CN114237189A - Method for realizing mechanical touch and electronic equipment - Google Patents
Method for realizing mechanical touch and electronic equipment Download PDFInfo
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- CN114237189A CN114237189A CN202111575321.0A CN202111575321A CN114237189A CN 114237189 A CN114237189 A CN 114237189A CN 202111575321 A CN202111575321 A CN 202111575321A CN 114237189 A CN114237189 A CN 114237189A
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- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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Abstract
The application relates to a method for realizing mechanical touch and electronic equipment, belonging to the technical field of engineering equipment control, wherein the method comprises the steps of obtaining target parameter data of a controlled object in operation; based on a mapping relation table of target parameter change characteristics and working condition characteristic information which is constructed in advance, searching and matching are carried out according to the change characteristics represented by the target parameter data, and the working condition characteristic information of the controlled object is determined; and controlling the controlled object according to the working condition characteristic information. According to the technical scheme, the mechanical touch with the function similar to biological touch is realized, the working states of the controlled equipment and the controlled mechanism in the actual scene can be better known, the control modes such as random positioning and the like are favorably realized, the summary is constructed based on the mapping relation table, and the mechanical touch can be realized in a wider application range.
Description
Technical Field
The application belongs to the technical field of engineering equipment control, and particularly relates to a method for realizing mechanical touch and electronic equipment.
Background
Related engineering equipment is usually arranged at the collecting and distributing places of materials such as wharfs, ports, factories and mines and the like for allocating the materials. For example, in a grab crane apparatus for loading and unloading coal in a port, in the related art, an automatic control mode is usually adopted to automatically move a loading and unloading device to the surface of a material, so as to facilitate the operation of loading and unloading the material.
However, the existing intelligent control is realized based on fixed-point positioning, that is, the position to which the loading device moves is determined, but because the height of the material is randomly changed, when the loading device descends and stops, the position to be grabbed is high, the material grabbing amount is small, even the material grabbing amount is not enough, and the faults of rope loosening and rope disorder can occur when the height is low.
The reason for this is that the device cannot perform random positioning, or cannot perform tactile-like sensing in the invisible area, that is, the control side cannot well know the working state of the controlled device and mechanism in such actual scenes.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
In order to overcome the problems in the related art at least to a certain extent, the application provides a method and an electronic device for realizing mechanical touch, which are beneficial to better realizing the control of a controlled device and a controlled mechanism.
In order to achieve the purpose, the following technical scheme is adopted in the application:
in a first aspect,
the application provides a method of implementing mechanical haptics, the method comprising:
acquiring target parameter data of a controlled object in operation;
based on a mapping relation table of target parameter change characteristics and working condition characteristic information which is constructed in advance, searching and matching are carried out according to the change characteristics represented by the target parameter data, and the working condition characteristic information of the controlled object is determined;
and controlling the controlled object according to the working condition characteristic information.
Optionally, the acquiring target parameter data of the controlled object in the running process includes:
directly carrying out data acquisition on target parameters of a controlled object to acquire the target parameter data; and the number of the first and second groups,
and based on the type of the controlled object, after a preset control means is applied to the controlled object, data acquisition is carried out, and target parameter data of the controlled object in the running process are acquired.
Optionally, the controlled object is a motor traction type device;
the target parameter data includes: motor slip data.
Optionally, the controlled object is specifically a crane spreader device;
the acquiring target parameter data of the controlled object in operation specifically includes: and monitoring to obtain the input frequency and the output rotating speed of the driving motor, and calculating to obtain motor slip data according to the input frequency and the output rotating speed.
Optionally, the searching and matching based on a pre-constructed mapping relationship table of target parameter change characteristics and operating condition characteristic information according to the change characteristics represented by the target parameter data, and determining the operating condition characteristic information of the controlled object includes:
analyzing the motor slip data to obtain motor slip change characteristics, and determining working condition characteristic information of the lifting appliance equipment based on the motor slip change characteristics;
determining working condition characteristic information of the lifting appliance equipment based on the motor slip variation characteristic; the method comprises the following steps:
in the descending process of the lifting appliance, if the motor slip variation characteristic is that the motor slip variation characteristic is in an advance state, and the advance degree exceeds a preset range, determining that the equipment is in a stall working condition; and the number of the first and second groups,
in the descending process of the lifting appliance, if the motor slip is characterized in being in an advanced state and the slip is continuously reduced, the working condition that the equipment is in contact with materials is confirmed, or accidental contact occurs; and the number of the first and second groups,
under the condition that the lifting appliance is reversely connected and descends and a control means of moment limitation is applied, if the slip characteristic of the motor is that the slip is greater than a given speed, the lifting appliance is confirmed to be in a descending working condition; and the number of the first and second groups,
under the condition that the lifting appliance is reversely connected and descends and is limited by the applied moment, if the slip characteristic of the motor is that the slip is equal to the given speed, the working condition that the lifting appliance is suspended at zero speed or the lifting appliance is fallen on the material surface is confirmed, and if the torque is further reduced and the slip is still equal to the given speed, the working condition that the lifting appliance is fallen on the material surface is confirmed; and the number of the first and second groups,
under the condition that the lifting appliance is reversely connected and descends and is subjected to a control means of moment limitation, if the motor slip is characterized in that the slip is less than a given speed, the working condition that the lifting appliance is in a rising state is confirmed.
Optionally, the preset control means further comprises: speed limitation, reverse connection braking, slope braking, free parking and swinging.
Optionally, the method may be characterized in that,
when the controlled object is a hydraulic device, the target parameter data includes: hydraulic pressure data, hydraulic flow data, moving part movement position data, and moving part movement velocity data;
when the controlled object is a pneumatic device, the target parameter data includes: gas pressure data, gas flow data, moving part movement position data, moving part movement speed data and moving part movement frequency data.
Alternatively,
when the controlled object is an attraction type pneumatic conveying device,
the target parameter data includes: the current data of the motor, the distance between the material suction port and the material,
the working condition characteristic information of the controlled object comprises: device flow condition information;
when the controlled object is an ejection and suction type pneumatic conveying device,
the target parameter data includes: positive and negative pressure data of the feeding port, flow data of the ejection and suction cavity and the air outlet,
the working condition characteristic information of the controlled object comprises: and (4) feeding quantity condition information of the materials.
Optionally, when the controlled object is an overrunning clutch mechanism,
the target parameter data includes: input shaft speed data and output shaft speed data,
the working condition characteristic information of the controlled object comprises: information whether the working condition is normal or not;
when the controlled object is a backstop mechanism,
the target parameter data includes: the speed data and the frequency data are,
the working condition characteristic information of the controlled object comprises: and whether the action of the check pin is sensitive or not.
In a second aspect of the present invention,
the application provides an electronic device, including:
a memory having an executable program stored thereon;
a processor for executing the executable program in the memory to implement the steps of the method described above.
This application adopts above technical scheme, possesses following beneficial effect at least:
according to the technical scheme, a mapping relation table of target parameter change characteristics and working condition characteristic information is pre-established, target parameter data of the controlled object in the operation process are obtained in the operation process of the controlled object, and based on the mapping relation table, searching and matching are carried out according to the change characteristics represented by the target parameter data, so that the working condition characteristic information of the controlled object is determined. The method analyzes and obtains the working condition information based on the monitoring of the operation state data of the controlled object, realizes the mechanical touch similar to the biological touch function, can better know the working state of the controlled device and mechanism in the actual scene, is further beneficial to realizing the control modes such as random positioning and the like, constructs and summarizes based on the mapping relation table, and can realize the mechanical touch in a wider application range.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings are included to provide a further understanding of the technology or prior art of the present application and are incorporated in and constitute a part of this specification. The drawings expressing the embodiments of the present application are used for explaining the technical solutions of the present application, and should not be construed as limiting the technical solutions of the present application.
FIG. 1 is a schematic flow chart of a method for implementing mechanical haptics according to one embodiment of the present application;
FIG. 2 is a schematic diagram of a device for implementing mechanical haptics according to one embodiment of the present application;
fig. 3 is a schematic structural diagram of an electronic device provided in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail below. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without making any creative effort, shall fall within the protection scope of the present application.
As described in the background, the relevant engineering equipment is usually installed at the distribution sites of the materials such as wharfs, ports, factories and mines for material distribution. For example, in a grab crane (belonging to a crane spreader) for loading and unloading port coal, in the related art, an automatic control mode is usually adopted to automatically move a loading and unloading device to the surface of a material, so as to facilitate the operation of loading and unloading the material.
However, the existing intelligent control is realized based on fixed-point positioning, that is, the position to which the loading device moves is determined, but because the height of the material is randomly changed, when the loading device descends and stops, the position to be grabbed is high, the material grabbing amount is small, even the material grabbing amount is not enough, and the faults of rope loosening and rope disorder can occur when the height is low.
The reason for this is that the device cannot be randomly positioned, or cannot perform a tactile-like perception in the invisible area, i.e. the working state of the controlled device and mechanism in such a scenario cannot be well known from the control side.
In view of the above, the present application proposes a method for implementing mechanical touch from functional analogy triggering of biological touch, so as to help better implement control of controlled devices and mechanisms.
In one embodiment, as shown in fig. 1, the present application provides a method for implementing mechanical touch, the method comprising the steps of:
step S110, acquiring target parameter data of a controlled object in operation;
it should be noted that, the selection of the target parameter data herein is related to the type and operation characteristics of the controlled object in practice, for example, the selection of the target parameter in the technical solution of the present application differs between the electric traction type device and mechanism and the pneumatic type device and mechanism.
In practical implementation, obtaining target parameter data of the controlled object in operation includes:
directly carrying out data acquisition on target parameters of a controlled object to acquire the target parameter data; and the number of the first and second groups,
and based on the type of the controlled object, after a preset control means is applied to the controlled object, data acquisition is carried out, and target parameter data of the controlled object in the running process are acquired.
In other words, in practice, the data change of the same target parameter of a certain control object may be characterized by completely different change characteristics in two acquisition modes.
After the step S110, performing a step S120, based on a pre-constructed mapping relationship table of the target parameter change characteristics and the operating condition characteristic information, performing search and matching according to the change characteristics represented by the target parameter data, and determining the operating condition characteristic information of the controlled object;
in this step, the mapping relation table of the target parameter change characteristics and the operating condition characteristic information needs to be constructed in advance, which is obtained based on the operation characteristic analysis summary of the controlled object, and will be described later with reference to a specific embodiment, which will not be described in detail here.
After step S120, step S130 is performed to control the controlled object according to the determined operating condition characteristic information in step S120.
In step S130, after the condition characteristic information of the controlled object is obtained, how to perform control is also related to the specific controlled object and the condition characteristic, and the specific control implementation method belongs to the prior art.
For example, the controlled object is a grab crane device, and the determined working condition characteristics are as follows: when the grab bucket contacts the material, the subsequent control is implemented to grab the material, and the control implementation of grabbing the material belongs to the prior art.
According to the technical scheme, a mapping relation table of target parameter change characteristics and working condition characteristic information is pre-established, target parameter data of the controlled object in the operation process are obtained in the operation process of the controlled object, and based on the mapping relation table, searching and matching are carried out according to the change characteristics represented by the target parameter data, so that the working condition characteristic information of the controlled object is determined. The method analyzes and obtains the working condition information based on the monitoring of the operation state data of the controlled object, realizes the mechanical touch sense similar to the biological touch sense function, can better know the working state of the controlled device and mechanism in the actual scene, is further beneficial to realizing the control modes such as random positioning and the like, constructs, summarizes and accumulates based on the mapping relation table, and can realize the mechanical touch sense in a wider application range.
To facilitate understanding of the technical solutions of the present application, the technical solutions of the present application will be described below with reference to another embodiment.
In this embodiment, the target parameter data corresponding to the controlled object motor traction device includes: motor slip data. For example, the controlled object here is a crane spreader device;
firstly, target parameter data in the running of the driving sling equipment is obtained, in the embodiment, the target parameter data in the running of the controlled object is obtained,
the method specifically comprises the following steps: and monitoring to obtain the input frequency and the output rotating speed of the driving motor, and calculating to obtain motor slip data according to the input frequency and the output rotating speed.
It is easy to understand that, in practice, the input frequency of the driving motor can be obtained from a frequency converter device configured in the equipment and used for driving the motor; and the output rotating speed data can be acquired through an encoder arranged at the driving motor. And the motor slip can be calculated and obtained according to the input frequency and the output rotating speed of the driving motor.
The motor slip is the difference between the rotating speed of the rotating magnetic field of the stator and the rotating speed of the rotor. The slip concept is similar to the slip S of an asynchronous motor, and the slip S of the asynchronous motor is expressed as: (n1-n)/n1, wherein: n1 is the synchronous speed, n is the motor speed. The slip (slip) is (n-n')/n, and the slip value is between 0 and 1, but since 0% means no slip, the load speed is the same as the motor speed n, and can be typically 1-10%.
Then, based on a mapping relation table of target parameter change characteristics and working condition characteristic information which is constructed in advance, searching and matching are carried out according to the change characteristics represented by the target parameter data, and the working condition characteristic information of the controlled object is determined;
in this embodiment, the pre-constructed mapping relationship table of the target parameter change characteristic and the operating condition characteristic information contains relevant mapping information for the type of the driving spreader equipment, such as a mapping relationship between the motor slip change characteristic and the operating condition characteristic information.
And then can carry out the analysis according to the motor slip data mentioned earlier, obtain motor slip variation characteristic, based on motor slip variation characteristic, confirm the operating mode characteristic information of hoist equipment.
Specifically, for example, based on the motor slip variation characteristic, determining operating condition characteristic information of the spreader device includes:
in the descending process of the lifting appliance, if the motor slip characteristic is in an advance state and the advance degree exceeds a preset range, determining that the equipment is in a stall working condition;
in the descending process of the lifting appliance, if the motor slip is characterized by being in an advanced state and the slip is continuously reduced, the working condition that the equipment is in contact with materials is confirmed, or accidental contact occurs; and the number of the first and second groups,
in a reverse connection descending state of the lifting appliance (a state under a control means for limiting moment, or under the condition that the lifting appliance is reversely connected and descends and is limited by moment), if the slip characteristic of the motor is that the slip is greater than a given speed, the lifting appliance is confirmed to be in a descending working condition; and the number of the first and second groups,
under the reverse connection descending state of the lifting appliance, if the slip characteristic of the motor is that the slip is equal to the given speed, the working condition that the lifting appliance is suspended at zero speed or the lifting appliance is fallen on the material surface is confirmed, and if the torque is further reduced and the slip is still equal to the given speed, the working condition that the lifting appliance is fallen on the material surface is confirmed; and the number of the first and second groups,
under the reverse connection descending state of the lifting appliance, if the slip of the motor is characterized in that the slip is smaller than a given speed, the working condition that the lifting appliance is in the ascending state is confirmed, and at the moment, the moment needs to be reduced.
It should be noted that when the zero-speed suspension of the lifting appliance is determined, the current of the motor and the output torque directly reflect the magnitude of the responsibility, and at the moment, the total weight of the lifting appliance and the lifted object can be calculated;
in the process, the control means for limiting the torque are required to monitor the given torque of the motor so as to acquire relevant information data.
In addition, it is easy to understand that, when the speed is normally raised, the actual rotating speed is slightly less than the synchronous rotating speed of the motor. That is, the slip is lagging, during which unexpected collision, the slip is increased, even the slip curve has continuous slope movement, and the determination of the unexpected collision working condition can be realized based on the concrete construction of the mapping relation table.
Finally, in this embodiment, after the condition characteristic information of the controlled object is determined, the controlled object may be controlled according to the condition characteristic information.
Continuing with the previous example, if it is determined that the equipment is in the stall condition, the fault that may cause an accident due to the falling stall is detected, and at this time, the related actions of the relevant equipment should be stopped and the maintenance should be performed until the fault is removed.
It should be noted that, the working condition characteristics of the system for realizing the normal function in the mapping relation table need to be completely covered to ensure the normal operation of the system control. And the abnormal operating condition characteristics need to be continuously summarized based on practice.
Similarly, the motor traction equipment also comprises a bucket wheel machine, a hydraulic coupling is arranged between a speed reducer of the bucket wheel machine and the motor, an encoder is additionally arranged on an input or output shaft of the hydraulic coupling, and the input frequency and the actual speed of the bucket wheel motor and the input and output rotating speed of the hydraulic coupling can both reflect the feed quantity of the bucket wheel so as to control the operation (the operation speed and the advance and retreat) of the cart, the rotation and the amplitude; the hydraulic coupling prevents that the motor from stalling when the bucket wheel stalls, and its inside oil mass reduces the back, and output torque reduces, and the area load ability reduces, and the slip grow all can produce the influence to whole system, can monitor its output rotational speed and input and compare. And the monitoring of the running state of the whole system is ensured.
Similarly, the motor traction equipment also comprises a steel converter, the amplitude of the liquid level swing of the steel converter can be influenced, and the converter load is the maximum when the slip of the motor floats and even leads the metal solution level in the converter to be close to the rotating shaft of the converter.
Similarly, the motor traction equipment also comprises a rotary kiln and a concrete mixer, the rotary kiln and the concrete mixer are similar, the load is continuously changed when certain materials are in the rotary kiln and the concrete mixer, the motor load is very large or even the transient overload motor slip is very large along with the change of the load when the load is heavy, and the motor load is very small or even the motor no-load slip is advanced when the load is light.
Similarly, the electric motor traction type apparatus also comprises a plastic extruder, in which: because plastics heating degree can influence extruder load to influence motor load, utilize this mechanical touch technique monitoring motor operating mode, thereby indirect feedback plastics are heated to become all, and extruder ejection of compact condition guarantees that the extruder ejection of compact is even.
Similarly, the motor traction equipment also comprises a rolling mill which mainly has overload resistance, the working condition of the motor is monitored by using the method, and the maximum overload capacity of the motor is ensured to be exerted under extreme conditions! And controlling the maximum working time corresponding to the overload degree, including the maximum locked rotor time. Detecting the output frequency of frequency converter to calculate the synchronous speed of magnetic field of motor, and detecting the variation value of corresponding encoder to calculate the difference value of actual speed of motor to obtain the slip of motor
Similarly, the motor traction equipment also comprises a detection translation mechanism, the change of the slip of the motor of the mechanism can also realize the anti-swing function of the crane, the slip is idle in normal operation, and the slip is ahead in deceleration. The swing is realized by monitoring the change of the slip: and stopping deceleration when the deceleration starting section is decelerated to a preset speed greatly, and detecting the slip of the motor, wherein the slip is not decelerated before the speed is reduced. And detecting that the slip advance is small to a certain range to start deceleration, increasing the advance to stop deceleration or reducing the deceleration amplitude, and repeating the steps until the running speed of the translation mechanism is small to a required range.
Similarly, the motor traction equipment also comprises pump equipment,
for example, the smaller the output resistance of a fan water pump and a centrifugal pump is, the larger the flow is, the larger the load of a motor is, and the larger the slip is; for example, the hydraulic pump is a gear pump, and the flow rate and the rotation speed of the gear pump are in direct proportion to the pressure and the load.
In addition, in this embodiment, when the controlled object is a crane spreader device, the corresponding preset control means further includes: speed limitation, reverse connection braking, slope braking, free parking, free swinging and the like,
the change characteristics represented by the target parameter data obtained by the control means generally correspond to the corresponding working condition characteristic information, and the constructed mapping relation table has corresponding mapping relation information. Since such correspondence is closely related to a specific scenario, the present application is only briefly described here.
For example, a certain limiting moment is given to the spreader to rise, and the characteristic slip is greater than a given speed due to the self-weight of the spreader to fall. When the spreader is dropped onto the material surface, its characteristic slip is equal to the given speed. In practice, in order to ensure that the hanger cannot collide with the material surface at high speed, a speed limiting means for reducing the descending speed of the hanger by properly increasing the moment is necessary
For example, the crane spreader apparatus is a plate hook spreader apparatus, in which one end of a plate hook is sometimes hung and not hung, so that a material container is inclined, when the plate hook is judged to be deflected by using a mechanical touch method, pressure sensors are required to respectively give signals to both ends of the plate hook, or when the total weight of the material and the container is known and the plate hook reaches a hook entering position, a lifting moment (i.e. a preset control means) slightly larger than the weight of the plate hook is firstly given to the plate hook, so that the plate hook does not lift the container.
For example, it is determined by means of a pressure sensor that a lifting moment (empty container) is given to the plate hook which is not sufficient to lift one end of the container. The values of the two pressure sensors are compared. The pressure at the two ends of the plate hook is increased by a certain amount, which proves that the hook is normal and continues to rise normally. If the value of the sensor at one end is increased or the deviation of the values of the two sensors is overlarge, the partial hanging is proved, and the sensor stops rising and enters a partial hanging detection process. If the values of the two sensors are not changed, the condition that the hook is not hooked is indicated, and the machine is shut down to alarm and enters a maintenance process.
And judging the weight of the known material and container, providing a lifting moment (more than one half of the weight of the container and the weight of the plate adding hook, and less than the weight of the container and the plate adding hook) which can lift one end of the empty container for the plate hook, monitoring whether the plate hook is lifted through an encoder, alarming and stopping when the plate hook is lifted, and increasing the moment of the plate hook without lifting to the weight of the plate adding hook more than one half of the total weight of the material and the container, and less than the weight of the total weight of the material and the container and the weight of the plate adding hook. And then the plate hook is monitored through an encoder, if the plate hook ascends, an alarm is given, the plate hook falls down for the ascending distance, and the vehicle stops. The normal hook at both ends of the plate hook is proved by no rising, and the plate hook rises normally.
The hook state of the plate hook can be judged correctly only by lifting 100 mm at least for the material container by utilizing the position and weighing, certain potential safety hazards are caused to equipment and an operation site by utilizing the mechanical touch technology for judging, when the plate hook is hooked, the material container is stressed by a certain force, and the hook state of the plate hook is judged correctly when the container is not lifted, so that the operation safety is ensured, and the controllability of the equipment is improved.
Furthermore, the process of searching and matching based on the mapping relationship information between the change characteristics represented by the target parameter data obtained by the control means and the working condition characteristics to confirm the working condition characteristics is similar to the process described above, and the application itself is not repeated.
Based on the above description of the motor traction type embodiment, it is easily understood that the technical solution of the present application is also applicable to the type of devices and mechanisms thereof.
Due to the fact that the devices are diverse in specific implementation, the method for achieving the mechanical touch sense has certain diversity in specific implementation, and like hydraulic devices, pneumatic devices, air conveying devices and mechanisms, the motor slip monitoring is not enough to achieve the mechanical touch sense, and other specific target parameter data need to be obtained and monitored. This is briefly described below:
for example, when the controlled object is a hydraulic device, the target parameter data includes: hydraulic pressure data, hydraulic flow data, moving part movement position data, and moving part movement velocity data.
The hydraulic system is characterized in that a relief valve is used for limiting the hydraulic pressure of the whole system. Generally speaking, a simple hydraulic system can detect the slip of a motor to realize mechanical touch, when a hydraulic pump in the hydraulic system operates without hydraulic mechanical action, the pressure is maximum, (the flow of the hydraulic system is constant under normal working conditions, except for a branch of a proportional valve), and the maximum load slip of the motor of the hydraulic pump is maximum. When the hydraulic machinery acts, the pressure is reduced, and the load slip of the hydraulic pump motor is reduced.
The complex hydraulic system needs to monitor the pressure, flow and the like of each hydraulic branch, the slip of a hydraulic pump motor, the movement position and speed of a moving part in real time.
For example, when the controlled object is a pneumatic device, the target parameter data includes: gas pressure data, gas flow data, moving part movement position data, moving part movement speed data and moving part movement frequency data;
in the pneumatic system, the slip of the air pump motor cannot reflect the change of the load due to the existence of the pressure storage tank. It is necessary to detect the pressure, flow rate, etc. of each pneumatic load to realize the mechanical touch.
For example, the controlled object is an air-conveying device, and the air-conveying device is divided into two types: one is of a jet-suction type, an induced draft type; the jet-suction type air supply device only needs to judge the working state of a motor, the closer the air inlet quantity of the air-induced type feed port to the material is, the smaller the load is, the related air pressure and flow of the air supply device are monitored, and therefore the running state of the device is accurately judged.
In other words, when the controlled object is specifically an attraction type air-handling device, the target parameter data includes: motor current data, and the distance between the material suction port and the material; the working condition characteristic information of the controlled object comprises the following steps: and (4) equipment flow condition information.
When the controlled object is an ejection and suction type air conveying device, the target parameter data comprises: positive and negative pressure data of a feeding hole, and flow data of an ejection cavity and an air outlet; the working condition characteristic information of the controlled object comprises: and (4) feeding quantity condition information of the materials.
For example, the controlled object is an overrunning clutch mechanism; the target parameter data includes: input shaft speed data and output shaft speed data; the working condition characteristic information of the controlled object comprises: and (5) judging whether the working condition is normal or not.
Specifically, the normal working condition of the bidirectional overrunning clutch mechanism is that after the input shaft reaches a certain speed, the clutch is tightly held to drive the output shaft, and whether the working condition is normal or not can be determined based on the specific conditions of the input shaft speed data and the output shaft speed data.
The principle of the one-way overrunning clutch is the same as that of the backstopping device, and the action of the backstopping pin cannot be detected because the whole device rotates. The input shaft rotates in one direction to drive the output shaft to rotate, and the input shaft rotates in the opposite direction to not drive the output shaft.
For example, the controlled object is a backstop mechanism; the target parameter data includes: speed data and frequency data; the working condition characteristic information of the controlled object comprises: and whether the action of the check pin is sensitive or not.
Specifically, the tooth count of the tooth backstop is fixed and the speed multiplied by the tooth count equals the frequency. Therefore, if the monitored frequency data value is smaller than the data value calculated by multiplying the speed by the tooth number, the action of the check pin is insensitive.
The following describes the applicable device types, and the relationship between the corresponding target parameters and the control means in the form of a table.
TABLE 1 correspondence table of facility types, target parameters and control means of translation subclasses in driving classes
Note: in table 1, the symbol v indicates that something is needed, and the pitching mechanism in table 1 is special, and is not in translation or lifting, and is put in table 1 for convenience of making the table;
TABLE 2 correspondence table of facility types, target parameters and control means of sling subclasses in traveling large class
Note: in Table 2, √ indicates the presence;
TABLE 3 correspondence table of facility type, target parameter and control means of special driving subclasses in driving class
Note: in Table 3, V represents the presence of the above;
TABLE 4 corresponding table of facility types, target parameters and control means of metallurgy and building materials
Note: in Table 4, √ denotes an optional symbol;
TABLE 5 corresponding table of facility types, target parameters and control means of DC motor driving subclasses
In Table 5, ● indicates the presence or absence, a-solidup indicates the determination based on the specific case, and v indicates the presence or absence as required;
TABLE 6 corresponding table of mechanism types and target parameters of hydraulic and pneumatic subclasses
In table 6, ● indicates the presence or absence, and v indicates the presence or absence, if necessary;
table 7 correspondence table of facility types and target parameters of air-blowing subclasses
In Table 7, √ denotes an optional symbol;
TABLE 8 Equipment mechanism types, target parameters and control means correspondence tables of miscellaneous items subclasses
In table 8, ● indicates the presence or absence, and v indicates the necessity.
According to the technical scheme, in the implementation, the mechanical touch technology is realized based on the auxiliary means such as position monitoring, vision and imaging, the operation state of the target parameters of the monitoring equipment, and the requirement on auxiliary components is not high. The flexibility of mechanical design is improved, and the controllability of a mechanical system is improved. The paint has strong adaptability to the field environment, and is suitable for high corrosion, strong magnetic field, various interferences and explosion-proof occasions. Has wider application range.
Fig. 2 is a schematic structural diagram of an apparatus for implementing mechanical touch in one embodiment of the present application, as shown in fig. 2, the apparatus 300 includes:
an obtaining module 301, configured to obtain target parameter data of a controlled object in a running process;
the determining module 302 is configured to perform lookup and matching according to a change feature represented by the target parameter data based on a mapping relation table of target parameter change features and operating condition feature information that is constructed in advance, and determine operating condition feature information of a controlled object;
and the control module 303 is configured to control the controlled object according to the operating condition characteristic information.
With respect to the apparatus 300 in the above related embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application, and as shown in fig. 3, the electronic device 400 includes:
a memory 401 having an executable program stored thereon;
a processor 402 for executing the executable program in the memory 401 to implement the steps of the above method.
With respect to the electronic device 400 in the above embodiment, the specific manner of executing the program in the memory 401 by the processor 402 thereof has been described in detail in the embodiment related to the method, and will not be elaborated herein.
It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.
It should be noted that, in the description of the present application, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Further, in the description of the present application, the meaning of "a plurality" means at least two unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present application includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. A method of implementing mechanical haptics, comprising:
acquiring target parameter data of a controlled object in operation;
based on a mapping relation table of target parameter change characteristics and working condition characteristic information which is constructed in advance, searching and matching are carried out according to the change characteristics represented by the target parameter data, and the working condition characteristic information of the controlled object is determined;
and controlling the controlled object according to the working condition characteristic information.
2. The method according to claim 1, wherein the acquiring target parameter data of the controlled object in operation comprises:
directly carrying out data acquisition on target parameters of a controlled object to acquire the target parameter data; and the number of the first and second groups,
and based on the type of the controlled object, after a preset control means is applied to the controlled object, data acquisition is carried out, and target parameter data of the controlled object in the running process are acquired.
3. The method of claim 2, wherein the controlled object is a motor traction class device;
the target parameter data includes: motor slip data.
4. The method according to claim 3, characterized in that the controlled object is in particular a driving spreader device;
the acquiring target parameter data of the controlled object in operation specifically includes: and monitoring to obtain the input frequency and the output rotating speed of the driving motor, and calculating to obtain motor slip data according to the input frequency and the output rotating speed.
5. The method according to claim 4, wherein the searching and matching are performed according to the change characteristics represented by the target parameter data based on a pre-constructed mapping relation table of the target parameter change characteristics and the working condition characteristic information, and the confirming of the working condition characteristic information of the controlled object comprises:
analyzing the motor slip data to obtain motor slip change characteristics, and determining working condition characteristic information of the lifting appliance equipment based on the motor slip change characteristics;
determining working condition characteristic information of the lifting appliance equipment based on the motor slip variation characteristic; the method comprises the following steps:
in the descending process of the lifting appliance, if the motor slip variation characteristic is that the motor slip variation characteristic is in an advance state, and the advance degree exceeds a preset range, determining that the equipment is in a stall working condition; and the number of the first and second groups,
in the descending process of the lifting appliance, if the motor slip is characterized in being in an advanced state and the slip is continuously reduced, the working condition that the equipment is in contact with materials is confirmed, or accidental contact occurs; and the number of the first and second groups,
under the condition that the lifting appliance is reversely connected and descends and a control means of moment limitation is applied, if the slip characteristic of the motor is that the slip is greater than a given speed, the lifting appliance is confirmed to be in a descending working condition; and the number of the first and second groups,
under the condition that the lifting appliance is reversely connected and descends and is limited by the applied moment, if the slip characteristic of the motor is that the slip is equal to the given speed, the working condition that the lifting appliance is suspended at zero speed or the lifting appliance is fallen on the material surface is confirmed, and if the torque is further reduced and the slip is still equal to the given speed, the working condition that the lifting appliance is fallen on the material surface is confirmed; and the number of the first and second groups,
under the condition that the lifting appliance is reversely connected and descends and is subjected to a control means of moment limitation, if the motor slip is characterized in that the slip is less than a given speed, the working condition that the lifting appliance is in a rising state is confirmed.
6. The method of claim 4, wherein the preset control means further comprises: speed limitation, reverse connection braking, slope braking, free parking and swinging.
7. The method of claim 2,
when the controlled object is a hydraulic device, the target parameter data includes: hydraulic pressure data, hydraulic flow data, moving part movement position data, and moving part movement velocity data;
when the controlled object is a pneumatic device, the target parameter data includes: gas pressure data, gas flow data, moving part movement position data, moving part movement speed data and moving part movement frequency data.
8. The method of claim 2,
when the controlled object is an attraction type pneumatic conveying device,
the target parameter data includes: the current data of the motor, the distance between the material suction port and the material,
the working condition characteristic information of the controlled object comprises: device flow condition information;
when the controlled object is an ejection and suction type pneumatic conveying device,
the target parameter data includes: positive and negative pressure data of the feeding port, flow data of the ejection and suction cavity and the air outlet,
the working condition characteristic information of the controlled object comprises: and (4) feeding quantity condition information of the materials.
9. The method of claim 2,
when the controlled object is an overrunning clutch mechanism,
the target parameter data includes: input shaft speed data and output shaft speed data,
the working condition characteristic information of the controlled object comprises: information whether the working condition is normal or not;
when the controlled object is a backstop mechanism,
the target parameter data includes: the speed data and the frequency data are,
the working condition characteristic information of the controlled object comprises: and whether the action of the check pin is sensitive or not.
10. An electronic device, comprising:
a memory having an executable program stored thereon;
a processor for executing the executable program in the memory to implement the steps of the method of any one of claims 1-9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111575321.0A CN114237189B (en) | 2021-12-21 | Method for realizing mechanical touch and electronic equipment | |
| PCT/CN2022/120784 WO2023116097A1 (en) | 2021-12-21 | 2022-09-23 | Method for achieving mechanical tactile sense and electronic device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111575321.0A CN114237189B (en) | 2021-12-21 | Method for realizing mechanical touch and electronic equipment |
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| CN114237189A true CN114237189A (en) | 2022-03-25 |
| CN114237189B CN114237189B (en) | 2024-06-11 |
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