CN208234400U - A kind of linear motion monitoring feedback module, monitoring system and Overhead travelling crane system - Google Patents
A kind of linear motion monitoring feedback module, monitoring system and Overhead travelling crane system Download PDFInfo
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- CN208234400U CN208234400U CN201820577973.5U CN201820577973U CN208234400U CN 208234400 U CN208234400 U CN 208234400U CN 201820577973 U CN201820577973 U CN 201820577973U CN 208234400 U CN208234400 U CN 208234400U
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Abstract
The utility model discloses a kind of monitoring feedback modules, comprising: driving gear set, feedback transmission mechanism, screw rod, sliding block and displacement sensor；Wherein, driving gear set includes driving gear and driven gear, and driving gear is arranged on the transmission shaft of the driving assembly of linear motion device, and driven gear is connect with one end of feedback transmission mechanism and engaged with certain gear ratio with driving gear；The other end connection wire rod of transmission mechanism is fed back, is provided with sliding block on screw rod, sliding block moves along a straight line under the driving of screw rod；Displacement sensor is arranged in parallel with screw rod, and monitors the displacement data of sliding block.The utility model monitoring feedback module and monitoring system realize the position closed loop feedback to linear motion device especially Overhead travelling crane system.
Description
Technical field
The utility model relates to a kind of motion monitoring feedback modules, and in particular to a kind of feedback mould for linear motion
Block, monitoring system and the Overhead travelling crane system with the application feedback module.
Background technique
It is frequently necessary to use some devices by the work such as being transported, being produced, example in the prior art
Such as overhead traveling crane, truss can directly monitor its practical movement position in these linear motions sometimes, and directly monitoring is often made
Situations such as at wiring disorder.In addition, in some special screnes, such as hot cell, sensor for directly monitoring etc. often because
Radiation and it is impacted, cannot keep its monitoring accuracy, needless to say some radiation will cause sensor damage, failure,
Thus, existing linear motion Overhead travelling crane system is generally driven using the radiation hardness servo motor with rotary encoder in hot cell,
The power-off truck position day after tomorrow can not save, and must return to zero again when being powered every time, therefore just need the extreme position in each kinematic axis
Radiation hardness limit switch is installed as motion detection origin.In order to ensure overhead traveling crane accurate positioning, system also needs to carry out position closed loop
Detection, i.e., be arranged multiple position detection points on each kinematic axis, and installation radiation hardness displacement sensor realizes position closed loop detection.It is right
In leakproofness and the higher hot cell of shielding class requirement, do not allow inside hot cell there are when any electrical component and route, then
The driving motor of Overhead travelling crane system will must be placed in outside hot cell, and each linear motion axis can not install any position sensor.It is existing
Driving, limit with the presence of Overhead travelling crane system linear motion are zeroed and the following drawback of method of position feedback: 1) can make inside hot cell
There are a large amount of power cables and the communications cable, the quantity of penetration piece and electrical connector on the wall of hot cell is caused to increase, it is serious to increase
Heat room leakproofness, the design difficulty of shielding and manufacturing cost.2) driving motor of overhead traveling crane and sensor are placed in inside hot cell,
When failure needs Maintenance and Repair, since personnel not can enter radioactive environment, all operations all need to pass through slave
The long-distance operating devices such as tool hand are realized；And the only achievable clamping, expansion action of the end-effector of master slave manipulator, for failure
The accurate operations such as disassembly, installation, the electric connector plug of motor and position sensor, are difficult to smoothly complete substantially, drop significantly
The low maintainability of equipment.If 3) do not install sensor, Overhead travelling crane system can only be arranged by the extreme position in each kinematic axis
For block to carry out mechanical position limitation, the origin of each axis of motion zero of such Overhead travelling crane system is simultaneously indefinite, is easy in limit position
Setting appearance and hitting causes to damage, safety it is difficult to ensure that, and cannot achieve closed loop location control, seriously affect Overhead travelling crane system
Positioning accuracy and repetitive positioning accuracy.
Utility model content
The utility model embodiment provide it is a kind of can real-time monitoring linear motion state linear motion monitoring feedback mould
Block can be such that each kinematic axis of overhead traveling crane has specific without adding the electrical components such as any sensor on former linear motion axis
Be zeroed origin, and automatic spacing stops when moving to extreme position, and moves to overhead traveling crane and carry out position closed loop feedback, improves operation essence
Degree.In order to which some aspects of the embodiment to disclosure have a basic understanding, simple summary is shown below.The summary portion
Dividing is not extensive overview, nor to determine key/critical component or describe the protection scope of these embodiments.It is unique
Purpose is that some concepts are presented with simple form, in this, as the preamble of following detailed description.
According to the utility model embodiment in a first aspect, providing a kind of monitoring feedback module, comprising: transmission gear
Group, feedback transmission mechanism, screw rod, sliding block and displacement sensor；
Wherein, the driving gear set includes driving gear and driven gear, and the driving gear setting is moving along a straight line
On the transmission shaft of the driving assembly of device, the driven gear connect with one end of feedback transmission mechanism and with certain gear ratio and
Driving gear engagement；The other end connection wire rod of the feedback transmission mechanism, is provided with sliding block on the screw rod, the sliding block exists
It moves along a straight line under the driving of screw rod；Institute's displacement sensors are arranged in parallel with the screw rod, and monitor the displacement data of sliding block.
Preferably, i1×i2=l1/l2, wherein i1For the speed ratio of driving gear set, i2For feed back transmission mechanism speed ratio,
l1For the stroke of linear motion axis, l2For the stroke of sliding block.
In one embodiment according to the present utility model, triggering block, the slider displacement row are provided on the sliding block
Initial limit switch and finishing limit switch is respectively set in the both ends of journey, when the triggering block touches initial limit switch, directly
Line telecontrol equipment is located at the initial position of linear motion；When the triggering block touching finishing limit switch, linear motion device position
In the final position of linear motion.
In one embodiment according to the present utility model, institute's displacement sensors further include Displacement Feedback module, described
The control module communication connection of Displacement Feedback module and linear motion device.
The utility model additionally provides a kind of for monitoring the monitoring system of linear motion state, the prison in isolation environment
Examining system includes: above-mentioned monitoring feedback module and linear motion axial brake device；The monitoring system is provided with and straight line
The corresponding monitoring feedback module of kinematic axis corresponding number and linear motion axial brake device；
Wherein, the linear motion axial brake device includes motor and transmission shaft, and motor setting is on the outside of isolation metope, institute
State transmission shaft one end connection motor, the other end pass through isolation metope with the linear motion axis connection being isolated on the inside of metope is set；
The monitoring feedback module setting is on the outside of isolation metope, and the driving gear of driving gear set is fixed on the transmission shaft
On.
In one embodiment according to the present utility model, the linear motion axial brake device further includes control module,
The control module and corresponding monitoring feedback device communication connection.
The utility model further provides a kind of Overhead travelling crane system for hot cell, including setting is transported in the indoor straight line of heat
Moving axis, the driving device that hot cell outer wall is set and above-mentioned monitoring feedback module；
Wherein, the linear motion axis is multiple, the quantity and the straight line of the driving device and monitoring feedback module
The quantity of kinematic axis is corresponding；The transmission shaft of the driving device passes through the barrier shield and corresponding linear motion axis in hot cell
It connects, the driving gear of corresponding monitoring feedback module is respectively fixedly connected on the transmission shaft of each driving device.
The utility model is by the transmission mechanism in parallel with linear motion axis by the actual motion state of linear motion device
The synchronous reproduction of equal proportion, and real-time monitoring feedback is carried out to the motion state of linear motion axis.Therefore it only needs to control monitoring anti-
The motion state of feedback system, it will be able to realize the motion control to linear motion device, especially apply in isolation rings such as hot cells
When border, the electrical components such as any sensor are added without the inside in hot cell, make each kinematic axis of overhead traveling crane linear motion device
With specific zero origin, automatic spacing stops when moving to extreme position, and moves to overhead traveling crane and carry out position closed loop feedback,
Running precision is improved, the position closed loop feedback to linear motion device especially Overhead travelling crane system is realized.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows and meets the utility model
Embodiment, and be used to explain the principles of the present invention together with specification.
Fig. 1 is the structure of one embodiment of the monitoring feedback module of monitoring linear motion state according to the present utility model
Schematic diagram；
Fig. 2 is the partial structural diagram of the monitoring system of monitoring linear motion state according to the present utility model.
Specific embodiment
The following description and drawings fully show the specific embodiment of the utility model, so that those skilled in the art
Them can be practiced.Embodiment only represents possible variation.Unless explicitly requested, otherwise individual components and functionality is optional
, and the sequence operated can change.The part of some embodiments and feature can be included in or replace other implementations
The part of scheme and feature.The range of the embodiments of the present invention includes the entire scope and right of claims
All obtainable equivalents of claim.Herein, each embodiment can be by individually or generally " practical new with term
Type " indicates that this is not meant to automatic just for the sake of convenient, and if in fact disclose the utility model more than one
The range that ground limits the application is that any single utility model or utility model are conceived.Herein, first and second grades
The relational terms of class are used only for distinguishing one entity or operation from another entity or operation, without requiring or
Imply that there are any actual relationship or sequences between these entities or operation.Moreover, the terms "include", "comprise" or its
Any other variant is intended to non-exclusive inclusion, so that including the process, method or equipment of a series of elements
It include not only those elements, but also including other elements that are not explicitly listed.Each embodiment herein is using progressive
Mode describes, and each embodiment focuses on the differences from other embodiments, identical phase between each embodiment
Like partially may refer to each other.For structure, product disclosed in the embodiment etc., as itself and part phase disclosed in embodiment
Corresponding, so being described relatively simple, reference may be made to the description of the method.
According to the utility model embodiment in a first aspect, providing a kind of monitoring feedback module for monitoring linear motion state
With linear motion axial brake device a kind of combining form, as shown in Figure 1, in this embodiment monitor feedback module and straight line fortune
Moving axis driving device is arranged parallel, and the linear motion axial brake device 112 includes motor and transmission shaft 111, transmission shaft 111 1
End connection motor, the other end pass through isolation metope with the linear motion axis connection being isolated on the inside of metope is set；The monitoring is anti-
Module setting is presented on the outside of isolation metope, linear motion axial brake device 112 delivers power to straight line fortune by transmission shaft 111
Moving axis, to drive linear motion axis to rotate.As shown in Figure 1, monitor feedback module, comprising: driving gear set, feedback driver
Structure 103, screw rod 104, sliding block 105 and displacement sensor 106.Wherein, the driving gear set includes driving gear 101 and passive
Gear 102, the transmission shaft 111 for driving linear motion device is arranged in driving gear 101, and driven gear 102 is with one
Fixed gear with driving gear 101 than engaging and connecting with one end of feedback transmission mechanism 103.The feedback transmission mechanism 103 can
With the rotation axis connecting with driven gear 102, it is also possible to engage the deceleration device constituted by multi-stage gear, for example, feedback passes
Motivation structure by using be speed ratio that planetary reduction gear obtains 50 times, set the speed ratio of driving gear set as i1=2.4,
The speed ratio for feeding back transmission mechanism is i2=50, monitor overall ratio i=i of the feedback module relative to linear motion axis1×i2=125,
Since linear motion axis is identical with the monitoring driving input speed of feedback module, thus the speed of service ratio of the two is 125,
That is the stroke l of linear motion axis1For the slider stroke l for monitoring feedback module2125 times.It is adjusted so as to further fine
Whole slowing effect, to more accurately feed back linear motion state.Feedback transmission mechanism 103 other end connection wire rod 104,
Sliding block 105 is provided on screw rod 104, sliding block 105 moves along a straight line under the driving of screw rod 104, with synchronous reflection linear motion
The motion state of device；And displacement sensor 106 is arranged in parallel with screw rod 104, and monitors the displacement data of sliding block, thus effectively
The motion state for feedbacking and controlling linear motion device.As shown in Figure 1, triggering block 108 is additionally provided on sliding block 105, and
Initial limit switch 109 and finishing limit switch is respectively set at the both ends for the displacement stroke that sliding block 105 is slided along screw rod
110, when triggering block 108 touches initial limit switch 109, linear motion device is adjacent to the initial position of its linear motion；
And when triggering block 108 touch finishing limit switch 110 when, linear motion device adjacent to its linear motion final position, thus
Fierce collision can be generated to avoid linear motion device and the limiting device of its own.Further, displacement sensor 106 is gone back
It may include Displacement Feedback module, the control module communication connection of the Displacement Feedback module and linear motion device.Displacement passes
Sensor 106 may include probe 106 and sensor body, as shown in Figure 1, probe 107 is arranged on sliding block 105, the probe
107 extend at displacement sensor ontology and with displacement sensor body contacts, so as to pass through resistance, voltage or electric current etc.
The sensitive monitoring misalignment of variation.Above-mentioned monitoring system linear movement axial brake device is arranged parallel with monitoring feedback module
A kind of preferred embodiment, the preferred embodiment can drive it is external be applied to isolation environment, such as hot cell, thus make circuit,
Sensor etc. not will receive the influence or damage of radiation.It should be appreciated that in use, can also be using in addition under open environment
Embodiment, such as linear motion axis driving device transmission shaft is extended it is some to install driving gear.
Fig. 2 show the monitoring system according to the present utility model for the monitoring linear motion state in isolation environment
Partial structural diagram, in this embodiment, isolation environment are hot cell, and the device for executing linear motion is overhead traveling crane.Such as Fig. 2 institute
Show, the monitoring system includes: the X-axis for respectively corresponding overhead traveling crane, the drive of the X-axis of three linear motion axis of Y-axis and Z axis in this embodiment
Dynamic device 201, X-axis monitoring feedback module 202, Y-axis driving device 203, Y-axis monitoring feedback module 204 and Z axis driving device
205, Z axis monitors feedback module 206.As shown in Figure 2, X-axis driving device 201, Y-axis driving device 203, Z axis driving device
205 respective transmission shafts are each passed through hot cell isolated wall 200, connect with the X-axis of overhead traveling crane 207, Y-axis and Z axis, to drive overhead traveling crane
It is moved along X-axis, Y-axis or Z axis, and transmission shaft drives the driving gear rotation of corresponding monitoring feedback module simultaneously, and actively
Gear drives driven gear driven rotation, by the way that the slowing effect of certain gear ratio is arranged, makes the feedback for monitoring feedback module
Transmission mechanism is rotated with certain rate, and then drives screw rod rotation, and screw rod will drive sliding block to slide along screw rod, pass through tooth
The slowing effect for taking turns ratio keeps the sliding stroke of sliding block corresponding with the stroke of overhead traveling crane on corresponding linear motion axis, so as to
The intuitive motion state by sliding block reflects the motion state of overhead traveling crane.Of course it is to be understood that monitoring feedback module and driving dress
The quantity set and the quantity of practical application linear movement axis are consistent, and can be only X-axis and Y-axis, can also be according to need
More quantity are set.Further, linear motion axial brake device further includes control module, control module with it is respective corresponding
Monitoring feedback device communication connection, to be adjusted in time directly according to the slide block movement state that monitors of monitoring feedback device in time
The motion state of line kinematic axis.Certainly, isolation environment is not limited in hot cell, and linear motion axis is also not necessarily limited to overhead traveling crane, for example,
Also it can be applied to the monitoring of the kinematic axis of truss robot or the kinematic axis of arm robot.
The utility model further provides a kind of monitoring method of the real time kinematics of overhead traveling crane in hot cell, comprising:
Set the displacement that certain gear ratio makes slider stroke correspond to corresponding overhead traveling crane linear motion axis with certain proportion
Stroke；
The both ends setting of slider stroke corresponds respectively to the initial position and final position of corresponding overhead traveling crane linear motion axis
Starting point and ending point；
The absolute displacement for reading sliding block is detected by displacement sensor, and then calculates overhead traveling crane on corresponding linear motion axis
Physical location.
In one embodiment according to the present utility model, the monitoring method further include: when overhead traveling crane is transported adjacent to a certain straight line
When the initial position of moving axis, the triggering block on corresponding sliding block touches corresponding initial limit switch, and corresponding displacement sensor will
Displacement data zero.In one embodiment according to the present utility model, the monitoring method further include: when overhead traveling crane move to it is neighbouring
When the terminal of a certain linear motion axis, the triggering block on corresponding sliding block touches corresponding finishing limit switch, and corresponding displacement passes
Sensor issues endpoint information to control module, and control module stops driving overhead traveling crane in the linear motion axis after receiving endpoint information
On continue to move to terminal direction.In one embodiment according to the present utility model, the monitoring method further include: pass through monitoring
The physical location of the displacement Real-time Feedback overhead traveling crane of sliding block, and coordinate moving line of the overhead traveling crane on different linear motion axis.It is logical
The optimization design to moving line is crossed, the energy consumption and reproduced time of overhead traveling crane movement are reduced, and then promotes working efficiency.
It should be understood that the utility model is not limited to the process and knot for being described above and being shown in the accompanying drawings
Structure, and various modifications and changes may be made without departing from the scope thereof.The scope of the utility model is only wanted by appended right
It asks to limit.
Claims (6)
1. a kind of monitoring feedback module characterized by comprising driving gear set, feedback transmission mechanism, screw rod, sliding block and position
Displacement sensor；
Wherein, the driving gear set includes driving gear and driven gear, and the driving gear is arranged in linear motion device
Driving assembly transmission shaft on, the driven gear with feedback transmission mechanism one end connect and with certain gear ratio with active
Gear engagement；The other end connection wire rod of the feedback transmission mechanism, is provided with sliding block on the screw rod, the sliding block is in screw rod
Driving under move along a straight line；Institute's displacement sensors are arranged in parallel with the screw rod, and monitor the displacement data of sliding block.
2. monitoring feedback module as described in claim 1, which is characterized in that be provided with triggering block, the cunning on the sliding block
Initial limit switch and finishing limit switch is respectively set in the both ends of block displacement stroke, and the triggering block touches initial limit and opens
Guan Shi, linear motion device are located at the initial position of linear motion；When the triggering block touching finishing limit switch, linear motion
Device is located at the final position of linear motion.
3. monitoring feedback module as claimed in claim 2, which is characterized in that institute's displacement sensors further include Displacement Feedback mould
Block, the control module communication connection of the Displacement Feedback module and linear motion device.
4. a kind of for monitoring the monitoring system of isolation environment linear movement state, which is characterized in that the monitoring system packet
It includes: monitoring feedback module and linear motion axial brake device as claimed any one in claims 1 to 3；The monitoring system
System is provided with monitoring feedback module corresponding with linear motion axis corresponding number and linear motion axial brake device；
Wherein, the linear motion axial brake device includes motor and transmission shaft, and motor setting is on the outside of isolation metope, the biography
Moving axis one end connect motor, the other end pass through isolation metope with the linear motion axis connection being isolated on the inside of metope is set；It is described
Feedback module setting is monitored on the outside of isolation metope, and the driving gear of driving gear set is fixed on the transmission shaft.
5. monitoring system as claimed in claim 4, which is characterized in that the linear motion axial brake device further includes control mould
Block, the control module and corresponding monitoring feedback device communication connection.
6. a kind of Overhead travelling crane system for hot cell, which is characterized in that including setting in the indoor linear motion axis of heat, setting in heat
The driving device of chamber outer wall and feedback module is monitored as claimed any one in claims 1 to 3；
Wherein, the linear motion axis is multiple, the quantity and the linear motion of the driving device and monitoring feedback module
The quantity of axis is corresponding；The transmission shaft of the driving device passes through the barrier shield in hot cell and corresponding linear motion axis connects
It connects, the driving gear of corresponding monitoring feedback module is respectively fixedly connected on the transmission shaft of each driving device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820577973.5U CN208234400U (en) | 2018-04-20 | 2018-04-20 | A kind of linear motion monitoring feedback module, monitoring system and Overhead travelling crane system |
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| CN201820577973.5U CN208234400U (en) | 2018-04-20 | 2018-04-20 | A kind of linear motion monitoring feedback module, monitoring system and Overhead travelling crane system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108483261A (en) * | 2018-04-20 | 2018-09-04 | 北京轩宇智能科技有限公司 | A kind of linear motion monitoring feedback module and its monitoring method and application |
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- 2018-04-20 CN CN201820577973.5U patent/CN208234400U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108483261A (en) * | 2018-04-20 | 2018-09-04 | 北京轩宇智能科技有限公司 | A kind of linear motion monitoring feedback module and its monitoring method and application |
| CN108483261B (en) * | 2018-04-20 | 2024-02-27 | 北京轩宇智能科技有限公司 | Linear motion monitoring feedback module, and monitoring method and application thereof |
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