CN102506784B - Sliding fit mechanism, measuring device, measuring method and container stacking machine - Google Patents
Sliding fit mechanism, measuring device, measuring method and container stacking machine Download PDFInfo
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- CN102506784B CN102506784B CN201110378320.7A CN201110378320A CN102506784B CN 102506784 B CN102506784 B CN 102506784B CN 201110378320 A CN201110378320 A CN 201110378320A CN 102506784 B CN102506784 B CN 102506784B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
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Abstract
The invention discloses a device and a method for measuring a sliding fit mechanism, the sliding fit mechanism and a container stacking machine. The measuring device comprises a controller and a signal acquisition device; the signal acquisition device comprises a signal generator and a plurality of induction blocks; the signal generator is arranged on the sliding component; the plurality of induction blocks are arranged on the base component and are sequentially arranged along a first reference direction; based on any induction block, the signal generator can sequentially generate at least three induction signals; the controller can update the preset state parameter according to the sensing signal, and can determine the movement condition of the sliding component relative to the base component according to the change of the state parameter; and then obtaining the current position parameter of the sliding component according to the motion state of the sliding component. The measuring device has strong adaptability.
Description
Technical field
The present invention relates to a kind of state measurement technology, particularly a kind of measurement device of mechanism that is slidably matched, also relate to be slidably matched mechanism and the container stacking machine that comprise this measurement mechanism.
Background technology
Stacker is the current plant equipment often had.Please refer to Fig. 1, the structural representation that this figure is a kind of container stacking machine.This container stacking machine comprises that car body 100, the first door frame 210, the second door frame 220 and suspender 300, the first door frames 210 can be outer masts, and the second door frame 220 can be inner upright mounting, and outer mast and inner upright mounting form the door frame mechanism of container stacking machine.The basic vertical setting of the first door frame 210 also is connected with car body 100; The second door frame 220 is basic vertical the setting also, and is slidably mounted in first door frame 210 outsides; By suitable driving mechanism, can make the second door frame 220 slide on vertical direction with respect to the first door frame 210.Suspender 300 slidably is arranged on second door frame 220 outsides, and then suspender 300 can slide with respect to the second door frame 220 under the effect of suitable driving mechanism.When carrying and pile up container, the second door frame 220 slides into bottom with respect to the first door frame 210, and suspender 300 arrives precalculated position with respect to the second door frame 220 down slidings, and corresponding with predetermined container.Suspender 300 is pinned container, then make the second door frame 220 with respect to the first door frame 210 upward slidings, make suspender 300 with respect to the second door frame 220 upward slidings simultaneously.The mobile container that drives of suspender 300 moves up with respect to car body 100, realizes the lifting to container, and then can realize piling up and piling high container by suitable operation.
In container is carried out to the predetermined operation process, especially when high level carries out operation, container is in higher position, in handling process, and the door frame mechanism angle change that Uneven road and processing ease cause; When excessive at angle of inclination, easily cause the overthrow accident of container stacking machine.For this reason, for fear of or reduce the generation of overthrow accident, need the height of definite suspender 300 or the second door frame 220 (in general, the second door frame 220 is with respect between the sliding distance of the first door frame 210 and the sliding distance of suspender 300 with respect to the second door frame 220, having predetermined ratio, therefore, current general by measuring the height change of the second door frame 220, obtain again the height of suspender 300 by suitable conversion), and then judge whether container stacking machine has the possibility of tumbling, realize the early warning of tumbling to container stacking machine.The height of determining at present the second door frame 220 mainly contains the modes such as laser measurement, ultrasonic measurement, radargrammetry; Aforesaid way all reflects by proper signal the height that obtains second 220.Aforesaid way not only cost is higher; And because signal reflex measurement meeting affects its usability due to the impact of hamper, in using application, be very restricted, its adaptability is difficult to meet actual needs.
The second door frame 220 of above-mentioned stacker is considered as to slide unit, the first door frame 210 is considered as to basic components, the mechanism that is slidably matched of the two formation also can be applied in other work mechanisms and equipment, as the lock pin of big machinery coordinates the mechanism that is slidably matched formed with locking matrix locking hole, etc.While being slidably matched the running parameter of mechanism in measuring Other Engineering machinery or equipment, current metering system also exists cost high, the problem that adaptability is not strong.Therefore, when measurement is slidably matched the running parameter of mechanism, how, when reducing costs, the adaptability that improves measurement mechanism is current those skilled in the art's technical issues that need to address.
Summary of the invention
, the object of the invention is to for this reason, the apparatus and method that provide a kind of measurement to be slidably matched mechanism, this measurement mechanism and measuring method have stronger adaptability.
Providing on the basis of above-mentioned measurement mechanism, a kind of be slidably matched mechanism and container stacking machine that comprises this measurement mechanism that comprises above-mentioned measurement mechanism also is being provided.
The invention provides the be slidably matched device of mechanism of a kind of measurement, the described mechanism that is slidably matched is included in slide unit and the basic components that are slidably matched on the first reference direction; This device comprises controller, signal generator and a plurality of sensor block;
Described signal generator is arranged on slide unit; A plurality of described sensor blocks are arranged on basic components and along the first reference direction sequentially to be arranged, adjacent described sensor block interval preassigned distance L 0; On the first reference direction, the maximum distance of reaction L1 of described signal generator is less than arbitrary described preassigned distance L 0; In slide unit slides preassigned distance L 0 process, based on a sensor block, described signal generator can sequentially produce at least three kinds of induced signals;
Described controller is preset with at least three state parameter Q1, Q2 and Q3, and the induced signal that can produce according to described signal generator and the value of the described state parameter of scheduled update policy update; The current location parameter that can also determine slide unit according to value and the predetermined process strategy of state parameter;
Described scheduled update strategy comprises: produce induced signal at signal generator (420), and the induced signal kind makes Q3=Q2 while changing, make Q2=Q1, make Q1 equal predetermined value; When described signal generator (420) induced signal is changed to the first induced signal, predetermined value is A1, when described signal generator (420) induced signal is changed to the second induced signal, predetermined value is A2, when described signal generator (420) induced signal is changed to the third induced signal, predetermined value is A3.
Optionally, described signal generator comprises that at least three are arranged on basic components and along the tactic approach switch of the first reference direction; In slide unit slides preassigned distance L 0 process, corresponding sensor block can be relative with each described approach switch order, and described signal generator can sequentially produce at least three kinds of induced signals.
Optionally, described controller is preset with at least three state parameter Q1, Q2 and Q3;
Described scheduled update strategy comprises: when the induced signal produced at signal generator is rising edge or negative edge, make Q3=Q2, make Q2=Q1, make Q1 equal predetermined value; When described signal generator produces the first induced signal, predetermined value is A1, and when described signal generator produces the second induced signal, predetermined value is A2, and when described signal generator produces the third induced signal, predetermined value is A3.
Optionally, described controller is preset with at least five state parameter Q1, Q2, Q3, Q4 and Q5;
Described scheduled update strategy comprises: before making Q3=Q2, make Q5=Q4, make Q4=Q3.
Optionally, described predetermined process strategy comprises: the sliding distance S that the current location parameter of described slide unit is described slide unit, and S=S0+N * L0; The initial position parameters that described S0 is described slide unit, N is integer; Judge the described slide unit integer preassigned distance L 0 of whether sliding according to the value of described state parameter, if so, upgrade N.
Optionally, described controller is preset with at least five state parameter Q1, Q2, Q3, Q4 and Q5;
Described predetermined process strategy comprises: the sliding distance S that the current location parameter of described slide unit is described slide unit, and S=S0+N * L0; The initial position parameters that described S0 is described slide unit, N is integer; Judge the described slide unit integer preassigned distance L 0 of whether sliding according to the value of described state parameter, if so, upgrade N;
Described scheduled update strategy comprises: when the induced signal produced at signal generator is rising edge or negative edge, make Q5=Q4, make Q4=Q3, make Q3=Q2, make Q2=Q1, make Q1 equal predetermined value; When described signal generator produces the first induced signal, predetermined value is A1, and when described signal generator produces the second induced signal, predetermined value is A2, and when described signal generator produces the third induced signal, predetermined value is A3; After upgrading N, make Q1 equal A0.
Optionally, a plurality of described sensor block is evenly distributed along the first reference direction.
Optionally, the be slidably matched device of mechanism of described measurement also comprises the output unit be connected with controller, and described output unit can be by described current location parameter output.
The mechanism that is slidably matched provided by the invention is included in slide unit and the basic components that are slidably matched on the first reference direction, also comprises the be slidably matched device of mechanism of above-mentioned any measurement.
Container stacking machine provided by the invention comprises car body, the first door frame, the second door frame and suspender; The first door frame is connected with car body; The second door frame is slidably mounted in the first door frame outside; Suspender slidably is arranged on the second door frame outside; It is characterized in that, also comprise the be slidably matched device of mechanism of above-mentioned any measurement, described slide unit and basic components are respectively the second door frame and the first door frame.
Optionally, described controller can also be determined the height of suspender with respect to the first door frame according to the current location parameter of the second door frame.
Measurement provided by the invention is slidably matched in the method for mechanism, and the described mechanism that is slidably matched is included in slide unit and the basic components that are slidably matched on the first reference direction; Also comprise signal generator and a plurality of sensor block; Described signal generator is arranged on slide unit; A plurality of described sensor blocks are arranged on basic components and along the first reference direction sequentially to be arranged, adjacent described sensor block interval preassigned distance L 0; On the first reference direction, the maximum distance of reaction L1 of described signal generator is less than arbitrary described preassigned distance L 0; In slide unit slides preassigned distance L 0 process, based on a sensor block, described signal generator can sequentially produce at least three kinds of induced signals;
Described measuring method comprises: be preset with at least three state parameter Q1, Q2 and Q3; The induced signal produced according to described signal generator and the value of the described state parameter of scheduled update policy update; The current location parameter of determining slide unit according to value and the predetermined process strategy of state parameter again;
Described scheduled update strategy comprises: produce induced signal at signal generator, and the induced signal kind makes Q3=Q2 while changing, make Q2=Q1, make Q1 equal predetermined value; When described signal generator induced signal is changed to the first induced signal, predetermined value is A1, and when described signal generator induced signal is changed to the second induced signal, predetermined value is A2, when described signal generator induced signal is changed to the third induced signal, predetermined value is A3.
Optionally, the sliding distance S that the current location parameter of described slide unit is described slide unit, and S=S0+N * L0; The initial position parameters that described S0 is described slide unit, N is integer; Be preset with at least five state parameter Q1, Q2, Q3, Q4 and Q5;
Described measuring method comprises the steps:
S100, when the induced signal that scans signal generator is rising edge or negative edge, make Q5=Q4, makes Q4=Q3, makes Q3=Q2, makes Q2=Q1, makes Q1 equal predetermined value; When signal generator produces the first induced signal, predetermined value is A1, and when described signal generator produces the second induced signal, predetermined value is A2, and when described signal generator produces the third induced signal, predetermined value is A3;
S200, judge the second door frame preassigned distance L 0 of whether sliding according to the value of five state parameter Q1, Q2, Q3, Q4 and Q5; If so, enter step S200; If not, return to step S100;
S300, upgrade N;
S400, make Q1 equal A0.
Optionally, the initial value that described A0 is each state parameter.
The be slidably matched device of mechanism of measurement provided by the invention comprises controller and signal pickup assembly; Described signal pickup assembly comprises signal generator and a plurality of sensor block; Described signal generator is arranged on slide unit; A plurality of described sensor blocks are arranged on basic components and along the first reference direction sequentially to be arranged; At slide unit, with respect to basic components, slide a preassigned apart from process in, based on a sensor block, described signal generator can sequentially produce at least three kinds of induced signals; Controller can be according to the induced signal state parameter of new subscription more, and then can determine the time sequencing that three kinds of induced signals produce according to the state parameter value, and then definite signal generator is with respect to glide direction and the sliding distance of predetermined sensor block; Can determine the moving situation of slide unit with respect to basic components according to the variation of state parameter like this; Obtain again the current location parameter of slide unit according to the motion state of slide unit.This measurement mechanism need to not obtain the running parameter of slide unit by means of signal reflex, can reduce the adverse effect produced due to barrier, has stronger adaptability.
In further technical scheme, described signal generator comprises at least three approach switchs, by the corresponding induced signal of combination generation of different approach switchs and sensor block; Due to approach switch, to have reliability high, the characteristics that cost is low, and this measurement mechanism has higher reliability and lower cost.
In further technical scheme, controller is preset with at least five state parameters.Like this, by five state parameters, can determine the moving situation of slide unit in the longer time, this not only is conducive to improve the accuracy of measurement of measurement mechanism, also is conducive to obtain more information, and then provides prerequisite for obtaining more current location parameters.
Because measurement mechanism has above-mentioned technique effect, measuring method and comprise that be slidably matched mechanism and the container stacking machine of this measurement mechanism also have corresponding technique effect.
The accompanying drawing explanation
Fig. 1 is a kind of structural representation of container stacking machine;
Fig. 2 is the be slidably matched principle schematic of device of mechanism of measurement that the embodiment of the present invention provides;
Fig. 3 is the groundwork flow process of a kind of controller of measurement mechanism, is also the be slidably matched process flow diagram of method of mechanism of measurement provided by the invention.
Embodiment
Below in conjunction with accompanying drawing, describe the present invention, the description of this part is only exemplary and explanatory, should not be considered as the restriction to public technology content of the present invention.
For saving space, in presents, described slide unit or the second door frame sliding distance, be the sliding distance with respect to basic components or the first door frame; In addition, when the principle of work to measurement mechanism is described, measuring method provided by the invention is described, no longer measuring method is described separately.
Please refer to Fig. 2, this figure is the be slidably matched principle schematic of device of mechanism of measurement that the embodiment of the present invention provides.In figure, slide unit can be the first door frame 210 of container for the second door frame 220, the basic components of container stacking machine, and this measurement mechanism is for measuring the location parameter of container stacking machine the second door frame 220.Below the relative sliding of take between the first door frame 210 and the second door frame 220 as example, the principle of work of measurement mechanism is advanced to describe, should be noted that: measurement mechanism provided by the invention is not limited to measure the current location parameter of the second door frame 220.
As Fig. 2, the first door frame 210 and the second door frame 220 are slidably matched on vertical direction; And then the second door frame 220 can slide on vertical direction.Measurement mechanism comprises signal pickup assembly and controller 430, and signal pickup assembly specifically comprises sensor block group 410 and signal generator 420.
In this example, the specific works principle of controller 430 is as follows:
If three state parameter initial values are A0, A0 can be zero, or other occurrences.
Take state shown in Fig. 2 as initial state, and at the second door frame 220, constantly during upward sliding, Q1, Q2 and Q3 change as following table:
| The update cycle sequence number | Q1 | Q2 | Q3 |
| 1 | A3 | A0 | A0 |
| 2 | A2 | A3 | A0 |
| 3 | A1 | A2 | A3 |
| 4 | A3 | A1 | A2 |
| 5 | A2 | A3 | A1 |
| 6 | A1 | A2 | A3 |
| 7 | A3 | A1 | A2 |
| 8 | A2 | A3 | A1 |
| … | … | … | … |
Take state shown in Fig. 2 as initial state, and at the second door frame 220, constantly during down sliding, state parameter Q1, Q2 and Q3 change as following table:
| The update cycle sequence number | Q1 | Q2 | Q3 |
| 1 | A1 | A0 | A0 |
| 2 | A2 | A1 | A0 |
| 3 | A3 | A2 | A1 |
| 4 | A1 | A3 | A1 |
| 5 | A2 | A1 | A3 |
| 6 | A3 | A2 | A1 |
| 7 | A1 | A3 | A2 |
| 8 | A2 | A1 | A3 |
| … | … | … | … |
At definite time point, Q2 and Q3 mean the value of Q1 the first two update cycle, the value that Q1 is the current update cycle; The state at least three cycles can be recorded like this, and then, according to the value of state parameter Q1, Q2 and Q3, the Changing Pattern of Q1 can be determined; The Q1 value with A3, A2, A1 ... the mode circulation time, can determine that corresponding sensor block is sequentially by the induction zone of approach switch 423,422,421, and then can determine within first three update cycle the second door frame 220 upward slidings; The Q1 value with A1, A2, A3 ... the mode circulation time, can determine the second door frame 220 down slidings within first three update cycle.
Certainly, also can determine other mode of motion between the second door frame 220 and the first door frame 210 according to the value of state parameter Q1, Q2 and Q3.Such as: when the second door frame 220 slides repeatedly, make sensor block 412 repeatedly seasonable with approach switch 422 and 423 pairs, the variation of Q1 be sequentially A3, A2, A3, A2 ...; Make sensor block 412 repeatedly seasonable with approach switch 421 and 422 pairs, the variation of Q1 be sequentially A1, A2, A1, A2 ...; Make sensor block 412 repeatedly seasonable with 421,422 and 423 pairs of approach switchs, the variation of Q1 be sequentially A1, A2, A3, A3, A2, A1 ..., etc.; And then, by the sequence of Q1 variation order or Q1, Q2 and Q3 value, can determine the first door frame 220 preassigned distance of not sliding up or down, only in predetermined scope, vibrate.
And then, the current location parameter that controller 430 just can be determined the second door frame 220 according to variation (or sequence of Q1, Q2 and Q3 value) and the predetermined process strategy of Q1 value.The current location parameter can determine according to actual needs, can be the duty of the second door frame 220, also can the second door frame 220 the current location height.According to actual needs, can obtain by suitable predetermined process strategy the current location parameter of the second door frame 220.
Described predetermined process strategy can comprise: the elemental height of establishing the second door frame 220 is S0, if the current location height of the second door frame 220 (or sliding distance of the second door frame 220) is S, be S=S0+N * L0, described N is integer, characterizes the quantity of the second door frame 220 slip preassigned distance L 0.When controller 430 determines that the second door frame 220 slides one or more preassigned distance L 0, N is upgraded.When a preassigned distance L 0 of the second door frame 220 upward slidings, the N before the N after making to upgrade equals to upgrade adds 1, and when a preassigned distance L 0 of the second door frame 220 down slidings, the N before the N after making to upgrade equals to upgrade deducts 1; By the variation of N, can obtain the current location height of the second door frame 220.When controller 430 determines that the second door frame 220 does not slide a preassigned distance L 0, controller 430 does not upgrade N.Certainly, for fear of the error caused due to the size of sensor block own, improve the accuracy of S, can also, according to the physical size of sensor block, the S value be revised.
According to foregoing description, in order to obtain the value of more update cycle Q1, and then the situation of change of definite Q1 within the longer time, also can be at the default more state parameters of controller 430; Take that to preset five state parameters be example, when upgrading state parameter, can sequentially make Q5=Q4, make Q4=Q3, make Q3=Q2, make Q2=Q1, make Q1 equal predetermined value.Like this, Q1 is the current state signal, the last update cycle status signal that Q2 is Q1, the last update cycle status signal that Q3 is Q2, the last update cycle status signal that Q4 is Q3, the last update cycle status signal that Q5 is Q4, can record like this and comprise current state and four kinds of fronts state thereof; And then just can obtain before the current update cycle of Q1 the changing value of Q1 in the longer time by Q5, Q4, Q3, Q2.To be conducive to improve the accuracy of measurement of measurement mechanism, also be conducive to obtain more information, and then provide prerequisite for obtaining more current location parameters.
When controller 430 is not limited to upgrade state parameter by the way, can also pass through other policy update state parameters.The scheduled update strategy can comprise: when the induced signal produced at signal generator 420 is rising edge, make Q5=Q4, make Q4=Q3, make Q3=Q2, make Q2=Q1, make Q1 equal predetermined value.When signal generator 420 produces the first induced signal, predetermined value is A1, and when signal generator 420 produces the second induced signal, predetermined value is A2, and when signal generator 420 produces the third induced signal, predetermined value is A3.Equally, the scheduled update strategy also can be upgraded state parameter for basis according to the negative edge of induced signal, and order makes Q5=Q4, makes Q4=Q3, makes Q3=Q2, makes Q2=Q1, makes Q1 equal predetermined value.Certainly, also can according to actual needs, select the value of other corresponding scheduled update policy update state parameters.
In addition, in order to improve controller 430 functional reliabilities, can also carry out in the following manner the data processing.
Default five state parameter Q1, Q2, Q3, Q4 and Q5 in controller 430.Described predetermined process strategy comprises: the sliding distance S that the current location parameter of the second door frame 220 is the second door frame 220, and S=S0+N * L0; The initial position parameters that S0 is the second door frame 220, N is integer; Judge the second door frame 220 integer preassigned distance L 0 of whether sliding according to the value of state parameter, if so, upgrade N, make N according to the preassigned distance L 0 of sliding.The scheduled update strategy can comprise: when the induced signal produced at signal generator 420 is rising edge or negative edge, make Q3=Q2, make Q2=Q1, make Q1 equal predetermined value; After upgrading N, make Q1 recover initial value, equal A0.
As shown in Figure 3, the groundwork flow process of a kind of controller 430 that this illustrates, be also the be slidably matched process flow diagram of method of mechanism of measurement provided by the invention.While utilizing above-mentioned predetermined process strategy and scheduled update strategy, its specific works flow process is as follows:
Step S100, when the induced signal that scans signal generator 420 at controller 430 is rising edge or negative edge, make Q5=Q4, makes Q4=Q3, makes Q3=Q2, makes Q2=Q1, makes Q1 equal predetermined value; When signal generator 420 produces the first induced signal, predetermined value is A1, and when described signal generator 420 produces the second induced signal, predetermined value is A2, and when described signal generator 420 produces the third induced signal, predetermined value is A3.If the initial value of each state parameter is A0.
Step S200, judge the second door frame 220 preassigned distance L 0 of whether sliding according to the value of five state parameter Q1, Q2, Q3, Q4 and Q5; If so, enter step S300; If not, return to step S100, continue to be scanned by predetermined period.The concrete mode of judgement can be: when the value of Q1, Q2, Q3, Q4 and Q5 is respectively A1, A3, A2, A1, A0, illustrates that Q1 has experienced the variation of A1, A2, A3, A1, and then can determine preassigned distance L 0 of the second door frame 220 down sliding.When the value of Q1, Q2, Q3, Q4 and Q5 is respectively A3, A1, A2, A3, A0, illustrates that Q1 has experienced the variation of A3, A2, A1, A3, and then can determine preassigned distance L 0 of the second door frame 220 upward sliding.Certainly, according to the concrete assignment of state parameter, judgment mode can be adjusted according to actual needs.
Step S300, upgrade N.The concrete mode of upgrading is: when a definite preassigned distance L 0 of the second door frame 220 upward slidings, the N before the N after making to upgrade equals to upgrade adds 1; When a definite preassigned distance L 0 of the second door frame 220 down slidings, the N before the N after making to upgrade equals to upgrade deducts 1.Certainly, according to actual needs, when a plurality of state parameter is set, also can be when definite the second door frame 220 down sliding integers preassigned distance L 0, corresponding renewal N, the N after making to upgrade adds or deducts corresponding numerical value.
Step S400, make Q1 equal A0, returns to step S100.
Can realize obtaining the purpose of the second door frame 220 sliding distance S by the circulation of above-mentioned steps.
By step S400, make Q1 recover initial value (can be also other with A3, A2 and A1 all not identical value); By the renewal to state parameter, the initial value that after renewal N, Q1 recovers can be embodied in Q5; And then, by Q5, can in step S200, verify the second door frame 220 whether normally rising or decline, and then, as the condition of upgrading N, guarantee the accuracy of the current location parameter of acquisition.
According to foregoing description, one skilled in the art may determine that signal generator 420 is not limited to comprise three approach switchs, also can comprise more approach switchs.Also can utilize the sensor of other types to produce at least three kinds of induced signals; Such as: can make signal generator 420 comprise rotary encoder, and on the first door frame 210, corresponding sensor block is set; Make rotary encoder and sensor block there is suitable matching relationship; When rotary encoder is corresponding with sensor block, rotary encoder output rotating signal, when rotary encoder and sensor block are not corresponding, do not produce rotating signal; Rotary encoder and sensor block suitably are set, also can make signal generator 420 produce at least three kinds of induced signals, realize above-mentioned purpose.
On the basis of the device that provides above-mentioned measurement to be slidably matched mechanism, the present invention also provides a kind of mechanism that is slidably matched, and this mechanism that is slidably matched is included in slide unit and the basic components that are slidably matched on the first reference direction; Wherein, slide unit and basic components are corresponding with the second door frame 220 and the first door frame 210 respectively; In addition, this mechanism that is slidably matched also comprises the be slidably matched device of mechanism of above-mentioned any measurement.Owing to comprising above-mentioned measurement mechanism, this mechanism that is slidably matched also has corresponding technique effect.
On the above-mentioned measurement provided is slidably matched the basis of device of mechanism, the present invention also provides a kind of container stacking machine, and this container stacking machine comprises car body 100, the first door frame 210, the second door frame 220 and suspender 300; The first door frame 210 is connected with car body 100; The second door frame 220 is slidably mounted in first door frame 210 outsides; Suspender 300 slidably is arranged on second door frame 220 outsides; Also comprise the be slidably matched device of mechanism of above-mentioned corresponding measurement.For the ease of determining the height of suspender in container, controller 430 can also be determined according to the current location parameter of the second door frame 220 the current location parameter of suspender 300; Utilize the second door frame 220 to determine the current location parameter of suspender 300 with respect to the ratio of the sliding distance of the second door frame 220 with suspender 300 with respect to the sliding distance of the first door frame 210.
Applied specific case herein technical scheme provided by the invention is set forth, the explanation of above embodiment is just for helping to understand technical scheme provided by the invention.It should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention, can also carry out some improvement and modification to the present invention, these improvement and modification also fall in the protection domain of the claims in the present invention.
Claims (14)
1. the measurement device of mechanism that is slidably matched, the described mechanism that is slidably matched is included in slide unit and the basic components that are slidably matched on the first reference direction; It is characterized in that, comprise controller (430), signal generator (420) and a plurality of sensor block (411,412,413);
Described signal generator (420) is arranged on slide unit; A plurality of described sensor blocks (411,412,413) are arranged on basic components and along the first reference direction sequentially to be arranged, adjacent described sensor block (411,412,413) interval preassigned distance L 0; On the first reference direction, the maximum distance of reaction L1 of described signal generator (420) is less than arbitrary described preassigned distance L 0; In slide unit slides preassigned distance L 0 process, based on a sensor block (411,412,413), described signal generator (420) can sequentially produce at least three kinds of induced signals;
Described controller (430) is preset with at least three state parameter Q1, Q2 and Q3, and the induced signal that can produce according to described signal generator (420) and the value of the described state parameter of scheduled update policy update; The current location parameter that can also determine slide unit according to value and the predetermined process strategy of state parameter;
Described scheduled update strategy comprises: produce induced signal at signal generator (420), and the induced signal kind makes Q3=Q2 while changing, make Q2=Q1, make Q1 equal predetermined value; When described signal generator (420) induced signal is changed to the first induced signal, predetermined value is A1, when described signal generator (420) induced signal is changed to the second induced signal, predetermined value is A2, when described signal generator (420) induced signal is changed to the third induced signal, predetermined value is A3.
2. the measurement according to claim 1 device of mechanism that is slidably matched, is characterized in that,
Described signal generator (420) comprises that at least three are arranged on basic components and along the tactic approach switch of the first reference direction (421,422,423); In slide unit slides preassigned distance L 0 process, corresponding sensor block (411,412,413) can be relative with each described approach switch (421,422,423) order, and described signal generator (420) can sequentially produce at least three kinds of induced signals.
3. the measurement according to claim 1 device of mechanism that is slidably matched, is characterized in that,
Described controller (430) is preset with at least three state parameter Q1, Q2 and Q3;
Described scheduled update strategy comprises: when the induced signal produced at signal generator (420) is rising edge or negative edge, make Q3=Q2, make Q2=Q1, make Q1 equal predetermined value; When described signal generator (420) produces the first induced signal, predetermined value is A1, and when described signal generator (420) produces the second induced signal, predetermined value is A2, when described signal generator (420) produces the third induced signal, predetermined value is A3.
4. the measurement according to claim 3 device of mechanism that is slidably matched, is characterized in that,
Described controller (430) is preset with at least five state parameter Q1, Q2, Q3, Q4 and Q5;
Described scheduled update strategy comprises: before making Q3=Q2, make Q5=Q4, make Q4=Q3.
5. the measurement according to claim 1 device of mechanism that is slidably matched, is characterized in that, described predetermined process strategy comprises: the sliding distance S that the current location parameter of described slide unit is described slide unit, and S=S0+N * L0; The initial position parameters that described S0 is described slide unit, N is integer; Judge the described slide unit integer preassigned distance L 0 of whether sliding according to the value of described state parameter, if so, upgrade N.
6. the measurement according to claim 1 device of mechanism that is slidably matched, is characterized in that,
Described controller (430) is preset with at least five state parameter Q1, Q2, Q3, Q4 and Q5;
Described predetermined process strategy comprises: the sliding distance S that the current location parameter of described slide unit is described slide unit, and S=S0+N * L0; The initial position parameters that described S0 is described slide unit, N is integer; Judge the described slide unit integer preassigned distance L 0 of whether sliding according to the value of described state parameter, if so, upgrade N;
Described scheduled update strategy comprises: when the induced signal produced at signal generator (420) is rising edge or negative edge, make Q5=Q4, make Q4=Q3, make Q3=Q2, make Q2=Q1, make Q1 equal predetermined value; When described signal generator (420) produces the first induced signal, predetermined value is A1, and when described signal generator (420) produces the second induced signal, predetermined value is A2, when described signal generator (420) produces the third induced signal, predetermined value is A3; After upgrading N, make Q1 equal A0.
7. the be slidably matched device of mechanism of described measurement according to claim 1-6 any one, is characterized in that, a plurality of described sensor blocks (411,412,413) are evenly distributed along the first reference direction.
8. the be slidably matched device of mechanism of described measurement according to claim 1-6 any one, it is characterized in that, also comprise the output unit (440) be connected with controller (430), described output unit (440) can be by described current location parameter output.
9. the mechanism that is slidably matched, be included in the slide unit and the basic components that are slidably matched on the first reference direction, it is characterized in that, also comprises the be slidably matched device of mechanism of the described measurement of claim 1-8 any one.
10. a container stacking machine, comprise car body (100), the first door frame (210), the second door frame (220) and suspender (300); The first door frame (210) is connected with car body (100); The second door frame (220) is slidably mounted in the first door frame (210) outside; Suspender (300) slidably is arranged on the second door frame (220) outside; It is characterized in that, also comprise the be slidably matched device of mechanism of the described measurement of claim 1-8 any one, described slide unit and basic components are respectively the second door frame (220) and the first door frame (210).
11. container stacking machine according to claim 10, is characterized in that, described controller (430) can also be determined the height of suspender (300) with respect to the first door frame (210) according to the current location parameter of the second door frame (220).
The method of mechanism 12. a measurement is slidably matched, the described mechanism that is slidably matched is included in slide unit and the basic components that are slidably matched on the first reference direction; Also comprise signal generator (420) and a plurality of sensor block (411,412,413); Described signal generator (420) is arranged on slide unit; A plurality of described sensor blocks (411,412,413) are arranged on basic components and along the first reference direction sequentially to be arranged, adjacent described sensor block (411,412,413) interval preassigned distance L 0; On the first reference direction, the maximum distance of reaction L1 of described signal generator (420) is less than arbitrary described preassigned distance L 0; In slide unit slides preassigned distance L 0 process, based on a sensor block (411,412,413), described signal generator (420) can sequentially produce at least three kinds of induced signals; It is characterized in that, described measuring method comprises:
Be preset with at least three state parameter Q1, Q2 and Q3; The induced signal produced according to described signal generator (420) and the value of the described state parameter of scheduled update policy update; The current location parameter of determining slide unit according to value and the predetermined process strategy of state parameter again
Described scheduled update strategy comprises: produce induced signal at signal generator (420), and the induced signal kind makes Q3=Q2 while changing, make Q2=Q1, make Q1 equal predetermined value; When described signal generator (420) induced signal is changed to the first induced signal, predetermined value is A1, when described signal generator (420) induced signal is changed to the second induced signal, predetermined value is A2, when described signal generator (420) induced signal is changed to the third induced signal, predetermined value is A3.
13. measurement according to claim 12 is slidably matched, the method for mechanism, is characterized in that, the sliding distance S that the current location parameter of described slide unit is described slide unit, and S=S0+N * L0; The initial position parameters that described S0 is described slide unit, N is integer; Be preset with at least five state parameter Q1, Q2, Q3, Q4 and Q5;
Described measuring method comprises the steps:
S100, when the induced signal that scans signal generator (420) is rising edge or negative edge, make Q5=Q4, makes Q4=Q3, makes Q3=Q2, makes Q2=Q1, makes Q1 equal predetermined value; When signal generator (420) produces the first induced signal, predetermined value is A1, and when described signal generator (420) produces the second induced signal, predetermined value is A2, when described signal generator (420) produces the third induced signal, predetermined value is A3;
S200, judge the second door frame (220) preassigned distance L 0 of whether sliding according to the value of five state parameter Q1, Q2, Q3, Q4 and Q5; If so, enter step S200; If not, return to step S100;
S300, upgrade N;
S400, make Q1 equal A0.
14. measurement according to claim 13 is slidably matched, the method for mechanism, is characterized in that, the initial value that described A0 is each state parameter.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110378320.7A CN102506784B (en) | 2011-11-24 | 2011-11-24 | Sliding fit mechanism, measuring device, measuring method and container stacking machine |
| PCT/CN2012/073953 WO2013075449A1 (en) | 2011-11-24 | 2012-04-12 | Device and method for measuring slip-fit mechanism and slip-fit mechanism and cargo container stacking machine comprising the device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110378320.7A CN102506784B (en) | 2011-11-24 | 2011-11-24 | Sliding fit mechanism, measuring device, measuring method and container stacking machine |
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| CN102506784A CN102506784A (en) | 2012-06-20 |
| CN102506784B true CN102506784B (en) | 2013-12-18 |
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| CN103112801B (en) * | 2013-02-06 | 2015-03-18 | 浙江诺力机械股份有限公司 | Device, method and system for detecting height of forklift pallet fork |
| CN103803454B (en) * | 2014-01-20 | 2016-08-17 | 湖南三一港口设备有限公司 | Fork tool box-entering positioning system and telescopic-arm forklift |
| CN103744019A (en) * | 2014-01-27 | 2014-04-23 | 莱芜钢铁集团有限公司 | Proximity switch detecting device |
| CN106907985B (en) * | 2017-02-14 | 2019-05-03 | 中冶南方工程技术有限公司 | Localization method |
| CN113979360B (en) * | 2021-10-28 | 2022-06-21 | 江苏芯安集成电路设计有限公司 | Singlechip control terminal based on internet |
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| DE1781055C3 (en) * | 1968-08-16 | 1980-08-07 | Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg | Corridor stacker with a chassis and an extendable multiple telescopic mast |
| CN1052445A (en) * | 1989-12-12 | 1991-06-26 | 杭州电子工业学院 | Three-sense manipulator |
| JP3309787B2 (en) * | 1997-11-28 | 2002-07-29 | 株式会社豊田自動織機 | Position detecting device and lift position detecting device for forklift |
| DE10007688A1 (en) * | 2000-02-19 | 2001-08-23 | Bosch Gmbh Robert | Device for controlling the tilting function of a mast, in particular for a forklift |
| DE102004033170A1 (en) * | 2004-07-08 | 2006-02-02 | Jungheinrich Ag | Measuring standard for lifting height adjustment |
| US20080202862A1 (en) * | 2004-07-27 | 2008-08-28 | Frank Dudde | Signal Strip And System For Determining A Movement Status Of A Moving Body |
| JP2006206243A (en) * | 2005-01-27 | 2006-08-10 | Rs:Kk | Fork lift |
| CN2931439Y (en) * | 2006-07-25 | 2007-08-08 | 三一重工股份有限公司 | Full hydraulic piling machine for empty container |
| CN200990020Y (en) * | 2006-12-21 | 2007-12-12 | 上海宝钢工业检测公司 | Goods fork position detector |
| CN201217626Y (en) * | 2008-01-29 | 2009-04-08 | 广西柳工机械股份有限公司 | Indicating equipment for fork height of fork truck |
| CN201338917Y (en) * | 2009-01-09 | 2009-11-04 | 长沙中联重工科技发展股份有限公司 | Position detection and indication device of crane pin mechanism |
| CN201545599U (en) * | 2009-12-02 | 2010-08-11 | 长沙有色冶金设计研究院 | Polar plate hoisting device |
| CN201923827U (en) * | 2010-09-07 | 2011-08-10 | 三一集团有限公司 | Door frame for fork-lift truck and fork-lift truck employing same |
| CN201834684U (en) * | 2010-09-30 | 2011-05-18 | 三一集团有限公司 | Hoisting equipment and control system of hanger lifting mechanism thereof |
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