CN202765874U - Motion control equipment for motion mechanism - Google Patents
Motion control equipment for motion mechanism Download PDFInfo
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- CN202765874U CN202765874U CN201220492730.4U CN201220492730U CN202765874U CN 202765874 U CN202765874 U CN 202765874U CN 201220492730 U CN201220492730 U CN 201220492730U CN 202765874 U CN202765874 U CN 202765874U
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- motion
- detector
- kinematic mechanism
- motion control
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Abstract
The utility model discloses a motion control equipment for motion mechanism. The device consists of a detector and a control device, wherein the detector is used for detecting and outputting the location information of the motion mechanism; and the control device is connected with the detector and is used for controlling the movement of the motion mechanism, and comparing the location information detected by the detector at different moments. If the results are equal, it can be judged that failure exists in the motion control process, and the motion mechanism should be locked.
Description
Technical field
The utility model relates to field of engineering technology, particularly, relates to a kind of motion control apparatus of kinematic mechanism.
Background technology
Growing along with China's economy, also more and more to the demand of goods transport.In the transportation of the ship on harbour, interior ground and train, generally adopt car dumper system, this system is divided into tipper, positioning car, car puller three movement mechanism, closely cooperates between them, and the dumping work of goods is finished in coordination jointly.In real work, very high to the requirement of kinematic velocity, acceleration/accel and the accuracy of positioning of kinematic mechanism.But, because field working conditions is more abominable, the situation that operating data is lost often appears, in case and operating data is lost, can think that then the speed of kinematic mechanism is 0, because the effect of closed loop control, the speed of kinematic mechanism will rise to rapidly the limit, thereby the driving event occurs, thereby may cause great engine-damaged accident even fatal accident.Although can improve by increasing redundant method at present the reliability of motion control process, can increase widely cost.
The utility model content
The purpose of this utility model provides a kind of motion control apparatus of kinematic mechanism, and this equipment is the motion of controlled motion mechanism exactly, and when breaking down timely lock motion mechanism.
To achieve these goals, the utility model provides a kind of motion control apparatus of kinematic mechanism, and this equipment comprises: detector, for detection of the location information of kinematic mechanism, and export this location information; And control setup, link to each other with described detector, be used for controlling described kinematic mechanism motion, and after described kinematic mechanism setting in motion, the different described location informations that constantly detect of described detector are compared, if both equate, then judge in the motion control process to have fault, lock described kinematic mechanism.
Preferably, described control setup comprises upper computer and motion control device, and described upper computer communicates by described motion control device and described kinematic mechanism and detector.
Preferably, described check implement is coder.
Preferably, described detector is connected by optical fiber with described control setup.
Utilize the motion control apparatus of the kinematic mechanism that the utility model provides, can improve the reliability of motion control process, in the situation that operating data is lost, can judge rapidly, timely lock motion mechanism, thus the generation of locomotive loss and fatal accident avoided.And this motion control apparatus is simple in structure, thereby has reduced productive costs.
Other feature and advantage of the present utility model will partly be described in detail in the specific embodiment subsequently.
Description of drawings
Accompanying drawing is to be used to provide further understanding of the present utility model, and consists of the part of specification sheets, is used from explanation the utility model with the following specific embodiment one, but does not consist of restriction of the present utility model.In the accompanying drawings:
Fig. 1 is the structured flowchart of the motion control apparatus of kinematic mechanism of the present utility model;
Fig. 2 is the workflow diagram according to the motion control apparatus of the kinematic mechanism of the utility model embodiment.
The specific embodiment
Below in conjunction with accompanying drawing the specific embodiment of the present utility model is elaborated.Should be understood that, the specific embodiment described herein only is used for description and interpretation the utility model, is not limited to the utility model.
As shown in Figure 1, the motion control apparatus of the kinematic mechanism that the utility model provides comprises interconnective detector 11 and control setup 10, and wherein control setup 10 comprises upper computer 13 and motion control device 14.Detector 11 links to each other with kinematic mechanism 12, be responsible for detecting the position of kinematic mechanism 12, and the location information of kinematic mechanism 12 being sent to the motion control device 14 of control setup 10, motion control device 14 converts location information position data to and sends to upper computer 13.Control setup 10 also links to each other with kinematic mechanism 12, upper computer 13 offers motion control device 14 with initial position, speed, acceleration/accel, the final position data of kinematic mechanism 12, motion control device 14 is according to the operation of above-mentioned data and detector 11 feedack controlled motion mechanisms 12, thereby reaches the adjustable purpose of speed, direction that makes kinematic mechanism 12.Because being connected with control loop, all power loops of kinematic mechanism 12 connect by cable, if the data communication device between detector 11 and the control setup 10 is crossed the shielded cable transmission, then power is exported the inevitably signal formation electromagnetic interference to transmitting between detector 11 and the control setup 10, thereby affects the normal operation of kinematic mechanism.Therefore, in order to prevent electromagnetic interference, preferably, the data communication device between detector 11 and the control setup 10 is crossed optical fiber and is transmitted.Simultaneously preferably, detector 11 is coder.
As shown in Figure 2, provide the workflow diagram of motion control apparatus of the kinematic mechanism of the utility model preferred implementation.Control setup 10 sends walking instruction (step 21) to kinematic mechanism 12, so that kinematic mechanism 12 moves accordingly according to initial position, speed, acceleration/accel and final position data; The 1s(step 22 of preferably can delaying time subsequently), perhaps carry out suitable time-delay according to actual conditions, to avoid occurring spurious signal; After time-delay 1s, kinematic mechanism 12 can normally move, and this moment, the data that detect of detector 11 should be constantly to change, and this timed unit 10 is determined according to actual conditions every 1s() position data (step 23) of just storing a kinematic mechanism 12; Then control setup 10 N+1 seconds and the N position data (step 24) of storing during second relatively; If these two position datas are not identical, then think and motion control process (step 25) working properly continue 12 operations of controlled motion mechanism, be back to simultaneously step 23, repeating step 23, step 24 and step 25; If these two position datas are identical, think that then the motion control process breaks down, immediately the 12(of lock motion mechanism step 26).
The motion control device of the kinematic mechanism that provides according to the utility model, can prevent from causing because fibercuts, detector failures etc. cause loss of data the situation of kinematic mechanism driving, thereby avoid because driving causes great engine-damaged accident and fatal accident, guaranteed carrying out smoothly of production.
Below describe by reference to the accompanying drawings preferred implementation of the present utility model in detail; but; the utility model is not limited to the detail in the above-mentioned embodiment; in technical conceive scope of the present utility model; can carry out multiple simple variant to the technical solution of the utility model, these simple variant all belong to protection domain of the present utility model.
Need to prove in addition, each concrete technical characterictic described in the above-mentioned specific embodiment in reconcilable situation, can make up by any suitable mode, for fear of unnecessary repetition, the utility model is to the no longer separately explanation of various possible array modes.
Claims (4)
1. the motion control apparatus of a kinematic mechanism is characterized in that, this equipment comprises:
Detector for detection of the location information of described kinematic mechanism, and is exported this location information; And
Control setup, link to each other with described detector, be used for controlling described kinematic mechanism motion, and after described kinematic mechanism setting in motion, the different described location informations that constantly detect of described detector are compared, if both equate, then judge in the motion control process to have fault, lock described kinematic mechanism.
2. equipment according to claim 1 is characterized in that, described control setup comprises upper computer and motion control device, and described upper computer communicates by described motion control device and described kinematic mechanism and detector.
3. equipment according to claim 1 is characterized in that, described detector is coder.
4. according to the described equipment of each claim in the claims, it is characterized in that, described detector is connected by optical fiber with described control setup.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220492730.4U CN202765874U (en) | 2012-09-21 | 2012-09-21 | Motion control equipment for motion mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220492730.4U CN202765874U (en) | 2012-09-21 | 2012-09-21 | Motion control equipment for motion mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202765874U true CN202765874U (en) | 2013-03-06 |
Family
ID=47772465
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201220492730.4U Expired - Lifetime CN202765874U (en) | 2012-09-21 | 2012-09-21 | Motion control equipment for motion mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202765874U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105259856A (en) * | 2015-11-17 | 2016-01-20 | 中国神华能源股份有限公司 | Tripper galloping detection apparatus and method |
| WO2017140231A1 (en) * | 2016-02-19 | 2017-08-24 | 西安大医数码技术有限公司 | Device and method for monitoring closed-loop control system, and closed-loop control system |
-
2012
- 2012-09-21 CN CN201220492730.4U patent/CN202765874U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105259856A (en) * | 2015-11-17 | 2016-01-20 | 中国神华能源股份有限公司 | Tripper galloping detection apparatus and method |
| CN105259856B (en) * | 2015-11-17 | 2018-07-17 | 中国神华能源股份有限公司 | A kind of dump car driving detection device and method |
| WO2017140231A1 (en) * | 2016-02-19 | 2017-08-24 | 西安大医数码技术有限公司 | Device and method for monitoring closed-loop control system, and closed-loop control system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130306 |