CN108483261B - Linear motion monitoring feedback module, and monitoring method and application thereof - Google Patents
Linear motion monitoring feedback module, and monitoring method and application thereof Download PDFInfo
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- CN108483261B CN108483261B CN201810362396.2A CN201810362396A CN108483261B CN 108483261 B CN108483261 B CN 108483261B CN 201810362396 A CN201810362396 A CN 201810362396A CN 108483261 B CN108483261 B CN 108483261B
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- 230000033001 locomotion Effects 0.000 title claims abstract description 146
- 238000012544 monitoring process Methods 0.000 title claims abstract description 95
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- 230000005540 biological transmission Effects 0.000 claims abstract description 63
- 238000006073 displacement reaction Methods 0.000 claims abstract description 53
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 238000002955 isolation Methods 0.000 claims description 16
- 238000013459 approach Methods 0.000 claims description 3
- 230000005855 radiation Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 4
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
Abstract
The invention discloses a monitoring feedback module, which comprises: the device comprises a transmission gear set, a feedback transmission mechanism, a screw rod, a sliding block and a displacement sensor; the driving gear is arranged on a transmission shaft of a driving assembly of the linear motion device, and the driven gear is connected with one end of the feedback transmission mechanism and meshed with the driving gear in a certain gear ratio; the other end of the feedback transmission mechanism is connected with a screw rod, a sliding block is arranged on the screw rod, and the sliding block moves linearly under the drive of the screw rod; the displacement sensor is arranged in parallel with the screw rod and monitors displacement data of the sliding block. The invention also provides a monitoring system and a monitoring method applying the monitoring feedback module. The monitoring feedback module and the monitoring system realize the position closed-loop feedback of the linear motion device, especially the crown block system.
Description
Technical Field
The invention relates to a motion monitoring feedback module, in particular to a feedback module for linear motion, a monitoring method and application thereof.
Background
In the prior art, devices for carrying out transportation, production and other works by linear motion, such as crown blocks, trusses and the like, can sometimes directly monitor the actual motion positions during the linear motion, and the direct monitoring often causes wiring disorder and other conditions. In addition, in some special scenes, such as a hot room, a sensor for direct monitoring and the like are often affected by radiation, the accuracy of monitoring cannot be maintained, not to mention that some radiation can cause damage and failure of the sensor, therefore, the existing linear motion crown block system in the hot room is generally driven by a radiation-resistant servo motor with a rotary encoder, the crown block position cannot be stored after power failure, and the crown block position must be reset to zero again when power is supplied each time, so that a radiation-resistant limit switch is required to be installed at the limit position of each motion shaft as a motion detection origin. In order to ensure accurate positioning of the crown block, the system also needs to perform position closed loop detection, namely, a plurality of position detection points are arranged on each motion axis, and a radiation-resistant displacement sensor is installed to realize position closed loop detection. When the high-tightness and shielding level requirements are met and no electrical components and circuits are allowed to exist in the hot chamber, the driving motor of the crown block system must be arranged outside the hot chamber, and no position sensor can be installed on each linear motion shaft. The existing method for driving, limiting and zeroing linear motion and feeding back position of the crown block system has the following defects: 1) The hot chamber is internally provided with a large number of power supply cables and communication cables, so that the number of penetrating pieces and electric connectors on the wall of the hot chamber is increased, and the design difficulty and the manufacturing cost of the tightness and the shielding performance of the hot chamber are seriously increased. 2) The driving motor and the sensor of the crown block are arranged in the hot chamber, and once the crown block is in fault and needs maintenance, all operations are realized through remote operation devices such as a master manipulator and a slave manipulator as personnel cannot enter a radioactive environment; the end operators of the master manipulator and the slave manipulator only can finish clamping and opening actions, so that the fine operations such as disassembly and installation of a failure motor and a position sensor, and plugging and pulling of an electric connector are basically difficult to finish smoothly, and the maintainability of equipment is greatly reduced. 3) If the sensor is not installed, the crown block system can only set a stop block at the limit position of each motion axis to carry out mechanical limit, so that the origin of motion zeroing of each motion axis of the crown block system is not clear, damage is easily caused by collision at the limit position, the safety is difficult to ensure, closed-loop position control cannot be realized, and the positioning precision and repeated positioning precision of the crown block system are seriously affected.
Disclosure of Invention
The embodiment of the invention provides a linear motion monitoring feedback module capable of monitoring a linear motion state in real time, which can ensure that each motion shaft of an overhead travelling crane has a definite return-to-zero origin without adding any electrical elements such as a sensor and the like on the original linear motion shaft, automatically limit and stop when the overhead travelling crane moves to a limit position, and perform position closed-loop feedback on the motion of the overhead travelling crane, thereby improving the operation precision. The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview and is intended to neither identify key/critical elements nor delineate the scope of such embodiments. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later.
According to a first aspect of an embodiment of the present invention, there is provided a monitoring feedback module, including: the device comprises a transmission gear set, a feedback transmission mechanism, a screw rod, a sliding block and a displacement sensor;
the driving gear is arranged on a transmission shaft of a driving component of the linear motion device, and the driven gear is connected with one end of the feedback transmission mechanism and meshed with the driving gear in a certain gear ratio; the other end of the feedback transmission mechanism is connected with a screw rod, a sliding block is arranged on the screw rod, and the sliding block moves linearly under the drive of the screw rod; and the displacement sensor is arranged in parallel with the screw rod and monitors displacement data of the sliding block.
Preferably i 1 ×i 2 ＝l 1 /l 2 Wherein i is 1 For the speed ratio of the drive gear set, i 2 For feeding back the speed ratio of the transmission mechanism, l 1 For the travel of the linear movement shaft, l 2 Is the stroke of the sliding block.
In one embodiment of the invention, a trigger block is arranged on the sliding block, an initial limit switch and a final limit switch are respectively arranged at two ends of the displacement stroke of the sliding block, and when the trigger block touches the initial limit switch, the linear motion device is positioned at the initial position of linear motion; when the trigger block touches the stop limit switch, the linear motion device is positioned at the end position of linear motion.
In one embodiment according to the present invention, the displacement sensor further comprises a displacement feedback module, and the displacement feedback module is communicatively connected to the control module of the linear motion device.
The invention also provides a monitoring system for monitoring a linear motion state in an isolated environment, the monitoring system comprising: the monitoring feedback module and the linear motion shaft driving device are arranged on the same side of the monitoring feedback module; the monitoring system is provided with monitoring feedback modules and linear motion shaft driving devices, wherein the number of the monitoring feedback modules corresponds to that of the linear motion shafts;
the linear motion shaft driving device comprises a motor and a transmission shaft, wherein the motor is arranged on the outer side of the isolation wall surface, one end of the transmission shaft is connected with the motor, and the other end of the transmission shaft penetrates through the isolation wall surface and is connected with a linear motion shaft arranged on the inner side of the isolation wall surface; the monitoring feedback module is arranged on the outer side of the isolation wall surface, and a driving gear of the transmission gear set is fixed on the transmission shaft.
In one embodiment according to the present invention, the linear motion shaft driving device further includes a control module communicatively connected to the respective corresponding monitoring feedback devices.
The invention further provides a crown block system for the hot chamber, which comprises a linear motion shaft arranged in the hot chamber, a driving device arranged on the outer wall of the hot chamber and the monitoring feedback module;
the number of the driving devices and the monitoring feedback modules corresponds to the number of the linear motion shafts; the transmission shafts of the driving devices penetrate through the shielding wall of the hot chamber and are connected with the corresponding linear motion shafts, and the transmission shafts of each driving device are fixedly connected with the driving gears of the corresponding monitoring feedback modules respectively.
The invention further provides a method for monitoring the real-time movement of the crown block in the hot room, which comprises the following steps:
setting a certain gear ratio to enable the stroke of the sliding block to be corresponding to the displacement stroke of the corresponding linear motion shaft of the crown block in a certain proportion;
setting a starting point and an ending point which respectively correspond to the initial position and the ending position of the corresponding linear motion shaft of the crown block at two ends of the sliding block stroke;
and detecting the absolute displacement of the reading slide block through a displacement sensor, and further calculating the actual position of the crown block on the corresponding linear motion axis.
In one embodiment according to the invention, the monitoring method further comprises: when the vehicle is at the initial position of a certain linear motion shaft, the trigger block on the corresponding sliding block touches the corresponding initial limit switch, and the corresponding displacement sensor returns the displacement data to zero.
In one embodiment according to the invention, the monitoring method further comprises: when the crown block approaches the end point of a linear motion shaft, the trigger block on the corresponding sliding block touches the corresponding stop limit switch, the corresponding displacement sensor sends end point information to the control module, and the control module stops driving the crown block to move on the linear motion shaft continuously towards the end point after receiving the end point information.
In one embodiment according to the invention, the monitoring method further comprises: the actual position of the crown block is fed back in real time by monitoring the displacement of the sliding block, and the movement routes of the crown block on different linear movement axes are coordinated.
The invention synchronously reproduces the actual running state of the linear motion device in equal proportion through the transmission mechanism which is connected with the linear motion shaft in parallel, and monitors and feeds back the running state of the linear motion shaft in real time. Therefore, the motion control of the linear motion device can be realized only by controlling the motion state of the monitoring feedback system, and particularly when the linear motion device is applied to an isolation environment such as a hot room, no electric elements such as any sensor are required to be added in the hot room, so that each motion axis of the linear motion device such as a crown block has a definite zero-resetting original point, the linear motion device automatically stops in a limiting mode when moving to a limiting position, the position of the crown block is subjected to closed-loop feedback, the operation precision is improved, and the position of the linear motion device, particularly the crown block system, is subjected to closed-loop feedback.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a schematic diagram of one embodiment of a monitoring feedback module for monitoring linear motion status according to the present invention;
fig. 2 is a schematic partial structure of a monitoring system for monitoring a state of linear motion according to the present invention.
Detailed Description
The following description and the drawings sufficiently illustrate specific embodiments of the invention to enable those skilled in the art to practice them. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in, or substituted for, those of others. The scope of embodiments of the invention encompasses the full ambit of the claims, as well as all available equivalents of the claims. Embodiments may be referred to herein, individually or collectively, by the term "invention" merely for convenience and without intending to voluntarily limit the scope of this application to any single invention or inventive concept if more than one is in fact disclosed. Relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed. Various embodiments are described herein in a progressive manner, each embodiment focusing on differences from other embodiments, and identical and similar parts between the various embodiments are sufficient to be seen with each other. The structures, products and the like disclosed in the embodiments correspond to the parts disclosed in the embodiments, so that the description is relatively simple, and the relevant parts refer to the description of the method parts.
According to a first aspect of the embodiment of the present invention, there is provided a combination of a monitoring feedback module for monitoring a linear motion state and a linear motion shaft driving device, as shown in fig. 1, in this embodiment, the monitoring feedback module and the linear motion shaft driving device are disposed in parallel, the linear motion shaft driving device 112 includes a motor and a transmission shaft 111, one end of the transmission shaft 111 is connected to the motor, and the other end of the transmission shaft passes through an isolation wall surface and is connected to a linear motion shaft disposed inside the isolation wall surface; the monitoring feedback module is arranged on the outer side of the isolation wall surface, and the linear motion shaft driving device 112 transmits power to the linear motion shaft through the transmission shaft 111 so as to drive the linear motion shaft to rotate. As shown in fig. 1, the monitoring feedback module includes: a transmission gear set, a feedback transmission mechanism 103, a screw rod 104, a sliding block 105 and a displacement sensor 106. Wherein the transmission gear set comprises a driving gear 101 and a driven gear 102, and driving teethThe wheel 101 is provided on a transmission shaft 111 for driving the linear motion device, and the driven gear 102 is meshed with the driving gear 101 in a gear ratio and connected to one end of the feedback transmission 103. The feedback transmission mechanism 103 may be a rotating shaft connected with the driven gear 102 or a reduction gear formed by meshing multiple gears, for example, the feedback transmission mechanism obtains a 50-time speed ratio by adopting a planetary reducer and sets the speed ratio of the transmission gear set as i 1 =2.4, the speed ratio of the feedback transmission is i 2 Total speed ratio i=i of the monitoring feedback module relative to the linear motion axis=50 1 ×i 2 125, the operation speed ratio of the linear motion shaft and the monitoring feedback module is 125, namely the stroke l of the linear motion shaft 1 For monitoring the slider travel l of the feedback module 2 125 times of (c). Thereby, the deceleration effect can be further finely adjusted, and the linear motion state can be fed back more accurately. The other end of the feedback transmission mechanism 103 is connected with a screw rod 104, a slide block 105 is arranged on the screw rod 104, and the slide block 105 moves linearly under the drive of the screw rod 104 so as to synchronously reflect the movement state of the linear movement device; the displacement sensor 106 is arranged in parallel with the screw rod 104 and monitors displacement data of the sliding block, so that the motion state of the linear motion device is effectively fed back and controlled. As shown in fig. 1, the slide block 105 is further provided with a trigger block 108, and an initial limit switch 109 and a final limit switch 110 are respectively arranged at two ends of a displacement stroke of the slide block 105 along the screw rod, when the trigger block 108 touches the initial limit switch 109, the linear motion device is adjacent to a linear motion starting position thereof; when the trigger block 108 touches the stop limit switch 110, the linear motion device is adjacent to the end position of the linear motion, so that the linear motion device can be prevented from violent collision with the self limit device. Further, the displacement sensor 106 may further include a displacement feedback module communicatively coupled to the control module of the linear motion device. The displacement sensor 106 may comprise a probe 106 and a sensor body, as shown in fig. 1, a probe 107 is provided on the slider 105, the probe 107 extending to and in contact with the displacement sensor bodyThe contact can sensitively monitor displacement conditions through resistance, voltage or current and the like. The linear motion shaft driving device and the monitoring feedback module in the monitoring system are arranged in parallel, and the linear motion shaft driving device and the monitoring feedback module can drive the external device to be applied to an isolation environment, such as a hot room, so that a circuit, a sensor and the like cannot be affected or damaged by radiation. It will be appreciated that alternative embodiments may be employed where the drive is used in an open environment, for example a drive for a linear motion shaft extending the drive shaft some amount to mount the drive gear.
Fig. 2 is a schematic diagram showing a partial structure of a monitoring system for monitoring a linear motion state in an isolated environment according to the present invention, in which the isolated environment is a hot chamber and the device for performing linear motion is an overhead traveling crane. As shown in fig. 2, the monitoring system in this embodiment includes: an X-axis driving device 201, an X-axis monitoring feedback module 202, a Y-axis driving device 203, a Y-axis monitoring feedback module 204, a Z-axis driving device 205 and a Z-axis monitoring feedback module 206 which respectively correspond to three linear motion axes of an overhead travelling crane. As shown in fig. 2, the transmission shafts of the X-axis driving device 201, the Y-axis driving device 203 and the Z-axis driving device 205 respectively pass through the hot chamber isolation wall 200 and are connected with the X-axis, the Y-axis and the Z-axis of the crown block 207 so as to drive the crown block to move along the X-axis, the Y-axis or the Z-axis, and the transmission shafts simultaneously drive the driving gears of the corresponding monitoring feedback modules to rotate, and the driving gears drive the driven gears to rotate, so that the feedback transmission mechanisms of the monitoring feedback modules rotate at a certain speed by setting a certain gear ratio of the speed reducing effect, and further drive the screw rod to rotate, and the screw rod drives the sliding block to slide along the screw rod, and the sliding stroke of the sliding block corresponds to the stroke of the crown block on the corresponding linear motion shaft by the gear ratio of the speed reducing effect, thereby intuitively reflecting the motion state of the crown block by the motion state of the sliding block. Of course, it should be understood that the number of the monitoring feedback modules and the driving devices is consistent with the number of the linear motion axes in practical application, and the monitoring feedback modules and the driving devices can be only provided with X-axis and Y-axis, and more numbers can be set according to the requirement. Further, the linear motion shaft driving device further comprises a control module, and the control module is in communication connection with the corresponding monitoring feedback devices, so that the motion state of the linear motion shaft can be timely adjusted according to the motion state of the sliding block monitored by the monitoring feedback devices. Of course, the isolation environment is not limited to the hot chamber, and the linear motion axis is not limited to the crown block, and for example, the isolation environment may be applied to the motion axis of a truss robot or the monitoring of the motion axis of an arm robot.
The invention further provides a method for monitoring the real-time movement of the crown block in the hot room, which comprises the following steps:
setting a certain gear ratio to enable the stroke of the sliding block to be corresponding to the displacement stroke of the corresponding linear motion shaft of the crown block in a certain proportion;
setting a starting point and an ending point which respectively correspond to the initial position and the ending position of the corresponding linear motion shaft of the crown block at two ends of the sliding block stroke;
and detecting the absolute displacement of the reading slide block through a displacement sensor, and further calculating the actual position of the crown block on the corresponding linear motion axis.
In one embodiment according to the invention, the monitoring method further comprises: when the carriage approaches to the initial position of a certain linear motion shaft, the trigger block on the corresponding sliding block touches the corresponding initial limit switch, and the corresponding displacement sensor returns the displacement data to zero. In one embodiment according to the invention, the monitoring method further comprises: when the crown block moves to the end point adjacent to a certain linear motion axis, the trigger block on the corresponding sliding block touches the corresponding stop limit switch, the corresponding displacement sensor sends end point information to the control module, and the control module stops driving the crown block to move on the linear motion axis continuously towards the end point after receiving the end point information. In one embodiment according to the invention, the monitoring method further comprises: the actual position of the crown block is fed back in real time by monitoring the displacement of the sliding block, and the movement routes of the crown block on different linear movement axes are coordinated. Through the optimal design to the motion route, reduce overhead travelling crane motion's energy consumption and transfer time, and then promote work efficiency.
It is to be understood that the invention is not limited to the arrangements and instrumentality shown in the drawings and described above, and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (10)
1. A monitoring system for monitoring a linear motion device in an isolated environment, the monitoring system comprising:
the monitoring feedback module and the linear motion shaft driving device;
the monitoring feedback module comprises:
the device comprises a transmission gear set, a feedback transmission mechanism, a screw rod, a sliding block and a displacement sensor;
the transmission gear set comprises a driving gear and a driven gear, and the driven gear is connected with one end of the feedback transmission mechanism and meshed with the driving gear in a certain gear ratio; the other end of the feedback transmission mechanism is connected with a screw rod, a sliding block is arranged on the screw rod, and the sliding block moves linearly under the drive of the screw rod; the displacement sensor is arranged in parallel with the screw rod and monitors displacement data of the sliding block;
the monitoring system is provided with monitoring feedback modules and linear motion shaft driving devices, wherein the number of the monitoring feedback modules corresponds to that of the linear motion shafts;
the linear motion shaft driving device comprises a motor and a transmission shaft, wherein the motor is arranged on the outer side of the isolation wall surface, one end of the transmission shaft is connected with the motor, and the other end of the transmission shaft penetrates through the isolation wall surface and is connected with a linear motion shaft arranged on the inner side of the isolation wall surface; the monitoring feedback module is arranged on the outer side of the isolation wall surface, the driving gear of the transmission gear set is fixed on the transmission shaft, and the speed ratio of the transmission gear set is set to be i 1 The speed ratio of the feedback transmission mechanism is i 2 The stroke of the linear motion shaft is l 1 The sliding block stroke l of the monitoring feedback module 2 Wherein the monitoring feedback module has a total speed ratio i=i relative to the linear motion axis 1 ×i 2 ＝l 1 /l 2 。
2. The monitoring system of claim 1, wherein the linear motion shaft drive further comprises a control module communicatively coupled to each respective monitoring feedback device.
3. The monitoring system according to claim 1, wherein a trigger block is arranged on the sliding block, an initial limit switch and a final limit switch are respectively arranged at two ends of the displacement stroke of the sliding block, and the linear motion device is positioned at the initial position of linear motion when the trigger block touches the initial limit switch; when the trigger block touches the stop limit switch, the linear motion device is positioned at the end position of linear motion.
4. The monitoring system of claim 2, wherein the displacement sensor further comprises a displacement feedback module communicatively coupled to the control module of the linear motion device.
5. The crown block system for the hot chamber is characterized by comprising a linear motion shaft arranged in the hot chamber, a driving device arranged on the outer wall of the hot chamber and a monitoring feedback module;
the monitoring feedback module comprises:
the device comprises a transmission gear set, a feedback transmission mechanism, a screw rod, a sliding block and a displacement sensor;
the transmission gear set comprises a driving gear and a driven gear, and the driven gear is connected with one end of the feedback transmission mechanism and meshed with the driving gear in a certain gear ratio; the other end of the feedback transmission mechanism is connected with a screw rod, a sliding block is arranged on the screw rod, and the sliding block moves linearly under the drive of the screw rod; the displacement sensor is arranged in parallel with the screw rod and monitors displacement data of the sliding block, wherein the speed ratio of the transmission gear set is set to be i 1 The speed ratio of the feedback transmission mechanism is i 2 The stroke of the linear motion shaft is l 1 The sliding block stroke l of the monitoring feedback module 2 Wherein the total speed ratio of the slider relative to the linear motion axis i=i 1 ×i 2 ＝l 1 /l 2 ；
The number of the driving devices and the monitoring feedback modules corresponds to the number of the linear motion shafts; the transmission shafts of the driving devices penetrate through the shielding wall of the hot chamber and are connected with the corresponding linear motion shafts, and the transmission shafts of each driving device are fixedly connected with the driving gears of the corresponding monitoring feedback modules respectively.
6. The crown block system of claim 5, wherein a trigger block is arranged on the slide block, an initial limit switch and a final limit switch are respectively arranged at two ends of the displacement stroke of the slide block, and the crown block is positioned at the initial position of the linear motion when the trigger block touches the initial limit switch; when the trigger block touches the stop limit switch, the crown block is positioned at the end position of the linear motion.
7. A method for monitoring real-time movement of a crown block in a hot room, comprising:
setting a certain gear ratio to enable the stroke of the sliding block to be corresponding to the displacement stroke of the corresponding linear motion shaft of the crown block in a certain proportion; wherein the sliding block moves linearly under the drive of the screw rod; one end of the screw rod is connected with a feedback transmission mechanism, the other end of the feedback transmission mechanism is connected with a driven gear, and the driven gear is meshed with the driving gear in a certain gear ratio;
setting a starting point and an ending point which respectively correspond to the initial position and the ending position of the corresponding linear motion shaft of the crown block at two ends of the sliding block stroke;
detecting the absolute displacement of the reading sliding block through a displacement sensor, and further calculating the actual position of the crown block on the corresponding linear motion axis; the linear motion shaft is connected with a transmission shaft, and the transmission shaft is fixedly connected with the driving gear; the displacement sensor is arranged in parallel with the screw rod and monitors displacement data of the sliding block, wherein the speed ratio of the transmission gear set is set to be i 1 The speed ratio of the feedback transmission mechanism is i 2 The stroke of the linear motion shaft is l 1 The stroke l of the sliding block 2 Wherein the slide blocks are oppositeThe total speed ratio i=i of the linear motion axes 1 ×i 2 ＝l 1 /l 2 。
8. The monitoring method of claim 7, further comprising: when the vehicle is at the initial position of a certain linear motion shaft, the trigger block on the corresponding sliding block touches the corresponding initial limit switch, and the corresponding displacement sensor returns the displacement data to zero.
9. The monitoring method of claim 8, further comprising: when the crown block approaches the end point of a certain linear motion shaft, the trigger block on the corresponding sliding block touches the corresponding stop limit switch, the corresponding displacement sensor sends end point information to the control module, and the control module stops driving the crown block to move on the linear motion shaft continuously towards the end point after receiving the end point information.
10. The monitoring method according to any one of claims 7 to 9, further comprising: the actual position of the crown block is fed back in real time by monitoring the displacement of the sliding block, and the movement routes of the crown block on different linear movement axes are coordinated.
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| CN105469692A (en) * | 2015-12-31 | 2016-04-06 | 苏州工业职业技术学院 | Teaching experimental device for servo motor position control |
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| CN208234400U (en) * | 2018-04-20 | 2018-12-14 | 北京轩宇智能科技有限公司 | A kind of linear motion monitoring feedback module, monitoring system and Overhead travelling crane system |
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|---|---|---|---|---|
| CN201596352U (en) * | 2010-02-09 | 2010-10-06 | 上海九鹰电子科技有限公司 | Model airplane rudder utilizing potentiometer to feed back position information |
| CN103499927A (en) * | 2013-09-14 | 2014-01-08 | 新乡学院 | Position control system of direct-current servo motor |
| CN105469692A (en) * | 2015-12-31 | 2016-04-06 | 苏州工业职业技术学院 | Teaching experimental device for servo motor position control |
| CN107599775A (en) * | 2017-09-18 | 2018-01-19 | 西安科技大学 | Ball screw type self energizing semi-active suspension actuator and its control method |
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