CN102506784B - Sliding fit mechanism, measuring device, measuring method and container stacking machine - Google Patents

Abstract

The invention discloses a device and a method for measuring a sliding fit mechanism, the sliding fit mechanism and a container stacking machine. The measuring device comprises a controller and a signal acquisition device; the signal acquisition device comprises a signal generator and a plurality of induction blocks; the signal generator is arranged on the sliding component; the plurality of induction blocks are arranged on the base component and are sequentially arranged along a first reference direction; based on any induction block, the signal generator can sequentially generate at least three induction signals; the controller can update the preset state parameter according to the sensing signal, and can determine the movement condition of the sliding component relative to the base component according to the change of the state parameter; and then obtaining the current position parameter of the sliding component according to the motion state of the sliding component. The measuring device has strong adaptability.

Description

Sliding fit mechanism and measuring device, measuring method, container stacker

technical field

The invention relates to a state measurement technology, in particular to a device for measuring a sliding fit mechanism, and also relates to a slip fit mechanism and a container stacker including the measuring device.

Background technique

The stacker is a common mechanical equipment at present. Please refer to FIG. 1 , which is a schematic structural diagram of a container stacker. This container stacker comprises car body 100, first door frame 210, second door frame 220 and spreader 300, and first door frame 210 can be outer door frame, and second door frame 220 can be inner door frame, and outer door frame The frame and the inner door frame form the door frame mechanism of the container stacker. The first door frame 210 is basically vertically arranged and connected with the vehicle body 100; the second door frame 220 is also basically vertically arranged, and is slidably installed on the outside of the first door frame 210; The frame 220 slides in the vertical direction relative to the first door frame 210 . The hanger 300 is slidably installed on the outside of the second door frame 220 , so that the hanger 300 can slide relative to the second door frame 220 under the action of a proper driving mechanism. When transporting and stacking the container, the second door frame 220 slides to the lowermost end relative to the first door frame 210, and the spreader 300 slides down to a predetermined position relative to the second door frame 220, and corresponds to the predetermined container. Make the spreader 300 lock the container, then make the second door frame 220 slide upward relative to the first door frame 210 , and at the same time make the spreader 300 slide upward relative to the second door frame 220 . The movement of the spreader 300 drives the container to move upward relative to the car body 100 to realize the lifting of the container, and then through proper operation, the stacking and stacking of the container can be realized.

During the scheduled operation of the container, especially when the operation is carried out at a high level, the container is at a high position. During the handling process, the uneven road surface and the operation may easily cause the tilt angle of the mast mechanism to change; when the tilt angle is too large, it is easy to Lead to the tipping accident of the container stacker. For this reason, in order to avoid or reduce the occurrence of overturning accidents, it is necessary to determine the height of the spreader 300 or the second door frame 220 (generally speaking, the sliding distance of the second door frame 220 relative to the first door frame 210 is the same as that of the spreader 300). There is a predetermined ratio between the sliding distances relative to the second gantry 220. Therefore, at present, generally by measuring the height change of the second gantry 220, and then obtaining the height of the spreader 300 through appropriate conversion), and then judging the container stacking height Whether the machine is likely to tip over, and realize the tipping warning of the container stacker. At present, the height of the second door frame 220 is mainly determined by means of laser measurement, ultrasonic measurement, radar measurement, etc.; the above methods all obtain the height of the second door 220 through appropriate signal reflection. The above method is not only costly; but also because the signal reflection measurement will affect its usability due to the influence of obstacles, it is greatly restricted in use and application, and its adaptability is difficult to meet actual needs.

The second door frame 220 of the above-mentioned stacker is regarded as a sliding part, and the first door frame 210 is regarded as a basic part. The sliding fit mechanism formed by the two can also be applied to other working machines and equipment, such as locks of large machinery The sliding fit mechanism formed by the cooperation between the stop pin and the locking hole of the locking base, and so on. 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 poor adaptability. Therefore, when measuring the working parameters of the sliding fit mechanism, how to improve the adaptability of the measuring device while reducing the cost is currently a technical problem to be solved by those skilled in the art.

Contents of the invention

Therefore, the object of the present invention is to provide a device and method for measuring a sliding fit mechanism, and the measuring device and method have relatively strong adaptability.

On the basis of providing the above-mentioned measuring device, a sliding fit mechanism including the above-mentioned measuring device and a container stacker including the measuring device are also provided.

The invention provides a device for measuring a sliding fit mechanism, the sliding fit mechanism includes a sliding part and a base part that are slidingly fitted in a first reference direction; the device includes a controller, a signal generator and a plurality of sensing blocks;

The signal generator is installed on the sliding part; a plurality of the induction blocks are installed on the base part and arranged sequentially along the first reference direction, and the adjacent induction blocks are separated by a predetermined standard distance L0; in the first reference direction Above, the maximum sensing distance L1 of the signal generator is less than any of the predetermined standard distances L0; during the sliding part slides a predetermined standard distance L0, based on an induction block, the signal generator can sequentially generate at least three induction signal;

The controller is preset with at least three state parameters Q1, Q2, and Q3, and can update the value of the state parameter according to the induction signal generated by the signal generator and a predetermined update strategy; it can also update the value of the state parameter according to the value of the state parameter and A predetermined processing strategy determines a current position parameter of the sliding component;

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

Optionally, the signal generator includes at least three proximity switches installed on the base component and arranged sequentially along the first reference direction; when the sliding component slides a predetermined standard distance L0, the corresponding sensing block can communicate with each Relative to the proximity switches in sequence, the signal generator can generate at least three sensing signals in sequence.

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

The predetermined update strategy includes: when the induction signal generated by the signal generator is a rising edge or a falling edge, make Q3=Q2, make Q2=Q1, and make Q1 equal to a predetermined value; when the signal generator generates the first induction signal signal, the predetermined value is A1, when the signal generator generates the second type of induction signal, the predetermined value is A2, and when the signal generator generates the third type of induction 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 updating strategy includes: setting Q5 = Q4 and Q4 = Q3 before setting Q3 = Q2.

Optionally, the predetermined processing strategy includes: the current position parameter of the sliding component is the sliding distance S of the sliding component, and S=S0+N×L0; the S0 is the initial position parameter of the sliding component , N is an integer; judging according to the value of the state parameter whether the sliding component has slid an integer number of predetermined standard distances L0, and if so, updating N.

Optionally, the controller is preset with at least five state parameters Q1, Q2, Q3, Q4 and Q5;

The predetermined processing strategy includes: the current position parameter of the sliding component is the sliding distance S of the sliding component, and S=S0+N×L0; the S0 is the initial position parameter of the sliding component, and N is an integer ; According to the value of the state parameter, it is judged whether the sliding part slides an integer predetermined standard distance L0, and if so, updating N;

The predetermined update strategy includes: when the induction signal generated by the signal generator is a rising edge or a falling edge, make Q5=Q4, make Q4=Q3, make Q3=Q2, make Q2=Q1, make Q1 equal to a predetermined value; When the signal generator generates the first induction signal, the predetermined value is A1; when the signal generator generates the second induction signal, the predetermined value is A2; when the signal generator generates the third induction signal , the predetermined value is A3; after updating N, make Q1 equal to A0.

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

Optionally, the device for measuring a sliding fit mechanism further includes an output device connected to the controller, and the output device can output the current position parameter.

The sliding fit mechanism provided by the present invention includes a sliding component and a base component that are slidingly fitted in the first reference direction, and also includes any one of the above-mentioned devices for measuring the sliding fit mechanism.

The container stacker provided by the present invention includes a car body, a first door frame, a second door frame and a spreader; the first door frame is connected with the car body; the second door frame is slidably installed on the outside of the first door frame; The tool is slidably installed on the outside of the second door frame; it is characterized in that it also includes any one of the above-mentioned devices for measuring the sliding fit mechanism, and the sliding part and the base part are respectively the second door frame and the first door frame.

Optionally, the controller can also determine the height of the spreader relative to the first mast according to the current position parameters of the second mast.

In the method for measuring a sliding fit mechanism provided by the present invention, the sliding fit mechanism includes a sliding component and a base component that are slidingly fitted in the first reference direction; a signal generator and a plurality of induction blocks are also included; the signal generator is installed On the sliding part; a plurality of the sensing blocks are installed on the base part and arranged sequentially along the first reference direction, and the adjacent sensing blocks are separated by a predetermined standard distance L0; in the first reference direction, the signal occurs The maximum sensing distance L1 of the device is less than any of the predetermined standard distances L0; during the sliding part slides a predetermined standard distance L0, based on a sensing block, the signal generator can sequentially generate at least three sensing signals;

The measurement method includes: at least three state parameters Q1, Q2 and Q3 are preset; updating the value of the state parameter according to the induction signal generated by the signal generator and a predetermined update strategy; and then according to the value of the state parameter and A predetermined processing strategy determines a current position parameter of the sliding component;

The predetermined update strategy includes: when the signal generator generates an induction signal and the type of the induction signal changes, Q3=Q2, Q2=Q1, and Q1 equal to a predetermined value; When the induction signal of the signal generator changes to the second induction signal, the predetermined value is A1. When the induction signal of the signal generator changes to the second induction signal, the predetermined value is A2. When the induction signal of the signal generator changes to the third induction signal, the predetermined value is A2. The value is A3.

Optionally, the current position parameter of the sliding component is the sliding distance S of the sliding component, and S=S0+N×L0; the S0 is the initial position parameter of the sliding component, and N is an integer; preset There are at least five state parameters Q1, Q2, Q3, Q4 and Q5;

Described measurement method comprises the steps:

S100, when the sensing signal of the signal generator is scanned to be a rising edge or a falling edge, make Q5=Q4, make Q4=Q3, make Q3=Q2, make Q2=Q1, make Q1 equal to a predetermined value; For the first type of induction signal, the predetermined value is A1; when the signal generator generates the second type of induction signal, the predetermined value is A2; when the signal generator generates the third type of induction signal, the predetermined value is A3;

S200, judging whether the second door frame slides a predetermined standard distance L0 according to the values of the five state parameters Q1, Q2, Q3, Q4 and Q5; if yes, proceed to step S200; if not, return to step S100;

S300, update N;

S400, making Q1 equal to A0.

Optionally, the A0 is an initial value of each state parameter.

The device for measuring a sliding fit mechanism provided by the present invention includes a controller and a signal acquisition device; the signal acquisition device includes a signal generator and a plurality of induction blocks; the signal generator is installed on a sliding part; a plurality of the induction blocks Installed on the base component and arranged sequentially along the first reference direction; during the slide component slides a predetermined standard distance relative to the base component, based on an induction block, the signal generator can sequentially generate at least three induction signals; control The device can update the predetermined state parameters according to the induction signal, and then can determine the time sequence of the three induction signals according to the value of the state parameters, and then determine the sliding direction and sliding distance of the signal generator relative to the predetermined induction block; thus according to the change of the state parameters The movement condition of the sliding component relative to the base component can be determined; and the current position parameter of the sliding component can be obtained according to the movement state of the sliding component. The measuring device does not need to obtain the working parameters of the sliding parts by means of signal reflection, can reduce adverse effects caused by obstacles, and has strong adaptability.

In a further technical solution, the signal generator includes at least three proximity switches, which generate corresponding induction signals through the combination of different proximity switches and induction blocks; because the proximity switches have the characteristics of high reliability and low cost, the measuring device It has high reliability and low cost.

In a further technical solution, the controller is preset with at least five state parameters. In this way, the motion condition of the sliding part can be determined for a longer period of time through the five state parameters, which not only helps to improve the measurement accuracy of the measuring device, but also helps to obtain more information, thereby providing a prerequisite for obtaining more current position parameters.

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

Description of drawings

Fig. 1 is a structural schematic diagram of a container stacker;

Fig. 2 is a schematic diagram of the principle of the device for measuring the sliding fit mechanism provided by the 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 the method for measuring a sliding fit mechanism provided by the present invention.

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings. The description in this part is only exemplary and explanatory, and should not be regarded as limiting the technical content disclosed in the present invention.

In order to save space, in this document, the sliding distance of the sliding part or the second door frame is the sliding distance relative to the base part or the first door frame; in addition, while describing the working principle of the measuring device, the present invention The measurement method provided is described, and the measurement method is no longer described separately.

Please refer to FIG. 2 , which is a schematic diagram of a device for measuring a sliding fit mechanism provided by an embodiment of the present invention. In the figure, the sliding part can be the second door frame 220 of the container stacker, the base part can be the first door frame 210 of the container, and the measuring device is used to measure the position parameters of the second door frame 220 of the container stacker. The working principle of the measuring device is described below by taking the relative sliding between the first door frame 210 and the second door frame 220 as an example. It should be noted that the measuring device provided by the present invention is not limited to measuring the current position of the second door frame 220. positional parameters.

As shown in FIG. 2 , the first door frame 210 is slidably matched with the second door frame 220 in the vertical direction; furthermore, the second door frame 220 can slide in the vertical direction. The measurement device includes a signal acquisition device and a controller 430 , and the signal acquisition device specifically includes an induction block set 410 and a signal generator 420 .

The induction block group 410 includes several induction blocks, and the plurality of induction blocks are installed on the second door frame 220 respectively, and are arranged sequentially at a certain interval in the vertical direction. In this example, on the first door frame 210 and on the entire length of the sliding fit with the second door frame 220, a plurality of induction blocks are evenly arranged, that is, the distance between any adjacent two induction blocks is equal, and the distance It is called the predetermined standard distance L0. Only three induction blocks are shown in Fig. 2, for the convenience of description, the three induction blocks are represented by 411, 412 and 413 respectively (the size of the induction block is only shown in the figure, in actual application, the size of the induction block is consistent with the predetermined standard The ratio between the distance L0 is small).

The signal generator 420 includes three proximity switches arranged in sequence along the vertical direction. In this example, the three proximity switches are evenly arranged; in order to describe the solution, the three proximity switches are denoted by 421, 422 and 423 respectively. Proximity switches 421 and 423 at both ends form a certain induction area; as shown in the figure, the distance between the uppermost end of the induction area formed by proximity switch 421 and the lowermost end of the induction area formed by proximity switch 423 forms a signal generator The maximum sensing distance L1 of 420; when the sensing block is within this distance range, the signal generator can generate a corresponding sensing signal. The maximum sensing distance L1 is smaller than the predetermined standard distance L0. In this way, when the second door frame 220 slides up or down a predetermined standard distance L0, only one induction block will correspond to the three proximity switches of the signal generator 420 in sequence, and will pass through the induction of the three proximity switches in sequence. zone, so that the three proximity switches are energized sequentially and output sensing signals; according to the proximity switches that output sensing signals, the signal generator 420 can sequentially generate three different sensing signals. For the convenience of description, when the proximity switch 421 is energized to output the induction signal, the signal generator 420 produces the first induction signal; when the proximity switch 422 is electrically output the induction signal, the signal generator 420 generates the second induction signal; the proximity switch 423 The signal generator 420 generates a third type of sensing signal when it is powered and outputs the sensing signal.

The controller 430 is connected to the signal generator 420, and then can obtain and identify the induction signal generated by the signal generator 420; when the signal generator 420 generates the first induction signal, the controller 430 identifies it as A1; the signal generator 420 When the second type of induction signal is generated, the controller 430 identifies it as A2; when the signal generator 420 generates the third type of induction signal, the controller 430 identifies it as A3. The controller 430 is preset with at least three state parameters, and can update the value of each state parameter according to the sensing signal generated by the signal generator 420 and a predetermined updating strategy. The controller 430 can also judge the movement status of the second gantry 220 according to the value of the state parameter, and determine the current position parameter of the second gantry 220 according to a predetermined processing strategy. The output device 440 is connected with the controller 430 and can output 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 preset with three state parameters Q1, Q2 and Q3. After being powered 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 a sensing signal and the type of the sensing signal changes, the controller 430 updates the state parameters Q1, Q2 and Q3; when the sensing signal does not change or there is no sensing signal, neither The state parameters Q1, Q2 and Q3 are updated, and Q1, Q2 and Q3 remain unchanged. The update method is: first make Q3 equal to Q2; then make Q2 equal to Q1; finally make Q1 equal to a predetermined value. The predetermined value can be determined according to the change of the sensing signal. When the proximity switch 421 is energized, when the induction signal generated by the signal generator 420 changes to the first induction signal, the predetermined value is A1. If the proximity switch 422 is energized, the induction signal generated by the signal generator 420 changes to the second induction signal. signal, the predetermined value is A2, and the proximity switch 423 is set, and when the induction signal generated by the signal generator 420 changes to the third type of induction signal, the predetermined value is A3. A1, A2, and A3 can be 1, 2, and 3, respectively. It can also be other specific values.

The initial value of the three state parameters is A0, and A0 can be zero or other specific values.

Taking the state shown in Figure 2 as the starting state, when the second door frame 220 is continuously sliding upwards, Q1, Q2 and Q3 change as shown in the following table:

update cycle number Q1 Q2 Q3 1 A3 A0 A0 2 A2 A3 A0 3 A1 A2 A3 4 A3 A1 A2 5 A2 A3 A1 6 A1 A2 A3 7 A3 A1 A2 8 A2 A3 A1 … … … …

Taking the state shown in Figure 2 as the starting state, when the second door frame 220 is continuously sliding downward, the state parameters Q1, Q2 and Q3 change as shown in the following table:

update cycle number Q1 Q2 Q3 1 A1 A0 A0 2 A2 A1 A0

3 A3 A2 A1 4 A1 A3 A1 5 A2 A1 A3 6 A3 A2 A1 7 A1 A3 A2 8 A2 A1 A3 … … … …

At a certain time point, Q2 and Q3 represent the values of the previous two update cycles of Q1, and Q1 is the value of the current update cycle; in this way, the state of at least three cycles can be recorded, and then according to the values of the state parameters Q1, Q2, and Q3, it can be Determine the change law of Q1; when the value of Q1 circulates in the form of A3, A2, A1, ..., it can be determined that the corresponding sensing blocks pass through the sensing areas of the proximity switches 423, 422, and 421 in sequence, and then it can be determined that they are in the first three In two update periods, the second door frame 220 slides upward; when the value of Q1 cycles in the manner of A1, A2, A3, ..., it can be determined that the second door frame 220 slides down in the first three update cycles .

Of course, other motion modes between the second gantry 220 and the first gantry 210 can also be determined according to the values of the state parameters Q1 , Q2 and Q3 . For example: when the second door frame 220 slides repeatedly, when the induction block 412 is repeatedly corresponding to the proximity switches 422 and 423, the change sequence of Q1 is A3, A2, A3, A2, ...; the induction block 412 When repeatedly corresponding to the proximity switches 421 and 422, the change order of Q1 is A1, A2, A1, A2, ...; when the induction block 412 is repeatedly corresponding to the proximity switches 421, 422 and 423, the change order of Q1 A1, A2, A3, A3, A2, A1, . . . Sliding down a predetermined standard distance, the vibration is only performed within the predetermined range.

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

The predetermined processing strategy may include: setting the initial height of the second door frame 220 as S0, setting the height of the current position of the second door frame 220 (or the sliding distance of the second door frame 220) as S, that is, S=S0+N ×L0, the N is an integer, representing the number of sliding predetermined standard distance L0 of the second door frame 220 . When the controller 430 determines that the second door frame 220 has slid by one or more predetermined standard distances L0, N is updated. When the second door frame 220 slides up a predetermined standard distance L0, make the updated N equal to the N before updating plus 1, and when the second door frame 220 slides down a predetermined standard distance L0, make the updated N It is equal to the N before updating minus 1; through the change of N, the current position height of the second mast 220 can be obtained. When the controller 430 determines that the second door frame 220 has not slid by a predetermined standard distance L0, the controller 430 does not update N. Of course, in order to avoid errors 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 then determine the change of Q1 in a longer period of time, more state parameters can also be preset in the controller 430; taking preset five state parameters as an example, When updating the state parameters, Q5=Q4, Q4=Q3, Q3=Q2, Q2=Q1, and Q1 can be set to a predetermined value in sequence. In this way, Q1 is the current status signal, Q2 is the status signal of the previous update period of Q1, Q3 is the status signal of the previous update period of Q2, Q4 is the status signal of the previous update period of Q3, and Q5 is the status signal of the previous update period of Q4. signal, so that the current state and its previous four states can be recorded; and then through Q5, Q4, Q3, and Q2, the change value of Q1 in a longer period before the current update cycle of Q1 can be obtained. It is beneficial to improve the measurement accuracy of the measuring device and to obtain more information, thereby providing a premise for obtaining more current position parameters.

The controller 430 is not limited to updating the state parameters through the above method, and may also update the state parameters through other strategies. The predetermined update strategy may include: when the sensing signal generated by the signal generator 420 is a rising edge, make Q5=Q4, make Q4=Q3, make Q3=Q2, make Q2=Q1, make Q1 equal to a predetermined value. When the signal generator 420 generates the first induction signal, the predetermined value is A1; when the signal generator 420 generates the second induction signal, the predetermined value is A2; when the signal generator 420 generates the third induction signal, the predetermined value The value is A3. Similarly, the predetermined update strategy can also update the state parameters according to the falling edge of the sensing signal, and make Q5=Q4, Q4=Q3, Q3=Q2, Q2=Q1, and Q1 equal to the predetermined value. Of course, other corresponding predetermined update strategies may also be selected to update the value of the state parameter according to actual needs.

In addition, in order to improve the working reliability of the controller 430, data processing may 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×L0; S0 is the initial position parameter of the second gantry 220, and N is Integer; judge whether the second door frame 220 slides for an integer predetermined standard distance L0 according to the value of the state parameter, and if so, update N so that N is based on the predetermined standard distance L0 for sliding. The predetermined update strategy may include: when the sensing signal generated by the signal generator 420 is a rising edge or a falling edge, make Q3=Q2, make Q2=Q1, make Q1 equal to a predetermined value; after updating N, make Q1 restore the initial value, equal to A0.

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

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

Step S200, according to the values of five state parameters Q1, Q2, Q3, Q4 and Q5, it is judged whether the second door frame 220 slides a predetermined standard distance L0; if yes, then enter step S300; if not, return to step S100, continue to press Scanning is performed periodically. The specific way of judging can be: when the values of Q1, Q2, Q3, Q4 and Q5 are A1, A3, A2, A1 and A0 respectively, it means that Q1 has experienced the changes of A1, A2, A3 and A1, and then it can be determined that the first The two masts 220 slide down a predetermined standard distance L0. When the values of Q1, Q2, Q3, Q4, and Q5 are A3, A1, A2, A3, and A0 respectively, it means that Q1 has undergone changes of A3, A2, A1, and A3, and then it can be determined that the second door frame 220 slides upward by one The predetermined standard distance L0. Of course, according to the specific assignment of state parameters, the judgment method can be adjusted according to actual needs.

Step S300, updating N. The specific way of updating is: when it is determined that the second door frame 220 slides up a predetermined standard distance L0, make the updated N equal to the N before updating plus 1; When L0, N after updating is equal to N minus 1 before updating. Of course, according to actual needs, when setting a plurality of state parameters, it is also possible to update N accordingly when it is determined that the second gantry 220 slides down an integral predetermined standard distance L0, so that the updated N is added or subtracted by the corresponding value.

Step S400, make Q1 equal to A0, return to step S100.

The purpose of obtaining the sliding distance S of the second door frame 220 can be achieved through the cycle of the above steps.

Q1 is restored to an initial value by step S400 (also can be other values different from A3, A2 and A1); by updating the state parameters, the initial value restored by Q1 after updating N can be reflected in Q5; and then through Q5 , it may be verified in step S200 whether the second gantry 220 is normally raised or lowered, and then used as a condition for updating N to ensure the accuracy of the obtained current position parameter.

According to the above description, those skilled in the art can determine that the signal generator 420 is not limited to include three proximity switches, and may also include more proximity switches. Other types of sensors can also be utilized to generate at least three induction signals; for example: the signal generator 420 can be made to include a rotary encoder, and a corresponding induction block can be arranged on the first door frame 210; the rotary encoder and the induction block can have appropriate Coordination relationship; when the rotary encoder corresponds to the induction block, the rotary encoder outputs a rotation signal, and when the rotary encoder does not correspond to the induction block, no rotation signal is generated; properly setting the rotation encoder and the induction block can also use The signal generator 420 generates at least three sensing signals to achieve the above purpose.

On the basis of providing the above-mentioned device for measuring a sliding fit mechanism, the present invention also provides a sliding fit mechanism, which includes a sliding component and a base component that are slidingly fitted in a first reference direction; wherein, the sliding component and the base component Corresponding to the second door frame 220 and the first door frame 210 respectively; In addition, the sliding fit mechanism also includes any one of the above-mentioned devices for measuring the sliding fit mechanism. Due to the inclusion of the above measuring device, the sliding fit mechanism also has a corresponding technical effect.

On the basis of the above-mentioned device for measuring the sliding fit mechanism, the present invention also provides a container stacker, which includes a car body 100, a first door frame 210, a second door frame 220 and a spreader 300 ; the first door frame 210 is connected with the car body 100; the second door frame 220 is slidably installed on the outside of the first door frame 210; the hanger 300 is slidably installed on the outside of the second door frame 220; Mechanism device. In order to facilitate the determination of the height of the spreader in the container, the controller 430 can also determine the current position parameter of the spreader 300 according to the current position parameter of the second door frame 220; The ratio of the distance to the sliding distance of the spreader 300 relative to the second mast 220 determines the current position parameter of the spreader 300 .

In this paper, specific examples are used to illustrate the technical solutions provided by the present invention, and the descriptions of the above embodiments are only used to help understand the technical solutions provided by the present invention. It should be pointed out that for those skilled in the art, without departing from the principle of the present invention, some improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims (14)

1. the measurement device of mechanism that is slidably matched, the described mechanism that is slidably matched is included in slide unit and the basic components that are slidably matched on the first reference direction; It is characterized in that, comprise controller (430), signal generator (420) and a plurality of sensor block (411,412,413);

Described signal generator (420) is arranged on slide unit; A plurality of described sensor blocks (411,412,413) are arranged on basic components and along the first reference direction sequentially to be arranged, adjacent described sensor block (411,412,413) interval preassigned distance L 0; On the first reference direction, the maximum distance of reaction L1 of described signal generator (420) is less than arbitrary described preassigned distance L 0; In slide unit slides preassigned distance L 0 process, based on a sensor block (411,412,413), described signal generator (420) can sequentially produce at least three kinds of induced signals;

Described controller (430) is preset with at least three state parameter Q1, Q2 and Q3, and the induced signal that can produce according to described signal generator (420) and the value of the described state parameter of scheduled update policy update; The current location parameter that can also determine slide unit according to value and the predetermined process strategy of state parameter;

Described scheduled update strategy comprises: produce induced signal at signal generator (420), and the induced signal kind makes Q3=Q2 while changing, make Q2=Q1, make Q1 equal predetermined value; When described signal generator (420) induced signal is changed to the first induced signal, predetermined value is A1, when described signal generator (420) induced signal is changed to the second induced signal, predetermined value is A2, when described signal generator (420) induced signal is changed to the third induced signal, predetermined value is A3.

2. the measurement according to claim 1 device of mechanism that is slidably matched, is characterized in that,

Described signal generator (420) comprises that at least three are arranged on basic components and along the tactic approach switch of the first reference direction (421,422,423); In slide unit slides preassigned distance L 0 process, corresponding sensor block (411,412,413) can be relative with each described approach switch (421,422,423) order, and described signal generator (420) can sequentially produce at least three kinds of induced signals.

3. the measurement according to claim 1 device of mechanism that is slidably matched, is characterized in that,

Described controller (430) is preset with at least three state parameter Q1, Q2 and Q3;

Described scheduled update strategy comprises: when the induced signal produced at signal generator (420) is rising edge or negative edge, make Q3=Q2, make Q2=Q1, make Q1 equal predetermined value; When described signal generator (420) produces the first induced signal, predetermined value is A1, and when described signal generator (420) produces the second induced signal, predetermined value is A2, when described signal generator (420) produces the third induced signal, predetermined value is A3.

4. the measurement according to claim 3 device of mechanism that is slidably matched, is characterized in that,

Described controller (430) is preset with at least five state parameter Q1, Q2, Q3, Q4 and Q5;

Described scheduled update strategy comprises: before making Q3=Q2, make Q5=Q4, make Q4=Q3.

5. the measurement according to claim 1 device of mechanism that is slidably matched, is characterized in that, described predetermined process strategy comprises: the sliding distance S that the current location parameter of described slide unit is described slide unit, and S=S0+N * L0; The initial position parameters that described S0 is described slide unit, N is integer; Judge the described slide unit integer preassigned distance L 0 of whether sliding according to the value of described state parameter, if so, upgrade N.

6. the measurement according to claim 1 device of mechanism that is slidably matched, is characterized in that,

Described controller (430) is preset with at least five state parameter Q1, Q2, Q3, Q4 and Q5;

Described predetermined process strategy comprises: the sliding distance S that the current location parameter of described slide unit is described slide unit, and S=S0+N * L0; The initial position parameters that described S0 is described slide unit, N is integer; Judge the described slide unit integer preassigned distance L 0 of whether sliding according to the value of described state parameter, if so, upgrade N;

Described scheduled update strategy comprises: when the induced signal produced at signal generator (420) is rising edge or negative edge, make Q5=Q4, make Q4=Q3, make Q3=Q2, make Q2=Q1, make Q1 equal predetermined value; When described signal generator (420) produces the first induced signal, predetermined value is A1, and when described signal generator (420) produces the second induced signal, predetermined value is A2, when described signal generator (420) produces the third induced signal, predetermined value is A3; After upgrading N, make Q1 equal A0.

7. the be slidably matched device of mechanism of described measurement according to claim 1-6 any one, is characterized in that, a plurality of described sensor blocks (411,412,413) are evenly distributed along the first reference direction.

8. the be slidably matched device of mechanism of described measurement according to claim 1-6 any one, it is characterized in that, also comprise the output unit (440) be connected with controller (430), described output unit (440) can be by described current location parameter output.

9. the mechanism that is slidably matched, be included in the slide unit and the basic components that are slidably matched on the first reference direction, it is characterized in that, also comprises the be slidably matched device of mechanism of the described measurement of claim 1-8 any one.

10. a container stacking machine, comprise car body (100), the first door frame (210), the second door frame (220) and suspender (300); The first door frame (210) is connected with car body (100); The second door frame (220) is slidably mounted in the first door frame (210) outside; Suspender (300) slidably is arranged on the second door frame (220) outside; It is characterized in that, also comprise the be slidably matched device of mechanism of the described measurement of claim 1-8 any one, described slide unit and basic components are respectively the second door frame (220) and the first door frame (210).

11. container stacking machine according to claim 10, is characterized in that, described controller (430) can also be determined the height of suspender (300) with respect to the first door frame (210) according to the current location parameter of the second door frame (220).

The method of mechanism 12. a measurement is slidably matched, the described mechanism that is slidably matched is included in slide unit and the basic components that are slidably matched on the first reference direction; Also comprise signal generator (420) and a plurality of sensor block (411,412,413); Described signal generator (420) is arranged on slide unit; A plurality of described sensor blocks (411,412,413) are arranged on basic components and along the first reference direction sequentially to be arranged, adjacent described sensor block (411,412,413) interval preassigned distance L 0; On the first reference direction, the maximum distance of reaction L1 of described signal generator (420) is less than arbitrary described preassigned distance L 0; In slide unit slides preassigned distance L 0 process, based on a sensor block (411,412,413), described signal generator (420) can sequentially produce at least three kinds of induced signals; It is characterized in that, described measuring method comprises:

Be preset with at least three state parameter Q1, Q2 and Q3; The induced signal produced according to described signal generator (420) and the value of the described state parameter of scheduled update policy update; The current location parameter of determining slide unit according to value and the predetermined process strategy of state parameter again

Described scheduled update strategy comprises: produce induced signal at signal generator (420), and the induced signal kind makes Q3=Q2 while changing, make Q2=Q1, make Q1 equal predetermined value; When described signal generator (420) induced signal is changed to the first induced signal, predetermined value is A1, when described signal generator (420) induced signal is changed to the second induced signal, predetermined value is A2, when described signal generator (420) induced signal is changed to the third induced signal, predetermined value is A3.

13. measurement according to claim 12 is slidably matched, the method for mechanism, is characterized in that, the sliding distance S that the current location parameter of described slide unit is described slide unit, and S=S0+N * L0; The initial position parameters that described S0 is described slide unit, N is integer; Be preset with at least five state parameter Q1, Q2, Q3, Q4 and Q5;

Described measuring method comprises the steps:

S100, when the induced signal that scans signal generator (420) is rising edge or negative edge, make Q5=Q4, makes Q4=Q3, makes Q3=Q2, makes Q2=Q1, makes Q1 equal predetermined value; When signal generator (420) produces the first induced signal, predetermined value is A1, and when described signal generator (420) produces the second induced signal, predetermined value is A2, when described signal generator (420) produces the third induced signal, predetermined value is A3;

S200, judge the second door frame (220) preassigned distance L 0 of whether sliding according to the value of five state parameter Q1, Q2, Q3, Q4 and Q5; If so, enter step S200; If not, return to step S100;

S300, upgrade N;

S400, make Q1 equal A0.

14. measurement according to claim 13 is slidably matched, the method for mechanism, is characterized in that, the initial value that described A0 is each state parameter.

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