CN204110934U - A kind of piler safety management module and piler safety management system - Google Patents

Abstract

A stacker crane safety management module and a stacker crane safety management system belong to the fields of logistics safety transportation, vehicle management and traffic management. The technical scheme of the utility model includes an input, a main control module and a load module; the main control module includes an input protection circuit of the main control module, a first-level step-down circuit of the main control module, a second-level step-down circuit of the main control module, and a microcontroller of the main control module Circuit, main control module communication circuit, key input circuit, LCD output circuit; load module includes load module input protection circuit, load module step-down circuit, load module microcontroller circuit, load module communication circuit. Another technical solution of the utility model includes an external power supply, a stacker safety management module, a motor controller, an analog signal amplification circuit, and a pressure sensor. The utility model provides a stacker crane safety management module and a stacker crane safety management system with safety, real-time performance and high efficiency.

Description

A stacker crane safety management module and a stacker crane safety management system

technical field

The utility model relates to the fields of logistics safety transportation, vehicle management and traffic management, in particular to a stacker safety management module and a stacker safety management system. the

Background technique

With the wide application and improvement of modern logistics, the requirements for warehouses should be as far as possible to achieve high-level storage, high-density storage, and high-speed storage and retrieval. As the core component of the automated three-dimensional warehouse, the stacker is responsible for all inventory, picking, and inventory. At present, the common stacker cranes on the market are mainly driven manually, and the position of the goods is identified with the naked eye. The load and position of the goods are manually judged, which results in high requirements for operators and low production efficiency. the

The utility model patent CN202671130U discloses an anti-overload anti-rollover forklift with an alarm function, and specifically discloses that the forklift includes a pressure sensor, a connector, an arithmetic unit, a controller, an audible and visual alarm, and a pressure sensor installed on a hydraulic cylinder. The sensor converts the pressure signal into an electrical signal, which is transmitted to the audible and visual alarm through the connector, arithmetic unit, and controller, and then converted into an audible and visual signal for voice and light prompts on overload and partial load. The forklift has anti-overload and partial load functional devices. Although it optimizes the traditional freight method of judging the cargo load with human eyes, it has not been optimized through automatic control of the forklift and solved the problem of how to replace the human eye to accurately lift the cargo to the exact cargo position. In addition, the The device collects the pressure change value on the hydraulic cylinder of the forklift, which is only suitable for internal combustion forklifts or battery forklifts with hydraulic cylinders, and does not process the collected electrical signals, and does not consider the safety and stability of the input power supply voltage. the

Utility model content

The utility model carries out secondary development aiming at the lack of safety performance of the existing stacker trucks, meets the actual use requirements of the stacker trucks in the roadway, and provides a safety management module of the stacker trucks with safety, real-time performance and high efficiency And stacker safety management system. the

The technical solution of the utility model is to provide a stacker crane safety management module, which is characterized in that it includes an input, a main control module and a load module; Voltage circuit, main control module secondary step-down circuit, main control module microcontroller circuit, main control module communication circuit, key input circuit, LCD output circuit; the load module includes load module input protection circuit, load module step-down circuit , the microcontroller circuit of the load module, and the communication circuit of the load module; the input connected to the external power supply is connected to the input protection circuit of the main control module, the primary step-down circuit of the main control module, and the secondary circuit of the main control module Step-down circuit, microcontroller circuit of the main control module; the primary step-down circuit of the main control module is sequentially connected to the input protection circuit of the load module, the step-down circuit of the load module, and the microcontroller circuit of the load module The microcontroller circuit of the main control module is bidirectionally connected with the communication circuit of the main control module and the communication circuit of the load module, and the communication circuit of the load module is bidirectionally connected with the microcontroller circuit of the load module; the button The input circuit and the LCD output circuit are respectively connected to the microcontroller circuit of the main control module. the

The safety management module of the stacker performs analog-to-digital conversion on the load value and partial load value of the goods collected on the fork of the stacker through the microcontroller circuit of the load module, and the converted data is uploaded to the main control module through the communication circuit of the load module The micro-controller circuit uses the micro-controller circuit of the main control module to compare and judge the load capacity of the left and right sides of the stacker fork and output a signal of whether the load is partial. The signal is uploaded to the motor controller of the stacker through the communication circuit of the main control module. In this way, the stacker realizes the automatic adjustment of partial load through the motor controller according to the signal of the stacker safety management module, so as to improve the safety during transportation. In addition, the LCD output circuit displays the cargo load and unbalanced load information, which is convenient for the effective management of the stacker; the key input circuit saves the automatic lifting position of the fork and improves the efficiency of cargo transportation. the

As a preference of the present utility model, the micro-controller circuit of the main control module includes a main control chip and its peripheral circuit; the main control chip is powered by the secondary step-down circuit of the main control module; the main control chip is connected to Both are composed of the main control module communication circuit and the load module communication circuit composed of CAN communication circuit, optocoupler isolation circuit and optocoupler isolation protection circuit, and output signals to the stacker through the communication circuit of the main control module The motor controller in the load module realizes two-way communication with the microcontroller circuit of the load module through the communication circuit of the load module; The key input circuit composed of chips and the LCD output circuit for displaying the data collected by the main control chip. the

As a preference of the present utility model, the shift register in the key input circuit is powered by the output voltage of the primary step-down circuit output step-down voltage of the main control module through a capacitor and an inductance; The power supply voltage of the main control chip of the button and the button is supplied by the output voltage of the secondary step-down circuit of the main control module after passing through the capacitor and the inductor. the

As a preference of the present invention, the LCD output circuit is powered by the output voltage of the secondary step-down circuit of the main control module outputting the step-down voltage through the capacitor and the inductor. the

As a preference of the present utility model, the CAN communication circuit and the optocoupler isolation and protection circuit in the communication circuit of the main control module are both powered by the output voltage of the output step-down voltage of the primary step-down circuit of the main control module through the capacitor and the inductor; Both the CAN communication circuit and the optocoupler isolation protection circuit in the communication circuit of the load module are powered by the output voltage of the primary step-down circuit of the main control module after the output voltage of the DC-DC isolated power supply, and the communication of the main control module The circuit and the optocoupler isolation circuit in the communication circuit of the load module are powered by the output voltage of the output step-down voltage of the secondary step-down circuit of the main control module after passing through the capacitor and the inductor. the

As a preference of the present utility model, the load module microcontroller circuit includes a load main control chip and its peripheral circuits; the load main control chip is powered by the load module step-down circuit; the load main control chip is connected by the Describe the described load module communication circuit that is made up of CAN communication circuit, optocoupler isolation circuit and optocoupler isolation protection circuit; Described load module micro-controller circuit also includes by resistance, the first triode, the second triode and electric capacity An on-off circuit composed of the load main control chip is connected to the base of the first triode, the emitter of the first triode is connected to the collector of the second triode, and the first The collector of a triode is connected to the base of the second triode, and the emitter and collector of the second triode are respectively connected to the load module step-down circuit. the

As a preference of the present utility model, the main control module input protection circuit and the load module input protection circuit both include an overvoltage protection circuit, an overcurrent protection circuit, and an anti-reverse connection protection circuit; the input connected to the external power supply is sequentially connected to the The overvoltage protection circuit, overcurrent protection circuit and anti-reverse connection protection circuit in the input protection circuit of the main control module output a stable voltage to the primary step-down circuit of the main control module; the primary step-down circuit of the main control module sequentially connect the overvoltage protection circuit, overcurrent protection circuit and anti-reverse connection protection circuit in the input protection circuit of the load module, and output a stable voltage to the step-down circuit of the load module. the

Another technical solution of the utility model is to provide a stacker crane safety management system including the aforementioned stacker crane safety management module, which is characterized in that it also includes an external power supply, a motor controller for controlling the operation of the stacker crane, and an analog A signal amplification circuit, a pressure sensor for collecting the load signal on the pallet fork of the stacker; the external power supply is connected to the input of the safety management module of the stacker, and the communication circuit of the main control module is bidirectionally connected with the motor controller ; The load module step-down circuit is respectively connected to the analog signal amplification circuit and the pressure sensor; the pressure sensor is sequentially connected to the analog signal amplification circuit and the load module microcontroller circuit. the

The stacker safety management system uses a pressure sensor to collect the voltage signal of the deformation caused by external force on the pallet fork of the stacker. The voltage signal amplified by the analog amplifying signal circuit is sent to the load module microcontroller circuit, and then through the load module communication circuit. The cargo load and unbalanced load are transmitted to the microcontroller circuit of the main control module, and the microcontroller circuit of the main control module displays the obtained cargo load and unbalanced load on the LCD, and limits the motor controller through the communication circuit of the main control module The running speed of the stacker and the height of the goods are controlled. At the same time, the microcontroller circuit of the main control module will obtain the real-time battery power and running speed of the stacker through the communication circuit and display it on the LCD. Such a control method effectively avoids rollover accidents caused by excessive eccentric loads of the stacker, and improves the safety of operators when operating the stacker. The operator can save each position of the fork in the FLASH in the micro-controller circuit of the main control module through the key input circuit, and can call the data in the FLASH, and control the motor controller to move through the communication circuit of the main control module, which is easy to complete Automatic storage and retrieval of goods to improve the efficiency of goods transportation. the

As a preference of the present utility model, the load module step-down circuit includes a first step-down circuit with a first power step-down chip and a second step-down circuit with a second power step-down chip; the load module input protection circuit The first step-down circuit and the second step-down circuit are respectively connected; the first step-down circuit supplies power for the load module microcontroller circuit, and the second step-down circuit respectively amplifies the analog signal circuit and the pressure sensor is powered. the

As a preference of the present invention, the pressure sensor includes a metal sheet and a strain gauge resistor connected in a full-bridge differential manner. the

The utility model has the following beneficial effects:

1. Safety: (1) The safety of the equipment itself: provide overcurrent, overvoltage, anti-reverse protection and other protections to realize real-time protection of the safety management module of the stacker, which not only ensures that the safety management module of the stacker can work normally Work, and can protect other equipment on the stacker from being damaged, reduce the failure rate, thereby improving the service life of the equipment. (2) Equipment operation safety: Control the operating speed of the stacker and the maximum height that the fork can lift according to the unbalanced load of the goods, so as to improve the safety of operators and goods during transportation and reduce the incidence of accidents .

2. Real-time performance: Real-time display of vehicle running status information, including: battery power, vehicle running speed, fork height, load status, fault information, etc., can intuitively reflect the current equipment status to the operator, and facilitate the effective management of the stacker . the

3. Efficiency: It is possible to save and call the number of layers of goods that the fork automatically reaches through key operations, which solves the problem of identifying the location of the goods with the naked eye, thereby improving the efficiency of goods transportation. the

Description of drawings

Fig. 1 is the structural block diagram of the utility model stacker safety management module;

Fig. 2 is the circuit diagram of main control module input protection circuit, main control module primary step-down circuit and main control module secondary step-down circuit in the utility model;

Fig. 3 is the circuit diagram of main control module microcontroller circuit in the utility model;

Fig. 4 is the circuit diagram of the button input circuit in the utility model;

Fig. 5 is the circuit diagram of the LCD output circuit in the utility model;

Fig. 6 is the circuit diagram of the main control module communication circuit in the utility model;

Fig. 7 is the circuit diagram of the load module step-down circuit in the utility model;

Fig. 8 is the circuit diagram of load module microcontroller circuit in the utility model;

Fig. 9 is a circuit diagram of the communication circuit of the load module in the utility model;

Fig. 10 is a structural block diagram of the utility model stacker safety management system;

Fig. 11 is a circuit diagram of the analog signal amplifying circuit in the utility model.

Detailed ways

Below in conjunction with accompanying drawing, the utility model is described in further detail. the

The safety management module of the stacker and the safety management system of the stacker of the utility model have the functions of preventing unbalanced load rollover, height memory and lifting, weighing, intelligent instrument display, etc., and can not only weigh the goods on the fork but also There is a quantitative concept of the partial load of the entire stacker to improve the safety of the cargo transportation process; the height memory and lifting function is based on the weight of the goods and the partial load of the entire stacker, and is effectively controlled by the communication circuit. Controlling the motor controller optimizes the traditional shipping method that uses human eyes to judge the position of the shelf. Using the height memory and lifting function can improve the efficiency of cargo transportation, reduce the fatigue of operators during cargo transportation, and indirectly improve the safety during transportation. safety. the

Fig. 1 shows the structural block diagram of the utility model stacker safety management module. The safety management module of the stacker of the utility model includes an input, a load module and a main control module. The main control module includes a main control module input protection circuit, a primary control module step-down circuit, a main control module secondary step-down circuit, a main control module microcontroller circuit, a main control module communication circuit, a key input circuit, an LCD output circuit. The external power supply provides 24V DC to the input, and the input is sent to the input protection circuit of the main control module to output a stable 24V voltage, and the first step-down circuit of the main control module outputs 5V voltage to the second level of the main control module Step-down circuit, outputting 3.3V voltage to supply power for the micro-controller circuit of the main control module; the LCD output circuit and the key input circuit are respectively connected to the micro-controller circuit of the main control module to display Cargo information and store the number of layers of goods that the fork automatically arrives at; the microcontroller circuit of the main control module is bidirectionally connected to the communication circuit of the main control module, so that the safety management module of the stacker and the motor control of the stacker The controller realizes automatic control docking. The load module includes a load module input protection circuit, a load module step-down circuit, a load module microcontroller circuit, and a load module communication circuit. The main control module primary step-down circuit outputs 5V voltage to the input protection circuit of the load module, and the input protection circuit of the load module outputs a stable 5V voltage to the step-down circuit of the load module, and the output voltage of 3.3V after step-down is The load module microcontroller circuit is powered. The microcontroller circuit of the load module and the communication circuit of the load module and the microcontroller circuit of the main control module and the communication circuit of the load module realize two-way communication in pairs, so as to realize the communication between the microcontroller circuit of the load module and the communication circuit of the load module. The main control module communicates between microcontroller circuits. the

Figure 2-6 shows the circuit diagram of the main control module of the utility model. The power supply voltage generated by the power supply of the stacker is very unstable, and there is transient voltage interference, including the phenomenon that the instantaneous voltage is too low or the instantaneous voltage is too high. In order to solve the problem, reduce the failure rate of the stacker safety management module and ensure the normal operation of the stacker safety management module, the input protection circuit of the main control module includes an overvoltage protection circuit, an overcurrent protection circuit and an anti-reverse Connect to the protection circuit. The input terminal of the overvoltage protection circuit of the main control module input protection circuit is connected with the 24V input connected to the external power supply, which includes devices such as bidirectional transient diodes or discharge tubes for suppressing instantaneous overvoltage, and the overvoltage protection circuit The output terminal is connected to the input terminal of the overcurrent protection circuit of the input circuit of the main control module; the overcurrent protection circuit includes an overcurrent fuse. The fuse is disconnected; once the fault is removed, the fuse is turned on again or a new fuse is replaced, and the output terminal of the overcurrent protection circuit is connected to the anti-reverse connection protection circuit of the input circuit of the main control module; the anti-reverse connection protection circuit Composed of switching devices, such as diodes or field effect transistors, etc., when the switching device is a PMOS tube, the drain and gate of the PMOS tube are connected to the positive and negative terminals of the external power supply, and the source of the PMOS tube is connected to The main control module is a primary step-down circuit. When the external power supply is input in the positive direction, the PMOS tube is turned on, and when the external power supply is input in the reverse direction, the PMOS tube is turned off, so as to avoid the positive and negative polarity of the external power supply. phenomenon of device damage. the

The input protection circuit of the main control module outputs a 24V stable voltage to the primary step-down circuit of the main control module. The first-stage step-down circuit of the main control module includes a first-stage step-down chip LM2678 and its peripheral circuits. The primary step-down chip reduces 24V to 5V, and outputs a stable voltage of 5V to the secondary step-down circuit of the main control module and the step-down circuit of the load module respectively. The secondary step-down circuit of the main control module includes a secondary step-down chip AMS1117-3.3 and its peripheral circuits. The secondary step-down chip reduces 5V to 3.3V and outputs a stable voltage of 3.3V to the main control module micro controller circuit. the

The micro-control circuit of the main control module includes a main control chip and peripheral circuits. The main control chip adopts STM32F407ZET6, and its core is a Cortex-M4 CPU of ARM32 bits, and the maximum operating frequency reaches 168MHZ. The main control chip STM32F407ZET6 is embedded with two CAN communication interfaces with a communication rate of up to 1Mbit/s, and uploads the data in the microcontroller circuit of the load module to the microcontroller of the main control module in real time through the communication circuit of the load module The microcontroller circuit of the main control module can also control the motor controller of the stacker in real time through the communication circuit of the main control module. The main control chip also has an LCD parallel interface, which supports two timings of 8080 and 6800. The LCD parallel interface can display information such as vehicle running status on the LCD in real time. The main control chip also has 140 I/O ports with interrupt capability, which can satisfy the key input circuit in this design. The main control chip has a FLASH flash memory up to 1Mbyte, which can easily store and recall relevant data of a specified height and preset position. If the main control module is abnormal, it can automatically recover or reset. the

The key input circuit includes a key with LED lights, a shift register 74HC595, and a key control chip STM8L101K3T6. In order to save IO and simplify circuit board wiring, the key matrix scanning keyboard adopts a 4*5 matrix scanning method. The shift register is used to drive the LED lights on the 20 keys. The main control chip STM8L101K3T6 is used to read the state on the button bus and control the shift and register to control the LED lights. The key input circuit is connected with the main control chip I/O port of the main control module microcontroller circuit. The power supply of the shift register is about 5V, which can be powered by an external power supply or a battery, or the 5V voltage output by the primary step-down circuit of the main control module is output through a capacitor and an inductor to supply power. The power supply of the key and the main control chip of the key is about 3.3V, which can be powered by an external power supply or a battery, or the secondary step-down circuit of the main control module outputs a 3.3V voltage through a capacitor and an inductor for power supply. the

The LCD output circuit includes a bus extension 512K SRAM (U68) and a 7-inch MD070SD (U69). The MD070SD adopts 8080 timing, 16bit parallel bus interface, and a resolution of 800*480, which meets the application in this design. The said 512K SRAM provides enough video memory for the LCD. The LCD output circuit is connected with the LCD parallel interface of the main control chip of the microcontroller circuit of the main control module. The power supply of the LCD output circuit is about 3.3V, which can be powered by an external power supply or a battery, or the secondary step-down circuit of the main control module outputs a 3.3V voltage through a capacitor and an inductor for power supply. the

The main control module communication circuit includes a CAN communication circuit, an optocoupler isolation circuit and an optocoupler isolation protection circuit. The CAN communication circuit adopts CAN communication chip PCA82CA250, and the optocoupler isolation circuit adopts optocoupler isolation chip H11L1. The main control module communication circuit is connected to the CAN communication interface of the main control chip of the main control module microcontroller circuit. The power supply of the CAN communication circuit and the optocoupler isolation protection circuit in the communication circuit of the main control module is about 5V, which can be powered by an external power supply or a battery, or the 5V voltage output by the primary step-down circuit of the main control module is passed through a capacitor and the output power after the inductor. The power supply of the optocoupler isolation circuit in the communication circuit of the main control module is about 3.3V, which can be powered by an external power supply or a battery, or the 3.3V voltage output by the secondary step-down circuit of the main control module is passed through a capacitor and an inductance output power supply. the

Figure 7-9 shows the circuit diagram of the utility model load module. In order to solve the problem of instantaneous voltage too low or instantaneous voltage too high, the input protection circuit of the load module has the same or equivalent protection device as the input protection circuit of the main control module, and the primary step-down circuit of the main control module Output 5V voltage to the overvoltage protection circuit, overcurrent protection circuit and anti-reverse connection protection circuit in the input protection circuit of the load module in sequence, and output a stable voltage to the step-down circuit of the load module. the

The load module step-down circuit can be a first step-down power supply chip AMS1117-3.3 and its peripheral circuits, which step down the 5V voltage to 3.3V voltage and output it to the load module microcontroller circuit. The load module step-down circuit can also be a first step-down power chip AMS1117-3.3 and its peripheral circuits, and a second step-down power chip REF196 and its peripheral circuits. The first step-down circuit including the first step-down power supply chip AMS1117-3.3 steps down the 5V voltage to 3.3V to supply power for the microcontroller circuit of the load module; and the second step-down power supply chip REF196 includes The second step-down circuit precisely steps down the 5V voltage to 3.3V for providing to the signal acquisition circuit outside the stacker safety management module. the

The micro-control circuit of the load module includes a load main control chip and peripheral circuits. The load main control chip adopts STM32F103RBT6, and its core is an ARM32-bit Cortex-M3 CPU with a maximum operating frequency of 72MHZ. The load main control chip STM32F103RBT6 is embedded A CAN communication interface with a communication rate of up to 1Mbit/s uploads the load collection signal on the fork of the stacker to the micro-control circuit of the main control module through the communication circuit of the load module. The load main control chip includes two 12-bit AD converters, with a total of up to 16 external channels, which meet the AD acquisition quantity of this design. The load main control chip performs analog-to-digital conversion on the load acquisition signal. When the module is abnormal, it can automatically recover or reset. The microcontroller circuit of the load module also includes an on-off circuit composed of a resistor, a first triode Q2, a second triode Q1 and a capacitor, and the load main control chip is connected to the first triode Q2 the base of the first triode Q2, the emitter of the first triode Q2 is connected to the collector of the second triode Q1, and the collector of the first triode Q2 is connected to the base of the second triode Q1 The emitter and the collector of the second triode Q1 are respectively connected to the load module step-down circuit. The pin connected between the on-off circuit and the main control chip is a manual trigger type. When triggered to a low level, the first triode Q2 and the second triode Q1 are reversed and non-conductive. The circuit connected to the load module step-down circuit will stop working due to power isolation, which is used for manual power saving when the stacker safety management module is not in use. the

The load module communication circuit includes a CAN communication circuit, an optocoupler isolation circuit and an optocoupler isolation protection circuit. The CAN communication circuit adopts CAN communication chip PCA82CA250, and the optocoupler isolation circuit adopts optocoupler isolation chip HCPL260L. The communication circuit of the load module is respectively connected with the CAN communication interface of the main control chip of the microcontroller circuit of the main control module and the CAN communication interface of the main control chip of the communication circuit of the load module. The power supply of the CAN communication circuit and the optocoupler isolation protection circuit in the communication circuit of the load module is about 5V, both of which can be powered by an external power supply or a battery, or the step-down voltage output by the primary step-down circuit of the main control module is passed through DC- The DC isolated power supply B0505D-1W outputs power supply, and the power supply of the optocoupler isolation circuit in the communication circuit of the load module is about 3.3V, which can be powered by an external power supply or battery, or the secondary step-down circuit of the main control module The output voltage of 3.3V passes through the capacitor and inductor to supply power. the

The safety management module of the stacker performs analog-to-digital conversion on the cargo load value and partial load value collected on the fork of the stacker through the microcontroller circuit of the load module, and the converted data is uploaded to the main control unit through the communication circuit of the load module. The module micro-controller circuit uses the main control module micro-controller circuit to compare and judge the left and right load capacity of the pallet fork of the stacker and output a signal of whether the load is eccentric, and the signal is uploaded to the motor controller of the stacker through the communication circuit of the main control module In this way, according to the signal of the stacker safety management module, the stacker realizes the automatic adjustment of partial load through the motor controller, and improves the safety during transportation. The microcontroller circuit of the main control module can also display the cargo load and partial load information through the LCD output circuit, which is convenient for the effective management of the stacker; and the automatic lifting position of the fork is saved through the key input circuit to improve the efficiency of cargo transportation. the

Figure 10 shows the utility model stacker safety management system. The utility model stacker safety management system includes an external power supply, the stacker safety management module (as shown in Figures 1-9), a motor controller, an analog signal amplification circuit and a pressure sensor. The external power supply is connected to the input of the safety management module of the stacker, the communication circuit of the main control module is bidirectionally connected with the motor controller, and the step-down circuit of the load module includes a first step-down circuit and a second step-down circuit circuit, respectively outputting 3.3V voltage and high-precision 3.3V voltage, the first step-down circuit outputs 3.3V voltage to the load module microcontroller circuit, and the second step-down circuit outputs high-precision 3.3V voltage respectively To the analog signal amplification circuit and the pressure sensor. The pressure sensor collects the voltage generated by whether there is deformation generated by an external force on the fork of the stacker, and the collected voltage value is amplified by the analog signal amplifier circuit and then sent to the load module microcontroller circuit. AD converter. the

FIG. 11 is a circuit diagram of the analog signal amplification circuit and the pressure sensor. The analog signal amplifying circuit includes an AD623 chip (U9) integrating a power instrumentation amplifier. The AD623 chip allows gain programming up to 1000x using a single gain setting resistor. In order to amplify the voltage value generated by the pressure sensor to a reasonable range in this design, the gain resistor R37 is set to 200 ohms (that is, the gain is 500 times). The voltage divider circuit composed of two 1000-ohm 1% precision resistors (R41, R45) connected to the REF pin in the amplifier chip AD623 provides a reference voltage of 1.64V for the chip AD623, effectively avoiding the pressure caused by the The negative voltage generated by the sensor cannot be converted by the AD converter of the microcontroller of the load module. The analog signal amplifying circuit is powered by a REF196 high-precision step-down power supply chip, which ensures the accuracy of the power supply voltage of the analog signal amplifying circuit. the

The pressure sensor includes four 1000 ohm strain gauge resistors and a metal sheet with good recovery performance. The four strain gauge resistors are connected in a full-bridge differential mode. The voltage sensitivity of the full-bridge differential is 4 times higher than that of single-arm work, and the nonlinear error is also eliminated. At the same time, it also has the function of temperature compensation. The pressure sensor can generate a more accurate voltage signal to provide protection. For the power supply of the pressure sensor, the REF196 high-precision power step-down chip (as shown in Figure 7) is also used, which avoids the inaccurate voltage value collected due to the instability of the power supply voltage, which affects the data of the load module microcontroller. Handle incorrect questions. the

In the stacker crane safety management system, two-way signal acquisition circuits composed of the pressure sensor and the analog signal amplifier are placed on the left and right sides of the stacker fork, such as the left and right support frames or the left and right lifts of the fork. Chains or left and right hydraulic cylinders and other places where the forks are deformed due to the carrying capacity; the main control module of the stacker safety management module is placed in the cab of the stacker because it has an LCD output circuit and a key input circuit ; Place the load module of the stacker safety management module at a position close to the signal acquisition circuit, such as the rear of the fork. The stacker safety management module and its stacker safety management system are in a relatively closed state as a whole, and the connection wires between the load module and the main control module and the connection wires between the signal acquisition circuit and the load module are relatively isolated from the outside world, improving safety. and anti-interference. the

The safety management system of the stacker uses the change of the output voltage (±3mv) caused by the change of the resistance of the strain gauge on the pressure sensor, and amplifies the output voltage of the collected pressure sensor through the analog amplification signal circuit (500 times) and Raise the amplified voltage by 1.64V (the reference voltage generated by the AD623 chip), so that the voltage output from the analog amplified signal circuit is guaranteed to be between 0 and 3.3V. The collected voltage signal is converted by the AD converter of the load module microcontroller circuit through the analog amplifier circuit. Since the main control chip in the load module microcontroller circuit has a 12-bit AD converter, the AD converter Convert 0~3.3V into 0~4096 to make one-to-one correspondence, and the converted data is uploaded to the microcontroller circuit of the main control module through the communication circuit of the CAN load module. The micro-controller of the main control module obtains relevant information and data from the micro-controller of the load module and the motor controller through the CAN load module communication circuit and the CAN main control module communication circuit respectively, and the micro-controller of the main control module will collect The left and right loads are judged by other methods such as the difference of the load, and output the signal of whether the load is biased to the motor controller, and the motor controller performs limit stacking according to the bias load judgment signal of the micro-controller of the main control module. The operating speed of the stacker and the height of the goods are raised to improve the efficiency of automation control. The above information and data are output through the LCD circuit so as to be known to the stacker operator. The information to be displayed on the LCD output circuit includes the information to be displayed on the screen: (1) During normal operation: display the forklift running speed, battery power, height of the fork, the respective torque of the two forks, the load range of the forklift and the position of the fork. (2) columnar mode: use the height and color value to display the information of the forklift; (3) digital mode: display the forklift information in digital form in real time; (4) columnar and digital combination mode: the combination of the above methods; (5) When in the specified fork running height mode, the height value entered by the key is displayed. The operator of the stacker can save each position of the fork in the FLASH through the key circuit. When the operator wants to call the position of the fork that has been saved in the FLASH, he only needs to press the key of the corresponding data. The microcontroller of the main control module will automatically call the information in the FLASH, and control the motor controller to operate through the communication circuit, so as to easily complete the automatic storage and retrieval of goods. the

The above-mentioned embodiments are only descriptions of preferred implementations of the present utility model, and are not intended to limit the concept and scope of the present utility model. Under the premise of not departing from the design concept of the utility model, various modifications and improvements made by ordinary persons in the art to the technical solution of the utility model should fall into the protection scope of the utility model, and the technology claimed by the utility model The contents are all described in the claims. the

Claims (10)

1. a piler safety management module, is characterized in that, comprises input, main control module and payload module; Described main control module comprises main control module input protection circuit, main control module one-level reduction voltage circuit, main control module secondary reduction voltage circuit, main control module microcontroller circuit, main control module communicating circuit, button inputting circuits, LCD output circuit; Described payload module comprises payload module input protection circuit, payload module reduction voltage circuit, payload module microcontroller circuit, payload module communicating circuit; The described input be connected with external power supply connects described main control module input protection circuit, described main control module one-level reduction voltage circuit, described main control module secondary reduction voltage circuit, described main control module microcontroller circuit successively; Described main control module one-level reduction voltage circuit connects described payload module input protection circuit, described payload module reduction voltage circuit, described payload module microcontroller circuit successively; Described main control module microcontroller circuit is bi-directionally connected with described main control module communicating circuit and described payload module communicating circuit respectively, and described payload module communicating circuit and described payload module microcontroller circuit are bi-directionally connected; Described button inputting circuits is connected described main control module microcontroller circuit respectively with described LCD output circuit.

2. piler safety management module according to claim 1, is characterized in that, described main control module microcontroller circuit comprises main control chip and peripheral circuit thereof; Described main control chip is powered by described main control module secondary reduction voltage circuit; Described main control chip connects respectively by the described described main control module communicating circuit that is made up of CAN communication circuit, optical coupling isolation circuit and light-coupled isolation protective circuit and described payload module communicating circuit, and outputs signal to the electric machine controller in piler by described main control module communicating circuit and realize two way communication by described payload module communicating circuit and described payload module microcontroller circuit; Described main control chip connects described button inputting circuits by form with the button of LED, shift register and button main control chip and the described LCD output circuit for the data that show the collection of described main control chip respectively.

3. piler safety management module according to claim 2, is characterized in that, the shift register in described button inputting circuits is powered by the output voltage of described main control module one-level reduction voltage circuit output buck voltage after electric capacity and inductance; Button main control chip in described button inputting circuits and the power supply voltage of button are powered by the output voltage of described main control module secondary reduction voltage circuit output buck voltage after electric capacity and inductance.

4. piler safety management module according to claim 2, is characterized in that, described LCD output circuit is powered by the output voltage of described main control module secondary reduction voltage circuit output buck voltage after electric capacity and inductance.

5. piler safety management module according to claim 2, it is characterized in that, the CAN communication circuit in described main control module communicating circuit and light-coupled isolation protective circuit are powered by the output voltage of described main control module one-level reduction voltage circuit output buck voltage after electric capacity and inductance; CAN communication circuit in described payload module communicating circuit and light-coupled isolation protective circuit are powered by the output voltage of described main control module one-level reduction voltage circuit output buck voltage after DC-DC insulating power supply, and the optical coupling isolation circuit in described main control module communicating circuit and described payload module communicating circuit is powered by the output voltage of described main control module secondary reduction voltage circuit output buck voltage after electric capacity and inductance.

6. piler safety management module according to claim 2, is characterized in that, described payload module microcontroller circuit comprises load main control chip and peripheral circuit thereof; Described load main control chip is powered by described payload module reduction voltage circuit; Described load main control chip connects by the described described payload module communicating circuit be made up of CAN communication circuit, optical coupling isolation circuit and light-coupled isolation protective circuit; Described payload module microcontroller circuit also comprises the on-off circuit be made up of resistance, the first aerotron, the second aerotron and electric capacity, described load main control chip connects the base stage of described first aerotron, the emitter of described first aerotron connects the collecting electrode of described second aerotron, the collecting electrode of described first aerotron connects the base stage of described second aerotron, and the emitter and collector of described second aerotron connects described payload module reduction voltage circuit respectively.

7. piler safety management module according to claim 1, is characterized in that, described main control module input protection circuit and described payload module input protection circuit include overvoltage crowbar, current foldback circuit, reverse connection prevention protection circuit; The input be connected with external power supply connects overvoltage crowbar, current foldback circuit and reverse connection prevention protection circuit in described main control module input protection circuit successively, and stable output voltage is to described main control module one-level reduction voltage circuit; Described main control module one-level reduction voltage circuit connects overvoltage crowbar, current foldback circuit and reverse connection prevention protection circuit in described payload module input protection circuit successively, and stable output voltage is to described payload module reduction voltage circuit.

8. one kind comprises the piler safety management system as one of aforementioned claim piler safety management module, it is characterized in that, also comprise external power supply, for control piler run electric machine controller, amplifying circuit of analog signal, for gathering the pressure sensor of load signal on stacker fork; Described external power supply connects the input of described piler safety management module, and described main control module communicating circuit and described electric machine controller are bi-directionally connected; Described payload module reduction voltage circuit connects described amplifying circuit of analog signal and described pressure sensor respectively; Described pressure sensor connects described amplifying circuit of analog signal and described payload module microcontroller circuit successively.

9. piler safety management system according to claim 8, is characterized in that, described payload module reduction voltage circuit comprises first reduction voltage circuit with the first power voltage step down chip and second reduction voltage circuit with second source step-down chip; Described payload module input protection circuit connects described first reduction voltage circuit and described second reduction voltage circuit respectively; Described first reduction voltage circuit is that described payload module microcontroller circuit is powered, and described second reduction voltage circuit is respectively described amplifying circuit of analog signal and described pressure sensor is powered.

10. piler safety management system according to claim 9, is characterized in that, described pressure sensor comprises the strain-gauge resistance that sheetmetal is connected with full-bridge differential type.