CN104192573A - Method and device for operating state monitoring and automatic braking of stacker crane - Google Patents
Method and device for operating state monitoring and automatic braking of stacker crane Download PDFInfo
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- CN104192573A CN104192573A CN201410365737.3A CN201410365737A CN104192573A CN 104192573 A CN104192573 A CN 104192573A CN 201410365737 A CN201410365737 A CN 201410365737A CN 104192573 A CN104192573 A CN 104192573A
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- stacker
- state monitoring
- running state
- axle
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Abstract
The invention discloses a method for operating state monitoring and automatic braking of a stacker crane. The method for operating state monitoring and automatic braking of the stacker crane comprises the steps that the operating speed or the accelerated speed or one of other quantities easy to detect of a mechanical arm of the stacker carne is taken as a control parameter, and the comparison reference value of the control parameter is set and stored in a storage unit of an electrical control system; when the stacker crane operates, the operating speed or the accelerated speed or the quantity easy to detect of the mechanical arm of the stacker carne is monitored in real time through an operating state monitoring sensor; the quantity monitored by the operating state monitoring sensor in real time is compared with the comparison reference value stored in the storage unit through the electrical control system; when the quantity monitored in real time exceeds the comparison reference value, the electrical control system sends out a signal to control a braking component to brake the mechanical arm. According to the method for operating state monitoring and automatic braking of the stacker crane, the speed or the accelerated speed of the mechanical arm is monitored during operation, braking is conducted when an abnormal situation appears , and thus potential safety hazards are eliminated.
Description
Technical field
The present invention relates to a kind of palletizing apparatus, especially a kind of stacker running state monitoring and autobrake method and apparatus.
Background technology
The disclosed Chinese utility model patent CN200971269 of 2007-11-07 discloses a kind of stacker, as shown in Figure 1, this stacker is the mechanical equipment being operated by Controlled by Programmable Controller, comprises frame 1, motor vertical 2, horizontal linear guide rail 3, horizontal motor 4, jacking system 5, manipulator 6.Horizontal linear guide rail 3 is fixed in frame 1, and jacking system 5 is installed on horizontal linear guide rail 3, and horizontal motor 4 is fixed on to be controlled jacking system 5 in frame 1 and move along horizontal linear guide rail 3.Jacking system 5 is a kind of linear transmission mechanisms that are converted to linear reciprocating motion by rotatablely moving, and motor vertical 2 is fixed on the top of jacking system 5, controls jacking system 5 up-and-down movements, thus driving mechanical hand 6 up-and-down movements.This jacking system 5 is a kind of rack-and-gear devices, its middle gear 52 is driving links, tooth bar 51 is driven members, gear 52 is located on the first axle 53 and is driven by motor vertical 2, therefore, the first axle 53 is the axle drive shaft of jacking system 5, jacking system 5 also comprises the second axle 54, the second axle 54 is for forming with the first axle 53 driven shaft that constrained jacking system 5 only moves up and down, tooth bar 51 belows are connected with a plural number manipulator 6, every two manipulators 6 form a pair of, between every pair of two manipulators 6, have clamping mechanism.Once can press from both sides polylith adobe and carry out direct piling, realize the mechanization of adobe piling, reduce labour intensity, improve efficiency.
Motor vertical is generally reducing motor, but because reducing motor has certain service life, deadweight due to the brick of stacker manipulator and clamping thereof when reducing motor breaks down will make whole mechanism hurtle down, until run into obstacle or arrive the limit of whole mechanism kinematic position, the damage that causes equipment is even threatened to the personal safety of operating personal.Simultaneously in stacker operational process, there is unpredictalbe situation, for example operating personal is violated working specification and is entered stacker manipulator operation area, the stacker manipulator likely being moved downward is encountered, while moving downward due to the brick certain speed of stacker manipulator and clamping, there is sizable inertia, if only rely on artificial surveillance and control measure, exist while needing emergency braking and cannot react in the shortest time, thereby have the possibility causing the accident.
Summary of the invention
One of the technical problem to be solved in the present invention, be to provide a kind of stacker running state monitoring and autobrake method, by speed or the acceleration/accel of stacker robot movement in decline process are directly or indirectly monitored, and braking when there are abnormal condition, thereby the potential safety hazard of stopping.
One of the technical problem to be solved in the present invention is achieved in that a kind of stacker running state monitoring and autobrake method, comprising:
Step 10, the easy detection limit that has functional relation using the speed of stacker manipulator operation, acceleration/accel or with speed or acceleration/accel are as controlling parameter, and the benchmark value of setting this control parameter is stored in the memory cell in electric control system;
Step 20, in the operational process of stacker, by speed, acceleration/accel or the described easy detection limit of running state monitoring sensor Real-Time Monitoring machine stacker manipulator operation;
Step 30, electric control system compare computing by the benchmark value in the speed of described running state monitoring sensor Real-Time Monitoring, acceleration/accel or described easy detection limit and described memory cell;
When step 40, the speed when described Real-Time Monitoring, acceleration/accel or described easy detection limit surpass benchmark value, described electric control system is sent signal control brake component described stacker manipulator is braked.
Two of the technical problem to be solved in the present invention, be to provide a kind of stacker running state monitoring and automatic brake arrangement, by speed or the acceleration/accel of stacker robot movement in decline process are directly or indirectly monitored, and braking when there are abnormal condition, thereby the potential safety hazard of stopping.
Two of the technical problem to be solved in the present invention is achieved in that a kind of stacker running state monitoring and automatic brake arrangement, comprise electric control system, running state monitoring sensor and brake component, described electric control system is connected with described running state monitoring sensor and brake component respectively;
Described electric control system comprises memory cell and arithmetic element, the speed of described stacker manipulator operation, acceleration/accel, the easy detection limit having functional relation with speed or acceleration/accel are used as control parameter, and the benchmark value of setting this control parameter is stored in this memory cell; Described arithmetic element is for comparing computing by the benchmark value of the easy detection limit of described running state monitoring sensor Real-Time Monitoring and described memory cell;
Described running state monitoring sensor is located at for driving the axle drive shaft of the jacking system of stacker manipulator operation, with in the operational process of stacker, the speed of Real-Time Monitoring machine stacker manipulator operation or acceleration/accel or the easy detection limit having functional relation with speed or acceleration/accel;
Described brake component connects described jacking system, sends signal control brake component described stacker manipulator is braked in described electric control system.
Further, the allowed band value that benchmark value of the present invention is described control parameter is the change curve of this control parameter and the deviation value of permission maybe.
Further, brake component of the present invention comprises 2 independently brake assemblies, is located at respectively on the first axle of stacker and on the second axle; The axle drive shaft that described the first axle is described jacking system, described the second axle is for forming with the first axle the driven shaft that constrained jacking system only moves up and down, and described manipulator drives operation by this jacking system.Described 2 independently in brake assemblies the first brake assemblies be the reducing motor that there is the HM Hydraulic Motor of balanced loop back pressure or there is braking mode, this HM Hydraulic Motor or reducing motor are located on the first axle of stacker; The second brake assemblies is electromagnetic power brake, is located on the second axle of stacker.
Further, described running state monitoring sensor is located on the first axle, the second axle or tooth bar, goes back or is located on the motor shaft of described reducing motor.
Further, running state monitoring sensor of the present invention can be rotary encoder.
Tool of the present invention has the following advantages: the speed of the present invention by manipulator in monitoring stacker operational process or acceleration/accel etc. are detection limit easily, can react rapidly to abnormal condition, the effectively generation of Accident prevention, and by the safety that adopts the brake component of redundancy to improve system, the probability that accident is occurred reduces several orders of magnitude.
Accompanying drawing explanation
The present invention is further illustrated in conjunction with the embodiments with reference to the accompanying drawings.
Fig. 1 is the structural representation of a stacker in prior art.
Fig. 2 is the structural representation of stacker running state monitoring of the present invention and automatic brake arrangement.
Fig. 3 is the functional block diagram of stacker running state monitoring of the present invention and automatic brake arrangement.
Fig. 4 is the flowchart of stacker running state monitoring of the present invention and autobrake method.
The specific embodiment
In conjunction with shown in Fig. 1 to Fig. 4, stacker running state monitoring of the present invention and autobrake method are on the basis of the stacker shown in Fig. 1, to set up the function of running state monitoring and autobrake, and the method comprises:
Step 10, the easy detection limit that has functional relation using the speed of stacker manipulator 6 operation, acceleration/accel or with speed or acceleration/accel are as controlling parameter, and the benchmark value of setting this control parameter is stored in the memory cell 71 in electric control system 7; The allowed band value that benchmark value of the present invention is described control parameter is the change curve of this control parameter and the deviation value of permission maybe.
Step 20, in the operational process of stacker, by speed, the acceleration/accel of running state monitoring sensor 8 Real-Time Monitoring machine stacker manipulators 6 operations or the easy detection limit having functional relation with speed or acceleration/accel; Wherein, described running state monitoring sensor 8 can be rotary encoder, speed, the acceleration/accel of manipulator 6 operations can be by being arranged on running state monitoring sensor 8 on the first axle 53 and monitoring in real time, described running state monitoring sensor 8 or be arranged on the second axle 54 or tooth bar 51, or be located at described reducing motor on the motor shaft of the first brake assemblies 91 or motor vertical 2.
Step 30, electric control system 7 compare computing by the benchmark value in the speed of described running state monitoring sensor 8 Real-Time Monitorings, acceleration/accel or described easy detection limit and described memory cell 71; This can be undertaken by the arithmetic element 72 of electric control system 7, and this arithmetic element 72 can be PLC;
When step 40, the speed when described Real-Time Monitoring, acceleration/accel or described easy detection limit surpass benchmark value, described electric control system 7 is sent 9 pairs of described stacker manipulators 6 of signal control brake component and is braked.Rotary encoder and the common response cycle of arithmetic element can be controlled at 10ms left and right at present, and whole braking time is effectively shortened.
Equally as shown in Figures 1 to 4, stacker running state monitoring of the present invention and automatic brake arrangement, comprise electric control system 7, running state monitoring sensor 8 and brake component 9, described electric control system 7 is connected with described running state monitoring sensor 8 and brake component 9 respectively;
Described electric control system 7 comprises memory cell 71 and arithmetic element 72, the speed of described stacker manipulator 6 operations, acceleration/accel, the easy detection limit having functional relation with speed or acceleration/accel are used as control parameter, and the benchmark value of setting this control parameter is stored in this memory cell; Described arithmetic element 72 is for comparing computing by the benchmark value of the easy detection limit of described running state monitoring sensor Real-Time Monitoring and described memory cell 71; The allowed band value that benchmark value of the present invention is described control parameter is the change curve of this control parameter and the deviation value of permission maybe.
It is the first axle 53 that described running state monitoring sensor 8 is located at for driving the axle drive shaft of the jacking system 5 of stacker manipulator 6 operations, with in the operational process of stacker, the speed of Real-Time Monitoring machine stacker manipulator 6 operations or acceleration/accel or the easy detection limit having functional relation with speed or acceleration/accel; Running state monitoring sensor 8 of the present invention can be rotary encoder.Certainly, described running state monitoring sensor 8 also can be located on the second axle 54 or tooth bar 51, or is located on the motor shaft that described reducing motor is the first brake assemblies 91 or motor vertical 2.
Described brake component 9 connects described jacking system 5, sends 9 pairs of described stacker manipulators 6 of signal control brake component brake in described electric control system 7.
Brake component 9 of the present invention can comprise 2 independently brake assemblies, is located at respectively on the first axle 53 of stacker and on the second axle 54; The first brake assemblies 91 is the reducing motor that has the HM Hydraulic Motor of balanced loop back pressure or have braking mode, this reducing motor is born the function of motor vertical 2 simultaneously, the first brake assemblies 91 is same motor with motor vertical 2, and this HM Hydraulic Motor or reducing motor are located on the first axle 53 of stacker; The second brake assemblies 92 is electromagnetic power brake; Be located on the second axle 54 of stacker; The axle drive shaft that described the first axle 53 is jacking system, described the second axle 54 and the first axle 53 form the driven shaft that the tooth bar 51 in constrained jacking system 5 only moves up and down, and described manipulator 6 drives operation by this jacking system 5.Two independently brake assemblies are set, can be after a brake assemblies lose efficacy, another still can work on.
Setup control parameter is speed, acceleration/accel or the described easy detection limit detecting by rotary encoder, benchmark value is that benchmark value is the change curve that gathers speed, acceleration/accel or described easy detection limit under normal operating condition, during the departing from storage curve numerical value and surpass the permissible variation value of setting of the speed in operational process, acceleration/accel or described easy detection limit, electric control system is sent whistle control system and is entered braking mode.After completing braking, rising certain altitude disengages stacker and obstacle.The arithmetic speed that detects frequency and arithmetic element according to current sensor can be in 10ms be being reacted rapidly to abnormal condition in to stacker operational process, the effectively generation of Accident prevention.Wherein said easy detection limit is relevant with described brake component 9 (being also driving arrangement) simultaneously, if adopt the reducing motor with braking mode to drive, described easy detection limit refers to motor working current; If by the fluid motor-driven with balanced loop back pressure, easily detection limit refers to that the inlet and outlet pressure of HM Hydraulic Motor is poor; In fact with rotary encoder directly degree of testing the speed or acceleration/accel more accurate; Easily detection limit is indirect detection, has certain error.
In sum: the speed of the present invention by manipulator in monitoring stacker operational process or acceleration/accel etc. are detection limit easily, can react rapidly to abnormal condition, the effectively generation of Accident prevention, and by the safety that adopts the brake component of redundancy to improve system, the probability that accident is occurred reduces several orders of magnitude.
Although more than described the specific embodiment of the present invention; but being familiar with those skilled in the art is to be understood that; our described specific embodiment is illustrative; rather than for the restriction to scope of the present invention; those of ordinary skill in the art are in equivalent modification and the variation done according to spirit of the present invention, all should be encompassed in the scope that claim of the present invention protects.
Claims (11)
1. stacker running state monitoring and an autobrake method, is characterized in that: comprising:
Step 10, the easy detection limit that has functional relation using the speed of stacker manipulator operation, acceleration/accel or with speed or acceleration/accel are as controlling parameter, and the benchmark value of setting this control parameter is stored in the memory cell in electric control system;
Step 20, in the operational process of stacker, by speed, acceleration/accel or the described easy detection limit of running state monitoring sensor Real-Time Monitoring machine stacker manipulator operation;
Step 30, electric control system compare computing by the benchmark value in the speed of described running state monitoring sensor Real-Time Monitoring, acceleration/accel or described easy detection limit and described memory cell;
When step 40, the speed when described Real-Time Monitoring, acceleration/accel or described easy detection limit surpass benchmark value, described electric control system is sent signal control brake component described stacker manipulator is braked.
2. stacker running state monitoring according to claim 1 and autobrake method, is characterized in that: in described step 10, the allowed band value that described benchmark value is described control parameter is the change curve of this control parameter and the deviation value of permission maybe.
3. stacker running state monitoring according to claim 1 and autobrake method, is characterized in that: the brake component in described step 40 comprises 2 independently brake assemblies, is located at respectively on the first axle of stacker and on the second axle; The axle drive shaft that described the first axle is described jacking system, described the second axle is for forming with the first axle the driven shaft that constrained jacking system only moves up and down, and described manipulator drives operation by this jacking system.
4. stacker running state monitoring according to claim 3 and autobrake method, it is characterized in that: described 2 independently in brake assemblies the first brake assemblies be the reducing motor that there is the HM Hydraulic Motor of balanced loop back pressure or there is braking mode, this HM Hydraulic Motor or reducing motor are located on the first axle of stacker; The second brake assemblies is electromagnetic power brake, is located on the second axle of stacker.
5. stacker running state monitoring according to claim 4 and autobrake method, is characterized in that: described running state monitoring sensor is located on the first axle, the second axle or tooth bar, goes back or be located on the motor shaft of described reducing motor.
6. stacker running state monitoring according to claim 1 and autobrake method, is characterized in that: described running state monitoring sensor is rotary encoder.
7. a stacker running state monitoring and automatic brake arrangement, it is characterized in that: comprise electric control system, running state monitoring sensor and brake component, described electric control system is connected with described running state monitoring sensor and brake component respectively;
Described electric control system comprises memory cell and arithmetic element, the speed of described stacker manipulator operation, acceleration/accel, the easy detection limit having functional relation with speed or acceleration/accel are used as control parameter, and the benchmark value of setting this control parameter is stored in this memory cell; Described arithmetic element is for comparing computing by the benchmark value of the easy detection limit of described running state monitoring sensor Real-Time Monitoring and described memory cell;
Described running state monitoring sensor is located at for driving the jacking system of stacker manipulator operation, with in the operational process of stacker, the speed of Real-Time Monitoring machine stacker manipulator operation or acceleration/accel or the easy detection limit having functional relation with speed or acceleration/accel;
Described brake component connects described jacking system, sends signal control brake component described stacker manipulator is braked in described electric control system.
8. stacker running state monitoring according to claim 7 and automatic brake arrangement, is characterized in that: described brake component comprises 2 independently brake assemblies, is located at respectively on the first axle of stacker and on the second axle; The axle drive shaft that described the first axle is described jacking system, described the second axle is for forming with the first axle the driven shaft that constrained jacking system only moves up and down, and described manipulator drives operation by this jacking system.
9. stacker running state monitoring according to claim 8 and automatic brake arrangement, it is characterized in that: described 2 independently in brake assemblies the first brake assemblies be the reducing motor that there is the HM Hydraulic Motor of balanced loop back pressure or there is braking mode, this HM Hydraulic Motor or reducing motor are located on the first axle of stacker; The second brake assemblies is electromagnetic power brake, is located on the second axle of stacker.
10. stacker running state monitoring according to claim 9 and automatic brake arrangement, is characterized in that: described running state monitoring sensor is located on the first axle, the second axle or tooth bar, goes back or be located on the motor shaft of described reducing motor.
11. stacker running state monitoring according to claim 7 and automatic brake arrangements, is characterized in that: described running state monitoring sensor is rotary encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410365737.3A CN104192573B (en) | 2014-07-29 | 2014-07-29 | Stacking machine running state monitoring and Braking mode method and apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410365737.3A CN104192573B (en) | 2014-07-29 | 2014-07-29 | Stacking machine running state monitoring and Braking mode method and apparatus |
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| Publication Number | Publication Date |
|---|---|
| CN104192573A true CN104192573A (en) | 2014-12-10 |
| CN104192573B CN104192573B (en) | 2016-05-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410365737.3A Active CN104192573B (en) | 2014-07-29 | 2014-07-29 | Stacking machine running state monitoring and Braking mode method and apparatus |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106695792A (en) * | 2017-01-05 | 2017-05-24 | 中国计量大学 | Tracking and monitoring system and method of stacking robot based on machine vision |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0691587A (en) * | 1992-09-08 | 1994-04-05 | Amada Co Ltd | Emergency stopping method and device for industrial robot |
| CN1481298A (en) * | 2002-04-12 | 2004-03-10 | 三菱电机株式会社 | Robot |
| CN200971269Y (en) * | 2004-04-21 | 2007-11-07 | 福建海源自动化机械设备有限公司 | Stacking machine |
| CN204057248U (en) * | 2014-07-29 | 2014-12-31 | 福建海源自动化机械股份有限公司 | Stacker running state monitoring and automatic brake arrangement |
-
2014
- 2014-07-29 CN CN201410365737.3A patent/CN104192573B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0691587A (en) * | 1992-09-08 | 1994-04-05 | Amada Co Ltd | Emergency stopping method and device for industrial robot |
| CN1481298A (en) * | 2002-04-12 | 2004-03-10 | 三菱电机株式会社 | Robot |
| CN200971269Y (en) * | 2004-04-21 | 2007-11-07 | 福建海源自动化机械设备有限公司 | Stacking machine |
| CN204057248U (en) * | 2014-07-29 | 2014-12-31 | 福建海源自动化机械股份有限公司 | Stacker running state monitoring and automatic brake arrangement |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106695792A (en) * | 2017-01-05 | 2017-05-24 | 中国计量大学 | Tracking and monitoring system and method of stacking robot based on machine vision |
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| CN104192573B (en) | 2016-05-11 |
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Address after: 350000 No. 2 Tieling North Road, Jingxi Town, Minhou County, Fuzhou City, Fujian Province Patentee after: Fujian Haiyuan Composite Materials Technology Co.,Ltd. Address before: 350000 No. 2 Tieling North Road, Jingxi Town, Minhou County, Fuzhou City, Fujian Province Patentee before: FUJIAN HAIYUAN AUTOMATIC EQUIPMENTS Co.,Ltd. |
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