CN109516403A - A kind of synchronous jacking device and its control method - Google Patents
A kind of synchronous jacking device and its control method Download PDFInfo
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- CN109516403A CN109516403A CN201910034921.2A CN201910034921A CN109516403A CN 109516403 A CN109516403 A CN 109516403A CN 201910034921 A CN201910034921 A CN 201910034921A CN 109516403 A CN109516403 A CN 109516403A
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- lifting
- lifting body
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- control device
- jacking
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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
- B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
-
- 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
- B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
- B66F3/44—Devices, e.g. jacks, adapted for uninterrupted lifting of loads with self-contained electric driving motors
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- Life Sciences & Earth Sciences (AREA)
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- Mechanical Engineering (AREA)
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- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a kind of synchronous jacking devices, including at least two lifting bodies, for going up and down jacking body；The side of lifting body is arranged in laser ranging system correspondingly, for detecting the first lifting distance of lifting body；Sync control device is separately connected each laser ranging system and lifting body, for issuing process instruction when the lifting difference for detecting each lifting body is more than or equal to the first preset value.The present invention can be with the first lifting distance of each lifting body of real-time measurement, by the sync control device for connecting all lifting bodies and laser ranging system, it can detecte whether each lifting body synchronizes, when asynchronous, issue process instruction immediately, wait manual intervention, or correction is voluntarily synchronized, the synchronous operation of jacking apparatus is realized, advantageously ensures that going on smoothly for work, it realizes precisely jacking, can be widely used in various jacking work.
Description
Technical field
The present invention relates to jacking control field more particularly to a kind of synchronous jacking devices.
Background technique
Lifting body is often used in construction, is used to jack up construction material or construction equipment.
In practice of construction, multiple lifting bodies are generally used, while being jacked, however since equipment was producing
Cheng Zhong, always there are inevitable errors, such as rack and pinion engagement mechanism, turbine screw body, reciprocal fortune for part size
Motivation structure, these mechanisms cause error to be accumulated in multiple circular flow.Thus it will lead to multiple lifting bodies jacking
Occurs the inconsistent situation of top lifting height in journey, it is different to lead to be jacked object height, is unable to reach synchronization, precisely same when needing
When step jacking, lifting body used by the prior art is often difficult to meet the requirements.
Summary of the invention
In order to solve the above technical problems, can detect whether synchronous synchronization at any time the purpose of the present invention is to provide one kind
Jacking apparatus guarantees to handle it in time when detecting asynchronous, to reach the synchronization of lifting body, advantageously ensures that work
That makees goes on smoothly.
Technical solution provided by the invention is as follows, includes:
A kind of synchronous jacking device, comprising:
At least two lifting bodies, for going up and down jacking body；
The side of the lifting body is arranged in laser ranging system correspondingly, for detecting the of the lifting body
One lifting distance；
Sync control device is separately connected each laser ranging system and lifting body, for when the liter for detecting each lifting body
When dropping difference more than or equal to the first preset value, process instruction is issued.
Preferably, the laser ranging system includes:
Laser beam detecting sensor, relatively fixed setting, and for emitting laser to the lifting body, to obtain each jack
First lifting distance of structure.
Preferably, the lifting body includes:
Elevating mechanism；
Servo motor is connect with the elevating mechanism, for driving the elevating mechanism to go up and down；
Servo-driver connects the sync control device and servo motor, and the servo-driver is for receiving the synchronization
The control signal of control device, and control the servo motor operating.
Preferably, the lifting body further include:
Rotary transformer is connect with the servo motor, for obtaining the tachometer value and torque value of the servo motor, and will be turned
Fast value and torque value are transferred to the servo-driver.
Preferably, the sync control device, comprising:
Controller carries out calculation processing, and issue control instruction for receiving data；
I/O module, one end are connect with the controller.The other end is separately connected each laser ranging system.
A kind of synchronization of jacking up control method characterized by comprising
By laser ranging system, the first lifting distance of each lifting body is obtained；
Sync control device according to first lifting distance, judge each lifting body whether synchronization lifting；
If the lifting difference of each lifting body is more than or equal to the first preset value, sync control device sending processing refers to
It enables.
Preferably, the process instruction includes sounding an alarm, stopping lifting body operation, synchronize in correction at least
It is a kind of.
Preferably, before the sync control device issues process instruction, further includes:
The tachometer value for obtaining each servo motor calculates the second lifting distance for obtaining lifting body by tachometer value, and with first
Lifting distance is compared, and when difference is more than or equal to the second preset value, sync control device issues process instruction.
Preferably, before the sync control device issues process instruction, further includes:
The current value and torque value for obtaining each servo motor, the stress of each lifting body is obtained by calculating current value and torque value
Value, when the difference of the stress value of each lifting body is more than or equal to third preset value, sync control device issues process instruction.
Preferably, before the sync control device issues process instruction, further includes:
4th preset value of each lifting body is set, and the 4th preset value includes upper limit place value and lower limit place value, when judgement is each
First lifting distance of lifting body be greater than the upper limit place value, or be less than the lower limit place value when, issue process instruction.
The present invention can be with each lifting body of real-time measurement by the laser ranging system being arranged on lifting body
First lifting distance can detecte each jacking by connecting the sync control device of all lifting bodies and laser ranging system
Whether mechanism synchronizes, and when asynchronous, issues process instruction immediately, waits manual intervention, or voluntarily synchronize correction, realize
The synchronous operation of jacking apparatus advantageously ensures that going on smoothly for work.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The some embodiments recorded in invention, for those of ordinary skill in the art, without creative efforts,
It is also possible to obtain other drawings based on these drawings.
Fig. 1 is the schematic diagram of better embodiment of the invention；
Fig. 2 is the schematic diagram of single lifting body and laser ranging system cooperation in Fig. 1；
Fig. 3 is the schematic diagram that Fig. 2 is equipped with flexible protective jacket；
Fig. 4 is the flow chart of the better embodiment of synchronization of jacking up control method of the present invention；
Fig. 5 is the flow chart that whether there is deviation step in Fig. 4 comprising detection lifting distance；
Fig. 6 be Fig. 4 in comprising judge each lifting body whether the flow chart of load balancing steps；
Fig. 7 be Fig. 4 in comprising judge each lifting body whether more than the 4th preset value step flow chart.
Specific embodiment
In order to make those skilled in the art more fully understand technical solution of the present invention, with reference to the accompanying drawing to the present invention into
Row detailed description, the description of this part be only it is exemplary and explanatory, should not have any limitation to protection scope of the present invention
Effect.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
It should be noted that term " center ", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outside" etc.
The orientation or positional relationship of instruction be based on the orientation or positional relationship shown in the drawings or the invention product use when it is usual
The orientation or positional relationship put, is merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion meaning
Device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to of the invention
Limitation.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, it is not understood to indicate or imply opposite
Importance.
In addition, the terms such as term "horizontal", "vertical", " pendency " are not offered as requiring component abswolute level or pendency, and
It is that can be slightly tilted.It is not to indicate the structure if "horizontal" only refers to that its direction is more horizontal with respect to for "vertical"
It has to fully horizontally, but can be slightly tilted.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
As shown in Figure 1-3, technical solution provided by the invention is as follows, comprising:
At least two lifting bodies 1, for going up and down jacking body 100；
The side of lifting body 1 is arranged in laser ranging system 2 correspondingly, for detecting the first lifting of lifting body 1
Distance；
Sync control device 3 is separately connected each laser ranging system 2 and lifting body 1, detects each lifting body 1 for working as
Lifting difference be more than or equal to the first preset value when, issue process instruction.
Wherein, jacking body 100 can be bridge, house, building or transportable article, the number of lifting body 1
Amount determines that usual quantity is 2 or more according to the property of jacking body 100.
Wherein, the quantity of laser ranging system 2 is consistent with the quantity of lifting body 1, that is, each lifting body 1 is corresponding
Equipped with a laser ranging system 2, for measuring the first lifting distance of its lifting body 1, the first lifting distance refers to benefit
With the actually detected distance arrived of laser ranging system 2.
Wherein, sync control device 3 is connect with all lifting bodies 1, and is connect with all laser ranging systems 2, is obtained
The first lifting distance for taking each laser ranging system 2 to detect.And the first preset value refers to the first lifting distance of any two
Difference allowed band, for example, when it is 5 centimetres that the first preset value, which is arranged, when laser ranging system 2 detect wherein one
First lifting distance of a lifting body 1 is 100 centimetres, and the first lifting distance of other lifting bodies 1 should be in 95-105
In centimetre, when be more than or equal to 105 centimetres, or be less than or equal to 95 centimetres, then its difference be more than or equal to 5 centimetres, processing can be issued
Instruction.
As it can be seen that the first preset value is the difference for measuring whether lifting body 1 synchronizes, between each first lifting distance
Have one be greater than or equal to the first preset value when, then represent lifting body 1 and do not synchronize.
Wherein, the difference for detecting each first lifting distance can also be used using comparing two-by-two with wherein any one
A first lifting distance is compared as standard with remaining first lifting distance, for example as shown in Figure 1, works as lifting body
It, can be by the first lifting distance that left side laser ranging system 2 detects and the right laser ranging system 2 when 1 quantity is 2
The first lifting distance detected is compared.It, can be with the left side or the right the when the quantity of lifting body 1 is 2 or more
The first lifting distance that one laser ranging system 2 detects is standard value, first detected with remaining laser ranging system 2
Lifting distance is compared respectively.
Wherein, when detecting that lifting body 1 is not synchronous, sync control device 3 issues process instruction, the process instruction
It can be and at least one of sound an alarm, stop the operation of lifting body 1 or synchronize correction, specific:
When generating the alarm, the method that can use manual intervention, is checked and synchronizes correction；
When finding asynchronous, sync control device 3 can issue instruction out of service to all lifting bodies 1 immediately, wait
Manual intervention；
When lifting body 1 is asynchronous, sync control device 3 can also voluntarily synchronize correction, and synchronous correct is with wherein
On the basis of first lifting distance of one lifting body 1, for example, when there is most first lifting distances equal, only several first
When lifting distance difference, can by most first lifting distances it is equal in first on the basis of, then according to remaining jack
The respective difference with the benchmark lifting body 1 of structure 1, to adjust the respective speed of remaining lifting body 1, to reach lifting body
1 is synchronous.For example, as shown in Figure 1, when the first preset value be 1 centimetre when, it is assumed that left side laser ranging system 2 detect first
Lifting distance is 8 centimetres, and the first lifting distance that the right laser ranging system 2 detects is 9 centimetres, and sync control device 3 obtains
The two values are got, and it is 1 centimetre that difference, which is calculated, is just equal to the first preset value, at this point, sync control device 3
Process instruction can be issued, which, which can be, sounds an alarm and stop the operation of lifting body 1, or sounds an alarm and simultaneously
Speed by reducing the right lifting body 1 is corrected to synchronize.
Wherein, as needed, sync control device 3 can with real-time detection, can also by setting detection time point or when
Between interval to be detected.
In conclusion present embodiment can be with real-time measurement by the laser ranging system 2 being arranged on lifting body 1
First lifting distance of each lifting body 1, the synchronously control by connecting all lifting bodies 1 and laser ranging system 2 fill
3 are set, can detecte whether each lifting body 1 synchronizes, when asynchronous, process instruction is issued immediately, waits manual intervention, or voluntarily
Correction is synchronized, the synchronous operation of jacking apparatus is realized, advantageously ensures that going on smoothly for work.
As the further preferred of present embodiment, lifting body 1 may include:
Elevating mechanism 11；
Servo motor 12 is connect with elevating mechanism 11, for driving the elevating mechanism 11 to go up and down；
Servo-driver 13 connects the sync control device 3 and servo motor 12, and the servo-driver 13 is for receiving institute
The control signal of sync control device 3 is stated, and controls the servo motor 12 and operates.
Wherein, elevating mechanism 11 can be worm and gear, rack pinion or bolt and nut mechanism, under the drive of the motor may be used
To rise or fall.For example, elevating mechanism 11 can be by worm screw 112, the worm gear drive engaged with worm screw 112 111, and it is set to
The object disposing platform 113 on 112 top of worm screw is constituted, and motor 12 drives worm gear drive 111 to rotate so that worm screw 112 rise or under
Drop.
Wherein, the speed of servo motor 12 directly affects the speed of the rotation of worm gear drive 111, and servo motor 12 is by just
To or rotate backward so that worm gear drive 111 rotates forward or backwards, so that elevating mechanism 11 rises or falls.
Wherein, servo-driver 13 can control velocity of rotation and the direction of servo motor 12.When sync control device 3 is examined
Measure lifting body 1 it is asynchronous when, can be to the control instruction of servo-driver 13 sending direction and speed, servo-driver 13
After receiving control instruction, the rotation direction and velocity of rotation of servo motor 12 are adjusted, it is final to realize that lifting body 1 is synchronous.
As the further preferred of present embodiment, laser ranging system 2 may include:
Laser beam detecting sensor 22, relatively fixed setting, and for emitting laser to the lifting body 1, to obtain each top
Rise the first lifting distance of mechanism 1.
Wherein, as shown in Fig. 2, laser beam detecting sensor 22 can be fixed in worm gear drive 111 or servo motor
On 12, or on directly fixed ground, on workbench.The laser beam detecting sensor 22 emits under laser to object disposing platform 113
It on surface, and reflects, laser ranging system 2 calculates by reflected laser and obtain the first of each lifting body 1
Lifting distance, laser beam detecting sensor 22 have good high directivity, brightness height, monochromaticjty, fast response time, not by environment temperature
The features such as influence, high, reproducible positioning accuracy.
Wherein, as shown in figure 3, laser ranging system 2 can also include multi-joint telescoping protective jacket 21, the multi-joint telescoping is anti-
Sheath 21 is from top to bottom or nested one by one from the bottom to top, and one end covers laser beam detecting sensor 22, the other end and lifting body 1
The face seal of laser is received, so that laser ranging system 2 issues and reflected laser is respectively positioned on multi-joint telescoping protective jacket
21 inner space can effectively prevent the interference of outer bound pair laser, guarantee the accuracy of detection information.The flexible protective jacket
21 maximum elongation distance is greater than or equal to the maximum jacking distance of lifting body 1, and flexible protective jacket 21 it is minimum shorten away from
With a distance from the minimum jacking less than or equal to lifting body 1.
Wherein, laser ranging system 2 can also include laser reflection plate, and the laser reflection plate and object disposing platform 113 are fixed
Connection is gone up and down with lifting body 1, and opposite with laser ranging system 2, for receiving swashing for the transmitting of laser beam detecting sensor 22
Light, when being equipped with multi-joint telescoping protective jacket 21, laser reflection plate and multi-joint telescoping protective jacket 21 are sealed.
As the further preferred of present embodiment, lifting body 1 can also include:
Rotary transformer 14 is connect with servo motor 12, for obtaining the tachometer value and torque value of the servo motor 12, and will
Tachometer value and torque value are transferred to the servo-driver 13.
Here, servo-driver 13 is by the tachometer value of servo motor 12 and time it can be concluded that the second of lifting body 1
Lifting distance, practical the second lifting distance is exactly the detection for passing through rotary transformer 14, to calculate the rotation of servo motor 12
Number is enclosed, to obtain the adjustable height that lifting body 1 is run, the second lifting distance is the theory being calculated from servo motor 12
Value.The first lifting distance that second lifting distance is detected with laser ranging system 2 is mutually redundant, it is therefore an objective to is further ensured that
The accuracy of lifting distance.
When sync control device 3 detects that the difference of the first lifting distance and the second lifting distance is greater than or equal to second in advance
If representing the lifting distance detected when value and deviation occur, in order to further increase the accuracy of sync control device 3 with can
By property, at this point, sync control device 3 issues process instruction, sounds an alarm as previously mentioned, the process instruction can be, stops top
At least one of rise the operation of mechanism 1 or synchronize correction, details are not described herein again.
As the further preferred of present embodiment, sync control device 3 can also include:
Controller carries out calculation processing, and issue control instruction for receiving data；
I/O module, one end are connect with the controller.The other end is separately connected each laser ranging system 2.
Wherein, the effect of I/O module is the analog signal that each laser ranging system 2 is detected, by operation amplifier and AD
Conversion, is converted into the digital signal that controller can identify.Some controllers carry I/O module, just without in addition configuration IO mould
Block.
In addition, the present invention also provides a kind of synchronization of jacking up control methods, as shown in figure 4, including the following steps:
Step 100: by laser ranging system 2, obtaining the first lifting distance of each lifting body 1；
Step 200: sync control device 3 according to the first lifting distance, judge each lifting body 1 whether synchronization lifting；
Step 300: if the lifting difference of each lifting body 1 is more than or equal to the first preset value, sync control device 3 is sent out
Process instruction out.
Synchronous jacking device as shown in connection with fig. 1 illustrates the specific steps of this method, as shown in Figure 1, the jacking apparatus
Include:
At least two lifting bodies 1, for going up and down jacking body 100；
The side of lifting body 1 is arranged in laser ranging system 2 correspondingly, for detecting the first lifting of lifting body 1
Distance；
Sync control device 3 is separately connected each laser ranging system 2 and lifting body 1, detects each lifting body 1 for working as
Lifting difference be more than or equal to the first preset value when, issue process instruction.
Wherein, jacking body 100 can be bridge, house, his building or transportable article, lifting body 1
Quantity determines that usual quantity is 2 or more according to the property of jacking body 100.
Wherein, the quantity of laser ranging system 2 is consistent with the quantity of lifting body 1, that is, each lifting body 1 is corresponding
Equipped with a laser ranging system 2, for measuring the first lifting distance of its lifting body 1, the first lifting distance refers to benefit
With the actually detected distance arrived of laser ranging system 2.
Wherein, sync control device 3 is connect with all lifting bodies 1, and is connect with all laser ranging systems 2, is obtained
The first lifting distance for taking each laser ranging system 2 to detect.And the first preset value refers to the first lifting distance of any two
Difference allowed band, for example, when it is 5 centimetres that the first preset value, which is arranged, when laser ranging system 2 detect wherein one
First lifting distance of a lifting body 1 is 100 centimetres, and the first lifting distance of other lifting bodies 1 should be in 95-105
In centimetre, when be more than or equal to 105 centimetres, or be less than or equal to 95 centimetres, then its difference be more than or equal to 5 centimetres, processing can be issued
Instruction.
As it can be seen that the first preset value is the difference for measuring whether lifting body 1 synchronizes, between each first lifting distance
Have one be greater than or equal to the first preset value when, then represent lifting body 1 and do not synchronize.
Wherein, the difference for detecting each first lifting distance can also be used using comparing two-by-two with wherein any one
A first lifting distance is compared as standard with remaining first lifting distance, for example as shown in Figure 1, works as lifting body
It, can be by the first lifting distance that left side laser ranging system 2 detects and the right laser ranging system 2 when 1 quantity is 2
The first lifting distance detected is compared.It, can be with the left side or the right the when the quantity of lifting body 1 is 2 or more
The first lifting distance that one laser ranging system 2 detects is standard value, first detected with remaining laser ranging system 2
Lifting distance is compared respectively.
Wherein, when detecting that lifting body 1 is not synchronous, sync control device 3 issues process instruction, the process instruction
It can be and at least one of sound an alarm, stop the operation of lifting body 1 or synchronize correction, specific:
When generating the alarm, the method that can use manual intervention, is checked and synchronizes correction；
When finding asynchronous, sync control device 3 can issue instruction out of service to all lifting bodies 1 immediately, wait
Manual intervention；
When lifting body 1 is asynchronous, sync control device 3 can also voluntarily synchronize correction, and synchronous correct is with wherein
On the basis of first lifting distance of one lifting body 1, for example, when there is most first lifting distances equal, only several first
When lifting distance difference, can by most first lifting distances it is equal in first on the basis of, then according to remaining jack
The respective difference with the benchmark lifting body 1 of structure 1, to adjust the respective speed of remaining lifting body 1, to reach lifting body
1 is synchronous.For example, as shown in Figure 1, when the first preset value be 1 centimetre when, it is assumed that left side laser ranging system 2 detect first
Lifting distance is 8 centimetres, and the first lifting distance that the right laser ranging system 2 detects is 9 centimetres, and sync control device 3 obtains
The two values are got, and it is 1 centimetre that difference, which is calculated, is just equal to the first preset value, at this point, sync control device 3
Process instruction can be issued, which, which can be, sounds an alarm and stop the operation of lifting body 1, or sounds an alarm and simultaneously
Speed by reducing the right lifting body 1 is corrected to synchronize.
Wherein, as needed, sync control device 3 can with real-time detection, can also by setting detection time point or when
Between interval to be detected.
In conclusion present embodiment can be with real-time measurement by the laser ranging system 2 being arranged on lifting body 1
First lifting distance of each lifting body 1, the synchronously control by connecting all lifting bodies 1 and laser ranging system 2 fill
3 are set, can detecte whether each lifting body 1 synchronizes, when asynchronous, process instruction is issued immediately, waits manual intervention, or voluntarily
Correction is synchronized, the synchronous operation of jacking apparatus is realized, advantageously ensures that going on smoothly for work.
As shown in figure 5, as the further preferred of present embodiment, before sync control device 3 issues process instruction,
Can also include:
Step 201: obtain the tachometer value of each servo motor 12, by tachometer value calculate obtain lifting body 1 second lifting away from
From, and be compared with the first lifting distance, when difference is more than or equal to the second preset value, sync control device 3 is issued
Process instruction.
Illustrate this step specific work process below with reference to lifting body 1 shown in FIG. 1.
Wherein, lifting body 1 includes:
Elevating mechanism 11；
Servo motor 12 is connect with elevating mechanism 11, for driving the elevating mechanism 11 to go up and down；
Servo-driver 13 connects the sync control device 3 and servo motor 12, and the servo-driver 13 is for receiving institute
The control signal of sync control device 3 is stated, and controls the servo motor 12 and operates；
Rotary transformer 14 is connect with servo motor 12, for obtaining the tachometer value and torque value of the servo motor 12, and will
Tachometer value and torque value are transferred to the servo-driver 13.
Wherein, elevating mechanism 11 can be worm and gear, rack pinion or bolt and nut mechanism, under the drive of the motor may be used
To rise or fall.For example, elevating mechanism 11 can be by worm screw 112, the worm gear drive engaged with worm screw 112 111, and it is set to
The object disposing platform 113 on 112 top of worm screw is constituted, and motor 12 drives worm gear drive 111 to rotate so that worm screw 112 rise or under
Drop.
Wherein, the speed of servo motor 12 directly affects the speed of the rotation of worm gear drive 111, and servo motor 12 is by just
To or rotate backward so that worm gear drive 111 rotates forward or backwards, so that elevating mechanism 11 rises or falls.
Wherein, servo-driver 13 can control velocity of rotation and the direction of servo motor 12.When sync control device 3 is examined
Measure lifting body 1 it is asynchronous when, can be to the control instruction of servo-driver 13 sending direction and speed, servo-driver 13
After receiving control instruction, the rotation direction and velocity of rotation of servo motor 12 are adjusted, it is final to realize that lifting body 1 is synchronous.
Wherein, servo-driver 13 is by the tachometer value of servo motor 12 and time it can be concluded that the second of lifting body 1
Lifting distance, practical the second lifting distance is exactly the detection for passing through rotary transformer 14, to calculate the rotation of servo motor 12
Number is enclosed, to obtain the adjustable height that lifting body 1 is run, the second lifting distance is the theory being calculated from servo motor 12
Value.Theoretically second lifting away from the first lifting distance, should be consistent, but as stated in the background art because machine can not be kept away
Exempt to deposit error, theoretical calculation will have error, especially accumulated error, it is therefore desirable to be compared in conjunction with the first lifting distance
Compared with.
When sync control device 3 detects that the difference of the first lifting distance and the second lifting distance is greater than or equal to second in advance
If representing the lifting distance detected when value and deviation occur, in order to further increase the accuracy of sync control device 3 with can
By property, at this point, sync control device 3 issues process instruction, sounds an alarm as previously mentioned, the process instruction can be, stops top
At least one of rise the operation of mechanism 1 or synchronize correction, details are not described herein again.
As shown in fig. 6, as the further preferred of present embodiment, before sync control device 3 issues process instruction,
Can also include:
Step S202: obtaining the current value and torque value of each servo motor 12, obtains each top by calculating current value and torque value
The stress value for rising mechanism 1, when the difference of the stress value of each lifting body 1 is more than or equal to third preset value, synchronously control dress
Set 3 sending process instructions.
Stress value herein refers to: drag size suffered by servo motor 12 is judged by current value, because when watching
Take motor 12 electric current it is bigger when, illustrate that resistance suffered by lifting body 1 is also bigger.Generally, at the uniform velocity it is synchronous rise or
Person decline during, resistance suffered by each lifting body 1 be it is more consistent, when the resistance of some lifting body 1 is obvious
When increasing, may just produce it is asynchronous, skew cause 1 resistance of lifting body increase.
And third preset value refers to: allowing the difference of the stress value of each lifting body 1, for example, when setting third preset value is 5
When, the stress value of the one of lifting body 1 detected is 100 Ns, and the first lifting distance of other lifting bodies 1 should
In 95-105 ox, when be more than or equal to 105 Ns, or be less than or equal to 95 Ns, then its difference be more than or equal to 5 Ns, processing can be issued
Instruction.The process instruction, which can be, at least one of to be sounded an alarm, stops the operation of lifting body 1 or synchronize correction,
There is narration in specific front, is not repeating herein.
As shown in fig. 7, as the further preferred of present embodiment, before sync control device 3 issues process instruction,
Can also include:
Step 203: the 4th preset value of each lifting body 1 is set, and the 4th preset value includes upper limit place value and lower limit place value, when sentencing
Break each lifting body 1 the first lifting distance be greater than upper limit place value, or be less than lower limit place value when, issue process instruction.
Wherein, upper limit place value refers to the rising maximum value of each 1 single of lifting body jacking.Lower limit place value refers to each jack
The decline maximum value of 1 single of structure jacking, this is that user is arranged as needed, can be arranged in a big way.Work as top
Rise 1 each run of mechanism to herein when, issue process instruction, be equivalent to and limit the impulse stroke of lifting body 1.
Wherein, the 4th preset value can also include rising extreme value, decline extreme value and zero.
Rise the maximum value that extreme value refers to that each lifting body 1 can rise and the peak that lifting body 1 allows, this
It is to be determined by lifting body 1, the limit of device, lifting body 1 itself is run anyway, is not more than the pole
Limit proves that upper limit place value, lower limit place value are no longer valid when reaching this position.Similarly, decline extreme value refers to each 1 energy of lifting body
The minimum that the maximum value and lifting body 1 enough declined allows.Upper limit place value, which is less than or equal to, rises extreme value, lower limit place value
More than or equal to decline extreme value.Setting rises extreme value, decline extreme value is considered in protection, prevents lifting body 1 from excessively rising
Or excessive descent, physical damage is caused to equipment.When 1 each run of lifting body to herein when, issue process instruction, limit
The maximum functional stroke of lifting body 1 is made.
Process instruction, which can be, sounds an alarm or stops the operation of lifting body 1, and there is narration in specific front, herein not superfluous
It states.
And zero is used to correct rise and fall, and when lifting body 1 runs to this position, automatic clear, as initial
Position.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or equipment for including a series of elements not only includes those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or equipment institute it is intrinsic
Element.
Used herein a specific example illustrates the principle and implementation of the invention, the explanation of above example
It is merely used to help understand method and its core concept of the invention.The above is only the preferred embodiment of the present invention, should refer to
Out, due to the finiteness of literal expression, and objectively there is unlimited specific structure, for the ordinary skill people of the art
For member, without departing from the principle of the present invention, can also make it is several improve, retouching or variation, can also will be above-mentioned
Technical characteristic is combined in the right way；These improve retouching, variation or combination, or the not improved design by invention and
Technical solution directly applies to other occasions, is regarded as protection scope of the present invention.
Claims (10)
1. a kind of synchronous jacking device characterized by comprising
At least two lifting bodies (1), for going up and down jacking body (100)；
Laser ranging system (2), is arranged in the side of the lifting body (1) correspondingly, for detecting the jack
First lifting distance of structure (1)；Sync control device (3) is separately connected each laser ranging system (2) and lifting body (1), uses
In when the lifting difference for detecting each lifting body (1) is more than or equal to the first preset value, process instruction is issued.
2. synchronous jacking device according to claim 1, which is characterized in that the laser ranging system (2) includes:
Laser beam detecting sensor (22), relatively fixed setting, and for emitting laser to the lifting body (1), to obtain
First lifting distance of each lifting body (1).
3. synchronous jacking device according to claim 1 or 2, which is characterized in that the lifting body (1) includes:
Elevating mechanism (11)；Servo motor (12) is connect with the elevating mechanism (11), for driving the elevating mechanism (11)
Lifting；Servo-driver (13) connects the sync control device (3) and servo motor (12), the servo-driver (13)
For receiving the control signal of the sync control device (3), and control the servo motor (12) operating.
4. synchronous jacking device according to claim 3, which is characterized in that the lifting body (1) further include:
Rotary transformer (14) is connect with the servo motor (12), for obtain the servo motor (12) tachometer value and
Torque value, and tachometer value and torque value are transferred to the servo-driver (13).
5. synchronous jacking device according to claim 1 or 2, which is characterized in that the sync control device (3), comprising:
Controller carries out calculation processing, and issue control instruction for receiving data；I/O module, one end and the controller connect
It connects, the other end is separately connected each laser ranging system (2).
6. a kind of synchronization of jacking up control method characterized by comprising by laser ranging system (2), obtain each jack
(1) the first lifting distance；Sync control device (3) judges whether each lifting body (1) is same according to first lifting distance
Step lifting；If the lifting difference of each lifting body (1) is more than or equal to the first preset value, sync control device (3) hair
Process instruction out.
7. synchronization of jacking up control method according to claim 6, which is characterized in that the process instruction includes issuing police
At least one of report, stop lifting body (1) operation, synchronize correction.
8. synchronization of jacking up control method according to claim 6, which is characterized in that sent out in the sync control device (3)
Out before process instruction, further includes:
The tachometer value for obtaining each servo motor (12) calculates the second lifting distance for obtaining lifting body (1) by tachometer value, and
It is compared with the first lifting distance, when difference is more than or equal to the second preset value, sync control device (3) sending processing
Instruction.
9. according to synchronization of jacking up control method described in claim 6-8 any one, which is characterized in that in the synchronously control
Device (3) issues before process instruction, further includes:
The current value and torque value for obtaining each servo motor (12) obtain each lifting body by calculating current value and torque value
(1) stress value, when the difference of the stress value of each lifting body (1) is more than or equal to third preset value, sync control device
(3) process instruction is issued.
10. according to synchronization of jacking up control method described in claim 6-8 any one, which is characterized in that in the synchronous control
Device (3) processed issues before process instruction, further includes:
4th preset value of each lifting body (1) is set, and the 4th preset value includes upper limit place value and lower limit place value, works as judgement
First lifting distance of each lifting body (1) be greater than the upper limit place value, or be less than the lower limit place value when, sending processing refers to
It enables.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910034921.2A CN109516403A (en) | 2019-01-15 | 2019-01-15 | A kind of synchronous jacking device and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910034921.2A CN109516403A (en) | 2019-01-15 | 2019-01-15 | A kind of synchronous jacking device and its control method |
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| CN109516403A true CN109516403A (en) | 2019-03-26 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113586558A (en) * | 2021-07-29 | 2021-11-02 | 厦门安科科技有限公司 | Control method and control device for synchronous movement of jacking platform |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0029384A1 (en) * | 1979-11-06 | 1981-05-27 | Charles Jean Pierre Lèbre | Lift truck with synchronised adjustement of variable rolling and gripping surfaces |
| CN108163745A (en) * | 2018-01-24 | 2018-06-15 | 上海海塔机械制造有限公司 | A kind of PLC adjusts high-precise synchronization jack-up system |
| CN108681306A (en) * | 2018-07-12 | 2018-10-19 | 西安飞豹科技有限公司 | A kind of main jack accuracy-control system of aircraft synchronization of jacking up and control method |
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2019
- 2019-01-15 CN CN201910034921.2A patent/CN109516403A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0029384A1 (en) * | 1979-11-06 | 1981-05-27 | Charles Jean Pierre Lèbre | Lift truck with synchronised adjustement of variable rolling and gripping surfaces |
| CN108163745A (en) * | 2018-01-24 | 2018-06-15 | 上海海塔机械制造有限公司 | A kind of PLC adjusts high-precise synchronization jack-up system |
| CN108681306A (en) * | 2018-07-12 | 2018-10-19 | 西安飞豹科技有限公司 | A kind of main jack accuracy-control system of aircraft synchronization of jacking up and control method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113586558A (en) * | 2021-07-29 | 2021-11-02 | 厦门安科科技有限公司 | Control method and control device for synchronous movement of jacking platform |
| CN113586558B (en) * | 2021-07-29 | 2023-12-19 | 厦门安科科技有限公司 | Control method and control device for synchronous movement of jacking platform |
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