Safety protection system for standing type piling car

Abstract

The utility model discloses a safety protection system for a standing driving type piling car, which belongs to the technical field of storage car safety protection and comprises a controller, an interlocking switch, a lifting buffer switch, a descending buffer switch, an OPS switch, a transportation safety switch, a high-position speed limiting switch, an arm protection switch, a standing plate sensing switch and a handle. The lifting height H of the portal frame is judged through the controller, and the driving motor and the pump motor are controlled to work according to the signal states of the handle, the standing plate sensing switch, the OPS switch, the arm protection switch, the transportation safety switch, the high-position speed limiting switch, the lifting buffer switch and the descending buffer switch. According to the utility model, the associated control of the running speed and the lifting and stacking height of the standing type stacking vehicle can be realized.

Description

Technical Field

[0001] The utility model relates to the technical field of safety protection of storage vehicles, and more specifically, particularly relates to a safety protection system for a stand-on stacker truck. Background Art

[0002] A stand-on stacker truck is a vehicle used in a warehousing environment. By assembling a foldable standing platform and a retractable arm protection device, a gantry safety control device is used to control the driving safety and stacking safety of the whole vehicle.

[0003] Currently, for stand-on stacker trucks, generally, the driving safety control strategy and the stacking safety control strategy are separated, and there is no correlation between the driving speed and the stacking height. There are two situations in market feedback: First, when the whole vehicle is stacking, through an induction switch, within the induction range, the lifting speed of the high-position stacking gantry is attenuated to ensure high-position stacking safety. If the whole vehicle loses power during high-position stacking and then resumes power supply, the controller cannot determine the stacking position, so the lifting speed of the stacker is not controlled, and there is a safety hazard in this high-position stacking state. Second, during the driving process of the whole vehicle, the driving speed of the whole vehicle has no correlation with the stacking height. When the gantry is in high-position stacking, the whole vehicle travels at a high speed, which poses a safety hazard. In the above two situations, when the whole vehicle loses power during high-position stacking and then resumes power supply, the whole vehicle cannot determine the stacking height, and the lifting speed is not controlled, resulting in a safety hazard that the whole vehicle can run at a high speed during high-position stacking, which is extremely likely to cause safety accidents. Another situation is that during the normal driving process of the whole vehicle, the stacking height cannot be determined at the corresponding driving speed, and when the whole vehicle is in high-position stacking, high-speed driving poses a safety hazard. Summary of the Utility Model

[0004] An object of the utility model is to provide a safety protection system for a stand-on stacker truck, which can effectively improve the phenomenon that when the whole vehicle loses power during high-position stacking and then resumes power supply, the whole vehicle cannot determine the stacking height and the lifting speed is not controlled, optimize the correlation between the stacking height and the driving speed of the whole vehicle, and reduce the safety accidents and economic losses brought to customers during the vehicle use process for the above reasons.

[0005] According to a first aspect of the utility model, there is provided a safety protection system for a stand-on stacker truck, including a controller, an interlock switch, a lifting buffer switch, a lowering buffer switch, an OPS switch, a transportation safety switch, a high-position speed limit switch, an arm protection switch, a platform sensing switch, and a handle; one end of the interlock switch, the lifting buffer switch, the lowering buffer switch, the OPS switch, the transportation safety switch, the high-position speed limit switch, the arm protection switch, and one end of the platform sensing switch are respectively connected to the controller; the controller is connected to the power supply end of the handle through a bus, the power end of the controller is connected to the power end of the drive motor, and the corresponding port of the controller is also connected to the pump motor.

[0006] Optionally, the safety protection system for the stand-on stacker further includes a storage battery, a start switch, and a composite switch. The positive electrode of the storage battery is connected to the power input terminal B+ of the start switch, and the negative electrode of the storage battery is connected to the negative electrode of the controller and the negative electrode of the handle. The output terminal of the start switch is connected to one end of the normally open switch in the composite switch. The other end of the normally open switch in the composite switch is connected to one end of the coil in the composite switch. The other end of the coil in the composite switch is connected to one end of the first fuse F1. The contact a end of the composite switch is connected to the positive electrode of the storage battery, and the contact b end of the composite switch is connected to one end of the second fuse F2. The other end of the first fuse F1 is respectively connected to the controllable power supply terminal of the controller, one end of the interlock switch, one end of the lifting buffer switch, one end of the lowering buffer switch, one end of the OPS switch, one end of the transportation safety switch, one end of the high-position speed limit switch, one end of the arm protection switch, one end of the platform sensing switch, and the handle power supply terminal. The other end of the second fuse F2 is respectively connected to the power supply terminal of the controller for power, the positive terminal of the pump motor, and the positive terminal of the lowering solenoid valve.

[0007] Optionally, the drive motor includes an electromagnetic brake, a temperature sensor, and a speed encoder. The control port of the electromagnetic brake is connected to the controller. The signal port of the temperature sensor is connected to the controller. The signal port of the speed encoder is connected to the controller.

[0008] Optionally, the handle includes a lifting switch, a lowering switch, and an accelerator. The controller controls the operation of the pump motor to make the mast perform a lifting action. The controller controls the operation of the lowering solenoid valve to make the mast perform a lowering action. The controller controls the speeds of the drive motor in the forward and reverse directions through the accelerator.

[0009] Optionally, the interlock switch, the lifting buffer switch, the lowering buffer switch, the OPS switch, the arm protection switch, and the platform sensing switch are normally open proximity switches, and the transportation safety switch and the high-position speed limit switch are steady-state switches.

[0010] Optionally, the controller is a two-in-one AC drive plus DC pump control controller.

[0011] Optionally, the pump motor is a DC motor, and the lowering solenoid valve is a proportional solenoid valve.

[0012] Optionally, the interlock switch is installed below the handle rotating shaft for sensing the working area of the handle; the lifting buffer switch is installed at the gantry height H1 for sensing the lifting height of the gantry; the lowering buffer switch is installed at the gantry height H0 for sensing the lifting height of the gantry; the transportation safety switch is installed at the gantry height Ha for sensing the lifting height of the gantry, where Ha > H0; the high-speed limit switch is installed at the gantry height Hb for sensing the lifting height of the gantry, where Hb < H1; the OPS switch is installed below the pedal for sensing whether the operator stands on the pedal; the arm protection switch is installed below the arm rotating shaft for sensing the retracted and lowered states of the arm; the platform sensing switch is installed below the platform rotating shaft for sensing the retracted and lowered states of the platform.

[0013] The safety protection system for a stand-on stacker according to the present disclosure has the following technical effects:

[0014] The present utility model judges the lifting height of the gantry, the handle signal state, the platform sensing switch signal state, the OPS switch signal state, the arm protection switch signal state, the transportation safety switch signal state, the high-speed limit switch signal state, the lifting buffer switch signal state, and the lowering buffer switch signal state by using a controller, and controls the operation of the drive motor and the pump motor accordingly, so as to realize the associated control of the vehicle driving speed and the lifting and stacking height, reduce the potential safety hazards and economic losses brought to customers by operation, and at the same time, it is also a safety protection for the operator.

[0015] Other features and advantages of the present utility model will become clear through the following detailed description of the exemplary embodiments of the present utility model with reference to the accompanying drawings. Description of the Drawings

[0016] The drawings incorporated in the specification and constituting a part of the specification illustrate embodiments of the present utility model and, together with the description, are used to explain the principles of the present utility model.

[0017] Figure 1 It is a circuit block diagram of the safety protection system for a stand-on stacker provided by an embodiment of the present utility model;

[0018] Figure 2 It is a schematic diagram of the whole vehicle of the safety protection system and protection method for a stand-on stacker provided by an embodiment of the present utility model.

[0019] The markings in the figures are as follows:

[0020] 1. Storage battery; 2. Start switch; 3. Composite switch; 31. Normally open switch; 32. Coil; 4. Controller; 5. Interlock switch; 6. Lift buffer switch; 7. Lower buffer switch; 8. OPS switch; 9. Transportation safety switch; 10. High - position speed - limit switch; 11. Arm protection switch; 12. Standing - board sensing switch; 13. Handle; 131. Lift switch; 132. Lower switch; 133. Accelerator; 14. Pump motor; 15. Lower solenoid valve; 16. Drive motor; 161. Electromagnetic brake; 162. Temperature sensor; 163. Speed encoder; 18. Mast; 19. Pedal; 20. Arm. Detailed implementation mode

[0021] Now, various exemplary embodiments of the present utility model will be described in detail with reference to the accompanying drawings. It should be noted that: unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present utility model.

[0022] The following description of at least one exemplary embodiment is merely illustrative in nature and in no way serves as a limitation to the present utility model and its application or use.

[0023] Techniques, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods, and devices should be regarded as part of the specification.

[0024] In all the examples shown and discussed here, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values.

[0025] In the prior art, when the whole vehicle loses power during high - position stacking and then the power of the whole vehicle is restored, the whole vehicle cannot determine the stacking height, the lift speed is not controlled, there is a safety hazard that the whole vehicle can run at high speed during high - position stacking, which is extremely likely to lead to safety accidents. In addition, during the normal driving process of the whole vehicle, the stacking height cannot be determined at the corresponding driving speed, and there is a safety hazard when the whole vehicle runs at high speed during high - position stacking. This application uses the controller to combine the signal states of the interlock switch, lift buffer switch, lower buffer switch, OPS switch, transportation safety switch, high - position speed - limit switch, arm protection switch, standing - board sensing switch, and handle to control the operation of the drive motor and pump motor, and perform associated control on the driving direction of the whole vehicle, the magnitude of the driving speed, the lift speed of the mast, and the lower speed of the mast, so as to realize the associated control of the driving speed of the stand - on stacking vehicle and the lifting stacking height.

[0026] An embodiment of a safety protection system for a stand - on stacking truck is proposed in the present utility model. Specifically, as Figure 1 and Figure 2As shown, it includes a controller 4, an interlock switch 5, a lifting buffer switch 6, a lowering buffer switch 7, an OPS switch 8, a transportation safety switch 9, a high - speed limit switch 10, an arm protection switch 11, a platform sensing switch 12, and a handle 13; One end of the interlock switch 5, the lifting buffer switch 6, the lowering buffer switch 7, the OPS switch 8, the transportation safety switch 9, the high - speed limit switch 10, the arm protection switch 11, and one end of the platform sensing switch 12 are respectively connected to the controller 4; The controller 4 is connected to the power supply terminal of the handle 13 through a bus, the power terminals UVW of the controller 4 are connected to the power terminals UVW of the drive motor 16, and the corresponding port of the controller 4 is also connected to the pump motor 14; The controller 4 judges the lifting height H of the mast 18, and controls the operation of the drive motor 16 and the pump motor 14 according to the signal states of the handle 13, the platform sensing switch 12, the OPS switch 8, the arm protection switch 11, the transportation safety switch 9, the high - speed limit switch 10, the lifting buffer switch 6, and the lowering buffer switch 7, so as to realize the associated control of the vehicle driving speed and the lifting and stacking height.

[0027] Specifically, the other end of the interlock switch 5 is connected to the M1 port of the controller 4, the other end of the lifting buffer switch 6 is connected to the M29 port of the controller 4, the other end of the lowering buffer switch 7 is connected to the M6 port of the controller 4, the other end of the OPS switch 8 is connected to the M17 port of the controller 4, the other end of the transportation safety switch 9 is connected to the M19 port of the controller 4, the other end of the high - speed limit switch 10 is connected to the M20 port of the controller 4, the other end of the arm protection switch 11 is connected to the M17 port of the controller 4, and the other end of the platform sensing switch 12 is connected to the M16 port of the controller 4; The controller 4 is correspondingly connected to the CANL and CAN H ports of the handle 13 through the buses M27 and M28; The other end of the second fuse F2 is respectively connected to the power supply terminal B+ of the controller 4, the positive terminal P+ of the pump motor 14, and the positive terminal of the lowering solenoid valve 15; The power terminals UVW of the drive motor 16 are correspondingly connected to the power terminals UVW of the controller 4; The negative terminal of the pump motor 14 is connected to the P - port of the controller; The negative terminal of the lowering solenoid valve 15 is connected to the M24 port of the controller; The EBP port and the EBN port of the electromagnetic brake 161 are respectively connected to the M2 and M4 ports of the controller 4; The PTHERM port and the NTHERM port of the temperature sensor 162 are connected to the M22 and M5 ports of the controller 4; The power supply port of the speed encoder 163 is connected to the M25 port of the controller 4, the negative port of the speed encoder 163 is connected to the M5 port of the controller 4, the PHA port of the speed encoder 163 is connected to the M14 port of the controller 4, and the PHB port of the speed encoder 163 is connected to the M13 port of the controller 4.

[0028] In the embodiment of the present utility model, the safety protection system for a stand-on stacker further includes a storage battery 1, a start switch 2 and a composite switch 3. The positive electrode of the storage battery 1 is connected to the power input terminal B+ of the start switch 2, and the negative electrode of the storage battery 1 is connected to the negative electrode of the controller 4 and the negative electrode of the handle 13. The output terminal of the start switch 2 is connected to one end of the normally open switch 31 in the composite switch 3. The other end of the normally open switch 31 in the composite switch 3 is connected to one end of the coil 32 in the composite switch 3. The other end of the coil 32 in the composite switch 3 is connected to one end of the first fuse F1. The contact a end in the composite switch 3 is connected to the positive electrode of the storage battery 1, and the contact b end in the composite switch 3 is connected to one end of the second fuse F2. The other end of the first fuse F1 is respectively connected to the controllable power terminal M10 of the controller 4, the power port of the interlock switch 5, the power port of the lifting buffer switch 6, the power port of the lowering buffer switch 7, the power port of the OPS switch 8, the power port of the transportation safety switch 9, the power port of the high-speed limit switch 10, the power port of the arm protection switch 11, the power port of the platform sensing switch 12, and the power port of the handle 13. The other end of the second fuse F2 is respectively connected to the power supply terminal of the controller 4, the positive terminal of the pump motor 14, and the positive terminal of the lowering solenoid valve 15.

[0029] In the embodiment of the present utility model, the drive motor 16 includes an electromagnetic brake 161, a temperature sensor 162 and a speed encoder 163. The control port of the electromagnetic brake 161 is connected to the controller 4, and the activation and release of the electromagnetic brake are controlled by sending an electrical signal through the controller 4. The signal port of the temperature sensor 162 is connected to the controller 4. The temperature sensor sends the real-time temperature data to the controller, and the controller adjusts the operating state of the motor according to the received temperature data to prevent the motor from overheating. The signal port of the speed encoder 163 is connected to the controller 4. The speed encoder sends the real-time rotation speed data of the motor to the controller, and the controller adjusts the control strategy of the motor according to the rotation speed data to achieve precise rotation speed control or speed feedback control. By integrating the electromagnetic brake 161, the temperature sensor 162 and the speed encoder 163 and being closely connected to the controller 4, the drive motor 16 forms an efficient and reliable motor control system.

[0030] In the embodiment of the present utility model, the handle 13 includes a lifting switch 131, a lowering switch 132 and an accelerator 133; the lifting switch 131 is used to trigger a lifting signal and transmit the lifting signal to the controller 4 through the bus, and the controller 4 controls the pump motor 14 to work so that the mast 18 makes a lifting action; the lowering switch 132 is used to trigger a lowering signal and transmit the lowering signal to the controller 4 through the bus, and the controller 4 controls the lowering solenoid valve 15 to work so that the mast 18 makes a lowering action; the accelerator 133 is used to trigger a forward acceleration signal or a reverse acceleration signal and transmit the forward acceleration signal or the reverse acceleration signal to the controller 4 through the bus, and the controller 4 controls the driving motor 16 for the forward direction speed and the reverse direction speed. Among them, the accelerator 133 is a two-way controller, which can trigger both a forward acceleration signal and a reverse acceleration signal, and these signals are all transmitted to the controller 4 through the bus. The controller 4 adjusts the rotation speed and direction of the driving motor 16 according to the received signals, so as to control the forward or reverse speed of the whole vehicle. When the operator pushes the accelerator 133 forward, a forward acceleration signal is sent to the controller 4; when the operator pulls the accelerator 133 backward, a reverse acceleration signal is sent.

[0031] In the embodiment of the present utility model, the interlock switch 5, the lifting buffer switch 6, the lowering buffer switch 7, the OPS switch 8, the arm protection switch 11, and the footboard sensing switch 12 are normally open proximity switches. Specifically, when there is no object (such as the armrest or footboard of a forklift) approaching, the interlock switch 5, the lifting buffer switch 6, the lowering buffer switch 7, the OPS switch 8, the arm protection switch 11, and the footboard sensing switch 12 are in an open state. When the relevant components are in the correct position or approach a certain distance, the interlock switch 5, the lifting buffer switch 6, the lowering buffer switch 7, the OPS switch 8, the arm protection switch 11, and the footboard sensing switch 12 close and send a signal to allow or execute the corresponding operation. For example, the arm protection switch is used to detect whether the armrest is fully extended and locked. Only when the armrest is in the correct position can the lifting or lowering operation be allowed.

[0032] The transport safety switch 9 and the high-speed limit switch 10 are steady-state switches. Specifically, the transport safety switch is set to ensure safety during transportation, and it may include various types such as an emergency stop button, a safety door switch, and a safety pull cord switch. The high-speed limit switch is an important safety device for controlling the running speed in a transport device.

[0033] In the embodiment of the present utility model, the controller 4 is a two-in-one AC drive plus DC pump control controller. Specifically, the controller 4 integrates two main functions: AC drive control and DC pump control. The controller 4 controls the speed, torque, and power output of the motor by adjusting parameters such as the input voltage, current, or frequency of the AC motor to meet the requirements under different working conditions. The controller controls the flow rate, pressure, and speed of the pump by adjusting parameters such as the input voltage, current, or duty cycle of the DC pump to meet specific process requirements. As a "two-in-one AC drive plus DC pump control controller", the controller 4 can not only achieve precise control of the AC motor, improving the operation efficiency and stability of the equipment, but also flexibly adjust the DC pump to meet various complex process requirements.

[0034] In the embodiment of the present utility model, the pump motor 14 is a DC motor, and the lowering solenoid valve 15 is a proportional solenoid valve. Among them, the DC motor can generate a large torque during startup, making it perform excellently in occasions that require rapid startup and heavy-load startup. Since the DC motor has good speed regulation performance and startup characteristics, it can meet the precise control requirements of the hydraulic system for changes in flow rate and pressure. The opening degree of the proportional solenoid valve can be continuously adjusted, which makes it very useful in occasions that require precise control of fluid parameters. Moreover, the proportional solenoid valve is usually driven by electromagnetic force and has a fast response speed and high control accuracy.

[0035] In the embodiment of the present utility model, the interlock switch 5 is installed under the handle rotating shaft to sense the working area of the handle; the lifting buffer switch 6 is installed at the height H1 of the mast 18 to sense the lifting height of the mast; the lowering buffer switch 7 is installed at the height H0 of the mast 18 to sense the lifting height of the mast; the transportation safety switch 9 is installed at the height Ha of the mast 18 to sense the lifting height of the mast, where Ha > H0; the high-speed limit switch 10 is installed at the height Hb of the mast 18 to sense the lifting height of the mast, where Hb < H1; the OPS switch 8 is installed under the pedal 19 to sense whether the operator is standing on the pedal 19; the arm protection switch 11 is installed under the rotating shaft of the arm 20 to sense the retracted and lowered states of the arm 20; the platform sensing switch 12 is installed under the rotating shaft of the pedal 19 to sense the retracted and lowered states of the pedal 19.

[0036] The present utility model also provides an embodiment of a safety protection method for a stand-on stacker, including the following steps:

[0037] Step 1: Close the composite switch 3 and the start switch 2 in sequence. The battery 1 supplies power to each component. After the controller 4 and the handle 13 are powered on and communicatively connected, the whole vehicle enters the startup state;

[0038] Step 2: By pressing down the handle 13, the interlock switch 5 senses closure. Rotate the accelerator 133 of the handle 13 to trigger a forward or reverse acceleration signal. Operating the lift switch 131 or the lowering switch 132 controls the lifting or lowering action of the mast 18 respectively;

[0039] Step 3: When the pedal 19 is open and no one is standing, the controller 4 receives the signal from the floor sensing switch 12 in a closed state and the signal from the OPS switch 8 in an open state, and the vehicle does not perform driving, lifting, or lowering actions;

[0040] Step 4: When the pedal 19 is open and someone is standing, open the guard arm 20. The signals received by the controller 4 from the floor sensing switch 12, the OPS switch 8, and the guard arm protection switch 11 are all in a closed state. Execute Step 2, and the vehicle performs driving, lifting, and lowering actions;

[0041] It should be noted that in Step 4, when the lifting height H of the mast 18 ≤ H0, the controller 4 receives the signal from the transportation safety switch 9 in an open state and the signal from the lowering buffer switch 7 in a closed state. The maximum driving speed of the vehicle reaches the set full speed state V0; the maximum lifting speed of the mast is the set full speed state V1, and the maximum lowering speed of the mast is the set full speed state V2 / 5;

[0042] In Step 4, when the lifting height H0 < H < Ha of the mast 18, the controller 4 receives the signal from the transportation safety switch 9 in an open state and the signal from the lowering buffer switch 7 in an open state. The maximum driving speed of the vehicle reaches the set full speed state V0; the maximum lifting speed of the mast 18 is the set full speed state V1, and the maximum lowering speed of the mast 18 is the set full speed state V2;

[0043] In Step 4, when the lifting height Ha ≤ H < Hb of the mast 18, the controller 4 receives the signal from the transportation safety switch 9 in a closed state, the signal from the lifting buffer switch 6 in an open state, the signal from the lowering buffer switch 7 in an open state, and the signal from the high - position speed limit switch 10 in an open state. The maximum driving speed of the vehicle reaches the set V0 / 2, the maximum lifting speed of the mast 18 is the set full speed state V1, and the maximum lowering speed of the mast 18 is the set full speed state V2;

[0044] In Step 4, when the height Hb ≤ H of the mast 18, the controller 4 receives the signal from the transportation safety switch 9 in a closed state, the signal from the lifting buffer switch 6 in a closed state, the signal from the lowering buffer switch 7 in an open state, and the signal from the high - position speed limit switch 10 in a closed state. The vehicle cannot perform driving and lifting actions;

[0045] In Step 4, when the height H of the mast 18 is in any of the above states, the vehicle is powered off and then restarted. After startup, the vehicle state remains the same as before power - off.

[0046] Step 5: The pedal 19 is open and someone is standing on it. The open guard arm 20 is retracted. The signals of the standing board sensing switch 12 and the OPS switch 8 received by the controller 4 are in the closed state, and the signal of the guard arm protection switch 11 is in the open state. Execute Step 2, and the vehicle performs driving, lifting, and lowering actions.

[0047] It should be noted that in Step 5, when the lifting height H of the mast 18 ≤ H0, the signal of the transportation safety switch 9 received by the controller 4 is in the open state, and the signal of the descent buffer switch 7 is in the closed state. The maximum driving speed of the vehicle reaches the set full speed state V0 / 2; the maximum lifting speed of the mast is the set full speed state V1; the maximum descent speed of the mast is the set full speed state V2 / 5.

[0048] In Step 5, when the lifting height H0 < H < Ha of the mast 18, the signal of the transportation safety switch 9 received by the controller 4 is in the open state, and the signal of the descent buffer switch 7 is in the open state. The maximum driving speed of the vehicle reaches the set full speed state V0 / 2; the maximum lifting speed of the mast 18 is the set full speed state V1; the maximum descent speed of the mast 18 is the set full speed state V2.

[0049] In Step 5, when the lifting height Ha ≤ H < Hb of the mast 18, the signal of the transportation safety switch 9 received by the controller 4 is in the closed state, the signal of the lifting buffer switch 6 is in the open state, the signal of the descent buffer switch 7 is in the open state, and the signal of the high - position speed limit switch 10 is in the open state. The maximum driving speed of the vehicle reaches the set V0 / 2; the maximum lifting speed of the mast 18 is the set full speed state V1, and the maximum descent speed of the mast 18 is the set full speed state V2.

[0050] In Step 5, when the lifting height Hb ≤ H < H1 of the mast 18, the signal of the transportation safety switch 9 received by the controller 4 is in the closed state, the signal of the lifting buffer switch 6 is in the open state, the signal of the descent buffer switch 7 is in the open state, and the signal of the high - position speed limit switch 10 is in the closed state. The maximum driving speed of the vehicle reaches the set V0 / 5; the maximum lifting speed of the mast is the set full speed state V1; the maximum descent speed of the mast is the set full speed state V2.

[0051] In Step 5, when the height H of the vehicle's outer mast 18 ≥ H1, the signal of the transportation safety switch 9 received by the controller 4 is in the closed state, the signal of the lifting buffer switch 6 is in the closed state, the signal of the descent buffer switch 7 is in the open state, and the signal of the high - position speed limit switch 10 is in the closed state. The maximum driving speed of the vehicle reaches the set V0 / 5; the maximum lifting speed of the mast is the set full speed state V1 / 5; the maximum descent speed of the mast is the set full speed state V2.

[0052] In Step 5, when the height H of the mast 18 is in any of the above states, the vehicle is powered off and then restarted. After startup, the vehicle state maintains the state before power - off.

[0053] Step 6: When the pedal 19 is retracted and no one is standing on it, the guard arm 20 is opened. The signals of the platform sensing switch 12 and the OPS switch 8 received by the controller 4 are in the off state, and the signal of the guard arm protection switch 11 is in the on state. Execute Step 2, and the whole vehicle does not perform any driving, lifting, or lowering actions;

[0054] It should be noted that in Step 6, when the pedal 19 is retracted and the operator is not standing on the pedal 19, the guard arm 20 is opened. The signal of the platform sensing switch 12 received by the controller 4 is in the off state, the signal of the OPS switch 8 is in the off state, and the signal of the guard arm protection switch 11 is in the on state. Execute Step 2, and the whole vehicle does not perform any driving, lifting, or lowering actions.

[0055] Step 7: When the pedal 19 is retracted and no one is standing on it, the guard arm 20 is retracted. The signals of the platform sensing switch 12, the OPS switch 8, and the guard arm protection switch 11 received by the controller 4 are all in the off state. Execute Step 2, and the whole vehicle performs driving, lifting, and lowering actions;

[0056] It should be noted that in Step 7, when the pedal 19 is retracted and the operator is not standing on the pedal 19, the guard arm 20 is retracted. The signal of the platform sensing switch 12 received by the controller 4 is in the off state, the signal of the OPS switch 8 is in the off state, and the signal of the guard arm protection switch 11 is in the off state. Execute Step 2, and the whole vehicle performs driving, lifting, and lowering actions.

[0057] Specifically, in Step 7, when the lifting height H of the mast 18 satisfies H ≤ H0, the signal of the transportation safety switch 9 received by the controller 4 is in the off state, and the signal of the descent buffer switch 7 is in the on state. The maximum driving speed of the whole vehicle reaches the set full speed state V0 / 2; the maximum lifting speed of the mast 18 is the set full speed state V1; the maximum descent speed of the mast 18 is the set full speed state V2 / 5;

[0058] In Step 7, when the lifting height H of the mast 18 satisfies H0 < H < Ha, the signal of the transportation safety switch 9 received by the controller 4 is in the off state, and the signal of the descent buffer switch 7 is in the off state. The maximum driving speed of the whole vehicle reaches the set full speed state V0 / 2; the maximum lifting speed of the mast 18 is the set full speed state V1; the maximum descent speed of the mast 18 is the set full speed state V2;

[0059] In Step 7, when the lifting height H of the mast 18 satisfies Ha ≤ H < Hb, the signal of the transportation safety switch 9 received by the controller 4 is in the on state, the signal of the lifting buffer switch 6 is in the off state, the signal of the descent buffer switch 7 is in the off state, and the signal of the high - speed limit switch 10 is in the off state. The maximum driving speed of the whole vehicle reaches the set V0 / 2; the maximum lifting speed of the mast 18 is the set full speed state V1; the maximum descent speed of the mast 18 is the set full speed state V2;

[0060] In step 7, when the lifting height Hb ≤ H < H1 of the mast 18, the controller 4 receives that the signal of the transportation safety switch 9 is in a closed state, the signal of the lifting buffer switch 6 is in an open state, the signal of the lowering buffer switch 7 is in an open state, the signal of the high-speed limit switch 10 is in a closed state, and the maximum traveling speed of the whole vehicle reaches the set V0 / 5; the maximum lifting speed of the mast 18 is in the set full-speed state V1; the maximum lowering speed of the mast 18 is in the set full-speed state V2;

[0061] In step 7, when the lifting height H1 ≤ H of the mast 18, the controller 4 receives that the signal of the transportation safety switch 9 is in a closed state, the signal of the lifting buffer switch 6 is in a closed state, the signal of the lowering buffer switch 7 is in an open state, the signal of the high-speed limit switch 10 is in a closed state, and the maximum traveling speed of the whole vehicle reaches the set V0 / 5; the maximum lifting speed of the mast 18 is in the set full-speed state V1 / 5; the maximum lowering speed of the mast 18 is in the set full-speed state V2;

[0062] In step 7, when the height H of the mast 18 is in any of the above states, the whole vehicle is powered off and then restarted, and the state of the whole vehicle after startup maintains the state before power-off.

[0063] The present utility model also provides another embodiment of a safety protection method for a stand-on stacker, including the following steps in sequence:

[0064] (1) Close the composite switch 3 and the start switch 2. The storage battery 1 supplies power to the controller 4, the interlock switch 5, the lifting buffer switch 6, the lowering buffer switch 7, the OPS switch 8, the transportation safety switch 9, the high-speed limit switch 10, the arm protection switch 11, the platform sensing switch 12, the handle 13, the pump motor 14, and the lowering solenoid valve 15. After the controller 4 and the handle 13 are powered on, communication is established, and the whole vehicle is in a startup state.

[0065] (2) Open the pedal 19. When the operator does not stand on the pedal 19 and operates the handle 13, no matter what signal is normally triggered, the whole vehicle does not perform traveling and lifting actions;

[0066] (3) Open the pedal 19. When the operator stands on the pedal 19 and opens the protective arm 20 and operates the handle 13, the controller 4 judges the lifting height H of the mast 18, and the whole vehicle performs different traveling speeds and different mast lifting and lowering speeds;

[0067] (4) Open the pedal 19. When the operator stands on the pedal 19 and retracts the protective arm 20 and operates the handle 13, the controller 4 judges the lifting height H of the mast 18, and the whole vehicle performs different traveling speeds and different mast lifting and lowering speeds;

[0068] (5)Retract the pedal 19. When the operator is not standing on the pedal 19 and the protective arm 20 is opened, operate the handle 13. No matter what signal is triggered normally, the whole vehicle will not perform driving and lifting actions.

[0069] (6)Retract the pedal 19. When the operator is not standing on the pedal 19 and the protective arm 20 is retracted, operate the handle 13. The controller 4 judges the lifting height H of the mast 18, and the whole vehicle executes different driving speeds and different mast lifting and lowering speeds.

[0070] It should be noted that steps (2), (3), (4), (5), and (6) are independent states and are all carried out on the premise of completing step (1). After the whole vehicle is started, the controller 4 receives the start signal and judges the signal states of the platform sensing switch 12, the OPS switch 8, the protective arm protection switch signal state, the lifting height H information of the mast 18, and the information triggered by the handle 13. The whole vehicle is controlled to execute the driving function, mast lifting, and mast lowering working states through the above information. The specific steps are as follows:

[0071] The battery 1 is used as the system power supply and directly powers the start switch 2. The battery 1 supplies power to the controller 4, the interlock switch 5, the lifting buffer switch 6, the lowering buffer switch 7, the OPS switch 8, the transportation safety switch 9, the high-speed limit switch 10, the protective arm protection switch 11, the platform sensing switch 12, the handle 13, the pump motor 14, and the lowering solenoid valve 15. After the controller 4 and the handle 13 are powered on, communication is established, and the whole vehicle is in the start state.

[0072] After the whole vehicle is started, the controller 4 judges the platform sensing signal state, the OPS switch 8 signal state, the protective arm protection switch signal state, and the lifting height H information of the mast 18;

[0073] Open the protective arm 20. When the operator stands on the pedal 19 and the lifting height H of the mast 18 ≤ H0, press down the handle 13. The interlock switch 5 senses and closes. Rotate the accelerator 133 of the handle 13 to trigger the forward acceleration signal (reverse signal). The controller 4 controls the drive motor 16 to drive in the forward direction (reverse direction), and the maximum driving speed is V0; trigger the lifting switch 131 to trigger the lifting signal. The controller 4 controls the pump motor 14 to work, and the mast 18 makes a lifting action, and the maximum lifting speed is V1; trigger the lowering switch 132 to trigger the lowering signal. The controller 4 controls the lowering solenoid valve 15 to work, and the mast 18 makes a lowering action, and the maximum lowering speed is V2 / 5;

[0074] Open the forearm guard 20. The operator stands on the pedal 19. When the lifting height H of the gantry 18 satisfies H0 < H < Ha, press down the handle 13. The interlock switch 5 senses and closes. Rotate the accelerator 133 of the handle 13 to trigger a forward acceleration signal (reverse signal). The controller 4 controls the driving motor 16 to travel in the forward direction (reverse direction), and the maximum traveling speed is V0. Trigger the lifting switch 131 to trigger a lifting signal. The controller 4 controls the pump motor 14 to work, and the gantry 18 performs a lifting action, with the maximum lifting speed being V1. Trigger the lowering switch 132 to trigger a lowering signal. The controller 4 controls the lowering solenoid valve 15 to work, and the gantry 18 performs a lowering action, with the maximum lowering speed being V2.

[0075] Open the forearm guard 20. The operator stands on the pedal 19. When the lifting height H of the gantry 18 satisfies Ha ≤ H < Hb, press down the handle 13. The interlock switch 5 senses and closes. Rotate the accelerator 133 of the handle 13 to trigger a forward acceleration signal (reverse signal). The controller 4 controls the driving motor 16 to travel in the forward direction (reverse direction), and the maximum traveling speed is V0 / 2. Trigger the lifting switch 131 to trigger a lifting signal. The controller 4 controls the pump motor 14 to work, and the gantry 18 performs a lifting action, with the maximum lifting speed being V1. Trigger the lowering switch 132 to trigger a lowering signal. The controller 4 controls the lowering solenoid valve 15 to work, and the gantry 18 performs a lowering action, with the maximum lowering speed being V2.

[0076] Open the forearm guard 20. The operator stands on the pedal 19. When the lifting height H of the gantry 18 satisfies Hb ≤ H, press down the handle 13. The interlock switch 5 senses and closes. Rotate the accelerator 133 of the handle 13 to trigger a forward acceleration signal (reverse signal), but the whole vehicle does not perform a traveling action. Trigger the lifting switch 131 to trigger a lifting signal, and the whole vehicle does not perform a gantry lifting action. Trigger the lowering switch 132 to trigger a lowering signal, and the whole vehicle does not perform a gantry lowering action.

[0077] Retract the forearm guard 20. The operator stands on the pedal 19. When the lifting height H of the gantry 18 satisfies H ≤ H0, press down the handle 13. The interlock switch 5 senses and closes. Rotate the accelerator 133 of the handle 13 to trigger a forward acceleration signal (reverse signal). The controller 4 controls the driving motor 16 to travel in the forward direction (reverse direction), and the maximum traveling speed is V0 / 2. Trigger the lifting switch 131 to trigger a lifting signal. The controller 4 controls the pump motor 14 to work, and the gantry 18 performs a lifting action, with the maximum lifting speed being V1. Trigger the lowering switch 132 to trigger a lowering signal. The controller 4 controls the lowering solenoid valve 15 to work, and the gantry 18 performs a lowering action, with the maximum lowering speed being V2 / 5.

[0078] Retract the protective arm 20. The operator stands on the pedal 19. When the lifting height H of the gantry 18 satisfies H0 < H < Ha, press down the handle 13. The interlock switch 5 senses and closes. Rotate the accelerator 133 of the handle 13 to trigger a forward acceleration signal (reverse signal). The controller 4 controls the driving motor 16 to travel in the forward direction (reverse direction), and the maximum traveling speed is V0 / 2. Trigger the lifting switch 131 to trigger a lifting signal. The controller 4 controls the pump motor 14 to work, and the gantry 18 makes a lifting action, with the maximum lifting speed being V1. Trigger the lowering switch 132 to trigger a lowering signal. The controller 4 controls the lowering solenoid valve 15 to work, and the gantry 18 makes a lowering action, with the maximum lowering speed being V2.

[0079] Retract the protective arm 20. The operator stands on the pedal 19. When the lifting height H of the gantry 18 satisfies Ha ≤ H < Hb, press down the handle 13. The interlock switch 5 senses and closes. Rotate the accelerator 133 of the handle 13 to trigger a forward acceleration signal (reverse signal). The controller 4 controls the driving motor 16 to travel in the forward direction (reverse direction), and the maximum traveling speed is V0 / 2. Trigger the lifting switch 131 to trigger a lifting signal. The controller 4 controls the pump motor 14 to work, and the gantry 18 makes a lifting action, with the maximum lifting speed being V1. Trigger the lowering switch 132 to trigger a lowering signal. The controller 4 controls the lowering solenoid valve 15 to work, and the gantry 18 makes a lowering action, with the maximum lowering speed being V2.

[0080] Retract the protective arm 20. The operator stands on the pedal 19. When the lifting height H of the gantry 18 satisfies Hb ≤ H < H1, press down the handle 13. The interlock switch 5 senses and closes. Rotate the accelerator 133 of the handle 13 to trigger a forward acceleration signal (reverse signal). The controller 4 controls the driving motor 16 to travel in the forward direction (reverse direction), and the maximum traveling speed is V0 / 2. Trigger the lifting switch 131 to trigger a lifting signal. The controller 4 controls the pump motor 14 to work, and the gantry 18 makes a lifting action, with the maximum lifting speed being V1. Trigger the lowering switch 132 to trigger a lowering signal. The controller 4 controls the lowering solenoid valve 15 to work, and the gantry 18 makes a lowering action, with the maximum lowering speed being V2.

[0081] Retract the protective arm 20. The operator stands on the pedal 19. When the lifting height H of the gantry 18 satisfies H1 ≤ H, press down the handle 13. The interlock switch 5 senses and closes. Rotate the accelerator 133 of the handle 13 to trigger a forward acceleration signal (reverse signal). The controller 4 controls the driving motor 16 to travel in the forward direction (reverse direction), and the maximum traveling speed is V0 / 5. Trigger the lifting switch 131 to trigger a lifting signal. The controller 4 controls the pump motor 14 to work, and the gantry 18 makes a lifting action, with the maximum lifting speed being V1 / 5. Trigger the lowering switch 132 to trigger a lowering signal. The controller 4 controls the lowering solenoid valve 15 to work, and the gantry 18 makes a lowering action, with the maximum lowering speed being V2.

[0082] Retract the protective arm 20, retract the pedal 19, the operator does not stand on the pedal 19, the lifting height H of the gantry 18 satisfies H ≤ H0. Press down the handle 13, the interlock switch 5 senses and closes. Rotate the accelerator 133 of the handle 13 to trigger a forward acceleration signal (reverse signal). The controller 4 controls the driving motor 16 to travel in the forward direction (reverse direction), and the maximum traveling speed is V0 / 2. Trigger the lifting switch 131 to trigger a lifting signal. The controller 4 controls the pump motor 14 to work, and the gantry 18 makes a lifting action, with the maximum lifting speed being V1. Trigger the lowering switch 132 to trigger a lowering signal. The controller 4 controls the lowering solenoid valve 15 to work, and the gantry 18 makes a lowering action, with the maximum lowering speed being V2 / 5;

[0083] Retract the protective arm 20, retract the pedal 19, the operator does not stand on the pedal 19, the lifting height Ha of the gantry 18 satisfies Ha ≤ H < Hb. Press down the handle 13, the interlock switch 5 senses and closes. Rotate the accelerator 133 of the handle 13 to trigger a forward acceleration signal (reverse signal). The controller 4 controls the driving motor 16 to travel in the forward direction (reverse direction), and the maximum traveling speed is V0 / 2. Trigger the lifting switch 131 to trigger a lifting signal. The controller 4 controls the pump motor 14 to work, and the gantry 18 makes a lifting action, with the maximum lifting speed being V1. Trigger the lowering switch 132 to trigger a lowering signal. The controller 4 controls the lowering solenoid valve 15 to work, and the gantry 18 makes a lowering action, with the maximum lowering speed being V2;

[0084] Retract the protective arm 20, retract the pedal 19, the operator does not stand on the pedal 19, the lifting height Hb of the gantry 18 satisfies Hb ≤ H < H1. Press down the handle 13, the interlock switch 5 senses and closes. Rotate the accelerator 133 of the handle 13 to trigger a forward acceleration signal (reverse signal). The controller 4 controls the driving motor 16 to travel in the forward direction (reverse direction), and the maximum traveling speed is V0 / 2. Trigger the lifting switch 131 to trigger a lifting signal. The controller 4 controls the pump motor 14 to work, and the gantry 18 makes a lifting action, with the maximum lifting speed being V1. Trigger the lowering switch 132 to trigger a lowering signal. The controller 4 controls the lowering solenoid valve 15 to work, and the gantry 18 makes a lowering action, with the maximum lowering speed being V2;

[0085] Retract the protective arm 20, retract the pedal 19, the operator does not stand on the pedal 19, the lifting height H of the gantry 18 satisfies H1 ≤ H. Press down the handle 13, the interlock switch 5 senses and closes. Rotate the accelerator 133 of the handle 13 to trigger a forward acceleration signal (reverse signal). The controller 4 controls the driving motor 16 to travel in the forward direction (reverse direction), and the maximum traveling speed is V0 / 5. Trigger the lifting switch 131 to trigger a lifting signal. The controller 4 controls the pump motor 14 to work, and the gantry 18 makes a lifting action, with the maximum lifting speed being V1 / 5. Trigger the lowering switch 132 to trigger a lowering signal. The controller 4 controls the lowering solenoid valve 15 to work, and the gantry 18 makes a lowering action, with the maximum lowering speed being V2;

[0086] When the protective arm 20 is opened and the pedal 19 is retracted, and the operator does not stand on the pedal 19, the whole vehicle does not perform any driving, lifting, or lowering actions.

[0087] When the protective arm 20 is opened and the pedal 19 is opened, and the operator does not stand on the pedal 19, the whole vehicle does not perform any driving, lifting, or lowering actions.

[0088] When the protective arm 20 is closed and the pedal 19 is retracted, and the operator does not stand on the pedal 19, the whole vehicle does not perform any driving, lifting, or lowering actions.

[0089] In the above working states, when the whole vehicle is powered off and restarted, the transportation safety switch 9 and the high-speed limit switch 10 maintain the states before power-off. The controller 4 can judge the height H of the mast 18 through the transportation safety switch 9 and the high-speed limit switch 10, and re-perform the above actions.

[0090] In summary, the present utility model controls the operation of the drive motor 16 and the pump motor 14 by using the controller 4 in combination with the signal states of the interlock switch 5, the lifting buffer switch 6, the lowering buffer switch 7, the OPS switch 8, the transportation safety switch 9, the high-speed limit switch 10, the protective arm protection switch 11, the platform sensing switch 12, and the handle 13, and performs associated control on the driving direction, driving speed magnitude, mast lifting speed, and mast lowering speed of the whole vehicle, realizing the intelligent association between the driving speed and the lifting and stacking height, ensuring that the vehicle speed meets the safety standards at different heights, and preventing out-of-control or overturning caused by excessive speed. The present utility model realizes the comprehensive monitoring and intelligent control of key operations such as vehicle driving, lifting, and lowering through a highly integrated controller in combination with a variety of safety switches and sensors, effectively improving the operation safety and reducing the accident risk.

[0091] The above has detailed the structure, features, and function effects of the present utility model according to the illustrated embodiments, but the above are only the preferred embodiments of the present utility model. It should be noted that for the technical features involved in the above embodiments and their preferred modes, those skilled in the art can reasonably combine and match them into a variety of equivalent solutions without departing from and without changing the design concept and technical effects of the present utility model; therefore, the present utility model is not limited by the scope shown in the drawings. Any changes made in accordance with the concept of the present utility model, or modified into equivalent embodiments with equivalent changes, should still be within the protection scope of the present utility model as long as they do not exceed the spirit covered by the description and the drawings.

Claims

1. A safety protection system for a stand-on stacker, characterized in that: The invention comprises a controller (4), an interlock switch (5), a lifting buffer switch (6), a lowering buffer switch (7), an OPS switch (8), a transport safety switch (9), a high-speed limit switch (10), an arm protection switch (11), a stand sensing switch (12) and a handle (13); one end of the interlock switch (5), the lifting buffer switch (6), the lowering buffer switch (7), the OPS switch (8), the transport safety switch (9), the high-speed limit switch (10), the arm protection switch (11) and one end of the stand sensing switch (12) are respectively connected to the controller (4); the controller (4) is connected to a power supply end of the handle (13) through a bus, the power end of the controller (4) is connected to a power end of a drive motor (16), and the corresponding port of the controller (4) is also connected to a pump motor (14).

2. The safety protection system for a stand-on stacker according to claim 1, characterized in that: The invention also comprises a storage battery (1), a start switch (2) and a composite switch (3), wherein the positive electrode of the storage battery (1) is connected to the power input terminal B+ of the start switch (2), and the negative electrode of the storage battery (1) is connected to the negative electrode of the controller (4) and the negative electrode of the handle (13); the output end of the start switch (2) is connected to one end of a normally open switch (31) in the composite switch (3), the other end of the normally open switch (31) in the composite switch (3) is connected to one end of a coil (32) in the composite switch (3), the other end of the coil (32) in the composite switch (3) is connected to one end of a first fuse F1, the electric shock a end of the composite switch (3) is connected to the positive electrode of the storage battery (1), and the composite switch (3) is connected to the positive electrode of the storage battery (1). The electric shock b end of the closing switch (3) is connected to one end of the second fuse F2; the other end of the first fuse F1 is respectively connected to the controllable power supply end of the controller (4), one end of the interlock switch (5), one end of the lifting buffer switch (6), one end of the descending buffer switch (7), one end of the OPS switch (8), one end of the transportation safety switch (9), one end of the high-position speed limit switch (10), one end of the arm protection switch (11), one end of the stand sensing switch (12), and the power supply end of the handle (13); the other end of the second fuse F2 is respectively connected to the power supply end of the controller (4), the positive end of the pump motor (14), and the positive end of the descending solenoid valve (15).

3. The safety protection system for a stand-on stacker according to claim 2, characterized in that: The drive motor (16) comprises an electromagnetic brake (161), a temperature sensor (162) and a speed encoder (163); a control port of the electromagnetic brake (161) is connected to the controller (4); a signal port of the temperature sensor (162) is connected to the controller (4); and a signal port of the speed encoder (163) is connected to the controller (4).

4. The safety protection system for a stand-on stacker according to claim 2 or 3, characterized in that: The handle (13) comprises a lifting switch (131), a lowering switch (132) and an accelerator (133); the controller (4) controls the pump motor (14) to operate so that the door frame (18) performs a lifting action; the controller (4) controls the lowering solenoid valve (15) to operate so that the door frame (18) performs a lowering action; the controller (4) controls the driving motor (16) via the accelerator (133) to correspond to a forward direction speed and a backward direction speed.

5. The safety protection system for a stand-on stacker according to claim 1, characterized in that: The interlock switch (5), the lifting buffer switch (6), the descending buffer switch (7), the OPS switch (8), the arm protection switch (11), and the stand sensing switch (12) are normally open proximity switches, and the transport safety switch (9) and the high-position speed limit switch (10) are steady-state switches.

6. The safety protection system for a stand-on stacker according to claim 1, characterized in that: The controller (4) is a two-in-one AC drive plus DC pump control controller.

7. The safety protection system for a stand-on stacker according to claim 2, characterized in that: The pump motor (14) is a DC motor, and the descending solenoid valve (15) is a proportional solenoid valve.

8. The safety protection system for a stand-on stacker according to claim 1, characterized in that: The interlock switch (5) is installed below the handle shaft to sense the handle working area; the lifting buffer switch (6) is installed at the height H1 of the gantry (18) to sense the lifting height of the gantry; the lowering buffer switch (7) is installed at the height H0 of the gantry (18) to sense the lifting height of the gantry; the transport safety switch (9) is installed at the height Ha of the gantry (18) to sense the lifting height of the gantry, wherein Ha>H0; the high-position speed limit switch (10) is installed at The height Hb of the gantry (18) is used to sense the lifting height of the gantry, wherein Hb<H1; the OPS switch (8) is installed below the pedal (19) and is used to sense whether the operator is standing on the pedal (19); the arm guard protection switch (11) is installed below the rotation shaft of the arm guard (20) and is used to sense the retracted and lowered state of the arm guard (20); the standing board sensing switch (12) is installed below the rotation shaft of the pedal (19) and is used to sense the retracted and lowered state of the pedal (19).

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