Single proximity switch two-way buffer limiting system and control method

Abstract

The invention discloses a single-proximity-switch bidirectional buffer limiting system and a control method. A limiting enabling switch, a proximity switch, an A-direction motion detection module, a B-direction motion detection module, an A-direction motion speed regulation module, a B-direction motion speed regulation module and an electronic monitor are in signal connection with a controller; the limiting enabling switch is used for controlling the opening and closing of a limiting function; the proximity switch is used for transmitting the detection state of the proximity switch to the controller in the movement process; the A-direction motion detection module and the B-direction motion detection module are used for detecting the motion operation direction of equipment or parts; the controller further comprises a counter which is used for recording the position of the proximity switch and the movement limiting state of equipment or parts. The A-direction movement speed regulation module and the B-direction movement speed regulation module are used for movement buffering control and limiting control; the electronic monitor is used for operation and fault reminding. Two proximity switch detection points are respectively arranged in two directions, and high-speed motion buffering and high-speed accurate position limiting are realized by adopting an FSM control algorithm.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of electronic limiting, and particularly relates to a single-proximity-switch bidirectional buffer limiting system and a control method. BACKGROUND

[0002] In recent years, with the rapid development of industrial intelligence, the automation operation occasions are more and more complex, and the functional and safety limiting is more and more important. As a result, various electronic limiting functions such as encoders, gratings, angle sensors and proximity switches are used for limiting. However, the existing technologies have problems such as complex installation, high cost, small applicable range, large inertial impact, inaccurate position limiting and even over-limiting failure. SUMMARY

[0003] To solve at least one of the above technical problems, the application provides a single-proximity-switch bidirectional buffer limiting system and a control method.

[0004] Technical solution: To solve the above technical problems, the application adopts the technical solution that: In a first aspect, a single-proximity-switch bidirectional buffer limiting system is provided, which comprises a limiting enabling switch, a proximity switch, an A-direction motion detection module, a B-direction motion detection module, a controller, an A-direction motion speed regulation module, a B-direction motion speed regulation module and an electronic monitor. The limiting enabling switch, the proximity switch, the A-direction motion detection module, the B-direction motion detection module, the A-direction motion speed regulation module, the B-direction motion speed regulation module and the electronic monitor are respectively connected with the controller signal. The limiting enabling switch is used for controlling the opening and closing of the limiting function. The proximity switch is used for transmitting the proximity switch detection state to the controller during the motion process, wherein the proximity switch detection state comprises the rising edge and falling edge of the normally closed channel, and the high level and low level signals of the normally closed and normally open channels. The A-direction motion detection module and the B-direction motion detection module are used for detecting the motion operation direction of the equipment or component. The controller further comprises a counter for recording the proximity switch position and the equipment or component motion limiting state. The A-direction motion speed regulation module and the B-direction motion speed regulation module are used for motion buffer control and limiting control. The electronic monitor is used for operation and fault reminding.

[0005] In some embodiments, the proximity switch motion area is set as a normal speed motion area, an A-direction motion buffer area, an A-direction motion proximity switch second detection point, a B-direction motion buffer area and a B-direction motion proximity switch second detection point. Wherein, when the proximity switch is in the normal speed movement area, the device or component can move in the actual operation direction and speed; When the proximity switch is in the A-direction movement buffer area, and the A-direction movement speed of the device or component is greater than the A-direction movement speed setting value of the speed regulating module, the speed of the device or component is ramped down to the A-direction movement speed setting value of the speed regulating module; When the proximity switch is in the A-direction movement proximity switch second detection point, the A-direction movement of the device or component is limited and stopped; When the proximity switch is in the B-direction movement buffer area, and the B-direction movement speed of the device or component is greater than the B-direction movement speed setting value of the speed regulating module, the speed of the device or component is ramped down to the B-direction movement speed setting value of the speed regulating module; When the proximity switch is in the B-direction movement proximity switch second detection point, the B-direction movement of the device or component is limited and stopped.

[0006] Further, in some embodiments, the A-direction movement buffer area includes the A-direction movement proximity switch first detection point and the A-direction movement non-proximity switch detection point buffer area connected thereto, wherein the A-direction movement proximity switch first detection point is close to the normal speed movement area, and the A-direction movement non-proximity switch detection point buffer area is close to the A-direction movement proximity switch second detection point; The B-direction movement buffer area includes the B-direction movement proximity switch first detection point and the B-direction movement non-proximity switch detection point buffer area, wherein the B-direction movement proximity switch first detection point is close to the normal speed movement area, and the B-direction movement non-proximity switch detection point buffer area is close to the B-direction movement proximity switch second detection point.

[0007] Further, in some embodiments, the device or component movement process includes 12 limited state transformations, and the state transformation conditions include A-direction movement, B-direction movement, rising edge and falling edge of the proximity switch normally closed channel; The value C of the counter is used to record the position of the proximity switch and the movement limit state of the device or component, wherein when C=0, the proximity switch is in the normal speed movement area, and the device or component can move in the actual operation direction and speed; when C=1, the proximity switch is in the A-direction movement buffer area, and the A-direction movement of the device or component is buffered; when C=2, the proximity switch is in the A-direction movement proximity switch second detection point, and the A-direction movement of the device or component is limited and stopped; when C=-1, the proximity switch is in the B-direction movement buffer area, and the B-direction movement of the device or component is buffered; and when C=-2, the proximity switch is in the B-direction movement proximity switch second detection point, and the B-direction movement of the device or component is limited and stopped.

[0008] In some embodiments, the proximity switch is selected to be a 4-wire normally closed and normally open dual-channel PNP type, the normally closed channel is used for state transformation conditions, and the normally open channel is used for auxiliary fault diagnosis.

[0009] In some embodiments, the A-direction motion detection module, the B-direction motion detection module, the A-direction motion speed regulation module, and the B-direction motion speed regulation module are selected from at least one of a pilot pressure switch, a pilot pressure sensor, an electric control handle, a gear and throttle module, a steering and PWM control module.

[0010] In some embodiments, the A-direction motion detection module, the B-direction motion detection module, the A-direction motion speed regulation module, and the B-direction motion speed regulation module are selected from at least one of a pilot pressure switch, a pilot pressure sensor, an electric control handle, a gear and throttle module, a steering and PWM control module.

[0011] In a second aspect, a control method of a single-proximity-switch bidirectional buffering limiting system is provided, based on the single-proximity-switch bidirectional buffering limiting system, the method comprising: S1: determining whether the system power-up is greater than a set time length, if yes, proceeding to step S2; otherwise, proceeding to step S3; S2: determining whether the limiting enabling switch is a rising edge, if yes, proceeding to step S14; otherwise, proceeding to step S3; S3: determining whether the limiting enabling switch is opened, if yes, proceeding to step S4; otherwise, the relevant reminder on the electronic monitor disappears, and the process ends; S4: determining whether the high and low level signals of the proximity switch normally closed and normally open channels are different, if yes, the relevant reminder on the electronic monitor disappears, and proceeding to step S5; otherwise, the electronic monitor prompts: “proximity switch detection loop failure, please repair”, and the A and B-direction motion is regulated to the set value of the speed regulation module, and the process returns to step S1; S5: determining whether the counter value C is not less than 0, if yes, proceeding to step S6; otherwise, proceeding to step S10; S6: determining whether the device or component A-direction motion is operated, if yes, proceeding to step S7; otherwise, proceeding to step S8; S7: determining whether the proximity switch normally closed channel is a falling edge, if yes, the counter value C is increased by 1, and proceeding to step S16; otherwise, directly proceeding to step S16; S8: determining whether the device or component B-direction motion is operated, if yes, proceeding to step S9; otherwise, proceeding to step S16; S9: determining whether the proximity switch normally closed channel is a rising edge, if yes, the counter value C is decreased by 1, and proceeding to step S16; otherwise, directly proceeding to step S16; S10: determining whether the device or component B-direction motion is operated, if yes, proceeding to step S11; otherwise, proceeding to step 12; S11: determining whether the proximity switch normally closed channel is a falling edge, if yes, the counter value C is decreased by 1, and proceeding to step S16; otherwise, directly proceeding to step S16; S12: determining whether the device or component A-direction motion is operated, if yes, proceeding to step S13; otherwise, proceeding to step S16; S13: judging whether the normally closed channel of the proximity switch is a rising edge, if yes, the counter value C is added by 1, and the step S16 is turned to; otherwise, the step S16 is directly turned to; S14: the electronic monitor prompts: "please move the proximity switch to the area, reset the limit system", judging whether the system is reset successfully, if yes, the counter value C is set to 0, the related prompt on the electronic monitor disappears, and the step S3 is returned to; otherwise, the step S15 is turned to; S15: judging whether the limit enable switch is a falling edge, if yes, the step S1 is returned to; otherwise, the step S14 is returned to; S16: judging whether the counter C = 1 and the operating device or component A moves, if yes, the step S17 is turned to; otherwise, the step S18 is turned to; S17: judging whether the actual speed of the device or component A moving is greater than the A moving speed setting value of the speed setting module, if yes, the output speed of the device or component A moving is adjusted to the A moving speed setting value of the speed setting module, and the step S1 is returned to; otherwise, the device or component moves according to the actual operating speed, and the step S1 is returned to; S18: judging whether the counter C = 2 and the operating device or component A moves, if yes, the device or component A moving is stopped, and the step S1 is returned to; otherwise, the step S19 is turned to; S19: judging whether the counter C = -1 and the operating device or component B moves, if yes, the step S20 is turned to; otherwise, the step S21 is turned to; S20: judging whether the actual speed of the device or component B moving is greater than the B moving speed setting value of the speed setting module, if yes, the output speed of the device or component B moving is adjusted to the B moving speed setting value of the speed setting module, and the step S1 is returned to; otherwise, the device or component moves according to the actual operating speed, and the step S1 is returned to; S21: judging whether the counter C = -2 and the operating device or component B moves, if yes, the device or component B moving is stopped, and the step S1 is returned to; otherwise, the device or component moves according to the actual operating direction and speed, and the step S1 is returned to.

[0012] In a third aspect, a single-proximity-switch bidirectional buffering limit system is provided, and the controller comprises a processor and a storage medium; The storage medium is used for storing instructions; The processor is used for operating according to the instructions to execute the method.

[0013] In a fourth aspect, an engineering machine is provided, which is configured with the single-proximity-switch bidirectional buffering limit system.

[0014] Compared with the prior art, the application has the following beneficial effects: (1) the system model of the embodiment of the application is simple, low in cost, and easy to install, only single proximity switch and two detection points in each direction are used, and the speed control and limit protection are more flexible and intelligent; (2) the embodiment of the application has wide application range, and can realize one-way or two-way motion limit of straight line, circle or even irregular route, and can be applied to different intelligent position control and limit protection occasions; (3) the embodiment of the application can solve the problems of large limit impact derived from high-speed motion, overtravel due to inertia, and even failure, and has remarkable effect on operation comfort, accuracy and reliability; (4) the embodiment of the application provides self-diagnosis function of the proximity switch detection circuit, when the limit function fails due to the fault of the proximity switch detection circuit, the electronic monitor can remind the operator, and at the same time, the speed of the equipment or component is limited; (5) the embodiment of the application further sets a limit enable switch, when the equipment or component does not need to be limited in motion, or the limit function fails due to the fault of the proximity switch detection circuit, the operator has the right to release the limit or release the speed limit, and when the operator releases the related limit through the limit enable switch, the operator agrees to exit the work of the limit system by default, and the operator is responsible for the safety problem of the equipment operation. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0016] Figure 1 It is a single proximity switch two-way buffer limit system schematic diagram of the embodiment of the application; Figure 2 It is a single proximity switch two-way buffer limit system FMS motion state model schematic diagram of the embodiment of the application; Figure 3 It is a single proximity switch two-way buffer limit system control method schematic diagram of the embodiment of the application; The reference signs are explained as follows: 1, limit enabling switch, 2, proximity switch, 3, A-direction movement detection module, 4, B-direction movement detection module, 5, controller, 501, counter, 6, A-direction movement speed regulation module, 7, B-direction movement speed regulation module, 8, electronic monitor; Ar1, A-direction movement proximity switch second detection point, Ar2, A-direction movement buffer area, Ar201, A-direction movement non-proximity switch detection point buffer area, Ar202, A-direction movement proximity switch first detection point, Ar3, normal speed movement area, Ar4, B-direction movement buffer area, Ar401, B-direction movement proximity switch first detection point, Ar402, B-direction movement non-proximity switch detection point buffer area, Ar5, B-direction movement proximity switch second detection point. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. The description of the at least one exemplary embodiment is actually only illustrative, but not as any limitation on the present application and its application or use.

[0018] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are used only to explain the relative position relationship, movement condition and the like between the components in a certain posture, and if the certain posture changes, the directional indication also changes accordingly. It is only for the convenience of describing the present application and simplifying the description, and is not intended to indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0019] In addition, the terms "first", "second", and the like are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second", and the like can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0020] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through intermediate medium, or internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0021] The related technology is as follows: (1) mechanical structure or setting mechanical limiting device to realize mechanical limiting of equipment; (2) using grating to realize distance measurement and setting equipment motion interval to realize limiting of straight line motion; (3) CN108002258A provides a rotary limiting system and rotary limiting method using rotary encoder combined with controller; (4) CN204675706U provides an electromagnetic type rotary limiter of rotary crane combined with multiple magnetic field detection sensors and annular magnetic field array; (5) CN215364625U provides a rotary limiting detection device of offshore platform crane combined with limiting switch and limiting block; (6) CN113818875A provides a double proximity switch coal mining machine limiting protection device and limiting protection method.

[0022] The following defects exist respectively: (1) mechanical structure limiting needs manual installation, disassembly and locking mechanism, the operation is not convenient enough; and the impact is large under high speed motion, the operator feels bad; (2) using rotary encoder, grating, magnetic field detection sensor or inclination sensor to realize speed control or limiting protection, the cost is high, the installation structure is complex, the application range is small, and it cannot be applied to speed control or limiting protection of straight line, circle and irregular motion at the same time; (3) CN113818875A adopts double proximity switch coal mining machine limiting protection device and limiting protection method, each proximity switch is installed at both ends of the equipment to realize bidirectional buffer limiting and limiting protection, buffer area and two detection points are arranged on both sides, the installation distance of double proximity switches needs to be greater than the buffer area, which is only applicable to large equipment, the application range is small, and the cost is high; (4) the existing speed control and limiting protection technology has no self-diagnosis and function enabling, the motion control and limiting protection are not flexible and intelligent enough.

[0023] Embodiment 1: The application provides a single-proximity-switch bidirectional buffering limiting system, comprising a controller, wherein the controller comprises a processor and a storage medium; the storage medium is used for storing instructions; and the processor is used for operating according to the instructions to perform the following single-proximity-switch bidirectional buffering limiting system control method. As shown in Figure 1 , Figure 2 , the single-proximity-switch bidirectional buffering limiting system further comprises a limiting enabling switch 1, a proximity switch 2, an A-direction motion detection module 3, a B-direction motion detection module 4, a controller 5, an A-direction motion speed regulation module 6, a B-direction motion speed regulation module 7 and an electronic monitor 8. The limiting enabling switch 1, the proximity switch 2, the A-direction motion detection module 3, the B-direction motion detection module 4, the A-direction motion speed regulation module 6, the B-direction motion speed regulation module 7 and the electronic monitor 8 are respectively connected with the controller 5 in signal.

[0024] The limiting enabling switch 1 is used for controlling the opening and closing of the limiting function. The proximity switch 2 is used for transmitting a proximity switch detection state signal to the controller 5 during the motion process, wherein the proximity switch detection state comprises a rising edge and a falling edge of a normally closed channel and high-level and low-level signals of a normally closed channel and a normally open channel; the proximity switch can be of any type, and if fault diagnosis is required, the proximity switch 2 is selected to be a 4-wire normally closed and normally open double-channel PNP type; in the example of the application with the fault diagnosis function, the proximity switch 2 is selected to be a 4-wire normally closed and normally open double-channel PNP type (hereinafter referred to as a proximity switch); the normally closed channel is used for state conversion conditions, and the normally open channel is used for auxiliary fault diagnosis. The A-direction motion detection module 3 and the B-direction motion detection module 4 are used for detecting the motion operation direction of a device or a component, and can directly use original detection modules of a mounting platform, which can be a pilot pressure switch, a pilot pressure sensor, an electric control handle, a gear and throttle module, a steering and PWM control module and the like. The controller 5 further comprises a counter 501, which is used for recording the proximity switch position and the device or component motion limiting state. The A-direction motion speed regulation module 6 and the B-direction motion speed regulation module 7 are used for high-speed motion buffering control and limiting control, and can directly use original speed regulation modules of a mounting platform, which can be an electromagnetic proportional valve, an MCU and a frequency converter. The electronic monitor 8 is used for operation and fault reminding.

[0025] As shown in Figure 2As shown, the proximity switch 2 movement area is set as normal speed movement area Ar3, A direction movement buffer area Ar2, A direction movement proximity switch second detection point Ar1, B direction movement buffer area Ar4 and B direction movement proximity switch second detection point Ar5. Among them, when the proximity switch 2 is in the normal speed movement area Ar3, the device or component can move in the actual operation direction and speed; when the proximity switch 2 is in the A direction movement buffer area Ar2, the A direction movement speed of the device or component is greater than the A direction movement speed setting value of the speed regulating module, the speed of the device or component is ramped down to the A direction movement speed setting value of the speed regulating module, which is used for A direction high speed movement buffer, avoiding overtravel and impact problems caused by inertia when A direction limit is reached; when the proximity switch 2 is in the A direction movement proximity switch second detection point Ar1, the A direction movement of the device or component is limited and stopped; when the proximity switch 2 is in the B direction movement buffer area Ar4, the B direction movement speed of the device or component is greater than the B direction movement speed setting value of the speed regulating module, the speed of the device or component is ramped down to the B direction movement speed setting value of the speed regulating module, which is used for B direction high speed movement buffer, avoiding overtravel and impact problems caused by inertia when B direction limit is reached; when the proximity switch 2 is in the B direction movement proximity switch second detection point Ar5, the B direction movement of the device or component is limited and stopped; further, the A direction movement buffer area Ar2 includes A direction movement proximity switch first detection point Ar202 and A direction movement non-proximity switch detection point buffer area Ar201; the B direction movement buffer area Ar4 includes B direction movement proximity switch first detection point Ar401 and B direction movement non-proximity switch detection point buffer area Ar402.

[0026] Table 1: FMS mathematical model

[0027] As shown in Table 1, the FMS mathematical model proposed in the embodiment of the application includes 12 kinds of finite state transitions of device or component movement process, the value C of the counter 501 is used to record the proximity switch position and the device or component movement state, and the state transition conditions include A direction movement, B direction movement, rising edge and falling edge of proximity switch normally closed channel. Among them, when C=0, the proximity switch 2 is located in the normal speed movement area Ar3, and the device or component can move in the actual operation direction and speed; when C=1, the proximity switch 2 is located in the A direction movement buffer area Ar2, and the A direction movement of the device or component is buffered; when C=2, the proximity switch 2 is located in the A direction movement proximity switch second detection point Ar1, and the A direction movement of the device or component is limited and stopped; when C=-1, the proximity switch 2 is located in the B direction movement buffer area Ar4, and the B direction movement of the device or component is buffered; when C=-2, the proximity switch 2 is located in the B direction movement proximity switch second detection point Ar5, and the B direction movement of the device or component is limited and stopped.

[0028] Embodiment 2: asFigure 3 As shown, the application also provides a single proximity switch bidirectional buffering limiting system control method, based on the single proximity switch bidirectional buffering limiting system described in Embodiment 1, the method comprises: S1: judge whether the system power is greater than the set time length (such as 5S), if yes, go to step S2; otherwise, go to step S3; S2: judge whether the limit enable switch 1 is a rising edge, if yes, go to step S14; otherwise, go to step S3; S3: judge whether the limit enable switch 1 is opened, if yes, go to step S4; otherwise, the relevant prompt on the electronic monitor disappears, and the process ends; S4: judge whether the high and low level signals of the normally closed and normally open channels of the proximity switch 2 are different, if yes, the relevant prompt on the electronic monitor disappears, go to step S5; otherwise, the electronic monitor prompts: "proximity switch detection circuit fault, please repair", and the A and B direction movements are adjusted to the set value of the speed regulating module, and return to step S1; S5: judge whether the counter value C is not less than 0, if yes, go to step S6; otherwise, go to step S10; S6: judge whether the device or component A direction movement is operated, if yes, go to step S7; otherwise, go to step S8; S7: judge whether the normally closed channel of the proximity switch 2 is a falling edge, if yes, the counter value C is increased by 1, and go to step S16; otherwise, go directly to step S16; S8: judge whether the device or component B direction movement is operated, if yes, go to step S9; otherwise, go to step S16; S9: judge whether the normally closed channel of the proximity switch 2 is a rising edge, if yes, the counter value C is decreased by 1, and go to step S16; otherwise, go directly to step S16; S10: judge whether the device or component B direction movement is operated, if yes, go to step S11; otherwise, go to step 12; S11: judge whether the normally closed channel of the proximity switch 2 is a falling edge, if yes, the counter value C is decreased by 1, and go to step S16; otherwise, go directly to step S16; S12: judge whether the device or component A direction movement is operated, if yes, go to step S13; otherwise, go to step S16; S13: judge whether the normally closed channel of the proximity switch 2 is a rising edge, if yes, the counter value C is increased by 1, and go to step S16; otherwise, go directly to step S16; S14: the electronic monitor 8 prompts: "please move the proximity switch to the Ar3 area, and reset the limiting system", judge whether the system is reset successfully, if yes, the counter value C is set to 0, the relevant prompt on the electronic monitor disappears, and return to step S3; otherwise, go to step S15; S15: judging whether the limit enable switch 1 is a falling edge, if yes, returning to step S1; otherwise, returning to step S14; S16: judging whether the counter C=1 and the operation device or component A moves forward, if yes, turning to step S17; otherwise, turning to step S18; S17: judging whether the actual speed of the device or component A moving forward is greater than the A forward movement speed regulation module setting value, if yes, adjusting the output speed slope of the device or component A moving forward to the A forward movement speed regulation module setting value, and returning to step S1; otherwise, the device or component moves forward at the actual operation speed, and returning to step S1; S18: judging whether the counter C=2 and the operation device or component A moves forward, if yes, the device or component A moving forward is stopped, and returning to step S1; otherwise, turning to step S19; S19: judging whether the counter C=-1 and the operation device or component B moves backward, if yes, turning to step S20; otherwise, turning to step S21; S20: judging whether the actual speed of the device or component B moving backward is greater than the B backward movement speed regulation module setting value, if yes, adjusting the output speed slope of the device or component B moving backward to the B backward movement speed regulation module setting value, and returning to step S1; otherwise, the device or component moves backward at the actual operation speed, and returning to step S1; S21: judging whether the counter C=-2 and the operation device or component B moves backward, if yes, the device or component B moving backward is stopped, and returning to step S1; otherwise, the device or component moves at the actual operation direction and speed, and returning to step S1.

[0029] In some embodiments, the setting time length is 5 seconds.

[0030] The single-proximity-switch bidirectional buffering limit method and system provided by the embodiments of the present application have the following advantages: (1) the single-proximity-switch is used to realize bidirectional position detection and limit, and can efficiently and accurately control and limit the position, and has simple structure, convenient installation, low cost, flexible operation, and wide application range; (2) two detection points are arranged for each of the two directions, and the FSM control algorithm is used to realize high-speed motion buffering and high-speed accurate position limit, and the operation comfort, accuracy, reliability and flexibility are significantly improved; (3) the self-diagnosis function of the proximity switch detection loop is arranged, so that the limit function state and the proximity switch detection loop failure can be reminded in real time, and the device or component is limited in speed; and (4) the limit enable switch is arranged, the operation hand has the right to release the limit or the speed limit, and when the operation hand releases the related limit through the limit enable switch, the operation hand agrees to exit the work of the limit system by default, and the operation hand is responsible for the safety of the device.

[0031] In the embodiment 3, based on the embodiments 1 and 2, the single proximity switch bidirectional buffering limiting system is provided, and the controller comprises a processor and a storage medium. The storage medium is configured to store instructions. The processor is configured to operate according to the instructions to perform the method.

[0032] In the embodiment 4, the single proximity switch bidirectional buffering limiting system is configured in the engineering machinery.

[0033] Those skilled in the art will understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can be in the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can be in the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage, etc.) containing computer-usable program code.

[0034] The present application is described with reference to flowcharts and / or block diagrams of the method, device (system), and computer program product according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing apparatus to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing apparatus produce a device that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one or more flows and / or blocks. Figure 1 The means for performing the functions specified in one or more flows and / or blocks.

[0035] These computer program instructions can also be stored in a computer-readable memory that can direct the computer or other programmable data processing apparatus to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product comprising instruction means that implement the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one or more flows and / or blocks. Figure 1 The means for performing the functions specified in one or more flows and / or blocks.

[0036] These computer program instructions can also be loaded into a computer or other programmable data processing apparatus, so that a series of operation steps are performed on the computer or other programmable data processing apparatus to produce a computer-implemented process, so that the instructions executed on the computer or other programmable data processing apparatus provide a process for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one or more flows and / or blocks. Figure 1steps of the functions specified in the one or more blocks.

[0037] The above only describes the preferred embodiments of the present application. It should be noted that those skilled in the art should understand that the present application can have various changes and improvements without departing from the principles and spirits of the present application. These improvements should be considered as the protection scope of the present application, and should not be limited by the above embodiments.

Claims

1. A single proximity switch bidirectional buffer limit system, characterized in that, It includes a limit enable switch, a proximity switch, an A-axis motion detection module, a B-axis motion detection module, a controller, an A-axis motion speed control module, a B-axis motion speed control module, and an electronic monitor; the limit enable switch, proximity switch, A-axis motion detection module, B-axis motion detection module, A-axis motion speed control module, B-axis motion speed control module, and electronic monitor are respectively connected to the controller signal; The limit enable switch is used to control the opening and closing of the limit function; The proximity switch is used to transmit the proximity switch detection status to the controller during movement; wherein, the proximity switch detection status includes the rising edge and falling edge of the normally closed channel, as well as the high-level and low-level signals of the normally closed and normally open channels; The A-direction motion detection module and the B-direction motion detection module are used to detect the direction of motion operation of the equipment or component. The controller also includes a counter for recording the position of the proximity switch and the movement limit status of the device or component; The A-direction motion speed control module and the B-direction motion speed control module are used for motion buffer control and limit control. The electronic monitor is used for operation and fault alerts.

2. The system according to claim 1, characterized in that, The proximity switch motion area is set as a normal speed motion area, an A-direction motion buffer area, an A-direction motion proximity switch second detection point, a B-direction motion buffer area, and a B-direction motion proximity switch second detection point. When the proximity switch is in the normal speed movement range, the device or component can move according to the actual operating direction and speed. When the proximity switch is located in the A-direction motion buffer area, if the A-direction motion speed of the device or component is greater than the set value of the A-direction motion speed regulation module, the speed ramp of the device or component will be reduced to the set value of the A-direction motion speed regulation module. When the proximity switch is located at the second detection point of the A-direction motion proximity switch, the A-direction motion limit of the device or component is stopped. When the proximity switch is located in the B-direction motion buffer area, if the B-direction motion speed of the device or component is greater than the set value of the B-direction motion speed regulation module, the speed ramp of the device or component will be reduced to the set value of the B-direction motion speed regulation module. When the proximity switch is located at the second detection point of the B-direction motion proximity switch, the B-direction motion limit of the device or component is stopped.

3. The system according to claim 2, characterized in that, The A-direction motion buffer area includes a first detection point of the A-direction motion proximity switch and a buffer area of ​​the A-direction motion non-proximity switch detection point connected together, wherein the first detection point of the A-direction motion proximity switch is close to the normal speed motion area, and the buffer area of ​​the A-direction motion non-proximity switch detection point is close to the second detection point of the A-direction motion proximity switch. The B-direction motion buffer area includes a first detection point of the B-direction motion proximity switch and a buffer area of ​​the B-direction motion non-proximity switch detection point, wherein the first detection point of the B-direction motion proximity switch is close to the normal speed motion area, and the buffer area of ​​the B-direction motion non-proximity switch detection point is close to the second detection point of the B-direction motion proximity switch.

4. The system according to claim 3, characterized in that, The movement process of equipment or components involves 12 finite state transitions. The state transition conditions include movement in direction A, movement in direction B, and the rising and falling edges of the normally closed channel of the proximity switch. The counter value C is used to record the position of the proximity switch and the movement limit status of the device or component. When C=0, the proximity switch is in the normal speed movement area, and the device or component can move according to the actual operating direction and speed. When C=1, the proximity switch is in the A-direction movement buffer area, and the device or component is buffered in the A-direction movement. When C=2, the proximity switch is in the second detection point of the A-direction movement proximity switch, and the device or component is stopped in the A-direction movement limit. When C=-1, the proximity switch is in the B-direction movement buffer area, and the device or component is buffered in the B-direction movement. When C=-2, the proximity switch is in the second detection point of the B-direction movement proximity switch, and the device or component is stopped in the B-direction movement limit.

5. The system according to claim 1, characterized in that, The proximity switch is a 4-wire dual-channel PNP type with normally closed and normally open wires. The normally closed channel is used for state transition conditions, and the normally open channel is used for auxiliary fault diagnosis.

6. The system according to claim 1, characterized in that, The A-axis motion detection module and the B-axis motion detection module are selected from at least one of the following: pilot pressure switch, pilot pressure sensor, electric control lever, gear and throttle module, and steering and PWM control module.

7. The system according to claim 1, characterized in that, The A-direction motion speed control module and the B-direction motion speed control module are selected from at least one of the following: electromagnetic proportional valve, MCU, and frequency converter.

8. A control method for a single proximity switch bidirectional buffer limit system, characterized in that, Based on the single proximity switch bidirectional buffer limit system according to any one of claims 1 to 7, the method includes: S1: Determine if the system power-on time exceeds the set duration. If yes, proceed to step S2; otherwise, proceed to step S3. S2: Determine if the limit enable switch is on the rising edge. If yes, proceed to step S14; otherwise, proceed to step S3. S3: Determine whether the limit enable switch is open. If yes, proceed to step S4; otherwise, the relevant reminder on the electronic monitor disappears, and the process ends. S4: Determine whether the high and low level signals of the normally closed and normally open channels of the proximity switch are different. If so, the relevant reminder on the electronic monitor disappears and proceeds to step S5; otherwise, the electronic monitor prompts: "Proximity switch detection circuit fault, please repair", and the movement in directions A and B is adjusted to the speed control module setting value, and returns to step S1. S5: Determine if the counter value C is not less than 0. If yes, proceed to step S6; otherwise, proceed to step S10. S6: Determine whether the equipment or component is being operated to move in direction A. If yes, proceed to step S7; otherwise, proceed to step S8. S7: Determine if the normally closed channel of the proximity switch is on a falling edge. If yes, increment the counter value C by 1 and proceed to step S16; otherwise, proceed directly to step S16. S8: Determine whether the equipment or component is being operated to move in direction B. If yes, proceed to step S9; otherwise, proceed to step S16. S9: Determine if the normally closed channel of the proximity switch is on a rising edge. If yes, decrement the counter value C by 1 and proceed to step S16; otherwise, proceed directly to step S16. S10: Determine whether the equipment or component is being operated to move in direction B. If yes, proceed to step S11; otherwise, proceed to step 12. S11: Determine if the normally closed channel of the proximity switch is on a falling edge. If yes, decrement the counter value C by 1 and proceed to step S16; otherwise, proceed directly to step S16. S12: Determine whether the equipment or component is being operated to move in direction A. If yes, proceed to step S13; otherwise, proceed to step S16. S13: Determine if the normally closed channel of the proximity switch is on a rising edge. If yes, increment the counter value C by 1 and proceed to step S16; otherwise, proceed directly to step S16. S14: The electronic monitor prompts: "Please move the proximity switch to the area and then reset the limit system." Determine whether the system has been successfully reset. If so, the counter value C is set to 0, the relevant reminder on the electronic monitor disappears, and return to step S3; otherwise, proceed to step S15. S15: Determine if the limit enable switch is at a rising edge. If yes, return to step S1; otherwise, return to step S14. S16: Determine if counter C = 1 and the operating device or component A is moving. If yes, proceed to step S17; otherwise, proceed to step S18. S17: Determine whether the actual speed of the device or component moving in direction A is greater than the set value of the speed regulation module for direction A. If yes, adjust the ramp of the output speed of the device or component moving in direction A to the set value of the speed regulation module for direction A, and return to step S1; otherwise, the device or component moves in direction A at the actual operating speed, and return to step S1. S18: Determine if counter C = 2 and the operating device or component A moves in direction. If yes, stop the movement of the device or component A in direction and return to step S1; otherwise, go to step S19. S19: Determine if counter C = -1 and the operating device or component B is moving. If yes, proceed to step S20; otherwise, proceed to step S21. S20: Determine whether the actual speed of the device or component moving in direction B is greater than the set value of the speed regulation module for direction B. If so, adjust the ramp of the output speed of the device or component moving in direction B to the set value of the speed regulation module for direction B, and return to step S1; otherwise, the device or component moves in direction B at the actual operating speed, and return to step S1. S21: Determine whether the counter C = -2 and the operating device or component moves in direction B. If yes, stop the movement of the device or component in direction B at the limit and return to step S1; otherwise, the device or component moves in the actual operating direction and speed and return to step S1.

9. The system according to claim 1, characterized in that, The controller includes a processor and a storage medium; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to execute the method according to claim 8.

10. An engineering machinery, characterized in that, It is equipped with a single proximity switch bidirectional buffer limit system as described in any one of claims 1 to 7 or claim 9.

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