CN204057248U - Stacker running state monitoring and automatic brake arrangement - Google Patents
Stacker running state monitoring and automatic brake arrangement Download PDFInfo
- Publication number
- CN204057248U CN204057248U CN201420421730.4U CN201420421730U CN204057248U CN 204057248 U CN204057248 U CN 204057248U CN 201420421730 U CN201420421730 U CN 201420421730U CN 204057248 U CN204057248 U CN 204057248U
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- Prior art keywords
- stacker
- running state
- state monitoring
- axle
- brake
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Abstract
The utility model provides a kind of stacker running state monitoring and automatic brake arrangement, comprise electric control system, running state monitoring sensor and brake component, electric control system comprises memory cell and arithmetic element, speed, acceleration/accel etc. that stacker manipulator runs are by as controling parameters, and the benchmark value setting this controling parameters is stored in this memory cell; Described arithmetic element is used for the easy detection limit of described running state monitoring sensor Real-Time Monitoring and benchmark value to compare computing; Speed, acceleration/accel etc. that running state monitoring sensor Real-Time Monitoring machine stacker manipulator runs; Brake component sends signal control brake component in described electric control system and brakes described stacker manipulator.The utility model by monitoring the speed of operational process manipulator or acceleration/accel, and is braked when there are abnormal condition, thus stops potential safety hazard.
Description
Technical field
The utility model relates to a kind of palletizing apparatus, especially a kind of stacker running state monitoring and automatic brake arrangement.
Background technology
Chinese utility model patent CN200971269 disclosed in 2007-11-07 discloses a kind of stacker, as shown in Figure 1, this stacker is the mechanical equipment operated by Controlled by Programmable Controller, comprises frame 1, motor vertical 2, horizontal linear guide rail 3, horizontal motor 4, jacking system 5, manipulator 6.Horizontal linear guide rail 3 is fixed in frame 1, horizontal linear guide rail 3 is provided with jacking system 5, and horizontal motor 4 is fixed on and frame 1 controls jacking system 5 moves along horizontal linear guide rail 3.Jacking system 5 is a kind of linear transmission mechanisms rotary motion being converted to linear reciprocating motion, and motor vertical 2 is fixed on the top of jacking system 5, controls jacking system 5 up-and-down movement, thus driving mechanical hand 6 up-and-down movement.This jacking system 5 is a kind of gear rack arrangement, its middle gear 52 is driving links, tooth bar 51 is driven members, gear 52 is located on the first axle 53 and is driven by motor vertical 2, therefore, first axle 53 is the axle drive shaft of jacking system 5, jacking system 5 also comprises the second axle 54, second axle 54 is form with the first axle 53 driven shaft retraining and limit jacking system 5 and only move up and down, a plural number manipulator 6 is connected with below tooth bar 51, every two manipulators 6 form a pair, have clamping mechanism between often pair of two manipulators 6.Once can press from both sides polylith adobe and carry out direct piling, achieve the mechanization of adobe piling, reduce labour intensity, improve efficiency.
Motor vertical is generally reducing motor, but because reducing motor has certain service life, because the deadweight of stacker manipulator and clamped brick thereof will make whole mechanism hurtle down when reducing motor breaks down, until run into obstacle or arrive the limit of whole mechanism kinematic position, by the personal safety causing the damage of equipment even to threaten operating personal.Simultaneously in stacker operational process, there is unpredictalbe situation, such as operating personal is violated working specification and is entered stacker manipulator operation area, likely encountered by the stacker manipulator moved downward, owing to there is sizable inertia when stacker manipulator and clamped brick certain speed move downward, if only rely on artificial surveillance and control measure, exist and need to react in the shortest time during emergency braking, thus there is the possibility caused the accident.
Utility model content
The technical problems to be solved in the utility model, be to provide a kind of stacker running state monitoring and automatic brake arrangement, by directly or indirectly monitoring the speed of stacker robot movement in decline process or acceleration/accel, and brake when there are abnormal condition, thus stop potential safety hazard.
The technical problems to be solved in the utility model is achieved in that a kind of stacker running state monitoring and automatic brake arrangement, comprise electric control system, running state monitoring sensor and brake component, described electric control system is connected with described running state monitoring sensor and brake component respectively;
Described electric control system comprises memory cell and arithmetic element, the speed that described stacker manipulator runs, acceleration/accel, the easy detection limit that has functional relation with speed or acceleration/accel are by as controling parameters, and the benchmark value setting this controling parameters is stored in this memory cell; Described arithmetic element is used for the benchmark value in the easy detection limit of described running state monitoring sensor Real-Time Monitoring and described memory cell to compare computing;
Described running state monitoring sensor is located at the axle drive shaft for the jacking system driving stacker manipulator to run, with in the operational process of stacker, the speed that Real-Time Monitoring machine stacker manipulator runs or acceleration/accel or the easy detection limit that has functional relation with speed or acceleration/accel;
Described brake component connects described jacking system, sends signal control brake component brake described stacker manipulator in described electric control system.
Further, brake component described in the utility model comprises 2 independently brake assemblies, on the first axle being located at stacker respectively and on the second axle; Described first axle is the axle drive shaft of described jacking system, and described second axle is form the driven shaft retraining and limit jacking system and only move up and down with the first axle, and described manipulator is driven by this jacking system and runs.Described 2 independently in brake assemblies the first brake assemblies be there is the HM Hydraulic Motor of balanced loop back pressure or there is the reducing motor of braking mode, this HM Hydraulic Motor or reducing motor are located on the first axle of stacker; Second brake assemblies is electromagnetic power brake, is located on the second axle of stacker.
Further, described running state monitoring sensor is located on the first axle, the second axle or tooth bar, goes back or is located on the motor shaft of described reducing motor.
Further, running state monitoring sensor described in the utility model can be rotary encoder.
The utility model tool has the following advantages: the utility model is by the easily detection limit such as the speed of manipulator in monitoring stacker operational process or acceleration/accel, can react rapidly to abnormal condition, the generation of effective Accident prevention, and the safety by adopting the brake component of redundancy to improve system, the probability that accident occurs is reduced several orders of magnitude.
Accompanying drawing explanation
The utility model is further described with reference to the accompanying drawings in conjunction with the embodiments.
Fig. 1 is the structural representation of a stacker in prior art.
Fig. 2 is the structural representation of the utility model stacker running state monitoring and automatic brake arrangement.
Fig. 3 is the functional block diagram of the utility model stacker running state monitoring and automatic brake arrangement.
Fig. 4 is the flowchart of the utility model stacker running state monitoring and automatic brake arrangement operational process.
Detailed description of the invention
As shown in Figure 1 to Figure 3, stacker running state monitoring of the present utility model and automatic brake arrangement are the functions that running state monitoring and autobrake are set up in the basis of stacker shown in Fig. 1, device comprises electric control system 7, running state monitoring sensor 8 and brake component 9, and described electric control system 7 is connected with described running state monitoring sensor 8 and brake component 9 respectively;
Described electric control system 7 comprises memory cell 71 and arithmetic element 72, the speed that described stacker manipulator 6 runs, acceleration/accel, the easy detection limit that has functional relation with speed or acceleration/accel are by as controling parameters, and the benchmark value setting this controling parameters is stored in this memory cell; Described arithmetic element 72 is for comparing computing by the benchmark value in the easy detection limit of described running state monitoring sensor Real-Time Monitoring and described memory cell 71; Benchmark value described in the utility model is the allowed band value of described controling parameters or the change curve of this controling parameters and the deviation value of permission.
Described running state monitoring sensor 8 is located at axle drive shaft i.e. first axle 53 of the jacking system 5 for driving stacker manipulator 6 to run, with in the operational process of stacker, the speed that Real-Time Monitoring machine stacker manipulator 6 runs or acceleration/accel or the easy detection limit that has functional relation with speed or acceleration/accel;
Running state monitoring sensor 8 described in the utility model can be rotary encoder.Certainly, described running state monitoring sensor 8 also can be located on the second axle 54 or tooth bar 51, or is located on the described reducing motor i.e. motor shaft of the first brake assemblies 91 or motor vertical 2.
Described brake component 9 connects described jacking system 5, sends signal control brake component 9 brake described stacker manipulator 6 in described electric control system 7.
Brake component 9 described in the utility model can comprise 2 independently brake assemblies, on the first axle 53 being located at stacker respectively and on the second axle 54; First brake assemblies 91 is for having the HM Hydraulic Motor of balanced loop back pressure or having the reducing motor of braking mode, this reducing motor bears the function of motor vertical 2 simultaneously, namely the first brake assemblies 91 is same motor with motor vertical 2, and this HM Hydraulic Motor or reducing motor are located on the first axle 53 of stacker; Second brake assemblies 92 is electromagnetic power brake; Be located on the second axle 54 of stacker; Described first axle 53 is the axle drive shaft of jacking system, and described second axle 54 and the first axle 53 form the driven shaft retraining the tooth bar 51 limited in jacking system 5 and only move up and down, and described manipulator 6 drives operation by this jacking system 5.Two independently brake assemblies are set, can after a brake assemblies lose efficacy, another still can work on.
Setup control parameter is the speed, acceleration/accel or the described easy detection limit that are detected by rotary encoder, to be benchmark value be benchmark value gathers the change curve of speed, acceleration/accel or described easy detection limit under normal operating condition, the departing from of speed in operational process, acceleration/accel or described easy detection limit stores curve numerical value when exceeding the permissible variation value of setting, and electric control system sends whistle control system and enters braking mode.After completing braking, rising certain altitude makes stacker and obstacle disengage.The arithmetic speed detecting frequency and arithmetic element according to current sensor can in 10ms to stacker operational process in abnormal condition are reacted rapidly, the generation of effective Accident prevention.Wherein said easy detection limit is relevant with described brake component 9 (being also driving arrangement) simultaneously, if adopt the reducing motor with braking mode to drive, described easy detection limit refers to motor working current; If by the fluid motor-driven with balanced loop back pressure, easy detection limit refers to that the inlet and outlet pressure of HM Hydraulic Motor is poor; In fact with rotary encoder, directly degree of testing the speed or acceleration/accel are more accurate; Easy detection limit is indirect detection, has certain error.
As shown in Figures 1 to 4, the operational process of stacker running state monitoring of the present utility model and automatic brake arrangement comprises:
Step 10, the speed run by stacker manipulator 6, acceleration/accel or the easy detection limit that has functional relation with speed or acceleration/accel are as controling parameters, and the benchmark value setting this controling parameters is stored in the memory cell 71 in electric control system 7; Benchmark value described in the utility model is the allowed band value of described controling parameters or the change curve of this controling parameters and the deviation value of permission.
Step 20, in the operational process of stacker, the speed run by running state monitoring sensor 8 Real-Time Monitoring machine stacker manipulator 6, acceleration/accel or the easy detection limit that has functional relation with speed or acceleration/accel;
Benchmark value in the speed of described running state monitoring sensor 8 Real-Time Monitoring, acceleration/accel or described easy detection limit and described memory cell 71 is compared computing by step 30, electric control system 7; This can be undertaken by the arithmetic element 72 of electric control system 7, and this arithmetic element 72 can be PLC;
When step 40, speed, acceleration/accel or described easy detection limit when described Real-Time Monitoring exceed benchmark value, described electric control system 7 sends signal control brake component 9 and brakes described stacker manipulator 6.Current rotary encoder and the common response cycle of arithmetic element can control at about 10ms, and whole braking time is effectively shortened.
In sum: the utility model is by the easily detection limit such as the speed of manipulator in monitoring stacker operational process or acceleration/accel, can react rapidly to abnormal condition, the generation of effective Accident prevention, and the safety by adopting the brake component of redundancy to improve system, the probability that accident occurs is reduced several orders of magnitude.
Although the foregoing describe detailed description of the invention of the present utility model; but be familiar with those skilled in the art to be to be understood that; specific embodiment described by us is illustrative; instead of for the restriction to scope of the present utility model; those of ordinary skill in the art, in the modification of the equivalence done according to spirit of the present utility model and change, should be encompassed in scope that claim of the present utility model protects.
Claims (5)
1. a stacker running state monitoring and automatic brake arrangement, it is characterized in that: comprise electric control system, running state monitoring sensor and brake component, described electric control system is connected with described running state monitoring sensor and brake component respectively;
Described electric control system comprises memory cell and arithmetic element, the speed that described stacker manipulator runs, acceleration/accel, the easy detection limit that has functional relation with speed or acceleration/accel are by as controling parameters, and the benchmark value setting this controling parameters is stored in this memory cell; Described arithmetic element is used for the benchmark value in the easy detection limit of described running state monitoring sensor Real-Time Monitoring and described memory cell to compare computing;
Described running state monitoring sensor is located at the jacking system for driving stacker manipulator to run, with in the operational process of stacker, the speed that Real-Time Monitoring machine stacker manipulator runs or acceleration/accel or the easy detection limit that has functional relation with speed or acceleration/accel;
Described brake component connects described jacking system, sends signal control brake component brake described stacker manipulator in described electric control system.
2. stacker running state monitoring according to claim 1 and automatic brake arrangement, is characterized in that: described brake component comprises 2 independently brake assemblies, on the first axle being located at stacker respectively and on the second axle; Described first axle is the axle drive shaft of described jacking system, and described second axle is form the driven shaft retraining and limit jacking system and only move up and down with the first axle, and described manipulator is driven by this jacking system and runs.
3. stacker running state monitoring according to claim 2 and automatic brake arrangement, it is characterized in that: described 2 independently in brake assemblies the first brake assemblies be there is the HM Hydraulic Motor of balanced loop back pressure or there is the reducing motor of braking mode, this HM Hydraulic Motor or reducing motor are located on the first axle of stacker; Second brake assemblies is electromagnetic power brake, is located on the second axle of stacker.
4. stacker running state monitoring according to claim 3 and automatic brake arrangement, is characterized in that: described running state monitoring sensor is located on the first axle, the second axle or tooth bar, goes back or is located on the motor shaft of described reducing motor.
5. stacker running state monitoring according to claim 1 and automatic brake arrangement, is characterized in that: described running state monitoring sensor is rotary encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420421730.4U CN204057248U (en) | 2014-07-29 | 2014-07-29 | Stacker running state monitoring and automatic brake arrangement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420421730.4U CN204057248U (en) | 2014-07-29 | 2014-07-29 | Stacker running state monitoring and automatic brake arrangement |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204057248U true CN204057248U (en) | 2014-12-31 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420421730.4U Withdrawn - After Issue CN204057248U (en) | 2014-07-29 | 2014-07-29 | Stacker running state monitoring and automatic brake arrangement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204057248U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104192573A (en) * | 2014-07-29 | 2014-12-10 | 福建海源自动化机械股份有限公司 | Method and device for operating state monitoring and automatic braking of stacker crane |
| CN106313053A (en) * | 2016-10-21 | 2017-01-11 | 北京七星华创电子股份有限公司 | Wafer transfer manipulator with anticollision function and anticollision method thereof |
-
2014
- 2014-07-29 CN CN201420421730.4U patent/CN204057248U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104192573A (en) * | 2014-07-29 | 2014-12-10 | 福建海源自动化机械股份有限公司 | Method and device for operating state monitoring and automatic braking of stacker crane |
| CN106313053A (en) * | 2016-10-21 | 2017-01-11 | 北京七星华创电子股份有限公司 | Wafer transfer manipulator with anticollision function and anticollision method thereof |
| CN106313053B (en) * | 2016-10-21 | 2018-12-18 | 北京北方华创微电子装备有限公司 | A kind of biography piece manipulator and its avoiding collision with collision prevention function |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20141231 Effective date of abandoning: 20160511 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |