WO2013075449A1

WO2013075449A1 - Device and method for measuring slip-fit mechanism and slip-fit mechanism and cargo container stacking machine comprising the device

Info

Publication number: WO2013075449A1
Application number: PCT/CN2012/073953
Authority: WO
Inventors: 金晶; 李江涛; 石伟
Original assignee: 三一集团有限公司
Priority date: 2011-11-24
Filing date: 2012-04-12
Publication date: 2013-05-30
Also published as: CN102506784B; CN102506784A

Abstract

Disclosed is a device and method for measuring a slip-fit mechanism. The device comprises a controller (430), a signal generator (420) and induction blocks (411, 412, 413), wherein the signal generator (420) is mounted on a basic component (210); the induction blocks (411, 412, 413) are mounted on a sliding component (220) and arranged successively along a first reference direction; based on one of the induction blocks (411, 412, 413), the signal generator (420) is able to generate at least three induction signals successively; the controller (430) predetermines at least three status parameters, and is able to update the value of the status parameters according to the induction signals generated by the signal generator (420) and a predetermined update strategy; and the controller is also able to determine the current position parameter of the sliding component (220) according to the value of the status parameters and a predetermined processing strategy. Also disclosed are a slip-fit mechanism and a cargo container stacking machine comprising the device

Description

Apparatus and method for measuring a sliding fit mechanism and a sliding fit mechanism and container stacker including the same are filed on November 24, 2011, the Chinese Patent Office, the application number is 201110378320.7, and the invention name is "sliding fit mechanism and measurement" The priority of the Chinese Patent Application for Apparatus, Measurement, and Container Stacker, the entire contents of which is incorporated herein by reference.

Technical field

The present invention relates to a state measuring technique, and more particularly to a device for measuring a sliding fit mechanism, and to a sliding fit mechanism and a container stacker including the measuring device.

Background technique

The stacker is a common mechanical device. Please refer to FIG. 1 , which is a schematic structural view of a container stacker. The container stacker includes a vehicle body 100, a first door frame 210, a second door frame 220 and a spreader 300. The first door frame 210 may be an outer door frame, and the second door frame 220 may be an inner door frame, an outer door. The frame and the inner door frame form a gantry mechanism of the container stacker. The first door frame 210 is disposed substantially vertically and connected to the vehicle body 100; the second door frame 220 is also disposed substantially vertically and slidably mounted outside the first door frame 210; the second door can be made by a suitable driving mechanism The frame 220 slides in the vertical direction with respect to the first gantry 210. The spreader 300 is slidably mounted outside of the second gantry 220, and the spreader 300 is slidable relative to the second gantry 220 by the appropriate drive mechanism. When the container is shipped and palletized, the second gantry 220 slides to the lowermost end relative to the first gantry 210, and the spreader 300 slides downward relative to the second gantry 220 to a predetermined position and corresponds to the predetermined container. The spreader 300 is locked to the container, and the second gantry 220 is slid upward relative to the first gantry 210 while the spreader 300 is slid upward relative to the second gantry 220. The movement of the spreader 300 drives the container to move upward relative to the vehicle body 100, thereby realizing the lifting of the container, and the stacking and stacking of the container can be realized by appropriate operations.

During the predetermined operation of the container, especially when the work is carried out at a high level, the container is in a higher position, and the inclination angle of the gantry mechanism is changed during the transportation process due to uneven road surface and easy operation; when the inclination angle is too large, it is easy Leading to the dumping accident of the container stacker. To this end, in order to avoid or reduce the occurrence of a tipping accident, it is necessary to determine the height of the spreader 300 or the second gantry 220 (generally, the sliding distance of the second gantry 220 relative to the first gantry 210 and the spreader 300) There is a predetermined ratio between the sliding distances of the second gantry 220, and therefore, the height of the spreader 300 is generally obtained by measuring the height change of the second gantry 220, and then obtaining the height of the spreader 300 by appropriate conversion. Furthermore, it is judged whether the container stacker has the possibility of tipping over, and the tipping warning of the container stacker is realized. At present, it is determined that the height of the second gantry 220 mainly includes laser measurement, ultrasonic measurement, radar measurement, etc.; in the above manner, the height of the second door 220 is obtained by appropriate signal reflection. The above method is not only costly; and since the signal reflection measurement affects the usability due to the influence of the obstruction, it is greatly limited in the application, and its adaptability is difficult to meet the actual needs.

The second gantry 220 of the above-mentioned stacker is regarded as a sliding component, and the first gantry 210 is regarded as a basic component, and the sliding cooperation mechanism formed by the two can also be applied to other working machines and equipment, such as a large mechanical lock. A sliding engagement mechanism formed by the cooperation of the locking pin and the locking base locking hole, and the like. When measuring the working parameters of the sliding fit mechanism in other construction machinery or equipment, the current measurement method also has the problems of high cost and low adaptability. Therefore, when measuring the operating parameters of the sliding fit mechanism, how to improve the adaptability of the measuring device while reducing the cost is a technical problem that those skilled in the art need to solve at present.

Summary of the invention

Accordingly, it is an object of the present invention to provide an apparatus and method for measuring a sliding fit mechanism that is highly adaptable.

In addition to providing the above measuring device, there is also provided a sliding fit mechanism including the above measuring device and a container stacker including the measuring device.

The present invention provides a device for measuring a sliding fit mechanism, the slide fit mechanism including a slide member and a base member that are slidably engaged in a first reference direction; the device includes a controller, a signal generator, and a plurality of sensing blocks;

The signal generator is mounted on the sliding component; the plurality of sensing blocks are mounted on the base component and are sequentially arranged along the first reference direction, and the adjacent sensing blocks are spaced apart by a predetermined standard distance L0; in the first reference direction The maximum sensing distance L1 of the signal generator is smaller than any of the predetermined standard distances L0; during the sliding of the sliding component by a predetermined standard distance L0, the signal generator can sequentially generate at least three types based on a sensing block Inductive signal

The controller is pre-configured with at least three state parameters, and is capable of updating the value of the state parameter according to the sensing signal generated by the signal generator and a predetermined update strategy; and is also capable of determining the sliding according to the value of the state parameter and a predetermined processing strategy The current positional parameters of the part.

Optionally, the signal generator comprises at least three proximity switches mounted on the base component and sequentially arranged along the first reference direction; sliding the sliding component by a predetermined standard distance L0 In the process, the corresponding sensing block can be sequentially opposite to each of the proximity switches, and the signal generator can sequentially generate at least three sensing signals.

Optionally, the controller is preset with at least three state parameters Q1, Q2, and Q3;

The predetermined update strategy includes: when the signal generator generates the sensing signal, and the type of the sensing signal changes, Q3=Q2, so that Q2=Q1, so that Q1 is equal to a predetermined value; and the signal generator changes the signal to the first When the signal is sensed, the predetermined value is A1. When the signal generator senses that the signal changes to the second sensing signal, the predetermined value is A2. When the signal generator senses that the signal changes to the third sensing signal, the predetermined time is predetermined. The value is A3.

The predetermined update strategy includes: when the induced signal generated by the signal generator is a rising edge or a falling edge, making Q3=Q2, making Q2=Q1, making Q1 equal to a predetermined value; generating a first sensing at the signal generator When the signal is a predetermined value A1, when the signal generator generates the second sensing signal, the predetermined value is A2, and when the signal generator generates the third sensing signal, the predetermined value is A3.

Optionally, the controller is preset with at least five state parameters Q1, Q2, Q3, Q4 and

Q5;

The predetermined update policy includes: before Q3 = Q2, Q5 = Q4, and Q4 = Q3. Optionally, the predetermined processing policy includes: a current position parameter of the sliding component is a sliding distance S of the sliding component, J-S=S0+N L0; the SO is an initial position parameter of the sliding component And N is an integer; determining whether the sliding member slides an integer number of predetermined standard distances L0 according to the value of the state parameter, and if so, updating N.

Q5;

The predetermined processing strategy includes: a current position parameter of the sliding component is a sliding distance S of the sliding component, and S=S0+N χ L0; the SO is an initial position parameter of the sliding component, and N is an integer Determining, according to the value of the state parameter, whether the sliding component slides an integer number of predetermined standard distances L0, and if so, updating N;

The predetermined update strategy includes: when the induced signal generated by the signal generator is a rising edge or a falling edge, making Q3=Q2, making Q2=Q1, making Q1 equal to a predetermined value; generating a first sensing at the signal generator When the signal is, the predetermined value is A1, and the second induction signal is generated at the signal generator. When the number is, the predetermined value is A2. When the signal generator generates the third sensing signal, the predetermined value is A3; after updating N, Q1 is equal to A0.

Optionally, a plurality of the sensing blocks are arranged along the first reference direction.

Optionally, the device for measuring the sliding engagement mechanism further comprises an output device connected to the controller, and the output device is capable of outputting the current position parameter.

The sliding engagement mechanism provided by the present invention includes a sliding member and a base member that are slidably fitted in a first reference direction, and further includes any of the above-described devices for measuring a sliding engagement mechanism.

The container stacker provided by the invention comprises a vehicle body, a first door frame, a second door frame and a spreader; the first door frame is connected with the vehicle body; the second door frame is slidably mounted outside the first door frame; The device is slidably mounted on the outside of the second gantry; and is characterized in that it further comprises any of the above-mentioned devices for measuring the sliding engagement mechanism, the sliding member and the base member being a second gantry and a first gantry, respectively.

Optionally, the controller is further configured to determine a height of the spreader relative to the first gantry according to a current position parameter of the second gantry.

In the method for measuring a sliding engagement mechanism provided by the present invention, the sliding engagement mechanism includes a sliding member and a base member that are slidably engaged in a first reference direction; further comprising a signal generator and a plurality of sensing blocks; On the sliding member; a plurality of the sensing blocks are mounted on the base member and sequentially arranged along the first reference direction, and the adjacent sensing blocks are spaced apart by a predetermined standard distance L0; in the first reference direction, the signal occurs The maximum sensing distance L1 of the device is smaller than any of the predetermined standard distances L0; during the sliding of the sliding member by a predetermined standard distance L0, the signal generator can sequentially generate at least three sensing signals based on a sensing block;

The measuring method includes: pre-setting at least three state parameters; updating a value of the state parameter according to the sensing signal generated by the signal generator and a predetermined update strategy; and determining the sliding according to the value of the state parameter and a predetermined processing strategy The current positional parameters of the part.

Optionally, the current position parameter of the sliding component is a sliding distance S of the sliding component, J-S=S0+N L0; the SO is an initial position parameter of the sliding component, and N is an integer; There are at least five state parameters Ql, Q2, Q3, Q4 and Q5;

The measuring method comprises the following steps:

S100, when the sensing signal of the scanning signal generator is a rising edge or a falling edge, make Q5=Q4, make Q4=Q3, make Q3=Q2, make Q2=Q1, make Ql equal to a predetermined value; generate in the signal generator When the first type of signal is sensed, the predetermined value is A1, and the signal generator generates a second type. When the signal is sensed, the predetermined value is A2, and when the signal generator generates the third sensing signal, the predetermined value is A3;

S200, judging whether the second gantry slides by a predetermined standard distance L0 according to the values of the five state parameters Ql, Q2, Q3, Q4 and Q5; if yes, proceeding to step S200; if not, returning to step S100;

S300, update N;

S400, making Q1 equal to A0.

Optionally, the AO is an initial value of each state parameter.

The apparatus for measuring a sliding engagement mechanism provided by the present invention comprises a controller and a signal acquisition device; the signal acquisition device comprises a signal generator and a plurality of sensing blocks; the signal generator is mounted on the sliding component; and the plurality of sensing blocks Installed on the base member and arranged in the first reference direction; during the sliding of the sliding member relative to the base member by a predetermined standard distance, the signal generator can sequentially generate at least three sensing signals based on a sensing block; The device can update the predetermined state parameter according to the sensing signal, and further can determine the time sequence of the three sensing signals according to the state parameter value, thereby determining the sliding direction and the sliding distance of the signal generator relative to the predetermined sensing block; The movement condition of the sliding member relative to the base member can be determined; and the current positional parameter of the sliding member is obtained according to the state of motion of the sliding member. The measuring device does not need to obtain the operating parameters of the sliding member by means of signal reflection, can reduce the adverse effects caused by the obstacle, and has strong adaptability.

In a further technical solution, the signal generator includes at least three proximity switches, and a combination of different proximity switches and the sensing block generates a corresponding sensing signal; because the proximity switch has the characteristics of high reliability and low cost, the measuring device With higher reliability and lower cost.

In a further technical solution, the controller is pre-configured with at least five state parameters. In this way, the five state parameters can be used to determine the motion of the sliding component for a longer period of time, which not only helps to improve the measurement accuracy of the measuring device, but also facilitates obtaining more information, thereby providing a precondition for obtaining more current position parameters.

Since the measuring device has the above-described technical effects, the measuring method and the sliding fit mechanism and the container stacker including the measuring device also have corresponding technical effects.

DRAWINGS

Figure 1 is a schematic structural view of a container stacker; 2 is a schematic diagram of the principle of a device for measuring a sliding fit mechanism according to an embodiment of the present invention; FIG. 3 is a basic working flow of a controller of the measuring device, and is also a flow chart of a method for measuring a sliding fit mechanism provided by the present invention.

detailed description

The invention is described in detail below with reference to the accompanying drawings, and the description of the present invention is intended to be illustrative and not restrictive.

In order to save space, in the present document, the sliding distance of the sliding member or the second gantry is a sliding distance relative to the base member or the first gantry; in addition, while describing the working principle of the measuring device, the present invention The measurement methods provided are described and the measurement methods are not described separately.

Please refer to FIG. 2 , which is a schematic diagram of a device for measuring a sliding fit mechanism according to an embodiment of the present invention. In the figure, the sliding component may be the second gantry 220 of the container handler, the base component may be the first gantry 210 of the container, and the measuring device is used to measure the positional parameters of the second gantry 220 of the container handler. The following describes the working principle of the measuring device by taking the relative sliding between the first gantry 210 and the second gantry 220 as an example. It should be noted that the measuring device provided by the present invention is not limited to measuring the current state of the second gantry 220. Location parameter.

As shown in Fig. 2, the first gantry 210 and the second gantry 220 are slidably engaged in the vertical direction; further, the second gantry 220 is slidable in the vertical direction. The measuring device includes a signal acquisition device and a controller 430, and the signal acquisition device specifically includes an inductive block group 410 and a signal generator 420.

The sensing block group 410 includes a plurality of sensing blocks, which are respectively mounted on the second gantry 220 and arranged in a vertical direction in a vertical direction. In this example, on the first gantry 210 and the sliding length of the second gantry 220, a plurality of sensing blocks are arranged, that is, the distance between any adjacent two sensing blocks is equal. The distance is called a predetermined standard distance L0. Only three sensing blocks are shown in Fig. 2. For the convenience of description, the three sensing blocks are respectively denoted by 411, 412 and 413 (the size of the sensing block is only illustrated in the figure, in actual application, the sensing block size and the predetermined standard) The ratio between the distances L0 is small).

The signal generator 420 includes three proximity switches that are sequentially arranged in the vertical direction. In this example, the three proximity switches are evenly arranged; to describe the scheme, the three proximity switches are represented by 421, 422, and 423, respectively. The proximity switches 421 and 423 at both ends form a certain sensing area; as shown, the uppermost end of the sensing area formed by the proximity switch 421 and the proximity switch 423 The distance between the lowermost ends of the formed sensing regions forms a maximum sensing distance L1 of the signal generator 420; the signal generator is capable of generating a corresponding sensing signal when the sensing block is within the distance range. The maximum sensing distance L1 is smaller than the predetermined standard distance L0. Thus, during the sliding of the second gantry 220 up or down by a predetermined standard distance L0, only one sensing block corresponds to the three proximity switches of the signal generator 420, and sequentially passes through the sensing of the three proximity switches. The three proximity switches are sequentially energized and output a sensing signal; the signal generator 420 can sequentially generate three different sensing signals depending on the proximity switches of the output sensing signals. For convenience of description, when the proximity switch 421 is electrically outputting the sensing signal, the signal generator 420 generates the first type of sensing signal; when the proximity switch 422 is electrically outputting the sensing signal, the signal generator 420 generates the second sensing signal; the proximity switch 423 When the induced signal is output, the signal generator 420 generates a third induced signal.

The controller 430 is connected to the signal generator 420 to obtain and identify the sensing signal generated by the signal generator 420. When the signal generator 420 generates the first sensing signal, the controller 430 recognizes as A1; the signal generator 420 When the second sensing signal is generated, the controller 430 recognizes as A2; when the signal generator 420 generates the third sensing signal, the controller 430 recognizes it as A3. The controller 430 is pre-configured with at least three status parameters and is capable of updating the values of the various status parameters based on the sensed signals generated by the signal generator 420 and a predetermined update strategy. The controller 430 is further capable of determining the motion condition of the second gantry 220 based on the value of the state parameter and determining the current positional parameter of the second gantry 220 according to a predetermined processing strategy. The output device 440 is coupled to the controller 430 and is capable of outputting the obtained current position parameters in an appropriate manner.

In this example, the specific working principle of the controller 430 is as follows:

The controller 430 is pre-configured with three status parameters Q1, Q2 and Q3. After power-on, the controller 430 can scan the sensing signal generated by the signal generator 420 according to a predetermined period, and update the state parameters Q1, Q2, and Q3 according to a predetermined update strategy. The predetermined update strategy may include: when the signal generator 420 generates the sensing signal, and the sensing signal type changes, the controller 430 updates the state parameters Q1, Q2, and Q3; when the sensing signal is unchanged, or there is no sensing signal, the fault is not correct. The state parameters Ql, Q2, and Q3 are updated, and Ql, Q2, and Q3 remain unchanged. The update method is as follows: first make Q3 equal to Q2; then make Q2 equal to Q1; finally make Q1 equal to the predetermined value. The predetermined value can be determined based on the change in the sensing signal. When the proximity switch 421 is powered, the induced signal generated by the signal generator 420 is changed to the first type of sensing signal, the predetermined value is A1, the proximity switch 422 is powered, and the induced signal generated by the signal generator 420 is changed to the second type. Predetermined value For A2, if the proximity switch 423 is set and the induced signal generated by the signal generator 420 is changed to the third induced signal, the predetermined value is A3. Al, A2, and A3 may be 1, 2, and 3, respectively. It can also be other specific values.

Let the initial values of the three state parameters be AO, and AO can be zero, or other specific values.

The state shown in Fig. 2 is the starting state, and when the second gantry 220 is continuously slid upward, Ql, Q2, and Q3 are changed as follows:

The state shown in FIG. 2 is the start state, and when the second gantry 220 continuously slides downward, the number-numbers Q1, Q2, and Q3 change as follows: Update cycle number Q1 Q2 Q3

1 A1 AO AO

2 A2 Al AO

3 A3 A2 Al

4 A1 A3 Al

5 A2 Al A3

6 A3 A2 Al

7 A1 A3 A2

At the determined time point, Q2 and Q3 represent the values of the first two update cycles of Q1, and Q1 is the value of the current update cycle; thus, the state of at least three cycles can be recorded, and then according to the state parameter Ql,

The values of Q2 and Q3 can determine the variation rule of Q1. When the Q1 value is circulated in A3, A2, and Al modes, it can be determined that the corresponding sensing blocks sequentially pass through the sensing areas of the proximity switches 423, 422, and 421, and thus the first three can be determined. During the update period, the second gantry 220 slides upward; when the Q1 value is circulated in the manner of Al, A2, and A3, it can be determined that the second gantry 220 slides downward during the first three update periods.

Of course, other modes of motion between the second gantry 220 and the first gantry 210 can also be determined based on the values of the state parameters Q1, Q2, and Q3. For example, when the second gantry 220 repeatedly slides, when the sensing block 412 is repeatedly matched with the proximity switches 422 and 423, the order of change of Q1 is A3.

A2, A3, A2; when the sensing block 412 is repeatedly associated with the proximity switches 421 and 422,

The order of change of Q1 is Al, A2, Al, A2; when the sensing block 412 is repeatedly associated with the proximity switches 421, 422, and 423, the order of change of Q1 is Al, A2, A3, A3, A2, Al, etc.; By sorting the Q1 change order or the Q1, Q2, and Q3 values, it can be determined that the first gantry 220 does not slide up or down by a predetermined standard distance, and vibration is performed only within a predetermined range.

Further, the controller 430 can determine the current positional parameter of the second gantry 220 based on the change in the Q1 value (or the order of the Q1, Q2, and Q3 values) and the predetermined processing strategy. The current position parameter may be determined according to actual needs, and may be the working state of the second gantry 220 or the current position height of the second gantry 220. According to actual needs, the current positional parameters of the second gantry 220 can be obtained by an appropriate predetermined processing strategy.

The predetermined processing strategy may include: setting an initial height of the second gantry 220 to SO, and setting a current position height of the second gantry 220 (or a sliding distance of the second gantry 220) to S, that is, S=S0+N LO, the N is an integer, and represents the number of the second gantry 220 sliding by a predetermined standard distance L0. The N is updated when the controller 430 determines that the second gantry 220 is sliding one or more predetermined standard distances L0. When the second gantry 220 slides upward by a predetermined standard distance L0, the updated N is equal to N before the update plus 1, and the second gantry 220 slides downward by a predetermined standard distance. At L0, the updated N is equal to N before the update minus 1; by the change of N, the current position height of the second gantry 220 can be obtained. When the controller 430 determines that the second gantry 220 is not slid by a predetermined standard distance L0, the controller 430 does not update N. Of course, in order to avoid the error caused by the size of the sensing block itself and improve the accuracy of S, the S value can also be corrected according to the actual size of the sensing block.

According to the above description, in order to obtain more values of the update period Q1, and further determine the change of Q1 over a longer period of time, it is also possible to preset more status parameters in the controller 430; taking the preset five status parameters as an example, When updating the status parameters, Q5=Q4 can be sequentially made, Q4=Q3, Q3=Q2, Q2=Q1, and Q1 equal to the predetermined value. Thus, Q1 is the current state signal, Q2 is the previous update cycle state signal of Q1, Q3 is the previous update cycle state signal of Q2, Q4 is the previous update cycle state signal of Q3, and Q5 is the previous update cycle state of Q4. The signal, so that it can record the current state and its first four states; and then through Q5, Q4, Q3, Q2, the change value of Q1 in the longer time before the current update cycle of Q1 can be obtained. In order to improve the measurement accuracy of the measuring device, it is also beneficial to obtain more information, and thus provide a precondition for obtaining more current position parameters.

When the controller 430 is not limited to updating the status parameters in the above manner, the status parameters may be updated by other policies. The predetermined update strategy may include: when the induced signal generated by the signal generator 420 is a rising edge, Q5 = Q4, Q4 = Q3, Q3 = Q2, Q2 = Q1, and Q1 is equal to a predetermined value. When the signal generator 420 generates the first type of sensing signal, the predetermined value is A1, when the signal generator 420 generates the second sensing signal, the predetermined value is A2, and when the signal generator 420 generates the third sensing signal, it is predetermined. The value is A3. Similarly, the predetermined update strategy may also update the state parameters based on the falling edge of the sense signal, such that Q5 = Q4, Q4 = Q3, Q3 = Q2, Q2 = Q1, and Q1 equals the predetermined value. Of course, the value of the status parameter of the other corresponding scheduled update policy may also be selected according to actual needs.

In addition, in order to improve the operational reliability of the controller 430, data processing can also be performed in the following manner.

Five state parameters Q1, Q2, Q3, Q4, and Q5 are preset in the controller 430. The predetermined processing strategy includes: the current position parameter of the second gantry 220 is the sliding distance S of the second gantry 220, and S=S0+N χ L0; SO is the initial position parameter of the second gantry 220, where N is An integer; determining, according to the value of the state parameter, whether the second gantry 220 slides an integer number of predetermined standard distances L0, such as If so, N is updated so that N is based on the predetermined standard distance L0 of the slip. The predetermined update strategy may include: when the induced signal generated by the signal generator 420 is a rising edge or a falling edge, Q3=Q2, so that Q2=Q1, so that Q1 is equal to a predetermined value; after updating N, Q1 is restored to the initial value, Equal to A0.

As shown in FIG. 3, the basic workflow of a controller 430 shown in the figure is also a flow chart of a method for measuring a sliding engagement mechanism provided by the present invention. When using the above predetermined processing strategy and predetermined update strategy, the specific workflow is as follows:

In step S100, when the controller 430 scans the sensing signal of the signal generator 420 as a rising edge or a falling edge, Q5=Q4, Q4=Q3, Q3=Q2, Q2=Q1, and Q1 is equal to a predetermined value; When the signal generator 420 generates the first type of sensing signal, the predetermined value is A1, when the signal generator 420 generates the second sensing signal, the predetermined value is A2, and the signal generator 420 generates a third type of sensing. When the signal is signaled, the predetermined value is A3. Let the initial value of each state parameter be A0.

Step S200, determining whether the second gantry 220 slides by a predetermined standard distance L0 according to the values of the five state parameters Q1, Q2, Q3, Q4, and Q5; if yes, proceeding to step S300; if not, returning to step S100, continuing to press The scan is performed at a predetermined period. The specific manner of the judgment may be: When the values of Ql, Q2, Q3, Q4, and Q5 are Al, A3, A2, Al, and AO, respectively, it indicates that Ql has undergone changes of Al, A2, A3, and Al, and thus the first The two gantry 220 slides downward by a predetermined standard distance L0. When the values of Q1, Q2, Q3, Q4, and Q5 are A3, Al, A2, A3, and AO, respectively, it indicates that Q1 has undergone changes of A3, A2, Al, and A3, and thus it is determined that the second gantry 220 slides upward. The standard distance L0 is predetermined. Of course, according to the specific assignment of the state parameters, the judgment mode can be adjusted according to actual needs.

Step S300, updating N. The specific manner of updating is: when determining that the second gantry 220 slides upward by a predetermined standard distance L0, so that the updated N is equal to N before the update plus 1; determining that the second gantry 220 slides downward by a predetermined standard distance At L0, the updated N is equal to N before the update minus 1. Certainly, according to actual needs, when setting a plurality of state parameters, when determining that the second gantry 220 slides down an integer predetermined standard distance L0, the N is updated correspondingly, so that the updated N is added or subtracted correspondingly. Value.

In step S400, Q1 is made equal to AO, and the process returns to step S100.

The purpose of obtaining the sliding distance S of the second gantry 220 can be achieved by the cycle of the above steps. Q1 is restored to the initial value by step S400 (other values other than A3, A2, and A1 may be different); by updating the state parameter, the initial value of Q1 recovery after updating N may be Now in Q5; and further through Q5, it can be verified in step S200 whether the second gantry 220 is normally rising or falling, and further, as a condition for updating N, the accuracy of the obtained current position parameter is guaranteed.

Based on the above description, those skilled in the art can determine that the signal generator 420 is not limited to including three proximity switches, and may include more proximity switches. It is also possible to generate at least three kinds of sensing signals by using other types of sensors; for example, the signal generator 420 may be provided with a rotary encoder, and corresponding sensing blocks may be disposed on the first gantry 210; and the rotary encoder and the sensing block have appropriate Coordination relationship; when the rotary encoder corresponds to the sensing block, the rotary encoder outputs a rotation signal, and when the rotary encoder does not correspond to the sensing block, no rotation signal is generated; appropriately setting the rotary encoder and the sensing block may also The signal generator 420 generates at least three sensing signals to achieve the above object.

In addition to the above apparatus for measuring a sliding engagement mechanism, the present invention also provides a sliding engagement mechanism including a sliding member and a base member that are slidably engaged in a first reference direction; wherein, the sliding member and the base member Corresponding to the second gantry 220 and the first gantry 210 respectively; in addition, the sliding engagement mechanism further includes any of the above-mentioned devices for measuring the sliding engagement mechanism. The sliding fit mechanism also has a corresponding technical effect due to the above-described measuring device.

In addition to the above-described apparatus for measuring a sliding engagement mechanism, the present invention also provides a container stacker including a vehicle body 100, a first gantry 210, a second gantry 220, and a spreader 300. The first gantry 210 is connected to the vehicle body 100; the second gantry 220 is slidably mounted outside the first gantry 210; the sling 300 is slidably mounted outside the second gantry 220; and the corresponding measuring sliding fit is also included The device of the institution. In order to facilitate determining the height of the spreader in the container, the controller 430 is further capable of determining the current positional parameter of the spreader 300 according to the current positional parameter of the second gantry 220; that is, using the sliding of the second gantry 220 relative to the first gantry 210. The current positional parameter of the spreader 300 is determined by the ratio of the distance to the sliding distance of the spreader 300 relative to the second gantry 220. The description of the examples is only to assist in understanding the technical solutions provided by the present invention. It should be noted that those skilled in the art can make various modifications and changes to the present invention without departing from the spirit and scope of the invention.

Claims

Rights request

What is claimed is: 1. A device for measuring a sliding engagement mechanism, the sliding engagement mechanism comprising a sliding member and a base member that are slidably engaged in a first reference direction; and comprising: a controller (430), a signal generator (420), and a plurality of sensing blocks (411, 412, 413);

The signal generator (420) is mounted on the sliding member; a plurality of the sensing blocks (411,

412, 413) are mounted on the base member and sequentially arranged along the first reference direction, and the adjacent sensing blocks (411, 412, 413) are spaced apart by a predetermined standard distance L0; in the first reference direction, the signal occurs The maximum sensing distance L1 of the device (420) is smaller than any of the predetermined standard distances L0; the signal generator (420) is based on a sensing block (411, 412, 413) during sliding of the sliding member by a predetermined standard distance L0 ) capable of sequentially generating at least three sensing signals;

The controller (430) is pre-configured with at least three state parameters, and is capable of updating the value of the state parameter according to the sensing signal generated by the signal generator (420) and a predetermined update strategy; and can also be based on the value of the state parameter And a predetermined processing strategy determines a current position parameter of the sliding component.

2. Apparatus for measuring a sliding fit mechanism according to claim 1, wherein said signal generator (420) comprises at least three proximity switches mounted on the base member and sequentially arranged along the first reference direction ( 421, 422, 423); in the process of sliding the sliding member by a predetermined standard distance L0, the corresponding sensing blocks (411, 412, 413) can be sequentially aligned with the respective proximity switches (421, 422, 423), and the signal occurs The device (420) is capable of sequentially generating at least three sensing signals.

The apparatus for measuring a sliding engagement mechanism according to claim 1, wherein the controller (430) is pre-configured with at least three state parameters Q1, Q2, and Q3;

The predetermined update strategy includes: when the signal generator (420) generates an induced signal, and when the type of the induced signal changes, Q3=Q2, so that Q2=Q1, so that Q1 is equal to a predetermined value; at the signal generator (420) When the sensing signal changes to the first sensing signal, the predetermined value is A1, and when the signal generator (420) senses the signal to change to the second sensing signal, the predetermined value is A2, and the signal generator (420) When the induced signal changes to the third sensing signal, the predetermined value is A3.

The predetermined update strategy includes: when the induced signal generated by the signal generator (420) is a rising edge or a falling edge, making Q3=Q2, making Q2=Q1, making Q1 equal to a predetermined value; When the generator (420) generates the first sensing signal, the predetermined value is A1, and when the signal generator (420) generates the second sensing signal, the predetermined value is A2, and the signal generator (420) generates When the third type of signal is sensed, the predetermined value is A3.

5. Apparatus for measuring a sliding fit mechanism according to claim 3 or 4, wherein said controller (430) is pre-configured with at least five state parameters Ql, Q2, Q3, Q4 and

Q5;

The predetermined update policy includes: before Q3 = Q2, Q5 = Q4, and Q4 = Q3.

The apparatus for measuring a sliding engagement mechanism according to claim 1, wherein the predetermined processing strategy comprises: a current position parameter of the sliding component is a sliding distance S of the sliding component, J-S=S0 +N L0; the SO is an initial position parameter of the sliding member, N is an integer; determining whether the sliding member slides an integer number of predetermined standard distances L0 according to the value of the state parameter, and if so, updating N.

The apparatus for measuring a sliding engagement mechanism according to claim 1, wherein the controller (430) is pre-configured with at least five state parameters Q1, Q2, Q3, Q4 and Q5;

The predetermined update strategy includes: when the induced signal generated by the signal generator (420) is a rising edge or a falling edge, making Q3=Q2, making Q2=Q1, making Q1 equal to a predetermined value; at the signal generator (420) When the first type of sensing signal is generated, the predetermined value is A1, when the signal generator (420) generates the second sensing signal, the predetermined value is A2, and the signal generator (420) generates a third type of sensing. When the signal is, the predetermined value is A3; after updating N, make Q1 equal to A0.

8. Apparatus for measuring a sliding fit mechanism according to any of claims 1-7, characterized in that a plurality of said sensing blocks (411, 412, 413) are evenly arranged along a first reference direction.

9. Apparatus for measuring a sliding fit mechanism according to any of claims 1-7, further comprising an output device (440) coupled to the controller (430), said output device (440) being capable of The current position parameter is output.

10. A sliding fit mechanism comprising a sliding member that is slidably engaged in a first reference direction And a base component, characterized by further comprising the apparatus for measuring a sliding fit mechanism according to any one of claims 1-9.

11. A container stacker comprising a vehicle body (100), a first gantry (210), a second gantry (220) and a spreader (300); a first gantry (210) and a vehicle body (100) Connected; the second gantry (220) is slidably mounted outside the first gantry (210); the spreader (300) is slidably mounted outside the second gantry (220); and characterized by 1-9. The apparatus for measuring a sliding fit mechanism, wherein the sliding member and the base member are a second gantry (220) and a first gantry (210), respectively.

12. A container stacker according to claim 11. The controller (430) is further capable of determining the height of the spreader (300) relative to the first gantry (210) based on the current positional parameters of the second gantry (220).

13. A method of measuring a sliding fit mechanism, the sliding fit mechanism comprising a sliding member and a base member that are slidably engaged in a first reference direction; further comprising a signal generator (420) and a plurality of sensing blocks (411, 412, 413); the signal generator (420) is mounted on the sliding member; a plurality of the sensing blocks (411, 412, 413) are mounted on the base member and are sequentially arranged along the first reference direction, adjacent to the The sensing block (411, 412, 413) is spaced apart by a predetermined standard distance L0; in the first reference direction, the maximum sensing distance L1 of the signal generator (420) is smaller than any of the predetermined standard distances L0; During the predetermined standard distance L0, based on a sensing block (411, 412, 413), the signal generator (420) can sequentially generate at least three sensing signals; wherein the measuring method comprises:

Presetting at least three state parameters; updating the value of the state parameter according to the sensing signal generated by the signal generator (420) and a predetermined update strategy; determining the current position of the sliding component according to the value of the state parameter and a predetermined processing strategy parameter.

The method of measuring a sliding engagement mechanism according to claim 13, wherein a current position parameter of the sliding member is a sliding distance S of the sliding member, and S=S0+N LO; The initial positional parameter of the sliding component, N is an integer; at least five state parameters Q1, Q2, Q3, Q4 and Q5 are pre-set;

The measuring method comprises the following steps:

S100, when the sensing signal of the scanning signal generator (420) is a rising edge or a falling edge, make Q5=Q4, make Q4=Q3, make Q3=Q2, make Q2=Q1, make Ql equal to a predetermined value; When the generator (420) generates the first type of sensing signal, the predetermined value is A1, and when the signal generator (420) generates the second sensing signal, the predetermined value is A2, and the signal generator (420) When the third sensing signal is generated, the predetermined value is A3;

S200, judging whether the second gantry (220) slides by a predetermined standard distance L0 according to the values of the five state parameters Ql, Q2, Q3, Q4 and Q5; if yes, proceeding to step S200; if not, returning to step S100;

S300, update N;

S400, making Q1 equal to A0.

15. A method of measuring a sliding fit mechanism according to claim 14, wherein said AO is an initial value of each state parameter.