CN102506784A - 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 PDF

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Publication number
CN102506784A
CN102506784A CN2011103783207A CN201110378320A CN102506784A CN 102506784 A CN102506784 A CN 102506784A CN 2011103783207 A CN2011103783207 A CN 2011103783207A CN 201110378320 A CN201110378320 A CN 201110378320A CN 102506784 A CN102506784 A CN 102506784A
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China
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signal generator
slide unit
door frame
slidingly matched
signal
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CN2011103783207A
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CN102506784B (en
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金晶
李江涛
石伟
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Hunan Sany Port Equipment Co Ltd
Sany Marine Heavy Industry Co Ltd
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Sany Group Co Ltd
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Priority to CN201110378320.7A priority Critical patent/CN102506784B/en
Priority to PCT/CN2012/073953 priority patent/WO2013075449A1/en
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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
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

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

Mechanism and measurement mechanism, measuring method, container stacker are slidingly matched
Technical field
The present invention relates to a kind of state measurement technology, the be slidingly matched device of mechanism of particularly a kind of measurement also relates to be slidingly matched mechanism and the container stacker that comprise this measurement mechanism.
Background technology
Stacker is the current plant equipment that often has.Please refer to Fig. 1, this figure is a kind of structural representation of container stacker.This container stacker comprises that car body 100, first door frame 210, second door frame 220 and suspender 300, the first door frames 210 can be outer masts, and second door frame 220 can be inner upright mounting, and outer mast and inner upright mounting form the door frame mechanism of container stacker.First door frame 210 basically vertically is provided with and links to each other with car body 100; Also basic vertical setting of second door frame 220, and be slidably mounted in first door frame, 210 outsides; Through suitable driving mechanism second door frame 220 is slided on vertical direction with respect to first door frame 210.Suspender 300 slidably is installed in second door frame, 220 outsides, and then suspender 300 can slide with respect to second door frame 220 under the effect of suitable driving mechanism.When carrying and piling up container, second door frame 220 slides into bottom with respect to first door frame 210, and suspender 300 slides into the precalculated position downwards with respect to second door frame 220, and corresponding with predetermined container.Suspender 300 is pinned container, second door frame 220 is upwards slided with respect to first door frame 210, suspender 300 is upwards slided with respect to second door frame 220.The mobile drive container of suspender 300 moves up with respect to car body 100, realizes the lifting to container, and then can realize piling up and pile height container through suitable operation.
Container is being carried out in the predetermined operation process, and especially when high level carried out operation, container was in the higher position, in handling process, and the door frame mechanism angle change that Uneven road and processing ease cause; When excessive, cause the overthrow accident of container stacker at the angle of inclination easily.For this reason; For fear of or reduce the generation of overthrow accident; (in general, second door frame 220 is with respect to having predetermined ratio between the sliding distance of first door frame 210 and the sliding distance of suspender 300 with respect to second door frame 220, therefore need to confirm the height of the suspender 300 or second door frame 220; Current general through measuring the height change of second door frame 220; Obtain the height of suspender 300 again through suitable conversion), and then judge whether the container stacker has the possibility of tumbling, realize the early warning of tumbling to the container stacker.The height of confirming second door frame 220 at present mainly contains modes such as laser measurement, ultrasonic measurement, radargrammetry; Aforesaid way all obtains second 220 height through the proper signal reflection.Aforesaid way not only cost is higher; And because signal reflex measurement meeting receives very big restriction because the influence of hamper influences its usability in using application, its adaptability is difficult to satisfy actual needs.
Second door frame 220 of above-mentioned stacker is regarded as slide unit; First door frame 210 is regarded as basic components; The mechanism that is slidingly matched of the two formation also can be applied in other work mechanisms and the equipment; Lock pin like big machinery cooperates the mechanism that is slidingly matched that forms with locking matrix locking hole, or the like.When in measuring Other Engineering machinery or equipment, being slidingly matched the running parameter of mechanism, current metering system also exists cost high, the problem that adaptability is not strong.Therefore, when measurement was slidingly matched the running parameter of mechanism, how when reducing cost, the adaptability that improves measurement mechanism was current those skilled in the art's technical issues that need to address.
Summary of the invention
, the objective of the invention is to for this reason, the apparatus and method that provide a kind of measurement to be slidingly matched mechanism, this measurement mechanism and measuring method have stronger adaptability.
Providing on the basis of above-mentioned measurement mechanism, a kind of be slidingly matched mechanism and container stacker that comprises this measurement mechanism that comprises above-mentioned measurement mechanism also is being provided.
The device that the present invention provides a kind of measurement to be slidingly matched mechanism, the said mechanism that is slidingly matched is included in slide unit and the basic components that are slidingly matched on first reference direction; This device comprises controller, signal generator and a plurality of sensor block;
Said signal generator is installed on the slide unit; A plurality of said sensor blocks are installed on the basic components and along the first reference direction series arrangement, adjacent said sensor block is preassigned distance L 0 at interval; On first reference direction, the maximum distance of reaction L1 of said signal generator is less than arbitrary said preassigned distance L 0; In slide unit slided preassigned distance L 0 process, based on a sensor block, said signal generator can produce at least three kinds of induced signals in proper order;
Said controller is preset with at least three state parameters, and can be according to the induced signal of said signal generator generation and the value of the said state parameter of scheduled update policy update; The current location parameter that can also confirm slide unit according to the value and the predetermined process strategy of state parameter.
Optional, said signal generator comprises that at least three are installed on the basic components and tactic near switch along first reference direction; In slide unit slided preassigned distance L 0 process, corresponding sensor block can be said relative near switching sequence with each, and said signal generator can produce at least three kinds of induced signals in proper order.
Optional, said controller is preset with at least three state parameter Q1, Q2 and Q3;
Said scheduled update strategy comprises: produce induced signal at signal generator, and the induced signal kind makes Q3=Q2 when changing, make Q2=Q1, make Q1 equal predetermined value; When said signal generator induced signal is changed to first kind of induced signal; Predetermined value is A1, and when said signal generator induced signal was changed to second kind of induced signal, predetermined value was A2; When said signal generator induced signal was changed to the third induced signal, predetermined value was A3.
Optional, said controller is preset with at least three state parameter Q1, Q2 and Q3;
Said scheduled update strategy comprises: when the induced signal of signal generator generation is rising edge or negative edge, make Q3=Q2, make Q2=Q1, make Q1 equal predetermined value; When said signal generator produced first kind of induced signal, predetermined value was A1, and when said signal generator produced second kind of induced signal, predetermined value was A2, and when said signal generator produced the third induced signal, predetermined value was A3.
Optional, said controller is preset with at least five state parameter Q1, Q2, Q3, Q4 and Q5;
Said scheduled update strategy comprises: before making Q3=Q2, make Q5=Q4, make Q4=Q3.
Optional, said predetermined process strategy comprises: the current location parameter of said slide unit is the sliding distance S of said slide unit, and S=S0+N * L0; Said S0 is the initial position parameters of said slide unit, and N is an integer; Judge the said slide unit integer preassigned distance L 0 of whether sliding according to the value of said state parameter, if then upgrade N.
Optional, said controller is preset with at least five state parameter Q1, Q2, Q3, Q4 and Q5;
Said predetermined process strategy comprises: the current location parameter of said slide unit is the sliding distance S of said slide unit, and S=S0+N * L0; Said S0 is the initial position parameters of said slide unit, and N is an integer; Judge the said slide unit integer preassigned distance L 0 of whether sliding according to the value of said state parameter, if then upgrade N;
Said scheduled update strategy comprises: when the induced signal of signal generator generation is rising edge or negative edge, make Q3=Q2, make Q2=Q1, make Q1 equal predetermined value; When said signal generator produced first kind of induced signal, predetermined value was A1, and when said signal generator produced second kind of induced signal, predetermined value was A2, and when said signal generator produced the third induced signal, predetermined value was A3; After upgrading N, make Q1 equal A0.
Optional, a plurality of said sensor blocks are evenly distributed along first reference direction.
Optional, the be slidingly matched device of mechanism of described measurement also comprises the output unit that links to each other with controller, and said output unit can be with said current location parameter output.
The mechanism that is slidingly matched provided by the invention is included in slide unit and the basic components that are slidingly matched on first reference direction, also comprises the be slidingly matched device of mechanism of above-mentioned any measurement.
Container stacker provided by the invention comprises car body, first door frame, second door frame and suspender; First door frame links to each other with car body; Second door frame is slidably mounted in first door frame outside; Suspender slidably is installed in second door frame outside; It is characterized in that also comprise the be slidingly matched device of mechanism of above-mentioned any measurement, said slide unit and basic components are respectively second door frame and first door frame.
Optional, said controller can also be confirmed the height of suspender with respect to first door frame according to the current location parameter of second door frame.
Measurement provided by the invention is slidingly matched in the method for mechanism, and the said mechanism that is slidingly matched is included in slide unit and the basic components that are slidingly matched on first reference direction; Also comprise signal generator and a plurality of sensor block; Said signal generator is installed on the slide unit; A plurality of said sensor blocks are installed on the basic components and along the first reference direction series arrangement, adjacent said sensor block is preassigned distance L 0 at interval; On first reference direction, the maximum distance of reaction L1 of said signal generator is less than arbitrary said preassigned distance L 0; In slide unit slided preassigned distance L 0 process, based on a sensor block, said signal generator can produce at least three kinds of induced signals in proper order;
Described measuring method comprises: be preset with at least three state parameters; According to the induced signal of said signal generator generation and the value of the said state parameter of scheduled update policy update; The current location parameter of confirming slide unit according to the value and the predetermined process strategy of state parameter again.
Optional, the current location parameter of said slide unit is the sliding distance S of said slide unit, and S=S0+N * L0; Said S0 is the initial position parameters of said slide unit, and N is an integer; Be preset with at least five state parameter Q1, Q2, Q3, Q4 and Q5;
Said measuring method comprises the steps:
S100 when the induced signal that scans signal generator is rising edge or negative edge, makes Q5=Q4, makes Q4=Q3, makes Q3=Q2, makes Q2=Q1, makes Q1 equal predetermined value; When signal generator produced first kind of induced signal, predetermined value was A1, and when said signal generator produced second kind of induced signal, predetermined value was A2, and when said signal generator produced the third induced signal, predetermined value was A3;
S200 judges 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 then get into step S200; If, do not return step S100;
S300 upgrades N;
S400 makes Q1 equal A0.
Optional, said A0 is the initial value of each state parameter.
The be slidingly matched device of mechanism of measurement provided by the invention comprises controller and signal pickup assembly; Said signal pickup assembly comprises signal generator and a plurality of sensor block; Said signal generator is installed on the slide unit; A plurality of said sensor blocks are installed on the basic components and the edge first reference direction series arrangement; Slide unit slide with respect to basic components a preassigned apart from process in, based on a sensor block, said signal generator can produce at least three kinds of induced signals in proper order; Controller can be according to the induced signal state parameter of new subscription more, and then can confirm 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 the glide direction and the sliding distance of predetermined sensor block; Can confirm the moving situation of slide unit according to the variation of state parameter like this with respect to basic components; Obtain the current location parameter of slide unit again according to the motion state of slide unit.This measurement mechanism need not obtain the running parameter of slide unit by means of signal reflex, can reduce because the adverse effect that barrier produces has stronger adaptability.
In further technical scheme, said signal generator comprises at least three near switch, combines to produce corresponding induced signal through difference near switch and sensor block; Since have the reliability height near switch, 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, can confirm the moving situation of slide unit in the longer time through five state parameters, this not only helps improving the accuracy of measurement of measurement mechanism, also helps obtaining more information, and then for obtaining more current location parameters prerequisite is provided.
Because measurement mechanism has above-mentioned technique effect, measuring method and comprise that be slidingly matched mechanism and the container stacker of this measurement mechanism also have corresponding technique effect.
Description of drawings
Fig. 1 is a kind of structural representation of container stacker;
Fig. 2 is the be slidingly matched principle schematic of device of mechanism of measurement that the embodiment of the invention provides;
Fig. 3 is the groundwork flow process of a kind of controller of measurement mechanism, also is the be slidingly matched process flow diagram of method of mechanism of measurement provided by the invention.
Embodiment
Describe the present invention below in conjunction with accompanying drawing, the description of this part only is exemplary and explanatory, should not be regarded as the restriction to public technology content of the present invention.
For saving space, in the presents, the said slide unit or the second door frame sliding distance are the sliding distance with respect to the basic components or first door frame; In addition, when the principle of work of 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 slidingly matched principle schematic of device of mechanism of measurement that the embodiment of the invention provides.Among the figure, slide unit can be first door frame 210 of container for second door frame 220, the basic components of container stacker, and this measurement mechanism is used to measure the location parameter of container stacker second door frame 220.Below to be example with the relative slip between first door frame 210 and second door frame 220 advance to describe to the principle of work of measurement mechanism, should be noted that: measurement mechanism provided by the invention is not limited to measure the current location parameter of second door frame 220.
Like Fig. 2, first door frame 210 and second door frame 220 are slidingly matched on vertical direction; And then 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.
Sensor block group 410 comprises some sensor blocks, and a plurality of sensor blocks are installed in respectively on second door frame 220, and on vertical direction with a determining deviation series arrangement.In this example, on first door frame 210, with the whole length that is slidingly matched of second door frame 220 on, a plurality of sensor blocks arrange that evenly the distance between two promptly adjacent arbitrarily sensor blocks equates that this distance is called preassigned distance L 0.Three sensor blocks only are shown among Fig. 2, and for the convenience of describing, three sensor blocks are represented (size of the sensor block that only illustrates among the figure, in the practical application, the ratio between sensor block size and the preassigned distance L 0 is very little) with 411,412 and 413 respectively.
Signal generator 420 comprises three near switch, three near switch along the vertical direction series arrangement.In this example, three evenly distributed near switch; For description scheme, represent with 421,422 and 423 respectively near switch for three.Two ends all form certain induction zone near switch 421 and 423; Between as shown in the figure, the top of the induction zone that forms near switch 421 and the induction zone that forms near switch 423 bottom between distance form the maximum distance of reaction L1 of signal generator 420; When sensor block was positioned at this distance range, signal generator can produce corresponding induced signal.Maximum distance of reaction L1 is less than preassigned distance L 0.Like this; In second door frame 220 slides preassigned distance L 0 process up or down; Three of only having a sensor block and signal generator 420 are corresponding near switching sequence; And order is through three induction zones near switch, make three get near switching sequence electric, and output induced signal; According to exporting the different near switch of induced signal, signal generator 420 can produce three kinds of different induced signals in proper order.For convenience, establish near switch 421 during electric output induced signal, signal generator 420 produces first kind of induced signal; Near switch 422 during electric output induced signal, signal generator 420 produces second kind of induced signal; Near switch 423 during electric output induced signal, signal generator 420 produces the third induced signals.
Controller 430 links to each other with signal generator 420, and then can obtain, and the induced signal of identification generator 420 generations; When being located at first kind of induced signal of signal generator 420 generations, controller 430 is identified as A1; When signal generator 420 produced second kind of induced signal, controller 430 was identified as A2; When signal generator 420 produced the third induced signal, controller 430 was identified as A3.Controller 430 is preset with at least three state parameters, and can be according to the induced signal of signal generator 420 generations and the value of each state parameter of scheduled update policy update.Controller 430 can also be judged the moving situation of second door frame 220 according to the value of state parameter, and confirms the current location parameter of second door frame 220 according to predetermined processing policy.Output unit 440 links to each other with controller 430, can the current location parameter that obtain be exported by rights.
In this example, the concrete principle of work of controller 430 is following:
Controller 430 is preset with three state parameter Q1, Q2 and Q3.After powering on, controller 430 can scan the induced signal that signal generator 420 produces according to the predetermined cycle, and according to scheduled update policy update state parameter Q1, Q2 and Q3.The scheduled update strategy can comprise: produce induced signals at signal generator 420, and the induced signal kind is when changing, controller 430 couples of state parameter Q1, Q2 and Q3 upgrade; Do not change at induced signal, during perhaps non-inductive signal, all state parameter Q1, Q2 and Q3 are not upgraded, Q1, Q2 and Q3 all remain unchanged.Update mode is: make Q3 equal Q2 earlier; Make Q2 equal Q1 again; Make Q1 equal predetermined value at last.Predetermined value can change according to induced signal to be confirmed.If must be electric near switch 421, when the induced signal that signal generator 420 produces was changed to first kind of induced signal, predetermined value be A1; If get near switch 422; When the induced signal that signal generator 420 produces was changed to second kind of induced signal, predetermined value was A2, establishes near switch 423; When the induced signal that signal generator 420 produces was changed to the third induced signal, predetermined value was A3.A1, A2 and A3 can be respectively 1,2 and 3.Also can be other occurrence.
If three state parameter initial values are A0, A0 can be zero, or other occurrences.
With state shown in Figure 2 is initial state, and when second door frame 220 upwards slided constantly, Q1, Q2 and Q3 such as following table changed:
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
… … … …
With state shown in Figure 2 is initial state, and during constantly to lower slider, state parameter Q1, Q2 and Q3 such as following table change at second door frame 220:
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 the time point of confirming, Q2 and Q3 represent the Q1 value of preceding two update cycles, and Q1 is the value of current update cycle; The state at least three cycles can be write down like this, and then, the Changing Pattern of Q1 can be confirmed according to the value of state parameter Q1, Q2 and Q3; The Q1 value with A3, A2, A1 ... the mode circulation time, can confirm corresponding sensor block in proper order through induction zone, and then can confirm in first three update cycle, the second upwards slip of door frame 220 near switch 423,422,421; The Q1 value with A1, A2, A3 ... the mode circulation time, can confirm that second door frame 220 is to lower slider in first three update cycle.
Certainly, also can confirm other mode of motion between second door frame 220 and first door frame 210 according to the value of state parameter Q1, Q2 and Q3.Such as: when second door frame 220 slides repeatedly, make sensor block 412 repeatedly with seasonable near switch 422 and 423 pairs, the variation of Q1 be in proper order A3, A2, A3, A2 ...; Make sensor block 412 repeatedly with seasonable near switch 421 and 422 pairs, the variation of Q1 be in proper order A1, A2, A1, A2 ...; Make sensor block 412 repeatedly with seasonable near 421,422 and 423 pairs on switch, the variation of Q1 be in proper order A1, A2, A3, A3, A2, A1 ..., or the like; And then the ordering through Q1 variation order or Q1, Q2 and Q3 value, can confirm the first door frame 220 preassigned distance of not sliding up or down, only in the scope of being scheduled to, vibrate.
And then, the current location parameter that controller 430 just can be confirmed second door frame 220 according to the variation (or ordering of Q1, Q2 and Q3 value) and the predetermined process strategy of Q1 value.The current location parameter can confirm according to actual needs, can be the duty of second door frame 220, also can second door frame 220 the current location height.According to actual needs, can obtain the current location parameter of second door frame 220 through suitable predetermined process strategy.
Said predetermined process strategy can comprise: the elemental height of establishing second door frame 220 is S0; If the current location height of second door frame 220 (or sliding distance of second door frame 220) is S; Be S=S0+N * L0, said N is an integer, characterizes the quantity of second door frame, 220 slip preassigned distance L 0.When controller 430 confirms that second door frames 220 slide one or more preassigned distance L 0, N is upgraded.When second door frame 220 upwards slided a preassigned distance L 0, the N before making N after the renewal equal to upgrade added 1, and at second door frame 220 during to preassigned distance L 0 of lower slider, the N before making N after the renewal equal to upgrade deducts 1; Through the variation of N, can obtain the current location height of second door frame 220.When controller 430 confirmed that second door frame 220 does not slide a preassigned distance L 0, controller 430 did not upgrade N.Certainly,, improve the accuracy of S, can also the S value be revised according to the physical size of sensor block for fear of the error that causes owing to the size of sensor block own.
According to foregoing description, in order to obtain the value of more update cycle Q1, and then the situation of change of definite Q1 in the longer time, also can preset more a plurality of state parameters at controller 430; With preset five state parameters is example, when the update mode parameter, can make Q5=Q4 in proper order, makes Q4=Q3, makes Q3=Q2, makes Q2=Q1, makes Q1 equal predetermined value.Like this; Q1 is the current state signal; Q2 is the last update cycle status signal of Q1, and Q3 is the last update cycle status signal of Q2, and Q4 is the last update cycle status signal of Q3; Q5 is the last update cycle status signal of Q4, can write down like this to comprise four kinds of states of current state and front thereof; And then just can obtain before the current update cycle of Q1 the changing value of Q1 in the longer time through Q5, Q4, Q3, Q2.To help improving the accuracy of measurement of measurement mechanism, also help obtaining more information, and then prerequisite is provided for obtaining more current location parameters.
When controller 430 is not limited to by the way the update mode parameter, can also pass through other policy update state parameters.The scheduled update strategy can comprise: when the induced signal of signal generator 420 generations is rising edge, make Q5=Q4, make Q4=Q3, make Q3=Q2, make Q2=Q1, make Q1 equal predetermined value.When signal generator 420 produced first kind of induced signal, predetermined value was A1, and when signal generator 420 produced second kind of induced signal, predetermined value was A2, and when signal generator 420 produced the third induced signal, predetermined value was A3.Equally, the scheduled update strategy also can upgrade 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 select the value of other corresponding scheduled update policy update state parameters according to actual needs.
In addition, in order to improve controller 430 functional reliabilities, can also carry out data processing in the following manner.
Preset five state parameter Q1, Q2, Q3, Q4 and Q5 in controller 430.Said predetermined process strategy comprises: the current location parameter of second door frame 220 is the sliding distance S of second door frame 220, and S=S0+N * L0; S0 is the initial position parameters of second door frame 220, and N is an integer; Judge the second door frame 220 integer preassigned distance L 0 of whether sliding according to the value of state parameter, if, then upgrade N, make N according to the preassigned distance L 0 of sliding.The scheduled update strategy can comprise: when the induced signal of signal generator 420 generations 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 also is the be slidingly matched process flow diagram of method of mechanism of measurement provided by the invention.When utilizing above-mentioned predetermined process strategy and scheduled update strategy, its concrete workflow is following:
Step S100 when the induced signal that scans signal generator 420 at controller 430 is rising edge or negative edge, makes Q5=Q4, makes Q4=Q3, makes Q3=Q2, makes Q2=Q1, makes Q1 equal predetermined value; When signal generator 420 produced first kind of induced signal, predetermined value was A1, and when said signal generator 420 produced second kind of induced signal, predetermined value was A2, and when said signal generator 420 produced the third induced signal, predetermined value was A3.If the initial value of each state parameter is A0.
Step S200 judges 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 then get into step S300; If not, return step S100, continue to scan by predetermined period.The concrete mode of judging can be: when the value of Q1, Q2, Q3, Q4 and Q5 is respectively A1, A3, A2, A1, A0, explains that Q1 has experienced the variation of A1, A2, A3, A1, and then can confirm that second door frame 220 is to preassigned distance L 0 of lower slider.When the value of Q1, Q2, Q3, Q4 and Q5 is respectively A3, A1, A2, A3, A0, explains that Q1 has experienced the variation of A3, A2, A1, A3, and then can confirm upwards slide preassigned distance L 0 of second door frame 220.Certainly, according to the concrete assignment of state parameter, judgment mode can be adjusted according to actual needs.
Step S300 upgrades N.The concrete mode of upgrading is: when definite second door frame 220 upwards slides a preassigned distance L 0, make N after the renewal equal to upgrade preceding N and add 1; At definite second door frame 220 during to preassigned distance L 0 of lower slider, the N before making N after the renewal equal to upgrade deducts 1.Certainly, according to actual needs, when a plurality of state parameter is set, also can be during to lower slider integer preassigned distance L 0 at definite second door frame 220, corresponding renewal N makes the N after the renewal add or deduct relevant numerical.
Step S400 makes Q1 equal A0, returns step S100.
Can realize obtaining the purpose of second door frame, 220 sliding distance S through the circulation of above-mentioned steps.
Make Q1 recover initial value (also can be other and A3, A2 and A1 value all inequality) through step S400; Through the renewal to state parameter, the initial value that Q1 recovers behind the renewal N can be embodied among the Q5; And then, can verify in step S200 whether second door frame 220 normally rises or descend, and then, guarantee the current location veracity of parameters that obtains as the condition of upgrading N through Q5.
According to foregoing description, one skilled in the art may determine that signal generator 420 is not limited to comprise three near switch, also can comprise more a plurality of near switch.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 first door frame 210, corresponding sensor block is set; Make rotary encoder and sensor block have suitable matching relationship; When rotary encoder was corresponding with sensor block, rotary encoder output rotating signal when rotary encoder and sensor block are not corresponding, did 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 slidingly matched mechanism, the present invention also provides a kind of mechanism that is slidingly matched, and this mechanism that is slidingly matched is included in slide unit and the basic components that are slidingly matched on first reference direction; Wherein, slide unit is corresponding with second door frame 220 and first door frame 210 respectively with basic components; In addition, this mechanism that is slidingly matched also comprises the be slidingly matched device of mechanism of above-mentioned any measurement.Owing to comprise above-mentioned measurement mechanism, this mechanism that is slidingly matched also has corresponding technique effect.
On the above-mentioned measurement that provides was slidingly matched the basis of device of mechanism, the present invention also provided a kind of container stacker, and this container stacker comprises car body 100, first door frame 210, second door frame 220 and suspender 300; First door frame 210 links to each other with car body 100; Second door frame 220 is slidably mounted in first door frame, 210 outsides; Suspender 300 slidably is installed in second door frame, 220 outsides; Also comprise the be slidingly matched device of mechanism of above-mentioned corresponding measurement.For the ease of confirming the height of suspender in the container, controller 430 can also be confirmed the current location parameter of suspender 300 according to the current location parameter of second door frame 220; Promptly utilize second door frame 220 to confirm the current location parameter of suspender 300 with respect to the ratio of the sliding distance of second door frame 220 with respect to the sliding distance of first door frame 210 and suspender 300.
Used concrete example among this paper technical scheme provided by the invention is set forth, the explanation of above embodiment just is used for helping to understand technical scheme provided by the invention.Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle 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 claim of the present invention.

Claims (15)

1. the measurement device of mechanism that is slidingly matched, the said mechanism that is slidingly matched is included in slide unit and the basic components that are slidingly matched on first reference direction; It is characterized in that, comprise controller (430), signal generator (420) and a plurality of sensor block (411,412,413);
Said signal generator (420) is installed on the slide unit; A plurality of said sensor blocks (411,412,413) are installed on the basic components and along the first reference direction series arrangement, adjacent said sensor block (411,412,413) is preassigned distance L 0 at interval; On first reference direction, the maximum distance of reaction L1 of said signal generator (420) is less than arbitrary said preassigned distance L 0; In slide unit slided preassigned distance L 0 process, based on a sensor block (411,412,413), said signal generator (420) can produce at least three kinds of induced signals in proper order;
Said controller (430) is preset with at least three state parameters, and can be according to the induced signal of said signal generator (420) generation and the value of the said state parameter of scheduled update policy update; The current location parameter that can also confirm slide unit according to the value and the predetermined process strategy of state parameter.
2. the be slidingly matched device of mechanism of measurement according to claim 1 is characterized in that,
Said signal generator (420) comprises that at least three are installed on the basic components and tactic near switch (421,422,423) along first reference direction; In slide unit slided preassigned distance L 0 process, corresponding sensor block (411,412,413) can be said near switch (421,422,423) order relatively with each, and said signal generator (420) can produce at least three kinds of induced signals in proper order.
3. the be slidingly matched device of mechanism of measurement according to claim 1 is characterized in that,
Said controller (430) is preset with at least three state parameter Q 1, Q2 and Q3;
Said scheduled update strategy comprises: produce induced signal at signal generator (420), and the induced signal kind makes Q3=Q2 when changing, make Q2=Q1, make Q1 equal predetermined value; When said signal generator (420) induced signal is changed to first kind of induced signal; Predetermined value is A1; When said signal generator (420) induced signal is changed to second kind of induced signal; Predetermined value is A2, and when said signal generator (420) induced signal was changed to the third induced signal, predetermined value was A3.
4. the be slidingly matched device of mechanism of measurement according to claim 1 is characterized in that,
Said controller (430) is preset with at least three state parameter Q1, Q2 and Q3;
Said scheduled update strategy comprises: when the induced signal of signal generator (420) generation is rising edge or negative edge, make Q3=Q2, make Q2=Q 1, make Q1 equal predetermined value; When said signal generator (420) produces first kind of induced signal; Predetermined value is A1, and when said signal generator (420) produced second kind of induced signal, predetermined value was A2; When said signal generator (420) produced the third induced signal, predetermined value was A3.
5. according to the be slidingly matched device of mechanism of claim 3 or 4 described measurements, it is characterized in that,
Said controller (430) is preset with at least five state parameter Q1, Q2, Q3, Q4 and Q5;
Said scheduled update strategy comprises: before making Q3=Q2, make Q5=Q4, make Q4=Q3.
6. the be slidingly matched device of mechanism of measurement according to claim 1, it is characterized in that said predetermined process strategy comprises: the current location parameter of said slide unit is the sliding distance S of said slide unit, and S=S0+N * L0; Said S0 is the initial position parameters of said slide unit, and N is an integer; Judge the said slide unit integer preassigned distance L 0 of whether sliding according to the value of said state parameter, if then upgrade N.
7. the be slidingly matched device of mechanism of measurement according to claim 1 is characterized in that,
Said controller (430) is preset with at least five state parameter Q1, Q2, Q3, Q4 and Q5;
Said predetermined process strategy comprises: the current location parameter of said slide unit is the sliding distance S of said slide unit, and S=S0+N * L0; Said S0 is the initial position parameters of said slide unit, and N is an integer; Judge the said slide unit integer preassigned distance L 0 of whether sliding according to the value of said state parameter, if then upgrade N;
Said scheduled update strategy comprises: when the induced signal of signal generator (420) generation is rising edge or negative edge, make Q3=Q2, make Q2=Q1, make Q1 equal predetermined value; When said signal generator (420) produces first kind of induced signal; Predetermined value is A1, and when said signal generator (420) produced second kind of induced signal, predetermined value was A2; When said signal generator (420) produced the third induced signal, predetermined value was A3; After upgrading N, make Q1 equal A0.
8. the be slidingly matched device of mechanism of each described measurement according to claim 1-7 is characterized in that a plurality of said sensor blocks (411,412,413) are evenly distributed along first reference direction.
9. the be slidingly matched device of mechanism of each described measurement according to claim 1-7 is characterized in that also comprise the output unit (440) that links to each other with controller (430), said output unit (440) can be with said current location parameter output.
10. the mechanism that is slidingly matched is included in the slide unit and the basic components that are slidingly matched on first reference direction, it is characterized in that, also comprises the be slidingly matched device of mechanism of each described measurement of claim 1-9.
11. a container stacker comprises car body (100), first door frame (210), second door frame (220) and suspender (300); First door frame (210) links to each other with car body (100); Second door frame (220) is slidably mounted in first door frame (210) outside; Suspender (300) slidably is installed in second door frame (220) outside; It is characterized in that also comprise the be slidingly matched device of mechanism of each said measurement of claim 1-9, said slide unit and basic components are respectively second door frame (220) and first door frame (210).
12. container stacker according to claim 11.It is characterized in that said controller (430) can also be confirmed the height of suspender (300) with respect to first door frame (210) according to the current location parameter of second door frame (220).
The method of mechanism 13. a measurement is slidingly matched, the said mechanism that is slidingly matched is included in slide unit and the basic components that are slidingly matched on first reference direction; Also comprise signal generator (420) and a plurality of sensor block (411,412,413); Said signal generator (420) is installed on the slide unit; A plurality of said sensor blocks (411,412,413) are installed on the basic components and along the first reference direction series arrangement, adjacent said sensor block (411,412,413) is preassigned distance L 0 at interval; On first reference direction, the maximum distance of reaction L1 of said signal generator (420) is less than arbitrary said preassigned distance L 0; In slide unit slided preassigned distance L 0 process, based on a sensor block (411,412,413), said signal generator (420) can produce at least three kinds of induced signals in proper order; It is characterized in that described measuring method comprises:
Be preset with at least three state parameters; According to the induced signal of said signal generator (420) generation and the value of the said state parameter of scheduled update policy update; The current location parameter of confirming slide unit according to the value and the predetermined process strategy of state parameter again.
The method of mechanism is characterized in that 14. measurement according to claim 13 is slidingly matched, and the current location parameter of said slide unit is the sliding distance S of said slide unit, and S=S0+N * L0; Said S0 is the initial position parameters of said slide unit, and N is an integer; Be preset with at least five state parameter Q1, Q2, Q3, Q4 and Q5;
Said measuring method comprises the steps:
S100 when the induced signal that scans signal generator (420) is rising edge or negative edge, makes Q5=Q4, makes Q4=Q3, makes Q3=Q2, makes Q2=Q1, makes Q1 equal predetermined value; When signal generator (420) produced first kind of induced signal, predetermined value was A1, and when said signal generator (420) produced second kind of induced signal, predetermined value was A2, and when said signal generator (420) produced the third induced signal, predetermined value was A3;
S200 judges second door frame (220) the preassigned distance L 0 of whether sliding according to the value of five state parameter Q1, Q2, Q3, Q4 and Q5; If then get into step S200; If, do not return step S100;
S300 upgrades N;
S400 makes Q1 equal A0.
The method of mechanism is characterized in that 15. measurement according to claim 14 is slidingly matched, and said A0 is the initial value of each state parameter.
CN201110378320.7A 2011-11-24 2011-11-24 Sliding fit mechanism, measuring device, measuring method and container stacking machine Active CN102506784B (en)

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