WO2013075449A1 - Device and method for measuring slip-fit mechanism and slip-fit mechanism and cargo container stacking machine comprising the device - Google Patents
Device and method for measuring slip-fit mechanism and slip-fit mechanism and cargo container stacking machine comprising the device Download PDFInfo
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- WO2013075449A1 WO2013075449A1 PCT/CN2012/073953 CN2012073953W WO2013075449A1 WO 2013075449 A1 WO2013075449 A1 WO 2013075449A1 CN 2012073953 W CN2012073953 W CN 2012073953W WO 2013075449 A1 WO2013075449 A1 WO 2013075449A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
Definitions
- 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.
- 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
- 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.
- 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.
- 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.
- 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)
- 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.
- 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
- the first gantry 210 is regarded as a basic component
- 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 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.
- 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
- 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.
- the controller is preset with at least three state parameters Q1, Q2, and Q3;
- the predetermined value is A1.
- the predetermined value is A2.
- the predetermined time is predetermined. The value is A3.
- the controller is preset with at least three state parameters Q1, Q2, and Q3;
- the controller is preset with at least five state parameters Q1, Q2, Q3, Q4 and
- the controller is preset with at least five state parameters Q1, Q2, Q3, Q4 and
- a plurality of the sensing blocks are arranged along the first reference direction.
- 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.
- 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.
- 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.
- the SO is an initial position parameter of the sliding component, and N is an integer;
- the measuring method comprises the following steps:
- step 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;
- the AO is an initial value of each state parameter.
- the apparatus for measuring a sliding engagement mechanism 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
- 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.
- the controller is pre-configured with at least five state parameters.
- 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.
- 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.
- 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.
- 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.
- FIG. 2 is a schematic diagram of a device for measuring a sliding fit mechanism according to an embodiment of the present invention.
- 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
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- the signal generator 420 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.
- the controller 430 recognizes as A1; the signal generator 420
- 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.
- 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.
- the predetermined value is A1
- the proximity switch 422 is powered
- 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.
- 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
- 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.
- Q1 value 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.
- 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.
- 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.
- 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 N is updated when the controller 430 determines that the second gantry 220 is sliding one or more predetermined standard distances 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.
- 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.
- 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.
- the S value can also be corrected according to the actual size of the sensing block.
- 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
- 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.
- it is also beneficial to obtain more information, and thus provide a precondition for obtaining more current position parameters.
- the predetermined value is A1
- the predetermined value is A2
- the predetermined value is A2
- the signal generator 420 generates the third sensing signal, it is predetermined. The value is A3.
- the value of the status parameter of the other corresponding scheduled update policy may also be selected according to actual needs.
- data processing can also be performed in the following manner.
- 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.
- the specific workflow is as follows:
- the predetermined value is A1
- the signal generator 420 generates the second sensing signal
- the predetermined value is A2
- the signal generator 420 generates a third type of sensing.
- 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.
- 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.
- the N is updated correspondingly, so that the updated N is added or subtracted correspondingly. Value.
- 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.
- 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.
- 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.
- 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 is a container stacker including a vehicle body 100, a first gantry 210, a second gantry 220, and a spreader 300.
- 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.
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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
测量滑动配合机构的装置和方法及包括该装置的滑动配合机构和集装箱堆高机 本申请要求于 2011 年 11 月 24 日提交中国专利局、 申请号为 201110378320.7、 发明名称为"滑动配合机构及测量装置、 测量方法、 集装 箱堆高机"的中国专利申请的优先权, 其全部内容通过引用结合在本申请 中。 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.
技术领域 Technical field
本发明涉及一种状态测量技术, 特别涉及一种测量滑动配合机构的装 置, 还涉及到包括该测量装置的滑动配合机构和集装箱堆高机。 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.
背景技术 Background technique
堆高机是当前常有的机械设备。 请参考图 1 , 该图为一种集装箱堆高 机的结构示意图。 该集装箱堆高机包括车体 100、 第一门架 210、 第二门架 220和吊具 300 ,第一门架 210可以是外门架,第二门架 220可以为内门架, 外门架和内门架形成集装箱堆高机的门架机构。 第一门架 210基本竖向设 置并与车体 100相连; 第二门架 220也基本竖向设置, 并可滑动地安装在 第一门架 210外侧; 通过适当的驱动机构可以使第二门架 220相对于第一 门架 210在竖向方向上滑动。 吊具 300可滑动安装在第二门架 220外侧, 进而吊具 300能够在适当驱动机构的作用下相对于第二门架 220滑动。 在 般运并码放集装箱时, 第二门架 220相对于第一门架 210滑动到最下端, 吊具 300相对于第二门架 220向下滑动到预定位置, 并与预定的集装箱相 对应。 使吊具 300将集装箱锁住, 再使第二门架 220相对于第一门架 210 向上滑动, 同时使吊具 300相对于第二门架 220向上滑动。 吊具 300的移 动带动集装箱相对于车体 100向上移动, 实现对集装箱的提升, 进而通过 适当的操作可以实现对集装箱的码放及堆高。 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.
在对集装箱进行预定作业过程中, 尤其是在高层进行作业时, 集装箱 处于较高位置, 在搬运过程中, 路面不平及操作容易引起的门架机构倾斜 角度变化; 在倾斜角度过大时, 容易导致集装箱堆高机的倾翻事故。 为此, 为了避免或减少倾翻事故的发生, 需要确定吊具 300或第二门架 220的高 度(一般来讲, 第二门架 220相对于第一门架 210的滑动距离与吊具 300 相对于第二门架 220的滑动距离之间具有预定的比例, 因此, 当前一般通 过测量第二门架 220的高度变化 ,再通过适当的换算获得吊具 300的高度),
进而判断集装箱堆高机是否有倾翻的可能, 实现对集装箱堆高机的倾翻预 警。 目前确定第二门架 220的高度主要有激光测量、 超声波测量、 雷达测 量等方式; 上述方式均通过适当信号反射获得第二门 220的高度。 上述方 式不仅成本较高; 且由于信号反射测量会由于阻碍物的影响而影响其使用 性, 在使用应用中受到很大的限制, 其适应性很难满足实际需要。 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.
将上述堆高机的第二门架 220视为滑动部件, 将第一门架 210视为基 础部件, 二者形成的滑动配合机构也可以应用于其他工作机械和设备中, 如大型机械的锁止销与锁止基体锁止孔配合形成的滑动配合机构, 等等。 在测量其他工程机械或设备中滑动配合机构的工作参数时, 当前的测量方 式也存在成本高, 适应性不强的问题。 因此, 在测量滑动配合机构的工作 参数时, 如何在降低成本的同时, 提高测量装置的适应性是当前本领域技 术人员需要解决的技术问题。 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.
发明内容 Summary of the invention
为此,本发明的目的在于,提供一种测量滑动配合机构的装置和方法, 该测量装置和测量方法具有较强的适应性。 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.
在提供上述测量装置的基础上, 还提供一种包括上述测量装置的滑动 配合机构和包括该测量装置的集装箱堆高机。 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.
本发明提供一种测量滑动配合机构的装置, 所述滑动配合机构包括在 第一参考方向上滑动配合的滑动部件和基础部件; 该装置包括控制器、 信 号发生器和多个感应块; 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;
所述信号发生器安装在滑动部件上; 多个所述感应块安装在基础部件 上、且沿第一参考方向顺序排列,相邻的所述感应块间隔预定标准距离 L0; 在第一参考方向上, 所述信号发生器的最大感应距离 L1 小于任一所述预 定标准距离 L0; 在滑动部件滑动一个预定标准距离 L0过程中, 基于一感 应块, 所述信号发生器能够顺序产生至少三种感应信号; 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
所述控制器预设有至少三个状态参数, 并能够根据所述信号发生器产 生的感应信号和预定更新策略更新所述状态参数的值; 还能够根据状态参 数的值和预定处理策略确定滑动部件的当前位置参数。 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.
可选的, 所述信号发生器包括至少三个安装在基础部件上、 且沿第一 参考方向顺序排列的接近开关; 在滑动部件滑动一个预定标准距离 L0过
程中, 相应感应块能够与各所述接近开关顺序相对, 所述信号发生器能够 顺序产生至少三种感应信号。 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.
可选的, 所述控制器预设有至少三个状态参数 Ql、 Q2和 Q3; Optionally, the controller is preset with at least three state parameters Q1, Q2, and Q3;
所述预定更新策略包括: 在信号发生器产生感应信号, 且感应信号种 类变化时, 使 Q3=Q2, 使 Q2=Q1 , 使 Q1等于预定值; 在所述信号发生器 感应信号变化为第一种感应信号时,预定值为 A1 ,在所述信号发生器感应 信号变化为第二种感应信号时,预定值为 A2,在所述信号发生器感应信号 变化为第三种感应信号时, 预定值为 A3。 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.
可选的, 所述控制器预设有至少三个状态参数 Ql、 Q2和 Q3; Optionally, the controller is preset with at least three state parameters Q1, Q2, and Q3;
所述预定更新策略包括: 在信号发生器产生的感应信号为上升沿或下 降沿时, 使 Q3=Q2, 使 Q2=Q1 , 使 Q1等于预定值; 在所述信号发生器产 生第一种感应信号时,预定值为 A1 ,在所述信号发生器产生第二种感应信 号时, 预定值为 A2, 在所述信号发生器产生第三种感应信号时, 预定值为 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.
可选的, 所述控制器预设有至少五个状态参数 Ql、 Q2、 Q3、 Q4 和 Optionally, the controller is preset with at least five state parameters Q1, Q2, Q3, Q4 and
Q5; Q5;
所述预定更新策略包括: 在使 Q3=Q2之前, 使 Q5=Q4, 使 Q4=Q3。 可选的, 所述预定处理策略包括: 所述滑动部件的当前位置参数为所 述滑动部件的滑动距离 S, J- S=S0+N L0; 所述 SO为所述滑动部件的初 始位置参数, N为整数; 根据所述状态参数的值判断所述滑动部件是否滑 动整数个预定标准距离 L0, 如果是, 则更新 N。 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.
可选的, 所述控制器预设有至少五个状态参数 Ql、 Q2、 Q3、 Q4 和 Optionally, the controller is preset with at least five state parameters Q1, Q2, Q3, Q4 and
Q5; Q5;
所述预定处理策略包括: 所述滑动部件的当前位置参数为所述滑动部 件的滑动距离 S, 且S=S0+N χ L0; 所述 SO为所述滑动部件的初始位置参 数, N为整数; 根据所述状态参数的值判断所述滑动部件是否滑动整数个 预定标准距离 L0, 如果是, 则更新 N; 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;
所述预定更新策略包括: 在信号发生器产生的感应信号为上升沿或下 降沿时, 使 Q3=Q2, 使 Q2=Q1 , 使 Q1等于预定值; 在所述信号发生器产 生第一种感应信号时,预定值为 A1 ,在所述信号发生器产生第二种感应信
号时, 预定值为 A2, 在所述信号发生器产生第三种感应信号时, 预定值为 A3; 在更新 N后, 使 Q1等于 A0。 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.
可选的, 多个所述感应块沿第一参考方向均勾排列。 Optionally, a plurality of the sensing blocks are arranged along the first reference direction.
可选的, 所述的测量滑动配合机构的装置还包括与控制器相连的输出 装置, 所述输出装置能够将所述当前位置参数输出。 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.
本发明提供的滑动配合机构包括在第一参考方向上滑动配合的滑动部 件和基础部件, 还包括上述任一种测量滑动配合机构的装置。 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.
本发明提供的集装箱堆高机包括车体、 第一门架、 第二门架和吊具; 第一门架与车体相连; 第二门架可滑动地安装在第一门架外侧; 吊具可滑 动安装在第二门架外侧; 其特征在于, 还包括上述任一种测量滑动配合机 构的装置, 所述滑动部件和基础部件分别为第二门架和第一门架。 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.
可选的, 所述控制器还能够根据第二门架的当前位置参数确定吊具相 对于第一门架的高度。 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.
本发明提供的测量滑动配合机构的方法中, 所述滑动配合机构包括在 第一参考方向上滑动配合的滑动部件和基础部件; 还包括信号发生器和多 个感应块; 所述信号发生器安装在滑动部件上; 多个所述感应块安装在基 础部件上、 且沿第一参考方向顺序排列, 相邻的所述感应块间隔预定标准 距离 L0; 在第一参考方向上, 所述信号发生器的最大感应距离 L1小于任 一所述预定标准距离 L0; 在滑动部件滑动一个预定标准距离 L0过程中, 基于一感应块, 所述信号发生器能够顺序产生至少三种感应信号; 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;
所述的测量方法包括: 预设有至少三个状态参数; 根据所述信号发生 器产生的感应信号和预定更新策略更新所述状态参数的值; 再根据状态参 数的值和预定处理策略确定滑动部件的当前位置参数。 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.
可选的,所述滑动部件的当前位置参数为所述滑动部件的滑动距离 S, J- S=S0+N L0; 所述 SO为所述滑动部件的初始位置参数, N为整数; 预 设有至少五个状态参数 Ql、 Q2、 Q3、 Q4 和 Q5; 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;
所述测量方法包括如下步骤: The measuring method comprises the following steps:
S100 , 在扫描到信号发生器的感应信号为上升沿或下降沿时, 使 Q5=Q4, 使 Q4=Q3, 使 Q3=Q2, 使 Q2=Q1 , 使 Ql等于预定值; 在信号发 生器产生第一种感应信号时,预定值为 A1 ,在所述信号发生器产生第二种
感应信号时, 预定值为 A2, 在所述信号发生器产生第三种感应信号时, 预 定值为 A3; 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, 根据五个状态参数 Ql、 Q2、 Q3、 Q4 和 Q5的值判断第二门架 是否滑动一个预定标准距离 L0; 如果是, 则进入步骤 S200; 如果否, 返 回步骤 S100; 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, 更新 N; S300, update N;
S400, 使 Q1等于 A0。 S400, making Q1 equal to A0.
可选的, 所述 AO为各状态参数的初始值。 Optionally, the AO is an initial value of each state parameter.
本发明提供的测量滑动配合机构的装置包括控制器和信号采集装置; 所述信号采集装置包括信号发生器和多个感应块; 所述信号发生器安装在 滑动部件上; 多个所述感应块安装在基础部件上、 且沿第一参考方向顺序 排列; 在滑动部件相对于基础部件滑动一个预定标准距离过程中, 基于一 感应块, 所述信号发生器能够顺序产生至少三种感应信号; 控制器能够根 据感应信号更新预定的状态参数, 进而可以根据状态参数值确定三种感应 信号产生的时间顺序, 进而确定信号发生器相对于预定感应块的滑动方向 和滑动距离; 这样根据状态参数的变化可以确定滑动部件相对于基础部件 的运动状况; 再根据滑动部件的运动状态获得滑动部件的当前位置参数。 该测量装置不需要借助于信号反射获得滑动部件的工作参数, 可以减小由 于障碍物产生的不利影响, 具有较强的适应性。 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.
在进一步的技术方案中, 所述信号发生器包括至少三个接近开关, 通 过不同接近开关与感应块的结合产生相应的感应信号; 由于接近开关具有 可靠性高, 成本低的特点, 该测量装置具有较高的可靠性和较低的成本。 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.
在进一步的技术方案中, 控制器预设有至少五个状态参数。 这样, 通 过五个状态参数可以确定滑动部件更长时间内的运动状况, 这不仅有利于 提高测量装置的测量准确度, 也有利于获得更多信息, 进而为获得更多当 前位置参数提供前提。 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.
由于测量装置具有上述技术效果, 测量方法及包括该测量装置的滑动 配合机构和集装箱堆高机也具有相对应的技术效果。 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.
附图说明 DRAWINGS
图 1是一种集装箱堆高机的结构示意图;
图 2是本发明实施例提供的测量滑动配合机构的装置的原理示意图; 图 3是测量装置的一种控制器的基本工作流程, 也是本发明提供的测 量滑动配合机构的方法的流程图。 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.
具体实施方式 detailed description
下面结合附图对本发明进行详细描述, 本部分的描述仅是示范性和解 释性, 不应视为对本发明公开技术内容的限制。 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.
为节省篇幅, 本文件中, 所述滑动部件或第二门架滑动距离, 为相对 于基础部件或第一门架的滑动距离; 另外, 在对测量装置的工作原理进行 描述的同时, 对本发明提供的测量方法进行描述, 不再对测量方法进行单 独描述。 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.
请参考图 2, 该图为本发明实施例提供的测量滑动配合机构的装置的 原理示意图。 图中, 滑动部件可以为集装箱堆高机的第二门架 220、 基础 部件可以为集装箱的第一门架 210, 该测量装置用于测量集装箱堆高机第 二门架 220的位置参数。 以下以第一门架 210和第二门架 220之间的相对 滑动为例对测量装置的工作原理进描述, 应当说明的是: 本发明提供的测 量装置不限于测量第二门架 220的当前位置参数。 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.
如图 2, 第一门架 210与第二门架 220在竖向方向上滑动配合; 进而, 第二门架 220可以在竖向方向上滑动。 测量装置包括信号采集装置和控制 器 430, 信号采集装置具体包括感应块组 410和信号发生器 420。 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.
感应块组 410包括若干感应块, 多个感应块分别安装在第二门架 220 上, 且在竖向方向上以一定间距顺序排列。 本例中, 在第一门架 210上、 与第二门架 220的滑动配合的整个长度上, 多个感应块均勾布置, 即任意 相邻的两个感应块之间的距离相等, 该距离称为预定标准距离 L0。 图 2中 仅示出三个感应块, 为了描述的方便, 三个感应块分别用 411、 412和 413 表示 (图中仅示意出的感应块的尺寸, 实际应用中, 感应块尺寸与预定标 准距离 L0之间的比例很小 )。 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).
信号发生器 420包括三个接近开关, 三个接近开关在沿竖向方向顺序 排列。 本例中, 三个接近开关均匀排列; 为了描述方案, 三个接近开关分 别用 421、 422和 423表示。 两端的接近开关 421和 423均形成一定的感应 区; 如图所示之间, 接近开关 421形成的感应区的最上端和接近开关 423
形成的感应区的最下端之间的距离形成信号发生器 420 的最大感应距离 L1;在感应块位于该距离范围内时,信号发生器能够产生相应的感应信号。 最大感应距离 L1小于预定标准距离 L0。 这样, 在第二门架 220向上或向 下滑动一个预定标准距离 L0过程中,仅会有一个感应块与信号发生器 420 的三个接近开关顺序相对应, 并顺序通过三个接近开关的感应区, 使三个 接近开关顺序得电, 并输出感应信号;根据输出感应信号的接近开关不同, 信号发生器 420可以顺序产生三种不同的感应信号。 为了描述方便, 设接 近开关 421得电输出感应信号时, 信号发生器 420产生第一种感应信号; 接近开关 422得电输出感应信号时,信号发生器 420产生第二种感应信号; 接近开关 423得电输出感应信号时,信号发生器 420产生第三种感应信号。 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.
控制器 430与信号发生器 420相连, 进而能够获得, 并识别信号发生 器 420产生的感应信号; 设在信号发生器 420产生第一种感应信号时, 控 制器 430识别为 A1; 信号发生器 420产生第二种感应信号时, 控制器 430 识别为 A2; 信号发生器 420产生第三种感应信号时, 控制器 430识别为 A3。 控制器 430预设有至少三个状态参数, 并能够根据信号发生器 420产 生的感应信号和预定更新策略更新各状态参数的值。 控制器 430还能够根 据状态参数的值判断第二门架 220的运动状况, 并根据预定的处理策略确 定第二门架 220的当前位置参数。 输出装置 440与控制器 430相连, 能够 将获得的当前位置参数以适当的方式输出。 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.
本例中, 控制器 430的具体工作原理如下: In this example, the specific working principle of the controller 430 is as follows:
控制器 430预设有三个状态参数 Ql、 Q2和 Q3。 上电后, 控制器 430 能够根据预定的周期对信号发生器 420产生的感应信号进行扫描, 并根据 预定更新策略更新状态参数 Ql、 Q2和 Q3。 预定更新策略可以包括: 在信 号发生器 420产生感应信号, 且感应信号种类变化时, 控制器 430对状态 参数 Ql、 Q2和 Q3进行更新; 在感应信号未变化, 或者无感应信号时, 均不对状态参数 Ql、 Q2和 Q3进行更新, Ql、 Q2和 Q3均保持不变。 更 新方式为: 先使 Q3等于 Q2; 再使 Q2等于 Q1; 最后使 Q1等于预定值。 预定值可以根据感应信号变化确定。设接近开关 421得电,信号发生器 420 产生的感应信号变化为第一种感应信号时, 预定值为 A1 , 设接近开关 422 得电, 信号发生器 420产生的感应信号变化为第二种感应信号时, 预定值
为 A2, 设接近开关 423, 信号发生器 420产生的感应信号变化为第三种感 应信号时, 预定值为 A3。 Al、 A2和 A3可以分别为 1、 2和 3。 也可以为 其他的具体值。 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.
设三个状态参数初始值为 AO, AO可以为零, 或其他具体值。 Let the initial values of the three state parameters be AO, and AO can be zero, or other specific values.
以图 2所示状态为开始状态,在第二门架 220持续地向上滑动时, Ql、 Q2和 Q3如下表变化: 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:
以图 2所示状态为开始状态, 在第二门架 220持续地向下滑动时, 状 -数 Ql、 Q2和 Q3如下表变化: 更新周期序号 Q1 Q2 Q3 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 1 A1 AO AO
2 A2 Al AO2 A2 Al AO
3 A3 A2 Al3 A3 A2 Al
4 A1 A3 Al4 A1 A3 Al
5 A2 Al A35 A2 Al A3
6 A3 A2 Al6 A3 A2 Al
7 A1 A3 A2
在确定的时间点, Q2和 Q3表示 Q1前两个更新周期的值, Q1为当前 更新周期的值;这样可以记录至少三个周期的状态,进而根据状态参数 Ql、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,
Q2和 Q3的值, 可以确定 Q1的变化规律; 在 Q1值以 A3、 A2、 Al 方式循环时, 可以确定相应感应块顺序通过接近开关 423、 422、 421的感 应区, 进而可以确定在前三个更新周期内, 第二门架 220向上滑动; 在 Q1 值以 Al、 A2、 A3 方式循环时, 可以确定在前三个更新周期内第二 门架 220向下滑动。 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.
当然, ^据状态参数 Ql、 Q2和 Q3的值也可以确定第二门架 220和 第一门架 210之间的其他运动方式。 比如: 在第二门架 220反复滑动时, 使感应块 412反复与接近开关 422和 423对应时, Q1的变化顺序为 A3、 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 ; 使感应块 412反复与接近开关 421和 422对应时,A2, A3, A2; when the sensing block 412 is repeatedly associated with the proximity switches 421 and 422,
Q1 的变化顺序为 Al、 A2、 Al、 A2 ; 使感应块 412反复与接近开 关 421、 422和 423对应时, Q1的变化顺序为 Al、 A2、 A3、 A3、 A2、 Al , 等等; 进而通过 Q1变化顺序或 Ql、 Q2和 Q3值的排序, 可以确定第一门 架 220并没有向上或向下滑动一个预定标准距离, 仅在预定的范围内进行 了振动。 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.
进而, 控制器 430就能够根据 Q1值的变化(或 Ql、 Q2和 Q3值的排 序 )及预定处理策略可以确定第二门架 220的当前位置参数。 当前位置参 数可以根据实际需要确定, 可以是第二门架 220的工作状态、 也可以第二 门架 220的当前位置高度。 根据实际需要, 可以通过适当的预定处理策略 获得第二门架 220的当前位置参数。 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.
所述预定处理策略可以包括: 设第二门架 220的初始高度为 SO, 设第 二门架 220的当前位置高度(或第二门架 220的滑动距离)为 S,即 S=S0+N LO, 所述 N为整数, 表征第二门架 220滑动预定标准距离 L0的数量。 在控制器 430确定第二门架 220滑动一个或多个预定标准距离 L0时,对 N 进行更新。 在第二门架 220向上滑动一个预定标准距离 L0时, 使更新后 的 N等于更新前的 N加上 1 , 在第二门架 220向下滑动一个预定标准距离
L0时, 使更新后的 N等于更新前的 N减去 1 ; 通过 N的变化, 可以获得 第二门架 220的当前位置高度。 在控制器 430确定第二门架 220未滑动一 个预定标准距离 L0时, 控制器 430不更新 N。 当然, 为了避免由于感应 块本身尺寸造成的误差,提高 S的准确度,还可以根据感应块的实际尺寸, 对 S值进行修正。 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.
根据上述描述, 为了获得更多更新周期 Q1的值, 进而确定 Q1在更长 时间内的变化情况, 也可以在控制器 430预设更多个状态参数; 以预设五 个状态参数为例, 在更新状态参数时, 可以顺序使 Q5=Q4, 使 Q4=Q3 , 使 Q3=Q2, 使 Q2=Q1 , 使 Q1等于预定值。 这样, Q1为当前状态信号, Q2 为 Q1的前一更新周期状态信号, Q3为 Q2的前一更新周期状态信号, Q4 为 Q3的前一更新周期状态信号, Q5为 Q4的前一更新周期状态信号, 这 样可以记录包括当前状态及其前面四种状态; 进而通过 Q5、 Q4、 Q3、 Q2就可以获得 Q1当前更新周期之前更长时间内 Q1的变化值。 以有利于 提高测量装置的测量准确度, 也有利于获得更多信息, 进而为获得更多当 前位置参数提供前提。 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.
控制器 430不限于通过上述方式更新状态参数时, 还可以通过其他策 略更新状态参数。 预定更新策略可以包括: 在信号发生器 420产生的感应 信号为上升沿时, 使 Q5=Q4, 使 Q4=Q3 , 使 Q3=Q2, 使 Q2=Q1 , 使 Q1 等于预定值。 在信号发生器 420产生第一种感应信号时, 预定值为 A1 , 在 信号发生器 420产生第二种感应信号时, 预定值为 A2, 在信号发生器 420 产生第三种感应信号时, 预定值为 A3。 同样, 预定更新策略也可以根据感 应信号的下降沿为根据对状态参数进行更新, 顺序使 Q5=Q4, 使 Q4=Q3 , 使 Q3=Q2, 使 Q2=Q1 , 使 Q1等于预定值。 当然, 也可以根据实际需要, 选择其他相应的预定更新策略更新状态参数的值。 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.
另外, 为了提高控制器 430工作可靠性, 还可以通过以下方式进行数 据处理。 In addition, in order to improve the operational reliability of the controller 430, data processing can also be performed in the following manner.
在控制器 430中预设五个状态参数 Ql、 Q2、 Q3、 Q4 和 Q5。 所述预 定处理策略包括: 第二门架 220的当前位置参数为第二门架 220的滑动距 离 S , 且S=S0+N χ L0; SO为第二门架 220的初始位置参数, N为整数; 根据状态参数的值判断第二门架 220是否滑动整数个预定标准距离 L0,如
果是, 则更新 N, 使 N根据滑动的预定标准距离 L0。预定更新策略可以包 括: 在信号发生器 420产生的感应信号为上升沿或下降沿时, 使 Q3=Q2, 使 Q2=Q1 ,使 Ql等于预定值; 在更新 N后,使 Q1恢复初始值,等于 A0。 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.
如图 3所示, 该图示出的一种控制器 430的基本工作流程, 也是本发 明提供的测量滑动配合机构的方法的流程图。 利用上述预定处理策略和预 定更新策略时, 其具体工作流程如下: 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:
步骤 S100,在控制器 430扫描到信号发生器 420的感应信号为上升沿 或下降沿时, 使 Q5=Q4, 使 Q4=Q3, 使 Q3=Q2, 使 Q2=Q1 , 使 Ql等于 预定值; 在信号发生器 420产生第一种感应信号时, 预定值为 A1 , 在所述 信号发生器 420产生第二种感应信号时,预定值为 A2,在所述信号发生器 420产生第三种感应信号时, 预定值为 A3。 设各状态参数的初始值为 A0。 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.
步骤 S200, 根据五个状态参数 Ql、 Q2、 Q3、 Q4 和 Q5的值判断第 二门架 220是否滑动一个预定标准距离 L0; 如果是, 则进入步骤 S300; 如果否, 返回步骤 S100, 继续按预定周期进行扫描。 判断的具体方式可以 是: 在 Ql、 Q2、 Q3、 Q4 和 Q5的值分别为 Al、 A3、 A2、 Al、 AO时, 说明 Ql经历了 Al、 A2、 A3、 Al的变化, 进而可以确定第二门架 220向 下滑动一个预定标准距离 L0。 在 Ql、 Q2、 Q3、 Q4 和 Q5的值分别为 A3、 Al、 A2、 A3、 AO时, 说明 Ql经历了 A3、 A2、 Al、 A3的变化, 进而可 以确定第二门架 220向上滑动一个预定标准距离 L0。 当然, 根据状态参数 的具体赋值, 判断方式可以根据实际需要进行调整。 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.
步骤 S300, 更新 N。 更新的具体方式是: 在确定第二门架 220向上滑 动一个预定标准距离 L0时, 使更新后的 N等于更新前的 N加上 1; 在确 定第二门架 220向下滑动一个预定标准距离 L0时, 使更新后的 N等于更 新前的 N减去 1。 当然, 根据实际需要, 在设置多个状态参数时, 也可以 在确定第二门架 220向下滑动整数个预定标准距离 L0时, 相应更新 N, 使更新后的 N加上或减去相应的数值。 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.
步骤 S400, 使 Q1等于 AO, 返回步骤 S100。 In step S400, Q1 is made equal to AO, and the process returns to step S100.
通过上述步骤的循环可以实现获得第二门架 220滑动距离 S的目的。 通过步骤 S400使 Q1恢复初始值(也可以是其他与 A3、 A2和 A1均 不相同的值); 通过对状态参数的更新, 更新 N后 Q1恢复的初始值可以体
现在 Q5中; 进而通过 Q5 , 可以在步骤 S200中验证第二门架 220是否正 常上升或下降, 进而作为更新 N的条件, 保证获得的当前位置参数的准确 性。 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.
根据上述描述, 本领域技术人员可以确定, 信号发生器 420不限于包 括三个接近开关, 也可以包括更多个接近开关。 也可以利用其他类型的传 感器产生至少三种感应信号; 比如: 可以使信号发生器 420包括旋转编码 器, 并在第一门架 210上设置相应感应块; 使旋转编码器与感应块具有适 当的配合关系; 在旋转编码器与感应块相对应时, 旋转编码器输出旋转信 号, 在旋转编码器与感应块不相对应时, 不产生旋转信号; 适当设置旋转 编码器与感应块, 也可以使信号发生器 420产生至少三种感应信号, 实现 上述目的。 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.
在提供上述测量滑动配合机构的装置的基础上, 本发明还提供一种滑 动配合机构, 该滑动配合机构包括在第一参考方向上滑动配合的滑动部件 和基础部件; 其中, 滑动部件和基础部件分别与第二门架 220和第一门架 210相对应; 另外, 该滑动配合机构还包括上述任一种测量滑动配合机构 的装置。 由于包括上述测量装置, 该滑动配合机构也具有相对应的技术效 果。 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.
在提供的上述测量滑动配合机构的装置的基础上, 本发明还提供一种 集装箱堆高机, 该集装箱堆高机包括车体 100、 第一门架 210、 第二门架 220和吊具 300; 第一门架 210与车体 100相连; 第二门架 220可滑动地安 装在第一门架 210外侧; 吊具 300可滑动安装在第二门架 220外侧; 还包 括上述相应测量滑动配合机构的装置。为了便于确定集装箱中吊具的高度, 控制器 430还能够根据第二门架 220的当前位置参数确定吊具 300的当前 位置参数;即利用第二门架 220相对于第一门架 210的滑动距离与吊具 300 相对于第二门架 220的滑动距离之比确定吊具 300的当前位置参数。 施例的说明只是用于帮助理解本发明提供的技术方案。 应当指出, 对于本 技术领域的普通技术人员来说, 在不脱离本发明原理的前提下, 还可以对 本发明进行若干改进和修饰, 这些改进和修饰也落入本发明权利要求的保 护范围内。
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
1、一种测量滑动配合机构的装置,所述滑动配合机构包括在第一参考 方向上滑动配合的滑动部件和基础部件; 其特征在于, 包括控制器(430 )、 信号发生器(420 )和多个感应块(411、 412、 413 ); 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);
所述信号发生器(420 )安装在滑动部件上; 多个所述感应块(411、 The signal generator (420) is mounted on the sliding member; a plurality of the sensing blocks (411,
412、 413 )安装在基础部件上、 且沿第一参考方向顺序排列, 相邻的所述 感应块(411、 412、 413 ) 间隔预定标准距离 L0; 在第一参考方向上, 所 述信号发生器(420 ) 的最大感应距离 L1小于任一所述预定标准距离 L0; 在滑动部件滑动一个预定标准距离 L0过程中, 基于一感应块(411、 412、 413 ), 所述信号发生器(420 ) 能够顺序产生至少三种感应信号; 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;
所述控制器( 430 )预设有至少三个状态参数, 并能够根据所述信号发 生器(420 )产生的感应信号和预定更新策略更新所述状态参数的值; 还能 够根据状态参数的值和预定处理策略确定滑动部件的当前位置参数。 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、 根据权利要求 1所述的测量滑动配合机构的装置, 其特征在于, 所述信号发生器(420 )包括至少三个安装在基础部件上、 且沿第一参 考方向顺序排列的接近开关(421、 422、 423 ); 在滑动部件滑动一个预定 标准距离 L0过程中, 相应感应块(411、 412、 413 ) 能够与各所述接近开 关(421、 422、 423 )顺序相对, 所述信号发生器 ( 420 ) 能够顺序产生至 少三种感应信号。 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.
3、 根据权利要求 1所述的测量滑动配合机构的装置, 其特征在于, 所述控制器(430 )预设有至少三个状态参数 Ql、 Q2和 Q3; 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;
所述预定更新策略包括: 在信号发生器(420 )产生感应信号, 且感应 信号种类变化时, 使 Q3=Q2, 使 Q2=Q1 , 使 Q1等于预定值; 在所述信号 发生器(420 )感应信号变化为第一种感应信号时, 预定值为 A1 , 在所述 信号发生器(420 )感应信号变化为第二种感应信号时, 预定值为 A2, 在 所述信号发生器(420 )感应信号变化为第三种感应信号时, 预定值为 A3。 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.
4、 根据权利要求 1所述的测量滑动配合机构的装置, 其特征在于, 所述控制器(430 )预设有至少三个状态参数 Ql、 Q2和 Q3; 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;
所述预定更新策略包括: 在信号发生器( 420 )产生的感应信号为上升 沿或下降沿时, 使 Q3=Q2, 使 Q2=Q1 , 使 Q1等于预定值; 在所述信号发 生器( 420 )产生第一种感应信号时,预定值为 A1 ,在所述信号发生器( 420 ) 产生第二种感应信号时, 预定值为 A2, 在所述信号发生器(420 )产生第 三种感应信号时, 预定值为 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、根据权利要求 3或 4所述的测量滑动配合机构的装置,其特征在于, 所述控制器 (430 )预设有至少五个状态参数 Ql、 Q2、 Q3、 Q4 和 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; Q5;
所述预定更新策略包括: 在使 Q3=Q2之前, 使 Q5=Q4, 使 Q4=Q3。 The predetermined update policy includes: before Q3 = Q2, Q5 = Q4, and Q4 = Q3.
6、根据权利要求 1所述的测量滑动配合机构的装置, 其特征在于, 所 述预定处理策略包括: 所述滑动部件的当前位置参数为所述滑动部件的滑 动距离 S, J- S=S0+N L0; 所述 SO为所述滑动部件的初始位置参数, N 为整数; 根据所述状态参数的值判断所述滑动部件是否滑动整数个预定标 准距离 L0, 如果是, 则更新 N。 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.
7、 根据权利要求 1所述的测量滑动配合机构的装置, 其特征在于, 所述控制器 (430 )预设有至少五个状态参数 Ql、 Q2、 Q3、 Q4 和 Q5; 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;
所述预定处理策略包括: 所述滑动部件的当前位置参数为所述滑动部 件的滑动距离 S, 且S=S0+N χ L0; 所述 SO为所述滑动部件的初始位置参 数, N为整数; 根据所述状态参数的值判断所述滑动部件是否滑动整数个 预定标准距离 L0, 如果是, 则更新 N; 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;
所述预定更新策略包括: 在信号发生器( 420 )产生的感应信号为上升 沿或下降沿时, 使 Q3=Q2, 使 Q2=Q1 , 使 Q1等于预定值; 在所述信号发 生器( 420 )产生第一种感应信号时,预定值为 A1 ,在所述信号发生器( 420 ) 产生第二种感应信号时, 预定值为 A2, 在所述信号发生器(420 )产生第 三种感应信号时, 预定值为 A3; 在更新 N后, 使 Q1等于 A0。 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、 根据权利要求 1-7任一项所述的测量滑动配合机构的装置, 其特征 在于, 多个所述感应块(411、 412、 413 ) 沿第一参考方向均匀排列。 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、 根据权利要求 1-7任一项所述的测量滑动配合机构的装置, 其特征 在于,还包括与控制器(430 )相连的输出装置(440 ),所述输出装置(440 ) 能够将所述当前位置参数输出。 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、 一种滑动配合机构, 包括在第一参考方向上滑动配合的滑动部件 和基础部件, 其特征在于, 还包括权利要求 1-9任一项所述的测量滑动配 合机构的装置。 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、 一种集装箱堆高机, 包括车体(100)、 第一门架(210)、 第二门 架(220)和吊具( 300); 第一门架(210)与车体( 100)相连; 第二门架 (220)可滑动地安装在第一门架(210)外侧; 吊具( 300)可滑动安装在 第二门架(220)外侧; 其特征在于, 还包括权利要求 1-9任一项所述测量 滑动配合机构的装置, 所述滑动部件和基础部件分别为第二门架(220)和 第一门架(210)。 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、 根据权利要求 11所述的集装箱堆高机。 其特征在于, 所述控制器 (430)还能够根据第二门架(220)的当前位置参数确定吊具( 300)相对 于第一门架(210) 的高度。 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、 一种测量滑动配合机构的方法, 所述滑动配合机构包括在第一参 考方向上滑动配合的滑动部件和基础部件; 还包括信号发生器(420)和多 个感应块(411、 412、 413); 所述信号发生器(420)安装在滑动部件上; 多个所述感应块(411、 412、 413)安装在基础部件上、 且沿第一参考方向 顺序排列, 相邻的所述感应块(411、 412、 413) 间隔预定标准距离 L0; 在第一参考方向上, 所述信号发生器(420) 的最大感应距离 L1小于任一 所述预定标准距离 L0; 在滑动部件滑动一个预定标准距离 L0过程中, 基 于一感应块(411、 412、 413), 所述信号发生器(420)能够顺序产生至少 三种感应信号; 其特征在于, 所述的测量方法包括: 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:
预设有至少三个状态参数; 根据所述信号发生器( 420 )产生的感应信 号和预定更新策略更新所述状态参数的值; 再根据状态参数的值和预定处 理策略确定滑动部件的当前位置参数。 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.
14、 根据权利要求 13所述的测量滑动配合机构的方法, 其特征在于, 所述滑动部件的当前位置参数为所述滑动部件的滑动距离 S, 且 S=S0+N LO; 所述 SO为所述滑动部件的初始位置参数, N为整数; 预设有至少 五个状态参数 Ql、 Q2、 Q3、 Q4 和 Q5; 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;
所述测量方法包括如下步骤: The measuring method comprises the following steps:
S100, 在扫描到信号发生器(420) 的感应信号为上升沿或下降沿时, 使 Q5=Q4, 使 Q4=Q3, 使 Q3=Q2, 使 Q2=Q1, 使 Ql等于预定值; 在信 号发生器(420)产生第一种感应信号时, 预定值为 A1, 在所述信号发生 器(420)产生第二种感应信号时,预定值为 A2,在所述信号发生器(420) 产生第三种感应信号时, 预定值为 A3; 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, 根据五个状态参数 Ql、 Q2、 Q3、 Q4 和 Q5的值判断第二门架 (220)是否滑动一个预定标准距离 L0; 如果是, 则进入步骤 S200; 如果 否, 返回步骤 S100; 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, 更新 N; S300, update N;
S400, 使 Q1等于 A0。 S400, making Q1 equal to A0.
15、 根据权利要求 14所述的测量滑动配合机构的方法, 其特征在于, 所述 AO为各状态参数的初始值。 15. A method of measuring a sliding fit mechanism according to claim 14, wherein said AO is an initial value of each state parameter.
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