a second proximity switch 4-2. The first proximity switch 4-1 and the second proximity switch 4-2 are respectively set at both ends of the lateral movement fixing frame 3 to detect that the attachment will not exceed the total width of the three-way attachment when in the moving state.
[0055] For details, please refer to Figure 3 The rotation detection mechanism 1 includes a first detection plate 1-1 and a rotation angle sensor 1-3. A transition member 1-2 is provided between the first detection plate 1-1 and the rotation angle sensor 1-3. A transition plate 1-5 is provided between the first detection plate 1-1 and the transition member 1-2. A first rubber plug 1-6 is provided on the transition plate 1-5. The rotation angle sensor 1-3 is mounted on a first fixed plate 1-4, and the first fixed plate 1-4 is connected to the attachment. In this embodiment, the rotation direction of the attachment and whether it has rotated to the bottom are determined based on the specific voltage value of the rotation angle sensor 1-3 in the rotation detection mechanism 1; see reference. Figure 7 Several holes are provided on the cross-section of the transition plate 1-5 to facilitate mechanical alignment and reduce the impact of assembly errors on mechanical alignment. A first rubber plug 1-6 is provided on the transition plate 1-5 to eliminate the impact of gaps on accuracy and also to act as a buffer, preventing mechanical damage to electrical components.
[0056] For more specific details, please refer to Figure 2The lateral displacement detection mechanism 2 includes a second detection plate 2-1 and a lateral displacement angle sensor 2-3. A detection transition piece 2-2 is provided between the second detection plate 2-1 and the lateral displacement angle sensor 2-3. A second rubber plug 2-5 is provided between the second detection plate 2-1 and the detection transition piece 2-2. The lateral displacement angle sensor 2-3 is mounted on a second fixed plate 2-4, which is connected to the attachment. In this embodiment, the lateral displacement angle sensor 2-3 of the lateral displacement detection mechanism 2 controls whether the attachment moves out. The second rubber plug 2-5 can eliminate the influence of gaps on accuracy and also plays a buffering role, avoiding the problem of mechanical damage to electrical components.
[0057] In this embodiment, the rotation detection mechanism 1 can determine the rotation direction of the attachment and whether it has rotated to the end, the lateral movement detection mechanism 2 can determine whether the attachment is moving out or moving in, and the proximity switch 4 can precisely control the movement of the attachment. After the proximity switch is detected, the motor stops and the power is cut off. The rotation detection mechanism 1, the lateral movement detection mechanism 2 and the proximity switch 4 can all be implemented with the controller to achieve the corresponding control functions.
[0058] This embodiment also proposes a three-way attachment intelligent adjustment and control method. Using the above-mentioned three-way attachment intelligent adjustment and control system, it mainly includes the following steps.
[0059] Step S1: Power-on self-test. Determine the voltage range corresponding to the attachment being fully rotated based on the rotation angle sensor, and determine the rotation direction of the attachment and whether it has been fully rotated. Specifically, this step mainly includes the following sub-steps.
[0060] Step S11: Determine the voltage change range of the rotation angle sensor based on the rotation angle of the attachment and the number of rotations of the rotation angle detection mechanism installed on the attachment; for example... Figure 1 As shown, the attachment is located at the rightmost end of the side-shifting fixing frame, which is in the state of being rotated to the right to the bottom. Both the state of being rotated to the right to the bottom and the state of being rotated to the left to the bottom (which are symmetrical to the state of being rotated to the bottom) are safe positions.
[0061] In this embodiment, if the attachment rotates 180 degrees, the rotation detection mechanism rotates one revolution. The voltage change range of the rotation angle sensor on it is 0-5V.
[0062] Step S12: After physically calibrating the rotation angle sensor, set the voltage range for right rotation to the bottom and the voltage range for left rotation to the bottom; more specifically, the voltage change range of the rotation angle sensor is (k1, k2), the voltage range for right rotation to the bottom is (k1, k1+a), and the voltage range for left rotation to the bottom is (k2-a, k2).
[0063] In this embodiment, k1 is 0, k2 is 5, and a is 0.5, meaning the voltage range when rotating right to the bottom is (0, 0.5), and the voltage range when rotating left to the bottom is (4.5, 5). Figure 1 and Figure 2 In this case, the position of the attachment satisfies the voltage range of (0, 0.5). In addition, it can be adjusted and changed to 'a' according to actual needs.
[0064] Step S13: Determine whether the attachment has rotated to the bottom based on the voltage range for right rotation to the bottom and the voltage range for left rotation to the bottom. If it has not rotated to the bottom, perform manual operation according to the instrument prompts. Specifically, determine whether the attachment is rotating to the bottom right or left based on the voltage range in step S12 and the real-time voltage value. In addition, if no voltage value is detected in real time, an alarm operation will be performed and a fault code will be displayed on the corresponding instrument. Perform corresponding fault handling based on the fault code.
[0065] Specifically, the system determines whether the attachment is fully rotated to the right or left by checking whether the voltage value collected in real time falls within the voltage range. Then, it verifies whether the attachment has moved to the side by checking whether the proximity switch is triggered. If the switch is triggered, the verification is correct; if the switch is not triggered, manual adjustment is required. If the collected voltage value does not fall within the voltage range, manual adjustment is required.
[0066] Determine if the voltage range of the rotation angle sensor is within (k1, k1+a). If yes, it indicates the rotation is complete to the right; otherwise, it indicates the rotation is not complete and manual adjustment is required. Specifically, the method for determining complete left rotation is similar to that for complete right rotation. If the voltage range of the rotation angle sensor falls within the range of k2-a, then the attachment is determined to be completely rotated to the left.
[0067] In this embodiment, reference Figure 5 One implementation method is provided whereby, after power-on, the voltage value of the collected rotation angle sensor is used for classification and judgment. If the voltage value is between 0 and 0.5V, the system prompts the user to rotate the attachment fully to the right until the voltage is between 0 and 0.1V, then the prompt is canceled. If the voltage value is between 4.5V and 5V, the system prompts the user to rotate the attachment fully to the left until the voltage is between 4.9V and 5V, then the prompt is canceled. To further clarify the precise range of the voltage value, if the voltage value is between 0 and 0.05V, a verification is performed. If the proximity switch is triggered, the self-test process is completed, and the verification is successful. If the proximity switch is not triggered, manual lateral adjustment is performed according to the corresponding prompt. The judgment of the voltage value between 4.5V and 5V is similar to the judgment of the voltage value between 0 and 0.5V, and will not be repeated here.
[0068] Step S2: Based on the rotation state of the attachment and the voltage value of the thumb switch, determine whether the attachment is moving out or moving in, and then perform operation control; this step mainly includes the following sub-steps.
[0069] Step S21: Determine the direction of attachment lateral movement based on the position of the thumb switch and the voltage range. Specifically, the thumb switch is normally in the middle position and can be operated forward and backward. When in the middle position, the voltage value is also the middle value. In this embodiment, the voltage range when operating forward is 0 to 2.5V, and the voltage range when operating backward is 2.5 to 5V. Operating forward is moving to the left, and operating to the right and backward is moving to the right.
[0070] Step S22: Based on the direction of the attachment's lateral movement and in conjunction with the attachment's rotation direction, determine whether the attachment is moving out or moving in; specifically, this includes the following steps.
[0071] If the attachment has been rotated to the right to its maximum extent, and the attachment moves to the left, then the attachment has moved forward. This state corresponds to... Figure 1 If the attachment moves to the right, then the attachment moves out.
[0072] When the attachment is determined to have rotated to the left to the end, if the attachment moves to the left, the attachment moves out; if the attachment moves to the right, the attachment moves in.
[0073] In this embodiment, "moving out" means pushing the goods out horizontally, and "moving in" means pushing the goods in horizontally. The direction of moving out and moving in is related to the rotation position of the attachment. Therefore, the direction of the attachment's rotation and the specific lateral movement direction of the attachment are used to determine whether the attachment is moved out or moved in.
[0074] Step S23: When the attachment moves out, it is stopped by the lateral displacement angle sensor; when the attachment moves in, it is decelerated by the lateral displacement angle sensor and stopped by the proximity switch. In this embodiment, when moving out, if the voltage value detected by the lateral displacement angle sensor is less than a preset value, the lateral movement stops. This preset value can be adjusted according to actual needs. When moving in, it is detected whether the proximity switch is triggered. If it is triggered, the attachment stops moving; if it is not triggered, it continues to move. For the specific judgment process of this embodiment, please refer to... Figure 6 .
[0075] Step S3: During the rotation and lateral movement, the rotation speed or lateral movement speed is reduced to the minimum based on the voltage values corresponding to the rotation angle sensor and the lateral movement angle sensor; specifically, this step includes the following sub-steps.
[0076] Step S31: During the rotation of the attachment, when the voltage value of the rotation angle sensor exceeds the set threshold range, the rotation speed is reduced proportionally. Specifically, when turning left, if the detected voltage value is greater than the set threshold, the speed is reduced; when turning right, if the detected voltage value is less than the set threshold, the speed is reduced.
[0077] Step S32: During the lateral movement of the attachment, when the voltage value of the lateral angle sensor exceeds the set threshold range, the lateral movement speed is reduced proportionally. Specifically, the speed reduction method for left and right movements is similar to the speed reduction method for the attachment rotation process described above, and will not be repeated here.
[0078] In this embodiment, a power-on self-test is first performed to ensure that the attachment is in a safe position during lateral movement, preventing accidents caused by driver negligence and improving safety. The voltage range of the rotation angle sensor and the voltage range corresponding to the attachment reaching its full rotation point are then determined. The rotation direction and whether the attachment has reached its full rotation point are determined based on the real-time voltage values collected by the rotation angle sensor. Subsequently, the voltage range of the thumb switch, combined with the attachment's rotation status, determines whether the attachment is moving in or out. Finally, during both rotation and lateral movement, a proportional buffer principle can be used to reduce the rotation or lateral movement speed, further improving operational comfort and safety.
[0079] Example 2
[0080] Based on Example 1, the main roller of the attachment is replaced with a smaller frame-width roller 5. For details, please refer to [link / reference needed]. Figure 1 At the same time, the distance between the rollers is reduced to ensure that roller 5 will not move off the guide rail when the attachment moves to the outermost position, thus ensuring safety under force.
Claims
1. A three-way attachment intelligent adjustment and control method, characterized by comprising the following steps: S1, power-on self-test, determine the voltage range corresponding to the attachment rotating to the bottom according to the rotation angle sensor, and determine the rotation direction of the attachment and whether it has rotated to the bottom; The voltage variation range of the rotation angle sensor is determined based on the rotation angle of the attachment and the number of rotations of the rotation angle detection mechanism installed on the attachment. After physically calibrating the rotation angle sensor, set the voltage range for right rotation to the bottom and the voltage range for left rotation to the bottom. Determine whether the attachment has been rotated to the bottom based on the voltage range for right rotation to the bottom and left rotation to the bottom. If not, perform manual operation according to the instrument prompts. S2, based on the rotation state of the attachment and the voltage value of the thumb switch, determine whether the attachment is moved out or in, and then perform operation control; S3, during rotation and lateral movement, reduces the rotation speed or lateral movement speed to the minimum based on the voltage values corresponding to the rotation angle sensor and the lateral movement angle sensor.
2. The intelligent adjustment and control method for a three-way attachment according to claim 1, characterized in that, Step S2 includes the following steps: S21, determine the direction of attachment lateral movement based on the position of the thumb switch and the voltage range; S22, Based on the direction of the attachment's lateral movement and in conjunction with the attachment's rotation direction, determine whether the attachment is moving out or moving in; S23, when the attachment moves out, the deceleration and stopping are controlled by the side displacement angle sensor; when the attachment moves in, the deceleration is controlled by the side displacement angle sensor, and the stopping is controlled by the proximity switch.
3. The intelligent adjustment and control method for a three-way attachment according to claim 1, characterized in that, Step S3 includes the following steps: S31, During the rotation of the attachment, when the voltage value of the rotation angle sensor exceeds the set threshold range, the rotation speed is reduced proportionally. S32, during the lateral movement of the attachment, when the voltage value of the lateral movement angle sensor exceeds the set threshold range, the lateral movement speed is reduced proportionally.
4. The intelligent adjustment and control method for a three-way attachment according to claim 1, characterized in that, The voltage variation range of the rotation angle sensor is (k1, k2), the voltage range when rotating to the right to the bottom is (k1, k1+a), and the voltage range when rotating to the left to the bottom is (k2-a, k2).
5. The intelligent adjustment and control method for a three-way attachment according to claim 4, characterized in that, Determine if the voltage range of the rotation angle sensor is within (k1, k1+a). If it is, then it is determined that the rotation is complete to the right. If not, then it is not complete and manual adjustment is required.
6. The intelligent adjustment and control method for a three-way attachment according to claim 2, characterized in that, Step S22 specifically includes: When the attachment is determined to have rotated to the right to the end, if the attachment moves to the left, the attachment is moved forward; if the attachment moves to the right, the attachment is moved out. When the attachment is determined to have rotated to the left to the end, if the attachment moves to the left, the attachment moves out; if the attachment moves to the right, the attachment moves in.
7. A three-way attachment intelligent adjustment and control system, applicable to the three-way attachment intelligent adjustment and control method according to any one of claims 1-6, characterized in that, It includes a rotation detection mechanism (1) and a lateral displacement detection mechanism (2) installed on the attachment. The attachment is connected to a lateral displacement fixing frame (3). A proximity switch (4) is installed on the lateral displacement fixing frame (3). The rotation detection mechanism (1), the lateral displacement detection mechanism (2) and the proximity switch (4) are all connected to a controller. The controller performs precise control on the attachment.
8. The intelligent adjustment and control system for a three-way attachment according to claim 7, characterized in that, The rotation detection mechanism (1) includes a first detection plate (1-1) and a rotation angle sensor (1-3). A transition piece (1-2) is provided between the first detection plate (1-1) and the rotation angle sensor (1-3). A transition plate (1-5) is provided between the first detection plate (1-1) and the transition piece (1-2). A first rubber plug (1-6) is provided on the transition plate (1-5). The rotation angle sensor (1-3) is provided on a first fixed plate (1-4). The first fixed plate (1-4) is connected to an attachment.
9. A three-way attachment intelligent adjustment and control system according to claim 7 or 8, characterized in that, The lateral displacement detection mechanism (2) includes a second detection plate (2-1) and a lateral displacement angle sensor (2-3). A detection transition piece (2-2) is provided between the second detection plate (2-1) and the lateral displacement angle sensor (2-3). A second rubber plug (2-5) is provided between the second detection plate (2-1) and the detection transition piece (2-2). The lateral displacement angle sensor (2-3) is mounted on a second fixed plate (2-4). The second fixed plate (2-4) is connected to an attachment.