Fork neutral position switch triggering safety torque disconnection circuit

Abstract

The invention provides a fork neutral position switch triggering safety torque disconnection circuit. The fork neutral position switch triggering safety torque disconnection circuit comprises a signal interlocking circuit and a triggering safety torque disconnection circuit. The signal interlocking circuit is used for receiving an upper computer task signal T1, a standby signal T2, a lifting enable signal E1 and a walking enable signal E2 which are sent by the controller, and generating a neutral position protection signal P1 and a pallet fork enable signal E3; a meso-position protection signal P1 is sent to a trigger safety torque disconnection circuit, and a fork enable signal E3 is sent to a controller; the safety torque disconnection triggering circuit is used for monitoring fork neutral position switch signals and receiving neutral position protection signals P1, and the fork neutral position switch signals are two paths of OSSD signals; and when the median protection signal P1 is at a high level, and any one of the two paths of OSSD signals is at a low level or both the two paths of OSSD signals are at a low level, the safety torque disconnection circuit is triggered to output a high-level safety torque disconnection signal STO. According to the invention, the operation reliability of the stacking machine is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of stackers, and in particular to a fork neutral position switch triggering safety torque disconnection circuit. Background Art

[0002] The stacker fork neutral switch signal is crucial to the safe operation of the stacker. If the fork is not in the neutral position (i.e. the fork has not returned to the middle position) when the stacker is performing lifting and walking actions, it is easy to cause a collision between the fork and the shelf, causing damage to the fork, the loading platform, and the shelf, and then causing the goods to fall; or even cause serious production safety accidents. When the fork arm of the fork is completely retracted to the middle position, it is called the fork in the neutral position. Therefore, monitoring the fork neutral switch signal has a strong practical significance for automated warehouses. Summary of the invention

[0003] In order to solve at least one technical problem in the prior art, an embodiment of the present invention provides a fork neutral switch triggering safety torque disconnection circuit, which can monitor the fork neutral switch signal to generate a safety torque disconnection signal when an abnormal situation occurs, thereby improving the reliability of the stacker operation. In order to achieve the above technical objectives, the technical solution adopted by the embodiment of the present invention is: The embodiment of the present invention provides a fork neutral switch triggering safety torque disconnection circuit, including a signal interlock circuit and a triggering safety torque disconnection circuit; The signal interlock circuit is used to receive the upper computer task signal T1, standby signal T2, lifting enable signal E1 and walking enable signal E2 sent by the controller, and generate a neutral protection signal P1 and a fork enable signal E3; the neutral protection signal P1 is sent to the trigger safety torque disconnection circuit, and the fork enable signal E3 is sent to the controller; The triggering safety torque disconnect circuit is used to monitor the fork neutral switch signal and receive the neutral protection signal P1, and the fork neutral switch signal is a two-way OSSD signal; when the neutral protection signal P1 is high, and any one of the two OSSD signals is low or both OSSD signals are low, the triggering safety torque disconnect circuit outputs a high-level safety torque disconnect signal STO.

[0004] Specifically, when the host computer task signal T1 is at a low level and the standby signal T2 is at a high level, the mid-position protection signal P1 is at a low level and the fork enable signal E3 is at a low level; When the host computer task signal T1 is at a high level and the standby signal T2 is at a low level, when any one of the lifting enable signal E1 and the travel enable signal E2 is at a high level or both are at a high level, the neutral protection signal P1 is at a high level and the fork enable signal E3 is at a low level; When the host computer task signal T1 is at a high level, the standby signal T2 is at a low level, and the lifting enable signal E1 and the travel enable signal E2 are both at a low level, the neutral protection signal P1 is at a low level, and the fork enable signal E3 is at a high level.

[0005] Specifically, the signal interlock circuit includes: an OR gate U1, an XOR gate U2, an XOR gate U3, a NOR gate U4, an AND gate U5, an AND gate U6, an AND gate U7 and an AND gate U8; The two input ends of the OR gate U1 are respectively connected to the lifting enable signal E1 and the walking enable signal E2, and the output end of the OR gate U1 is connected to an input end of the XOR gate U2, an input end of the XOR gate U3 and an input end of the AND gate U6; the other input end of the XOR gate U3 is connected to the host computer signal T2, the output end of the XOR gate U3 is connected to the other input end of the AND gate U6, and the output end of the AND gate U6 is used to generate the middle protection signal P1; the other input end of the XOR gate U2 is connected to the upper computer task signal T1 and an input end of the AND gate U5, the output end of the XOR gate U2 is connected to the other input end of the AND gate U5, and the output end of the AND gate U5 is connected to an input end of the AND gate U7; the two input ends of the NOR gate U4 are respectively connected to the lifting enable signal E1 and the walking enable signal E2, the output end of the NOR gate U4 is connected to the other input end of the AND gate U7 and an input end of the AND gate U8, the output end of the AND gate U7 is connected to the other input end of the AND gate U8, and the output end of the AND gate U8 is used to generate the fork enable signal E3.

[0006] Specifically, the trigger safety torque disconnect circuit includes: a neutral switch K1, a NAND gate U9, an AND gate U10, an OR gate U11, photoelectric couplers OC1, OC2, a relay K2, an NPN transistor Q1, resistors R1, R2, R3, R4; The fork neutral switch signal generated by the neutral switch K1 includes two OSSD signals; the two OSSD signals are respectively input to two input ends of the NAND gate U9, the output end of the NAND gate U9 is connected to one input end of the AND gate U10 and one input end of the OR gate U11; the other input end of the AND gate U10 is connected to the neutral protection signal P1 and one end of the resistor R2; the output end of the AND gate U10 is connected to the other input end of the OR gate U11; the output end of the OR gate U11 is connected to one end of the resistor R1, the other end of the resistor R1 is connected to the input side anode of the photocoupler OC1, and the input side cathode of the photocoupler OC1 is grounded; the other end of the resistor R2 is connected to the photocoupler OC1. 2 input side anode, photocoupler OC2 input side cathode is grounded; the output side collector of photocoupler OC1 is connected to one end of resistor R3, the other end of resistor R3 is connected to voltage VCC2 and one end of the coil of relay K2; the other end of the coil of relay K2 is connected to the collector of transistor Q1; the output side emitter of photocoupler OC1 is connected to the output side collector of photocoupler OC2, the output side emitter of photocoupler OC2 is connected to one end of resistor R4 and the base of transistor Q1, the other end of resistor R4 and the emitter of transistor Q1 are grounded; one end of the normally open contact of relay K2 is connected to voltage VCC1, and the other end is used to generate a safe torque off signal STO.

[0007] Specifically, the neutral switch K1 is an inductive proximity switch.

[0008] The beneficial effect brought about by the technical solution provided by the embodiment of the present invention is that the circuit proposed in the present invention can monitor the neutral switch signal of the fork when the stacker performs lifting and / or walking actions, so as to generate a safe torque disconnect signal when the neutral switch signal is abnormal, thereby triggering the inverter of each motor to perform the safe torque disconnect function, so that the stacker performs inertia parking; thereby improving the reliability of the stacker operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 4 is a schematic diagram of a signal interlocking circuit in an embodiment of the present invention.

[0010] Figure 2 4 is a schematic diagram of a triggering safe torque-off circuit in an embodiment of the present invention. DETAILED DESCRIPTION

[0011] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0012] In the description of the embodiments of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0013] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can also be the internal connection of two components, it can be a wireless connection, or it can be a wired connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0014] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0015] The embodiment of the present invention provides a fork neutral switch triggering safety torque disconnection circuit, including a signal interlocking circuit and a triggering safety torque disconnection circuit; The signal interlock circuit is used to receive the upper computer task signal T1, standby signal T2, lifting enable signal E1 and walking enable signal E2 sent by the controller, and generate a neutral protection signal P1 and a fork enable signal E3; the neutral protection signal P1 is sent to the trigger safety torque disconnection circuit, and the fork enable signal E3 is sent to the controller; Specifically, when the host computer task signal T1 is at a low level and the standby signal T2 is at a high level, the mid-position protection signal P1 is at a low level and the fork enable signal E3 is at a low level; When the host computer task signal T1 is at a high level and the standby signal T2 is at a low level, when any one of the lifting enable signal E1 and the travel enable signal E2 is at a high level or both are at a high level, the neutral protection signal P1 is at a high level and the fork enable signal E3 is at a low level; When the host computer task signal T1 is at a high level, the standby signal T2 is at a low level, and the lifting enable signal E1 and the travel enable signal E2 are both at a low level, the neutral protection signal P1 is at a low level, and the fork enable signal E3 is at a high level; The meaning of the above signals is that when the controller wants the stacker to perform lifting, walking, fork movement and other action tasks, it can safely control the fork; the controller controls the lifting motor through the lifting inverter, controls the walking motor through the walking inverter, and controls the fork motor through the fork inverter; when the host computer task signal T1 is low and the standby signal T2 is high, the stacker is in standby state, the mid-position protection signal P1 is low, which means that there is no need to monitor the fork mid-position switch signal at this time, and the fork enable signal E3 is low, which means that there is no need to control the fork movement at this time; when the host computer task signal T1 is high and the standby signal T2 is low, when any one of the lifting enable signal E1 and the walking enable signal E2 is high or both are high, it means that at this time When the stacker is performing lifting and / or walking actions, the fork cannot move and must be retracted to its position. Therefore, the high level of the mid-position protection signal P1 means that the fork mid-position switch signal needs to be monitored at this time, and the low level of the fork enable signal E3 means that the fork cannot perform the action at this time; when the upper computer task signal T1 is high, the standby signal T2 is low, and the lifting enable signal E1 and the walking enable signal E2 are both low, it means that the stacker is neither performing lifting nor walking actions at this time, the low level of the mid-position protection signal P1 means that the fork mid-position switch signal does not need to be monitored at this time, and the high level of the fork enable signal E3 means that the controller can control the fork motor through the fork inverter, thereby controlling the fork action; in this embodiment, the controller can adopt a PLC controller; The triggering safety torque disconnection circuit is used to monitor the fork neutral switch signal and receive the neutral protection signal P1, and the fork neutral switch signal is a two-way OSSD signal; when the neutral protection signal P1 is high, and any one of the two OSSD signals is low or both OSSD signals are low, the triggering safety torque disconnection circuit outputs a high-level safety torque disconnection signal STO; When the safe torque disconnect circuit is triggered to output a high-level safe torque disconnect signal STO, it means that when the stacker is performing lifting and / or walking actions, it detects that the fork has not returned to its position (that is, the fork is not in the middle position). At this time, the safe torque disconnect signal STO will be sent to the lifting inverter, walking inverter and fork inverter, triggering each inverter to execute the safe torque disconnect function so that the stacker can perform inertia parking; exist Figure 1 In one embodiment shown, the signal interlock circuit includes: an OR gate U1, an XOR gate U2, an XOR gate U3, a NOR gate U4, an AND gate U5, an AND gate U6, an AND gate U7 and an AND gate U8; The two input ends of the OR gate U1 are connected to the lifting enable signal E1 and the travel enable signal E2 respectively, and the output end of the OR gate U1 is connected to an input end of the XOR gate U2, an input end of the XOR gate U3 and an input end of the AND gate U6; the other input end of the XOR gate U3 receives the host computer signal T2, the output end of the XOR gate U3 is connected to the other input end of the AND gate U6, and the output end of the AND gate U6 is used to generate the middle protection signal P1; the other input end of the XOR gate U2 is connected to the upper computer task signal T1 and an input end of the AND gate U5, the output end of the XOR gate U2 is connected to the other input end of the AND gate U5, and the output end of the AND gate U5 is connected to an input end of the AND gate U7; the two input ends of the NOR gate U4 are connected to the lifting enable signal E1 and the travel enable signal E2 respectively, the output end of the NOR gate U4 is connected to the other input end of the AND gate U7 and an input end of the AND gate U8, the output end of the AND gate U7 is connected to the other input end of the AND gate U8, and the output end of the AND gate U8 is used to generate the fork enable signal E3; When the upper computer task signal T1 is low and the standby signal T2 is high, if the OR gate U1 outputs a high level (when at least one of E1 and E2 is high), the XOR gate U3 outputs a low level, and when any input end of the AND gate U6 is low, the middle protection signal P1 output by the AND gate U6 is low; if the OR gate U1 outputs a low level (when both E1 and E2 are low), the XOR gate U3 output end is high, but at this time, the input end of the AND gate U6 connected to the output end of the OR gate U1 is low, so the middle protection signal P1 output by the AND gate U6 is still low; when the upper computer task signal T1 is low, the AND gate U5 outputs a low level, so that the AND gate U7 outputs a low level, and the fork enable signal E3 output by the AND gate U8 is low; in summary, the middle protection signal P1 is low, and the fork enable signal E3 is low; When the upper computer task signal T1 is at a high level and the standby signal T2 is at a low level, when any one of the lifting enable signal E1 and the walking enable signal E2 is at a high level or both are at a high level, the OR gate U1 outputs a high level, the XOR gate U3 outputs a high level, and the middle protection signal P1 output by the AND gate U6 is at a high level; the NOR gate U4 outputs a low level; the XOR gate U2 outputs a low level, so that the AND gate U5 outputs a low level, the AND gate U7 outputs a low level, and the fork enable signal E3 output by the AND gate U8 is at a low level; in summary, the middle protection signal P1 is at a high level, and the fork enable signal E3 is at a low level; When the host computer task signal T1 is high, the standby signal T2 is low, and the lifting enable signal E1 and the walking enable signal E2 are both low, the OR gate U1 outputs a low level, the XOR gate U3 outputs a low level, and the middle protection signal P1 output by the AND gate U6 is low; the XOR gate U2 outputs a high level, the AND gate U5 outputs a high level, the NOR gate U4 outputs a high level, and the AND gate U7 outputs a high level, and the fork enable signal E3 output by the AND gate U8 is high; in summary, the middle protection signal P1 is low, and the fork enable signal E3 is high; The above signal interlocking circuit can ensure that the logical relationship between the signals is accurate and there will be no confusion; exist Figure 2 In one embodiment shown, the trigger safety torque-off circuit includes: a neutral switch K1, a NAND gate U9, an AND gate U10, an OR gate U11, photocouplers OC1, OC2, a relay K2, an NPN transistor Q1, resistors R1, R2, R3, and R4; The fork neutral switch signal generated by the neutral switch K1 includes two OSSD signals, namely Figure 2 The two OSSD signals are input to the two input terminals of the NAND gate U9 respectively, and the output terminal of the NAND gate U9 is connected to one input terminal of the AND gate U10 and one input terminal of the OR gate U11; the other input terminal of the AND gate U10 is connected to the neutral protection signal P1 and one end of the resistor R2; the output terminal of the AND gate U10 is connected to the other input terminal of the OR gate U11; the output terminal of the OR gate U11 is connected to one end of the resistor R1, and the other end of the resistor R1 is connected to the input side anode of the photocoupler OC1, and the input side cathode of the photocoupler OC1 is grounded; the other end of the resistor R2 is connected to the input side anode of the photocoupler OC2, and the photocoupler OC1 is grounded. The cathode of the input side of the electric coupler OC2 is grounded; the collector of the output side of the photocoupler OC1 is connected to one end of the resistor R3, and the other end of the resistor R3 is connected to the voltage VCC2 and one end of the coil of the relay K2; the other end of the coil of the relay K2 is connected to the collector of the transistor Q1; the emitter of the output side of the photocoupler OC1 is connected to the collector of the output side of the photocoupler OC2, and the emitter of the output side of the photocoupler OC2 is connected to one end of the resistor R4 and the base of the transistor Q1, and the other end of the resistor R4 and the emitter of the transistor Q1 are grounded; one end of the normally open contact of the relay K2 is connected to the voltage VCC1, and the other end is used to generate a safe torque off signal STO; The OSSD (Output Switching Signal Device) signal is an output signal device signal, which is mainly used in safety systems. In this embodiment, the neutral switch K1 adopts an inductive proximity switch. When the fork is retracted into place, the two OSSD signals, namely OSSD1 and OSSD2, are both high level. When the neutral protection signal P1 is low level, it means that there is no need to monitor the fork neutral switch signal, the photocoupler OC2 is disconnected, and the transistor Q1 will not be turned on at this time, and the normally open contact of the relay K2 will not generate the safe torque disconnect signal STO. When the neutral protection signal P1 is high level, it means that the fork neutral switch signal needs to be monitored. If any one or both of the two OSSD signals, namely OSSD1 and OSSD2, are low level, the NAND gate U9 outputs a high level. , so that the AND gate U10 outputs a high level, or the OR gate U11 outputs a high level, so that the photoelectric coupler OC1 is turned on, and the mid-position protection signal P1 is high level, which makes the photoelectric coupler OC2 turned on. The output sides of the photoelectric couplers OC1 and OC2 are connected and turned on, so that the transistor Q1 is turned on, and the relay K2 is actuated, so that the normally open contact of the relay K2 is closed, and the normally open contact of the relay K2 generates a high-level safe torque disconnect signal STO; the high-level safe torque disconnect signal STO is sent to the lifting inverter, the walking inverter and the fork inverter, triggering each inverter to perform the safe torque disconnect function, so that the stacker performs inertia parking; in some embodiments, an interface circuit is set between the safe torque disconnect signal STO and each inverter.

[0016] Finally, it should be noted that the above specific implementation methods are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A fork neutral switch triggers a safety torque disconnect circuit, It is characterized in that Includes signal interlock circuit and trigger safe torque-off circuit; The signal interlock circuit is used to receive the upper computer task signal T1, standby signal T2, lifting enable signal E1 and walking enable signal E2 sent by the controller, and generate a neutral protection signal P1 and a fork enable signal E3; the neutral protection signal P1 is sent to the trigger safety torque disconnection circuit, and the fork enable signal E3 is sent to the controller; The triggering safety torque disconnect circuit is used to monitor the fork neutral switch signal and receive the neutral protection signal P1, and the fork neutral switch signal is a two-way OSSD signal; when the neutral protection signal P1 is high, and any one of the two OSSD signals is low or both OSSD signals are low, the triggering safety torque disconnect circuit outputs a high-level safety torque disconnect signal STO.

2. The fork neutral switch triggers the safety torque disconnect circuit as claimed in claim 1, It is characterized in that When the host computer task signal T1 is at a low level and the standby signal T2 is at a high level, the mid-position protection signal P1 is at a low level and the fork enable signal E3 is at a low level; When the host computer task signal T1 is at a high level and the standby signal T2 is at a low level, when any one of the lifting enable signal E1 and the travel enable signal E2 is at a high level or both are at a high level, the neutral protection signal P1 is at a high level and the fork enable signal E3 is at a low level; When the host computer task signal T1 is at a high level, the standby signal T2 is at a low level, and the lifting enable signal E1 and the travel enable signal E2 are both at a low level, the neutral protection signal P1 is at a low level, and the fork enable signal E3 is at a high level.

3. The fork neutral switch triggers the safety torque disconnect circuit as claimed in claim 2, It is characterized in that The signal interlock circuit includes: an OR gate U1, an XOR gate U2, an XOR gate U3, a NOR gate U4, an AND gate U5, an AND gate U6, an AND gate U7 and an AND gate U8; The two input ends of the OR gate U1 are respectively connected to the lifting enable signal E1 and the walking enable signal E2, and the output end of the OR gate U1 is connected to an input end of the XOR gate U2, an input end of the XOR gate U3 and an input end of the AND gate U6; the other input end of the XOR gate U3 is connected to the host computer signal T2, the output end of the XOR gate U3 is connected to the other input end of the AND gate U6, and the output end of the AND gate U6 is used to generate the middle protection signal P1; the other input end of the XOR gate U2 is connected to the upper computer task signal T1 and an input end of the AND gate U5, the output end of the XOR gate U2 is connected to the other input end of the AND gate U5, and the output end of the AND gate U5 is connected to an input end of the AND gate U7; the two input ends of the NOR gate U4 are respectively connected to the lifting enable signal E1 and the walking enable signal E2, the output end of the NOR gate U4 is connected to the other input end of the AND gate U7 and an input end of the AND gate U8, the output end of the AND gate U7 is connected to the other input end of the AND gate U8, and the output end of the AND gate U8 is used to generate the fork enable signal E3.

4. The fork neutral switch triggers the safety torque disconnect circuit according to any one of claims 1 to 3, It is characterized in that The trigger safety torque disconnection circuit includes: a neutral switch K1, a NAND gate U9, an AND gate U10, an OR gate U11, photoelectric couplers OC1, OC2, a relay K2, an NPN transistor Q1, resistors R1, R2, R3, R4; The fork neutral switch signal generated by the neutral switch K1 includes two OSSD signals; the two OSSD signals are respectively input to two input ends of the NAND gate U9, the output end of the NAND gate U9 is connected to one input end of the AND gate U10 and one input end of the OR gate U11; the other input end of the AND gate U10 is connected to the neutral protection signal P1 and one end of the resistor R2; the output end of the AND gate U10 is connected to the other input end of the OR gate U11; the output end of the OR gate U11 is connected to one end of the resistor R1, the other end of the resistor R1 is connected to the input side anode of the photocoupler OC1, and the input side cathode of the photocoupler OC1 is grounded; the other end of the resistor R2 is connected to the photocoupler OC1. 2 input side anode, photocoupler OC2 input side cathode is grounded; the output side collector of photocoupler OC1 is connected to one end of resistor R3, the other end of resistor R3 is connected to voltage VCC2 and one end of the coil of relay K2; the other end of the coil of relay K2 is connected to the collector of transistor Q1; the output side emitter of photocoupler OC1 is connected to the output side collector of photocoupler OC2, the output side emitter of photocoupler OC2 is connected to one end of resistor R4 and the base of transistor Q1, the other end of resistor R4 and the emitter of transistor Q1 are grounded; one end of the normally open contact of relay K2 is connected to voltage VCC1, and the other end is used to generate a safe torque off signal STO.

5. The fork neutral switch triggers the safety torque disconnect circuit as claimed in claim 4, It is characterized in that The middle position switch K1 is an inductive proximity switch.

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