CN1958427A - Electric pincers - Google Patents
Electric pincers Download PDFInfo
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- CN1958427A CN1958427A CN 200510117249 CN200510117249A CN1958427A CN 1958427 A CN1958427 A CN 1958427A CN 200510117249 CN200510117249 CN 200510117249 CN 200510117249 A CN200510117249 A CN 200510117249A CN 1958427 A CN1958427 A CN 1958427A
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Abstract
An electric gripper is composed of a grip body consisting of a pair of jaws and its opening-closing mechanism with an actuating unit and one or more drive units, and an electric control system consisting of a programmable digital processor, an openness sensor, and an open angle transducer.
Description
Technical field
The present invention relates to a kind of weight-lifting equipment, more specifically relate to a kind of electric clamp.
Background technology
Electric clamp be a kind of in factory, warehouse and harbour widely used extraordinary weight-lifting equipment.For example in steelworks, people have developed electric clamp a kind of advanced person, that be used to carry slab, i.e. electric translational type slab clamp, its piling that continuous casting steel billet of well cutting on the continuous casting line can be rolled off the production line, again with its handling to the heating furnace roller-way.Below be the relevant background technology of example explanation the present invention just with the electric translational type slab clamp that is used for steelworks.
Generally, an electric translational type slab clamp can be divided into caliper and electric control system two parts thereof usually, and wherein the caliper part generally is made of entablatrance, switching mechanism etc.Because in this type of electric clamp, can control the aperture of pincers leg in the switching mechanism, therefore can hang get change width big, multilayer waits to hang thing or slab (for example steel billet) arbitrarily.Although that electric translational type slab clamp has is applied widely, safe and reliable, take that the technology area is little, work efficiency is than advantages such as height, still there are many defectives and deficiency in actual use, for example as described below.
At first, existing electric translational type slab clamp generally all adopts relay as logic control element, thereby has caused defectives such as fault rate height, maintenance difficult.Though some product of the future has adopted Programmable Logic Controller (PLC) as the control core at present, but only be to utilize PLC to make the logical decision of some generally, realize the function of relay simply, really do not utilize the digitalisation computing power of PLC come in the comprehensive treatment electric translational type slab clamp various technical matterss, realize technical real leap.Therefore, even adopted electric translational type slab clamp in use still fully built on stilts personnel's the guide of PLC at present as the control core, more do not possess the ability with automatic production line, production executive system (EMS) or some information system interface of enterprise, can not satisfy the needs of the modern production that increases day by day far away.
And general simple rectifier power source of employing of existing electric translational type slab clamp or constant voltage power suspply are as the control power supply of magnetic-powder clutch in its switching mechanism.Such power supply can cause the exciting current of being exported to change because of the voltage fluctuation of input end.Even controlling under the constant situation of electric power output voltage, magnetic-powder clutch still can occur and change, thereby cause the exciting current variation issue owing to long-time use, temperature build-up cause internal resistance.Because the magnetic-powder clutch output torque is directly proportional with the exciting current of input, therefore when exciting current changed, its output torque also can change thereupon.When this problem is serious, not only need operating personal often to adjust exciting current, and even can cause electric translational type slab clamp normally to use.In addition, it should be noted that, the control power supply of present employed magnetic-powder clutch does not possess the ability (for example directly carrying out the adjustment of exciting current in the overhead traveling crane operator's compartment) of long-range adjustment exciting current yet, and this has aggravated the seriousness of exciting current variation issue undoubtedly.
Another problem of existing electric translational type slab clamp is, owing to require them under hot environment, to work usually, thereby in existing electric translational type slab clamp, generally all come measuring pliers leg aperture mechanically, promptly show pincers leg aperture by the mechanical indicator that links to each other with speed reduction gearing.This metering system of pincers leg aperture does not have the electric interfaces ability, more can not carry out the long-range demonstration and the control (for example showing in the overhead traveling crane operator's compartment) of signal.In addition, although adopting synchro to carry out aperture measurement in some advanced electric translational type slab clamp at present, so that the receiver of synchro is installed in the overhead traveling crane operator's compartment, and drive corresponding pointer scale dish, realize the measurement and the demonstration of pincers leg aperture.But this mode traditional, that the paired use of synchro is measured does not possess the digital interface ability equally.And in this metering system, the zero balance of synchro trouble not only, and when needs show a plurality of pincers leg aperture a plurality of receivers of needs usually, so just on the control desk of not spacious and comfortable overhead traveling crane operator's compartment, taken bigger space.
The electric control system that to also have a problem be exactly current electric translational type slab clamp does not all possess show intelligent functions such as various process datas, failure message in operator's compartment, can not make the operator understand the running condition of clamp accurately, all sidedly, can not help maintainer's quick diagnosis fault, reduce maintenance difficulty.
Before introducing content of the present invention, also be necessary simply to introduce the possible applied environment of electric clamp, so that those skilled in the art can be expressly understood advantage of the present invention.At first, may need to utilize electric clamp to lift by crane the higher thing to be hung of temperature (for example, the slab on the steel plant continuous casting line, its temperature can reach 800～1000 ℃, even higher) in actual applications.Simultaneously, because jaw opening sensor is installed in the caliper, so the distance between itself and the high temperature slab can not be too far away, for example perhaps has only about 1.5 meters.Like this, just require jaw opening sensor should be able to be under abominable hot environment normal operation.In addition, also have the stronger equipment of various electromagnetic interference usually in the working environment of electric clamp, this just requires the transmission of jaw opening sensor and transducing signal and processing equipment all should have stronger antijamming capability, to guarantee the accuracy of aperture measurement.In addition, electric clamp can in caliper cause inevitably that as a kind of weight-lifting equipment certain mechanical shock impacts.According to the above discussion, the working environment of electric clamp may compare badly as can be seen.
The variety of issue of discussing at electric translational type slab clamp also exists to some extent for the electric clamp of other form above, and therefore pressing for a kind of otherwise effective technique scheme at present solves these technical matterss.
Summary of the invention
An object of the present invention is to provide a kind of with the electric clamp of programmable digitizing treater as the control core, and the digitized processing ability of utilizing this processing equipment measuring pliers leg aperture exactly at a high speed, so that electric clamp reliable operation, easy to maintenance, and have ability with other digitizer interfaces.
Another further purpose of the present invention is to improve the control power supply of magnetic-powder clutch in the described electric clamp, achieves stable torque controllable function, and has the over-voltage over-current protection function.
Another further purpose of the present invention is can show measuring and control data and the man-machine interaction mode of carrying out remote monitor and control flexibly for described electric clamp provides a kind of.
Particularly, the invention provides a kind of electric clamp, it comprise a caliper and with the programmable digital processing equipment as control core electric control system, described caliper comprises that at least one has the switching mechanism of a pair of pincers leg, described switching mechanism by wherein actuated components and one or more drive disk assembly drive described pincers leg close to each other or away from, and have between parts that rotate and the described pincers leg in described actuated components and the described one or more drive disk assembly and have constant transmitting ratio.Described electric control system further comprises: a jaw opening sensor, and its input shaft links to each other with the described parts that rotate, and characterizes the aperture AC signal of the anglec of rotation of described turning unit in order to output; An opening angle position transmitter is used for changing described aperture AC signal into an aperture direct current signal; And described aperture direct current signal is admitted in the analog input unit of described processing equipment, changes it into digitized pincers leg opening value by described processing equipment.
Further, described processing equipment with described pincers leg opening value and setting value relatively controlling the motion of described switching mechanism, thereby makes described pincers leg opening value consistent with described setting value.Comprise a magnetic-powder clutch in described one or more drive disk assembly, the control power supply of wherein said magnetic-powder clutch is a constant-current type control power supply, and utilize the vdc of an analog quantity output unit output of described processing equipment to control the exciting current of described control power supply output, thereby control the output torque of described magnetic-powder clutch.Wherein, by the described exciting current of Hall-type direct current transmitters sense, and the output signal of Hall-type direct current transmitter sent into an analog input unit of described processing equipment, the computing by described processing equipment and handle and change it numeral of the running current of described magnetic-powder clutch into.
Further, described jaw opening sensor is magslip or synchro.The power supply side of described jaw opening sensor is provided with the electromagnetic compatibility power filter, to reduce the interference that is caused by power supply.Be provided with asbestos board or asbestos cloth around the described jaw opening sensor and carry out the heat isolation, to reduce from waiting to hang the heat that thing transmits.
Further, described jaw opening sensor is configured to step-down and uses, and makes its actual operating voltage less than its rated operational voltage, to reduce the heating of described jaw opening sensor.The real work voltage of described jaw opening sensor is smaller or equal to 0.8 times of its rated operational voltage, preferably smaller or equal to 0.5 times of rated operational voltage.Particularly, the rated voltage of described jaw opening sensor is AC 220V, and is AC 110V to the real work voltage that it provides.
Further, be provided with reducing transformer between described jaw opening sensor and position, the described angle transmitter,, and realized electrical isolation between described jaw opening sensor and position, the described angle transmitter with the output of mating described jaw opening sensor and the input of position, described angle transmitter.Be provided with the clamping travel switch in the described electric clamp, its zero clearing port with position, described angle transmitter links to each other, to have realized the auto zero function of pincers leg aperture.Described turning unit is the leading screw that drives described pincers leg motion in the described switching mechanism, and the input shaft of described jaw opening sensor is to be connected with described leading screw by first sprocket chain device.
Further, in described electric control system, also be provided with remote operating switch, between the respective digital amount input port of described operating switch and described processing equipment, be provided with the relay isolated location.
Further, described actuated components is an alternating-current motor/AC motor.Be provided with a circuit breaker between described actuating motor and its power supply, to realize overload and short-circuit protection.Be provided with a motor-driven contactless switch between described actuating motor and the described circuit breaker, described motor-driven contactless switch is made of first AC contactor, second AC contactor and the 3rd AC contactor, wherein: the input end of described first AC contactor links to each other with the mouth of described circuit breaker, and mouth links to each other with the input end of described second AC contactor and described the 3rd AC contactor; The mouth of described second AC contactor links to each other with the input end of described actuating motor, to realize being rotated in the forward of described actuating motor; And the mouth of described the 3rd AC contactor links to each other with the input end of described actuating motor, to realize the contrarotation of described actuating motor.
Further, between described circuit breaker and described first AC contactor, be provided with one and exchange transmitter, its output is sent to an analog input unit of described processing equipment, and exports described actuating motor, digitized running current by the computing and the processing of described processing equipment.Described processing equipment compares described running current and a predetermined value, to realize the electronic overcurrent protection of described actuating motor.
Further, described electric clamp comprises that is further waited to hang a thing measuring thickness device, it comprises weight, chain sling, steel rope, take-up pulley and take-up spring, and further comprise: a thickness synchro, the input shaft of described thickness synchro links to each other with described take-up pulley, characterizes the AC signal of the anglec of rotation of described turning unit in order to output; Position, thickness angle transmitter is used for this AC signal is changed a direct current signal; And this direct current signal is admitted in the analog input unit of described processing equipment, changes it into by described processing equipment and waits to hang the thing one-tenth-value thickness 1/10.
Further, further comprise a touch-screen in the described electric control system, it links to each other with described processing equipment coupling via a communication bus, in order to the data after described processing equipment being sent control command, controlled variable is set and shows described processing equipment processing.Described processing equipment has at least one RS485 communication port, and described communication bus is the RS485 bus.Between described touch-screen and described processing equipment, use at least one RS485 repeater.Described touch-screen provides the inputting interface of measurement and controlled variable.Described measurement and controlled variable comprise the current measurement and the controlled variable of described magnetic-powder clutch.Described measurement and controlled variable comprise the aperture measurement and the controlled variable of described pincers leg.Described touch-screen shows various measurement parameters with analogue instrument or digital form.Provide on the described touch-screen and realized the control of pincers leg and adjustment of magnetic-powder clutch electric current and password protection function.Online help and Operating Guideline are provided on the described touch-screen.Described touch-screen provides fault alarm information and failure message query function.
Further, described processing equipment is a Programmable Logic Controller; Described electric clamp is a kind of electric translational type slab clamp.
In a word, the present invention improves by the electric control system to electric clamp, and a kind of later-model electric clamp is provided, and to compare its functional characteristics as follows with the electric clamp of prior art:
(1) operation and failure message: the important information that can provide active procedure to carry out, for example trouble removal and maintaining information.
(2) procedure for displaying image: graphic display can be monitored machine state.
(3) limit monitoring and password protection: programmable limit and password protection function can improve the safety of input, and safer process control is provided.
(4) integrated PROFIBUS DP interface carries out communication as slave station and upper computer, can insert user's automation system easily.
(5) the real opening degree that shows the pincers leg time shows pincers leg opening degree with numeral and motion graphics form.
(6) programmable opening degree controllable function: realize the control of pincers leg opening degree by function setting, the opening value of pincers leg can be set flexibly, what adapt to different in width waits to hang the requirement of thing to aperture.
(7) show the parameter of motor in real time: show the parameter of electric machine with numeral and curvilinear figure, monitor running state.
(8) wait to hang the detection of thing thickness: self-measuring waits to hang thing thickness, and shows with the numerical value form, and parameters such as waiting to hang thing thickness, gripping piece number also can be set, by with the automatic gripping of the chain realization of overhead traveling crane.
(9) programmable clamps and opens moment and adjusts function: can set flexibly and open and clamping torque, and have limit monitoring and password protection function.
(10) perfect monitoring function: by built-in watchdog routine, intelligent monitor system state, timely disengagement failure source, the online failure message that provides.
Description of drawings
Figure 1A is the caliper front view partly of the electric clamp of an illustrative embodiment of the invention.
Figure 1B is the cutaway view of the caliper part of electric clamp among Figure 1A, wherein shows the synchro and the caliper annexation partly that are used for measuring pliers leg aperture in the electric control system.
Fig. 2 is the functional block diagram of electric control system of the electric clamp of an illustrative embodiment of the invention.
Fig. 3 is the functional block diagram of electric control system of the electric clamp of another exemplary embodiment of the present invention.
Fig. 4 is the functional block diagram of electric control system of the electric clamp of a preferred embodiment of the invention.
Fig. 5 is the schematic diagram of aperture measurement circuit in the electric control system of Fig. 4.
Fig. 6 is the schematic diagram of magnetic-powder clutch current measurement and control circuit in the electric control system of Fig. 4.
Fig. 7 is the schematic diagram of magnet stopper control circuit in the electric control system of Fig. 4
Fig. 8 is that current of electric is measured and the schematic diagram of control circuit in the electric control system of Fig. 4
Fig. 9 is a scheme drawing of describing the thickness measurement principle.
Figure 10 A is the flow chart of the main program that is provided with in the programmable digitizing treater.
Figure 10 B is the flow chart of the interruption sampling routine INT0 that starts in main program shown in Fig. 7 A.
Figure 10 C is that current of electric was measured and the flow chart of the subprogram SB0 of control being used for of calling in main program shown in Fig. 7 A.
The specific embodiment
One. the caliper part
In the present invention, caliper 100 can be any known, newly developed or later exploitation, mechanism or device of being suitable as the electric clamp caliper.Figure 1A shows the employed caliper 100 of electric clamp of an illustrative embodiment of the invention, and wherein this electric clamp is an electric translational type slab clamp of tens of tonnes that uses in steelworks.
As shown in Figure 1, caliper 100 is made up of entablatrance 120 and switching mechanism 170.In Figure 1A, hanger (for example hanger 121a and 121b) or assembly pulley are housed on the entablatrance 120, link to each other with the overhead traveling crane (not shown) by overhead traveling crane suspension hook or steel rope, finish up-and-down movement by the lifting mechanism drive caliper 100 of overhead traveling crane.
Usually, the working process of electric clamp can be divided into and clamp and unclamp two processes.In clamping process, clamp begins to clamp motion when pressing " clamping " button.At first, actuating motor 120 and magnet stopper 240 get electric work, magnetic-powder clutch 220 lag behind electric work (purpose of its hysteresis work is to guarantee that actuating motor 120 can starting under no loads, reduces the starting current of actuating motor 120, promptly reduces actuating motor 120 heatings as far as possible.This finishes by " time meter " on program design, after actuating motor 120 startings, by restarting magnetic-powder clutch 220 after the schedule time of delaying time).Above-mentioned clamping operation process can shut down under following 3 kinds of situations
1) unclamps " clamping " button, clamp running and stop.
2) when gripping is not waited to hang thing, pincers leg 180 runs to the action of clamping travel switch or minimum aperture is controlled when reaching setting value, clamps running and stops.
3) when clamping is waited to hang thing, 195 actions of zero-speed switch clamp running and stop, and the clamping indicator lamp of this pincers leg 180 is lighted simultaneously.
In release process, clamp 180 unclamps motion when pressing " unclamping " button.At first actuating motor 120 and magnet stopper 240 electric work, magnetic-powder clutch 220 lag behind electric work.Unclamp stopping and can under following two kinds of situations, taking place of running:
1) unclamps " unclamping " button, unclamp operation process and stop.
2) pincers leg 180 runs to and unclamps travel switch action or maximum opening control when reaching setting value, unclamps operation process and stops.
Two. electric control system
The electric control system 300 of electric fixture of the present invention is to serve as the control core, be the intelligence control system of man-machine interface with the HMI system with the programmable digital processing equipment, perfect man-machine interactive operating mode can be provided, built-in watchdog routine, the intelligent monitor system state in time provides failure message, online offering help and Operating Guideline; By various sensings and the transmitter installed, the various processes and the system parameter of real-time monitoring system also can realize the operation or the monitoring in a distant place by upper computer; Has various communication interfaces, to satisfy the needs of modernized automatic production lines.
As shown in Figure 2, electric control system 300 comprises a programmable digitizing treater 310, display control unit 370, and the various sensing elements 350 and the switch block 380 that are positioned at caliper 100.Wherein, this processing equipment 310 has centre and buries device (CPU) and be the memory device of CPU storage running instruction, it is as the control core of whole electric control system 300, can be under the control of operating instruction of storage in advance to the command signal of display control unit 370, and/or handle from the signal that the detection signal and/or the switch block 380 of sensing element 350 sends, with the control signal that output is controlled the various controlled parts 330 in the caliper 100, perhaps result is exported to display control unit 370 and shown.Here, display control unit 370 is to communicate by letter with digitizing treater 310 by digital communication bus 313.
Further, as shown in Figure 3, electric control system 300 can comprise that also first supports circuit 320a, is used to connect digitizing treater 310 and controlled part 330, sensing element 350, spacing and safety switch 381.In addition, electric control system 300 also can comprise some operating switch and outward sign introducing devices 390 away from (example is more than ten meters) caliper 100, and it can support circuit 320b to link to each other with the digital input port of processing equipment 310 by second.
Particularly, as shown in Figure 4, in one exemplary embodiment of the present invention, digitizing treater 310 is preferably Programmable Logic Controller 340 (PLC), the PLC that particularly has the analog input port, for example middle-size and small-size PLC of the S7-300 modularization system of company of Siemens (Simens).Display control unit 370 is preferably graphic control panel 371, the human-computer interface system (HMI) of for example Japanese DIGITAL GP2000 of company series.And the particular type of digital communication bus 313 can be according to the type and the function decision of selected digitizing treater 310 and display control unit 370.For example in this embodiment, can use the RS485 communication bus to realize communication between processing equipment 310 and the graphic control panel 371.Further feature about graphic control panel 371 will be described in more detail below.
In the embodiment of Fig. 4, support that circuit 320 preferably includes first and second expansion I/O circuit 393a and the 393b that directly link to each other with the I/O port of processing equipment 310, with the I/O port of extension process device 310.And, because of circuit long, while power and the shared cable of control signal, disturb in order to reduce circuit, guarantee the reliability of the incoming signal of processing equipment 310, cause simultaneously the damage of the input port of processing equipment 310 again when preventing cable short circuit, between spacing and safety switch 381, operating switch and outward sign introducing device 390 and the first and second expansion I/O circuit 393a and 393b, be provided with first and second relays respectively and isolate and be listed as 395a and 395b.The concrete setting of isolating row 395 about relay is those skilled in the art's a common practise, and this paper repeats no more.Here need to prove that spacing and safety switch 381 for example can comprise zero-speed switch 195, clamps/unclamp travel switch 197 and be placed in two safety switchs on the pincers leg etc.
In addition, in the embodiment of Fig. 4, the controlled part 330 in that electric control system 300 can be controlled, the caliper 100 comprises actuating motor 210, magnetic-powder clutch 220 and magnet stopper 240 etc.; And sensing element 350 comprises jaw opening sensor 270 and thickness transducer 260 etc.About the detailed description of these parts and support circuit thereof, this paper will provide in the corresponding below chapters and sections in detail.
1. the measurement of pincers leg aperture
In the electric control system 300 of the present invention, the measurement of pincers leg aperture is by jaw opening sensor 270 generally, parts that rotate in the switching mechanism 170 of its input shaft and caliper 100 are linked to each other, characterize the aperture AC signal of the anglec of rotation of described turning unit with output; And, change described aperture AC signal into an aperture direct current signal by an opening angle position transmitter 275; And described aperture direct current signal is sent in the analog quantity input port of processing equipment 310, change it pincers leg opening value of a digital form into by processing equipment 310.
Type selecting about jaw opening sensor need to prove that aperture measurement is a kind of linear measure.The sensor that can carry out linear measure at present mostly is electronic sensor, for example rotary encoder, measure grating, laser rangefinder etc. because this class sensor contains a large amount of electronic devices and components, therefore generally can not withstand high temperatures and mechanical shock impact.And, a little less than the detection signal common intensity that this class sensor is exported, the distance signal transmission under the incompatibility high-interference environment.And synchro and magslip inside are without any electronic component, have only two groups of coils, so their vibration resistance, temperature tolerance, resistance to corrosion, anti-dust and greasy dirt, and aspect such as anti-interference resistance all have good performance, can adapt to the operating needs of harsh environment, and have high reliability.Therefore generally synchro and magslip can be elected to be jaw opening sensor.
Further, because the temperature characterisitic of synchro is better, so the preferred aperture synchro 271 of the present invention is as jaw opening sensor 270, as shown in Figure 1.In this embodiment, parts that rotate in the switching mechanism 170 of the input shaft of aperture synchro 271 and caliper 100 can be linked to each other, characterize the aperture AC signal of the anglec of rotation of described turning unit in order to output, the wherein said parts that rotatablely move are preferably and clamp the parts that have constant ratio between the leg 180, for example leading screw 142, and can connect aperture synchro 271 and leading screw 142 by first sprocket chain device 172.And, because of bonded assembly cable between aperture synchro 271 and the opening angle position transmitter 275 generally longer, simultaneously again with control or the shared cable of power line, system interference is big, in order to improve antijamming capability, to select the synchro of voltage levels in the present invention for use, for example adopting rated voltage is the synchro of AC 220V.
Further, in order to reduce from waiting to hang the heat that thing transmits, reply aperture synchro 271 adopts certain provision for thermal insulation, for example can carry out the heat isolation at be provided with some asbestos boards or the asbestos cloth of aperture synchro 271 on every side.And can simultaneously 271 step-downs of aperture synchro be used, make its actual operating voltage less than its rated operational voltage, to reduce the heating of aperture synchro 271.
Particularly, as shown in Figure 5, an aperture first reducing transformer 276 can be set between aperture synchro 271 and power supply, so that the real work voltage of aperture synchro 271 is smaller or equal to 0.8 times of its rated operational voltage, even 0.5 times.For example, when selecting for use rated voltage to be the aperture synchro 271 of AC 220V, can only be AC 110V to its real work voltage that provides.And, between aperture first reducing transformer 276 and aperture synchro 271, can add electromagnetic compatibility (EMC) power filter 277 in order to reduce the interference that causes by power supply.
In addition, because aperture synchro 271 itself does not have the ability with processing equipment 310 interfaces, therefore the present invention will adopt opening angle position transmitter 275 to change the angle signal of aperture synchro 271 measurements into the aperture direct current signal that can mate with the analog quantity input port of processing equipment 310, for example direct current signal of a 4～20mA.In addition, because the input end of opening angle position transmitter 275 only can be accepted several volts voltage signal, thereby the interface problem that can between aperture synchro 271 and opening angle position transmitter 275, provide an aperture second reducing transformer 273 to solve 275 of aperture synchro 271 and opening angle position transmitters, also realized the electrical isolation between them simultaneously.Particularly, opening angle position transmitter 275 can be selected for use, for example, and position, the angle transmitter of the FB900C series that Fei Boer Electronics Co., Ltd. in Beijing produces.
And, because the 271 direct measurements of aperture synchro is the anglec of rotation, therefore need its angle value is converted to length value, promptly clamp the leg opening value.This conversion Calculation is finished by processing equipment 310, and conversion formula is as follows:
L＝L0+(D*K1*K2/360)*2
Wherein: L: the opening value after the conversion
L0: pincers leg aperture initial value
D: the corner that synchro records
K1: measurement coefficient, pitch multiply by gearing factor
K2: coefficient of correction
In processing equipment 310, calculate after the digitized pincers leg opening value, can send it to the HMI system, be shown to the operator with analogue instrument or digital form, also itself and a setting value can be compared, thereby according to the motion of comparative result control switching mechanism 170, so that described pincers leg opening value is consistent with described setting value.
In order further to improve system reliability and practicality, can utilize the clear terminal cause for gossip of opening angle position transmitter 275 to show the auto zero function that clamps the leg aperture, when measurement of angle goes wrong, after transmitter can not correctly be preserved angle information or measuring system maintenance during system cut-off, can pass through the zero clearing port of the clamping travel switch trigger angle position transmitter of anchor clamps, realize the auto zero (is to clamp the starting point of the minimum stroke of leg 180 as aperture measurement at this) of aperture measurement, removed synchro from after maintenance or adjusting, must readjust the trouble at zero point, significantly reduce the maintenance of system.
Here it is emphasized that, when using synchro, generally all be a transmitting set and receiver to be joined, use in pairs (wherein emitter is used for measuring, receiver is used for a distant place and shows), so just caused when carrying out multichannel measurement, the corresponding increase of display instrument meeting ties up the finite space on the overhead traveling crane instrument desk.And in the present invention, be that the data that synchro is measured are passed through digitized processing, show output, can realize that therefore a display terminal shows multichannel measurement information by the HMI system, reduce the quantity of display instrument, effectively utilized usage space limited in the overhead traveling crane.
2. graphic control panel
As indicated above, display control unit 370 is preferably graphic control panel 371.Wherein, graphic control panel (abbreviation touch-screen) is a kind of man-machine interface that connects human and digitizing treater.It is to substitute the traditional control panel and the intellectualized operation telltale of keyboard.Can be used for the demonstration of setting, data of parameter and storage and describe the automation control process, and can simplify the control program of processing equipment with forms such as curve, animations.Mainly utilize touch-screen 371 to finish following function in the present invention:
(1) input of measurement parameter and controlled variable, as: the measurement and the controlled variable of magnetic-powder clutch 220 electric currents; Aperture measurement and controlled variable etc.
(2) demonstration of process data: show current of electric, magnetic-powder clutch 220 electric currents, wait to hang thing thickness and pincers leg aperture with analogue instrument and digital form.
(3) realize the control of pincers leg and the adjustment and the password protection function of magnetic-powder clutch 220 electric currents.
(4) provide online help and Operating Guideline.
(5) provide the inquiry of fault alarm information and failure message.
3. the control of exciting current in the magnetic-powder clutch
The exciting current of magnetic-powder clutch 220 is different when clamp clamps and unclamp action, and promptly to clamp and unclamp needed torque be different to clamp.The clamping torque provides the required torque of pincers leg proper motion and clamps the chela that guarantee clamps on the leg 180 when waiting to hang thing treats the pre-gripping power that hangs thing.Unclamp the torque guarantee and unclamp enough torques of opening are arranged when waiting to hang thing, unclamp torque much larger than clamping torque.
The clamping of magnetic-powder clutch 220 or unclamp exciting current and control output by program.When clamp clamped motion, program clamped control current to magnetic-powder clutch control power supply 225 by an analog quantity output unit output clutch of processing equipment 310.225 outputs of control power supply clamp exciting current and give magnetic-powder clutch 220, and when clamp unclamped motion, program was unclamped control current to controlling power supply 225 by an analog quantity output unit output clutch of processing equipment 310.225 outputs of control power supply are unclamped exciting current and are given magnetic-powder clutch 220.Magnetic-powder clutch clamps or the setting of unclamping control current is imported by graphic control panel.
In one embodiment of the invention, select the control power supply of a constant-current type control power supply 225 for use, for example the PS-6.0 power supply of day Benshen's steel (SHINKO) Electric Co., Ltd production as magnetic-powder clutch 220.And the vdc that utilizes an analog quantity output unit output of processing equipment 310 is controlled the exciting current of constant-current type control power supply 225 outputs, thereby the output torque of control magnetic-powder clutch 220 has enough initial gripping powers and opens moment to guarantee electric clamp.In addition, control power supply 225 switch 221 also control by processing equipment 310, can realize magnetic-powder clutch 220 with respect to actuating motor 210 lag behind electric work.
Further, to detect by 223 pairs of exciting currents of a kind of direct current transmitter in this embodiment, the output signal that is about to direct current transmitter 223 sends an analog input unit of processing equipment 310 to, the computing by processing equipment 310 and handle and change it digitized exciting current value of magnetic-powder clutch 220 into.Processing equipment 310 can send the exciting current value to display control unit 370 by digital communication bus 313 and show.Here, can set the various controlled variable of exciting current, for example Qi Wang exciting current value, limit etc. as interface by display control unit 370.
Particularly, in one embodiment of the invention, the Hall-type direct current transmitter of the direct current signal of preferred a kind of exportable 4～20mA is as direct current transmitter 223, as shown in Figure 6.
More specifically, in one embodiment of the invention, control the outgoing current that constant-current type is controlled power supply 225, to reach the purpose of control magnetic-powder clutch 220 output torques by 0～10V vdc that the analog quantity output unit of processing equipment 310 is exported.
4. the control of magnet stopper
Rush current is big when starting because of magnet stopper 240, when preventing that magnet stopper 240 from starting during to the influence of control loop and cable fault to the influence of power supply, magnet stopper 240 adopted one independently voltage transformer 246 power.And the control of magnet stopper 240 adopts drg control power supply 245 to finish, and realizes the start and stop of magnet stopper 240 by the switching of brake switch 247, as shown in Figure 7.
5. current of electric is measured and control
As known in those skilled in the art, can utilize various suitable motor-driven contactless switchs 215 to realize forward and reverse rotation of actuating motor 210 as shown in Figure 4.In the embodiment shown in fig. 8, actuating motor 210 is three phase alternating current motors.At this moment, motor-driven contactless switch 215 is made of first AC contactor 216, second AC contactor 217 and the 3rd AC contactor 218.Especially in the present invention, controlling forward, the direction that can realize actuating motor 210 by 310 pairs of motor-driven contactless switchs 215 of processing equipment rotates.Further, can between motor-driven contactless switch 215 and power supply, be provided with one and exchange transmitter 213, its output is sent to an analog input unit of processing equipment 310, and obtains actuating motor 210, digitized running current value by the computing and the processing of processing equipment 310.After obtaining this running current value, can for example offer display control unit 370 and show, and/or itself and a predetermined value are compared, to realize the electronic overcurrent protection of actuating motor 210.Certainly, also preferably between actuating motor 210 and its power supply, be provided with a circuit breaker 212, realize traditional motor overload and short-circuit protection.
6. wait to hang the thing thickness measuring
In electric control system 300, measure and wait that the thickness transducer 260 that hangs thing 401 (for example multilayer slab) thickness is made of a series of devices.At first, as known in those skilled in the art, thickness transducer 260 generally is made up of weight 403, steel rope 405, chain sling 407, take-up pulley 411, take-up spring 413 and subsidiary thereof, as shown in Figure 9.Usually, in order to measure the thickness of waiting to hang thing 401, should at first adjust chain sling 407, the pincers tooth 185 that makes weight 403 and pincers leg 180 is on same horizontal surface.Like this, when caliper 100 descends, weight 403 will at first touch the upper surface of waiting to hang thing 401, and upwards be held up gradually.To no longer be waited hang the action of gravity of thing 401 on the steel rope 405 this moment, and therefore the take-up spring 413 of pretension can make take-up pulley 411 rotate under the effect of elastic-restoring force.The rotation of take-up pulley 411 will make is received short around steel rope 405 thereon.Therefore, by measure angle that take-up pulley 411 rotated or steel rope 405 received short length can be indirectly or directly measure the thickness of waiting to hang thing 401.
In the present invention, be to adopt thickness synchro 409 to measure the angle that take-up pulley 411 is rotated, and the thickness AC signal that thickness synchro 409 is exported is sent in the analog input unit of processing equipment 310 via position, angle transmitter 265, finally obtain waiting to hang the thickness of thing 401 by the computing of processing equipment 310.Basic identical described in its circuit theory and treating process and the aperture measurement, thereby this paper will repeat no more this.Especially, it is as follows to wait to hang the conversion formula of thing thickness:
Th＝D1*K11*K12/360
Wherein: Th: the one-tenth-value thickness 1/10 after the conversion
D1: the corner value that the thickness synchro records
K11: measurement coefficient (take-up pulley girth),
K12: coefficient of correction
7. the program of moving in the processing equipment
Shown in Figure 10 A, the program of operation will at first start from the step 701 in the main program in the processing equipment 310.All buffer zones that main program will use in initialization process device 310 memory devices in step 703.In step 705, start the interruption sampling routine INT0 that is used for data acquisition.In step 707, call and be used for that current of electric is measured and the subprogram SBR0 of control, be used to clamp the subprogram SBR1 of leg aperture measurement and control and be used to measure the subprogram SBR2 that waits to hang thing thickness.In step 709, the operating order that is received according to processing equipment 310 judges whether that needs start the clamp operation of pincers leg 180.If judged result is a "Yes", program will proceed to step 711 so, judge whether clamp travel switch moves.Do not move if clamp travel switch, program will proceed to step 713 so, judge that whether pincers leg 180 is in minimum aperture state, judges promptly whether minimum aperture sign M0 equals 1 (minimum aperture sign M0 is provided with) in subprogram SBR1.If pincers leg 180 is not in minimum aperture state, program will proceed to step 715 so, and judge whether the zero-speed switch moves.If the judged result of step 717 is a "No", program will proceed to step 719 so, thereby make actuating motor forward rotation clamping clip leg 180.In step 721, program is moved brake switch 247 (referring to Fig. 7) closure thereby magnet stopper 240 is switched on.In step 723, output magnetic-powder clutch 220 clamps control current.In step 725, make magnetic-powder clutch 220 time-delay energisings.At last, main program will end at step 749.
In above-mentioned steps, when judged result in the step 711,713 or 715 is " being (very) ", program all will forward step 749 to, make main program finish operation.When the judged result in the step 717 is " being (very) ", program will proceed to step 718, provide the clamping indicator signal, for example light one and clamp indicator lamp, run to step 749 then, and main program finishes.
In step 709, if judged result is a "No", main program will forward in the step 727 so, judge whether release button is pressed.If the judged result of step 727 is a "Yes", main program will proceed to step 729, judge whether unclamp travel switch moves.If step 729 is a "No", main program will proceed to step 731, judge that whether pincers leg 180 is in the maximum opening state, judges promptly whether maximum opening sign M1 equals 1 (maximum opening sign M1 is provided with) in subprogram SBR1.If step 731 is a "No", then continue step 733, judge whether motor is in over-current state, promptly whether over current of motor sign M11 equals 1 (over current of motor sign M11 is provided with) in subprogram SBR0.If step 733 is a "No", then continue step 735, control motor backward rotation, thus pincers leg 180 is unclamped.In step 737, program is moved brake switch 247 closures thereby magnet stopper 240 is switched on then.In step 739, output magnetic-powder clutch 220 unclamps control current.In step 741, make magnetic-powder clutch 220 time-delay energisings.Run to step 749 at last, main program finishes.
In above-mentioned steps, if the judged result of step 727 is a "No", then program will forward step 749 to.If step 729,731 or 733 judged result are "Yes", program also will forward step 749 to.
Shown in Figure 10 B, interrupting sampling routine INT0 is regularly to interrupt sampling routine, and it starts from step 751.Then, in step 753, gather first buffer zone of motor current value to processing equipment 310 memory devices.In step 755, gather second buffer zone of magnetic-powder clutch 220 current values to processing equipment 310 memory devices.In step 755, gather second buffer zone of magnetic-powder clutch 220 current values to processing equipment 310 memory devices.In step 757, gather to characterize three buffer zone of corner value to processing equipment 310 memory devices of the aperture synchro of pincers leg opening value.In step 758, four buffer zone of the corner value that gather to characterize the thickness synchro of waiting to hang the thing one-tenth-value thickness 1/10 to processing equipment 310 memory devices.At last, interrupt sampling routine INT0 and run to once operation of step 759 end.
Shown in Figure 10 C, the subprogram SBR0 that current of electric is measured and controlled starts from step 761.Then, in step 763, from first buffer zone, read motor current value.In step 765, current of electric is calibrated, be about to sampled value (for example 0～27648) and be converted to motor current value (for example 0～25A).In step 767, deposit scaled values in the 5th buffer zone.Whether subprogram SB0 will judge the electric motor starting time to (comparing with a schedule time value) in step 771, thereby will determine whether to escape the electric motor starting electric current.If the result of step 771 is a "No", subprogram SBR0 will turn back to step 771 again so, and time is up, judged result proceeds to step 773 when being " very " up to electric motor starting.To judge that in step 773 current of electric is whether greater than the setting value A0 of current of electric.If the result of step 773 is a "No", subprogram SB0 forwards step 779 end operation to so; If the result is " very ", subprogram SB0 will proceed to step 775 so.Step 775 will judge that whether the overcurrent time of motor is greater than a setting value T0.If the result of step 775 is a "No", subprogram SB0 will turn back to step 775 again so, proceed to step 777 up to the overcurrent time during greater than setting value T0, over current of motor sign M11 is set equal 1.At last, subprogram SBRQ finishes operation in step 779.
The subprogram SBR1 that is used to clamp leg aperture measurement and control starts from step 781.Then, judge in step 783 whether clamp travel switch moves.Move if clamp travel switch, will it be made zero to opening angle position transmitter 275 output reset signals in step 785 so, subprogram SBR1 runs to step 787 then; Do not move if clamp travel switch, subprogram SBR1 will directly run to step 787 after step 783 so.Step 787 will read the corner value of aperture synchro 270 from the 3rd buffer zone.In step 789, clamp the calibration of leg aperture then.In step 791, pincers leg aperture initial value L0, corner D, measurement coefficient K1, coefficient of correction K2 are carried out assignment, wherein L0, K1, K2 be by the touch-screen input, the measured value of (clamping travel switch action back) pincers leg aperture when L0 is minimum aperture.In step 793, calculate pincers leg opening value L then according to aperture conversion formula mentioned above.In step 795, the pincers leg opening value L that calculates is deposited in the 6th buffer zone.Judge that in step 799 the pincers leg opening value L calculate is whether greater than a predefined tong leg opening value Lmax.Equal 1 if L, will be provided with maximum opening sign M1 so greater than Lmax, operating procedure 809 then, and subprogram SBR1 finishes.Otherwise if L is not more than Lmax, subprogram SBR1 will forward step 803 to so, further judge that pincers leg opening value L is whether less than a predefined small forceps leg opening value Lmin.If the result of step 803 is true, minimum aperture sign M0 will be set in step 805 so equal 1, operating procedure 809 then, and subprogram SBR1 finishes.If the result of step 803 is false, subprogram SBR1 will directly forward step 809 to, finish operation.
Be used to measure and wait that the SBR2 that hangs thing thickness starts from step 811.Then, judge in step 813 whether position, thickness angle transmitter 265 makes zero.If the result of step 813 is a "No", in step 815, will it be made zero so to position, thickness angle transmitter 265 output reset signals, subprogram SBR2 runs to step 817 then; If the result of step 813 is a "Yes", subprogram SBR1 will directly run to step 817 after step 813 so.Step 817 will read the corner value of thickness synchro 260 from the 4th buffer zone.In step 819, wait to hang the calibration of thing thickness then.In step 821, corner D1, measurement coefficient K11, coefficient of correction K12 are carried out assignment.In step 823, calculate the one-tenth-value thickness 1/10 Th that waits to hang thing then according to thickness conversion formula mentioned above.In step 825, the one-tenth-value thickness 1/10 Th that calculates is deposited in the 7th buffer zone.Then, subprogram SBR1 finishes operation in step 829.
Claims (10)
1. electric clamp, it comprise a caliper and with the programmable digital processing equipment as control core electric control system, described caliper comprises that at least one has the switching mechanism of a pair of pincers leg, described switching mechanism by wherein actuated components and one or more drive disk assembly drive described pincers leg close to each other or away from, and have in described actuated components and the described one or more drive disk assembly between parts that rotate and the described pincers leg and have constant transmitting ratio, described electric clamp is characterised in that described electric control system further comprises:
A jaw opening sensor, its input shaft links to each other with the described parts that rotate, and characterizes the aperture AC signal of the anglec of rotation of described turning unit in order to output;
An opening angle position transmitter is used for changing described aperture AC signal into an aperture direct current signal; And
Described aperture direct current signal is admitted in the analog input unit of described processing equipment, changes it into digitized pincers leg opening value by described processing equipment.
2. electric clamp according to claim 1 is characterized in that described processing equipment with described pincers leg opening value and setting value relatively, controlling the motion of described switching mechanism, thereby makes described pincers leg opening value consistent with described setting value.
3. electric clamp according to claim 1, it is characterized in that comprising in described one or more drive disk assembly a magnetic-powder clutch, the control power supply of wherein said magnetic-powder clutch is a constant-current type control power supply, and utilize the vdc of an analog quantity output unit output of described processing equipment to control the exciting current of described control power supply output, thereby control the output torque of described magnetic-powder clutch.
4. electric clamp according to claim 3, it is characterized in that by the described exciting current of Hall-type direct current transmitters sense, and the output signal of Hall-type direct current transmitter sent into an analog input unit of described processing equipment, the computing by described processing equipment and handle and change it numeral of the running current of described magnetic-powder clutch into.
5. electric clamp according to claim 1 is characterized in that described jaw opening sensor is a magslip.
6. electric clamp according to claim 1 is characterized in that described jaw opening sensor is a synchro.
7. electric clamp according to claim 1 is characterized in that the power supply side of described jaw opening sensor is provided with the electromagnetic compatibility power filter, to reduce the interference that is caused by power supply.
8. electric clamp according to claim 1 is characterized in that the be provided with asbestos board or the asbestos cloth of described jaw opening sensor carries out the heat isolation on every side, to reduce from waiting to hang the heat that thing transmits.
9. electric clamp according to claim 1 is characterized in that described jaw opening sensor is configured to step-down and uses, and makes its actual operating voltage less than its rated operational voltage, to reduce the heating of described jaw opening sensor.
10. electric clamp according to claim 9, the real work voltage that it is characterized in that described jaw opening sensor is smaller or equal to 0.8 times of its rated operational voltage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200510117249 CN1958427A (en) | 2005-10-31 | 2005-10-31 | Electric pincers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200510117249 CN1958427A (en) | 2005-10-31 | 2005-10-31 | Electric pincers |
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| Publication Number | Publication Date |
|---|---|
| CN1958427A true CN1958427A (en) | 2007-05-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200510117249 Pending CN1958427A (en) | 2005-10-31 | 2005-10-31 | Electric pincers |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103336306A (en) * | 2013-06-25 | 2013-10-02 | 杭州展悦科技有限公司 | Signal clamp for pipeline detection |
| CN106241608A (en) * | 2016-08-31 | 2016-12-21 | 大连宝信起重技术有限公司 | A kind of intelligence slab clamp controls equipment |
| CN106744236A (en) * | 2016-12-27 | 2017-05-31 | 葫芦岛天力工业有限公司 | A kind of electromagnetic power electrode hanger |
| CN112682437A (en) * | 2020-12-30 | 2021-04-20 | 贵州凯峰科技有限责任公司 | Automatic control method for clutch opening degree in braking state of ATM vehicle |
-
2005
- 2005-10-31 CN CN 200510117249 patent/CN1958427A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103336306A (en) * | 2013-06-25 | 2013-10-02 | 杭州展悦科技有限公司 | Signal clamp for pipeline detection |
| CN106241608A (en) * | 2016-08-31 | 2016-12-21 | 大连宝信起重技术有限公司 | A kind of intelligence slab clamp controls equipment |
| CN106744236A (en) * | 2016-12-27 | 2017-05-31 | 葫芦岛天力工业有限公司 | A kind of electromagnetic power electrode hanger |
| CN112682437A (en) * | 2020-12-30 | 2021-04-20 | 贵州凯峰科技有限责任公司 | Automatic control method for clutch opening degree in braking state of ATM vehicle |
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