CN113027200A - Method for accurately positioning walking of clamp carrier with encoder and verification switch - Google Patents
Method for accurately positioning walking of clamp carrier with encoder and verification switch Download PDFInfo
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- CN113027200A CN113027200A CN202110288970.6A CN202110288970A CN113027200A CN 113027200 A CN113027200 A CN 113027200A CN 202110288970 A CN202110288970 A CN 202110288970A CN 113027200 A CN113027200 A CN 113027200A
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- 238000013459 approach Methods 0.000 claims description 10
- 238000009434 installation Methods 0.000 description 8
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- 230000006698 induction Effects 0.000 description 2
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
- E04H6/34—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only characterised by use of movable platforms
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
- E04H6/305—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only using car-gripping transfer means
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/422—Automatically operated car-parks
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/422—Automatically operated car-parks
- E04H6/424—Positioning devices
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- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a method for accurately positioning the walking of a clamp carrier with an encoder and a verification switch. A first photoelectric switch and a second photoelectric switch are arranged on the carrier along the traveling direction of the carrier, and a first reflecting plate and a second reflecting plate are correspondingly arranged on the transverse trolley; an encoder is installed on a motor shaft of a carrier walking motor, and a parking space reflector is arranged on a parking space. In the process that the holding clamp carrier travels to a designated parking space from the transverse moving trolley, a photoelectric switch close to the designated parking space end irradiates a parking space reflector, and a control system increases (or decreases) a current encoder value by a calibration value and takes the current encoder value as an encoder value of a calibrated target position; then the carrier continues to run according to the calibrated encoder value to reach the target position of the calibrated parking space, and the condition that the encoder pulse value does not accord with the actual distance value due to the fact that the traveling wheels of the carrier slip before can be eliminated. And finally, the photoelectric switch far away from the designated parking space end just irradiates the parking space reflector, so that the in-place verification function is achieved.
Description
Technical Field
The invention relates to a method for accurately positioning a carrier, in particular to a method for accurately positioning a clasping tire type carrier adopted by a three-dimensional intelligent garage, and belongs to the technical field of three-dimensional parking equipment.
Background
With the continuous improvement of the living standard of people, the popularization rate of automobiles is higher and higher, and the difficulty in parking becomes an important factor for restricting the development of urban traffic. The intelligent parking garage is a three-dimensional parking device with high automation degree, is convenient to store and take, economical to operate, convenient to maintain, small in occupied area and the like, and is a solution for solving the problems that vehicles are more and the parking area is less at present.
The carrier is one of the core components of the intelligent parking garage and mainly comprises a vehicle carrying plate type carrier, a comb tooth type carrier and a clamping tire type carrier. The holding tyre type carrier is a device for directly carrying car, it has independent driving device, and is applicable to transverse mechanical parking equipment (the length direction of car is perpendicular to length direction of roadway). Compared with the carrier plate type carrier with the exchange carrier, the time for taking and placing the empty plates by the carrying trolley is saved, and the working efficiency is high; compared with a comb-tooth type carrier, the layer height requirement is greatly reduced, and the engineering cost is saved.
The holding and clamping carrier mainly comprises the following parts: the device comprises a frame body, a walking system, a front fixed clamping device, a rear sliding clamping device, a guide device and an electric control system.
The action principle is as follows: after receiving the action command, the carrier rapidly moves to the position below the vehicle, and under the action of the front end fixed type clamping mechanism, the two holding arms simultaneously move inwards to hold the front wheels of the automobile from the front side and the rear side, so that the front wheels are separated from the ground. Meanwhile, under the action of the sliding type clamping mechanism, the two holding arms at the rear end act simultaneously, one holding arm firstly approaches to the tire due to the difference of the wheel base of the vehicle, and after the holding arm receives the resistance of the tire, the other holding arm far away from the tire rapidly approaches to the other side of the tire, so that the automatic finding of the rear wheel of the automobile is realized, the two holding arms contact with the tire and then move inwards, the rear wheel of the automobile is separated from the ground, and the holding and clamping action on the front tire and the rear tire of the automobile is finished.
The traditional walking and positioning of the holding clamp carrier are mainly completed by a laser range finder or a verification switch (a photoelectric switch or a proximity switch).
Traditional laser mode location: the height of the clamp carrier is not high because the clamp carrier is moved to the bottom of the automobile. Limited by installation space, only a laser range finder with small volume can be installed, and the accuracy of the range finder is often relatively poor. For exchanging carrier plate formula and broach carrier, the embrace presss from both sides the carrier and to the positioning accuracy requirement lower, and the distancer of general low accuracy can satisfy the operation requirement, from the cost perspective, and the producer also tends to select the distancer of low accuracy, low price. In use, the clamp carrier positioned by the laser range finder still has the following problems:
(1) low positioning precision and easy interference
The low-precision distance measuring instrument generally adopts analog quantity wiring and has high shielding requirements. The carrier has a compact structure, the distances among various electric devices are small, and the strong and weak currents are difficult to be absolutely separated during wiring, so that certain interference is generated on a distance measurement value, and positioning deviation is caused;
(2) structural deformation of carrier
When the front and rear double-row parking spaces are used, the laser range finder is far away from a reflecting plate (or a reflecting glue sticker), and the normal use of the carrier is influenced by the angle deflection of the laser range finder;
(3) certain projects cannot install laser range finder reflector
When the laser range finder is used, a reflector needs to be installed at the front end of the irradiation direction of the range finder, but in some projects, because project planning does not reserve the installation position of the reflector, a laser range finder needs to be additionally installed at the other side in front of a carrier, so that the production, installation and debugging costs are increased;
(4) mechanical vibration and unstable numerical value
Safety clearance is generally left to the carrier track on the sideslip platform truck and the carrier track on the parking stall, and the carrier can shake when passing through the track seam, causes laser range finder to rock, and numerical value can beat, causes positioning error.
Traditional verification switch mode positioning: generally, a photoelectric switch or a proximity switch is installed on a holding clamp carrier, and an induction block is installed at a position of a cross sliding trolley, a parking space and an entrance and exit which need to be positioned. In use, the carrier which is positioned by the verification switch mainly has the following problems:
(1) fail to record position accurately
When the clamp carrier verification switch does not act, the carrier is described to be parked at a position in the middle of the two positioning positions, but the specific distance value of the deviation cannot be obtained. When the carrier stops at the position due to the alarm, and the alarm is cleared to restore the automatic operation program, the carrier cannot start high-speed operation because the current accurate position (the distance between the carrier and the transverse trolley or the parking space) cannot be obtained, and normal and corresponding running speed can be restored after the carrier only runs to the position of any switch position at low speed;
(2) position is easy to lose
Influenced by factors such as installation precision and mechanical vibration, if the clamp carrier cannot effectively sense when passing through the position of the sensing block, the current position and the subsequent position are wrong, the position judgment is wrong, and an alarm is triggered;
(3) high installation requirement
In order to ensure the reliable action of the switch, the induction blocks at the positions of the transverse trolley, the parking space and the entrance and exit require high installation precision, and need to be regularly checked and maintained in the subsequent use process, otherwise, the alarm is easily triggered to influence the normal use. This results in increased use costs.
In addition, the traditional laser positioning mode or the verification switch positioning mode is a speed control mode, the control method generally adopts multi-stage speed control, and the characteristics of each stage speed are not smooth during switching; the carrier is braked in advance to reach a designated position, the carrier is stopped at a preset position by means of inertia, the advance depends on empirical values, and the final stop position of the carrier is influenced by the difference of the weight of the vehicle carried by the carrier, so that deviation from the preset position is caused.
Disclosure of Invention
The invention aims to provide a method for accurately positioning the walking of a clamp carrier with an encoder and a verification switch, so as to solve the problem of low walking precision of the clamp carrier in the prior art.
The technical scheme adopted by the invention for realizing the purpose is as follows:
the utility model provides a method of embracing clamp carrier walking accurate positioning with encoder and verification switch which characterized in that: the method comprises the following specific steps that the holding clamp carrier travels to an appointed parking space from the transverse trolley:
(1) initial position: the clamp carrier is parked on the transverse trolley, and the photoelectric verification switch on the clamp carrier is aligned with the reflector on the transverse trolley;
the photoelectric verification switch comprises a first photoelectric switch and a second photoelectric switch which are arranged in front and at back along the traveling direction of the carrier, and the reflector comprises a first reflector and a second reflector which are arranged on the carrying trolley and correspond to the first photoelectric switch and the second photoelectric switch; the distance between the first reflector and the second reflector is equal to the distance between the first photoelectric switch and the second photoelectric switch;
(2) the control system controls the transverse trolley to move to a designated parking space, and the holding clamp carrier walking guide rail on the transverse trolley is aligned with the holding clamp carrier walking guide rail on the parking space;
(3) the control system controls the clamp carrier to move from the transverse trolley to a designated parking space in a position control mode, the target position is a calibration position where the clamp carrier is parked on the parking space during debugging, the target position is called as an initial parking space target position, and the control system sends an encoder value corresponding to the calibration position to the carrier;
the encoder is arranged on a motor shaft of the carrier walking motor and is connected with the control system;
(4) in the process that the clamp carrier approaches the designated parking space, a photoelectric verification switch close to the designated parking space end can irradiate a parking space reflector, a control system increases (or decreases) a current encoder value by a calibration value and takes the current encoder value as an encoder value of a calibrated target position, and the target position is called as a calibrated parking space target position;
the parking space reflector is arranged on a parking space;
(5) and the carrier continues to run according to the calibrated encoder value to reach the target position of the calibrated parking space, meanwhile, the photoelectric verification switch close to the designated parking space end is separated from the parking space reflector, the photoelectric verification switch far away from the designated parking space irradiates the parking space reflector, and the step that the carrier enters the parking space is finished.
Through adopting above-mentioned technical scheme, the carrier is fixed a position through position control mode, and for speed positioning mode, positioning accuracy is high, the positioning speed is fast, speed switch is smooth. After the trolley approaches the position, the verification photoelectric switch close to the specified trolley position end acts to assign a value (a new target position pulse value) to the encoder again, the target position is sent accurately, and the condition that the encoder pulse value is inconsistent with the actual distance value due to the fact that the travelling wheel of the carrier slips before can be eliminated. After the parking lot is in place, the verification photoelectric switch far away from the designated parking lot end just irradiates the parking lot reflector, and the in-place verification effect is achieved. Effectively avoid the location accident that the transport walking wheel skidded and arouses.
The utility model provides a method of embracing clamp carrier walking accurate positioning with encoder and verification switch which characterized in that: the method comprises the following specific steps that the holding clamp carrier travels to the transverse trolley from the designated parking space:
(1) initial position: the transverse moving trolley is positioned at a position aligned with the designated parking space, and the holding clamp carrier is positioned in the designated parking space;
(2) the control system controls the clamp carrier to move from the designated parking space to the transverse trolley in a position control mode, the target position is a calibration position where the clamp carrier is parked on the transverse trolley during debugging, the target position is called as an initial transverse trolley target position, and the control system sends an encoder value corresponding to the calibration position to the carrier;
the encoder is arranged on a motor shaft of the carrier walking motor and is connected with the control system;
(3) in the process that the holding clamp carrier approaches the transverse moving trolley, a photoelectric verification switch far away from the designated parking space can irradiate a reflector close to the designated parking space, the control system increases (or decreases) the current encoder value by a calibration value, the calibration value is used as the encoder value of a calibrated target position, and the target position is called as a target position of the transverse moving trolley;
the photoelectric verification switch comprises a first photoelectric switch and a second photoelectric switch which are arranged in front and at back along the traveling direction of the carrier, and the reflector comprises a first reflector and a second reflector which are arranged on the carrying trolley and correspond to the first photoelectric switch and the second photoelectric switch; the distance between the first reflector and the second reflector is equal to the distance between the first photoelectric switch and the second photoelectric switch;
(4) the carrier continues to operate according to the calibrated encoder value to reach a calibration target position, meanwhile, a photoelectric verification switch close to the specified parking space end irradiates a reflector close to the specified parking space end, and a photoelectric verification switch far away from the specified parking space end irradiates a reflector far away from the specified parking space end;
(5) and after the two groups of photoelectric verification switches of the holding clamp carrier continuously act for a certain time, the control system changes the current encoder value into the encoder value which is calibrated during debugging and corresponds to the holding clamp carrier when the holding clamp carrier is parked on the transverse moving trolley, and the step that the carrier leaves the parking space is finished.
Through adopting above-mentioned technical scheme, the carrier is fixed a position through position control mode, and for speed positioning mode, positioning accuracy is high, the positioning speed is fast, speed switch is smooth. After the trolley is close to the position, the verification photoelectric switch far away from the specified trolley position end acts to assign a value (a new target position pulse value) to the encoder again, the target position is sent accurately, and the condition that the encoder pulse value is inconsistent with the actual distance value due to the fact that the travelling wheel of the carrier slips before can be eliminated. After the carrier is put in place, when the carrier is parked on the transverse moving trolley, the two groups of photoelectric verification switches of the holding and clamping carrier can respectively irradiate the corresponding reflecting plates. Because the two groups of light reflecting plates are only arranged at the position of the transverse trolley at the parking space, the position of the transverse trolley is unique, and the holding clamp carrier can be determined to be parked at the position of the transverse trolley after the two groups of photoelectric verification switches of the holding clamp carrier respectively irradiate the corresponding light reflecting plates.
By adopting the technical scheme, the laser range finder reflector panel (reflecting sticker) of each parking space is also omitted, only one group of reflector panel needs to be installed at each positioning position (parking space, transverse trolley and entrance/exit), the equipment structure is simpler, the production cost is low, the installation efficiency is high, and the debugging is convenient.
In the method for accurately positioning the walking of the clamp carrier with the encoder and the verification switch, the calibration value is an encoder value corresponding to the distance between the first photoelectric switch and the second photoelectric switch on the clamp carrier.
By adopting the technical scheme, the condition that the numerical value of the encoder is inconsistent with the actual position due to the slipping of the walking wheel of the holding and clamping carrier before the photoelectric verification switch of the holding and clamping carrier acts can be eliminated. After the photoelectric verification switches of the holding and clamping carrier act, the distance of continuous walking is the distance value between the two groups of photoelectric verification switches of the holding and clamping carrier, and the distance between the two groups of photoelectric verification switches is very small, so that the slipping condition of the walking wheels of the holding and clamping carrier can be ignored, and the holding and clamping carrier can be accurately positioned in walking.
The carrier stops on the transverse trolley in each trolley storing and taking process, two groups of light reflecting plates are arranged on the transverse trolley, and when two groups of photoelectric switches on the carrier respectively irradiate the corresponding light reflecting plates, the carrier is considered to be in an accurate in-place position on the transverse trolley. At the moment, the current numerical value of the encoder is reassigned to the numerical value of the encoder corresponding to the position where the clamp carrier is just parked on the traverse trolley when the initial calibration is carried out. This allows for a position calibration to be performed for each carrier access procedure. In the uninterrupted operation process of the equipment, the value of the encoder can be periodically calibrated, so that the accumulated error is prevented from being generated.
The invention has the beneficial effects that:
1. a laser range finder reflector (reflecting sticker) of each parking space is omitted, the structure of the device is simpler, the production cost is low, the installation efficiency is high, and the debugging is convenient;
2. the clamp carrier reads the encoder value through the control system to carry out position control on the walking motor, compared with a speed control mode, the clamp carrier is not influenced by load change (inertia) of the carrier, and has smooth action characteristic, high speed and high precision;
3. when the clamp carrier approaches the target position, the accurate calibration position is sent through a group of photoelectric verification switches, the condition that the numerical value of the encoder is not in accordance with the actual position due to the slipping of the travelling wheels is eliminated, and the positioning precision is high;
4. after the clamp carrier reaches the calibrated target position, the other group of photoelectric verification switches act to be used as verification that the clamp carrier is strictly in place, and the safety factor is higher;
5. the clamp carrier can carry out encoder value calibration on the transverse trolley in each operation period, and accumulated errors can not be generated.
Drawings
FIG. 1 is a schematic view of a clamp carrier of the present invention resting on a traversing carriage.
FIG. 2 is a schematic view of the clamp carrier of the present invention parked in a parking space.
Fig. 3 is an enlarged schematic view of a portion a in fig. 1.
In the figure: the device comprises a transverse moving trolley 1, a second photoelectric switch 2, a first photoelectric switch 3, a clamp carrier 4, a walking motor 5, a control cabinet 6, a second reflector 7, a first reflector 8, a parking space reflector 9 and a parking space 10.
Detailed Description
In order to clearly illustrate the technical features of the present solution, the present invention is further illustrated by the following non-limiting examples in combination with the accompanying drawings.
The front, rear, left and right directions of the present invention are described with reference to the front, rear, left and right directions shown in the drawings. For ease of explanation, only those portions that are pertinent to embodiments of the present invention are shown.
Referring to fig. 1 and 3, a holding clamp carrier 4 is parked on a transverse trolley 1, a carrier walking track is arranged on the transverse trolley 1, a parking space guide rail is arranged on a parking space 10, and a walking motor 5 on the holding clamp carrier 4 drives the carrier to move from the transverse trolley 1 to the parking space 10 or from the parking space 10 to the transverse trolley 1 along the carrier walking track and the parking space guide rail; a frame of the carrier chassis is provided with a first photoelectric switch 3 and a second photoelectric switch 2 in the front and back direction along the traveling direction of the carrier, and a frame body of the transverse trolley 1 is provided with a first reflector 8 and a second reflector 7 corresponding to the first photoelectric switch 3 and the second photoelectric switch 2; the distance between the first reflector 8 and the second reflector 7 is equal to the distance between the first photoelectric switch 3 and the second photoelectric switch 2. An encoder is installed on a motor shaft of the carrier walking motor 5, the first photoelectric switch 3, the second photoelectric switch 2 and the encoder are all connected with a control system, and a parking space reflector 9 is arranged on a parking space 10.
The first embodiment is as follows:
a method for accurately positioning the walking of a clamp carrier with an encoder and a verification switch comprises the following specific steps that the clamp carrier 4 in the method is moved to an appointed parking space by a transverse trolley 1:
(1) initial position: the clamp carrier 4 is parked on the transverse trolley 1, a first photoelectric switch 3 on the clamp carrier 4 is aligned with a first reflector 8 on the transverse trolley 1, and a second photoelectric switch 2 is aligned with a second reflector 7;
(2) the control system controls the transverse trolley 1 to move to a designated parking space, and the holding clamp carrier walking guide rail on the transverse trolley 1 is aligned with the holding clamp carrier walking guide rail on the parking space;
(3) the control system controls the holding clamp carrier 4 to move from the transverse trolley 1 to a designated parking space in a position control mode, the target position is a calibration position where the holding clamp carrier 4 is parked on the parking space during debugging, the target position is called as an initial parking space target position, and the control system sends a coder value corresponding to the calibration position to the carrier;
(4) in the process that the holding clamp carrier 4 approaches the designated parking space, a first photoelectric verification switch close to the designated parking space end can irradiate the parking space reflector 9, the control system increases (or decreases) the current encoder value by a calibration value and takes the calibration value as the encoder value of a calibrated target position, and the target position is called as a calibrated parking space target position;
the calibration value is the encoder value corresponding to the distance between the first photoelectric switch 3 and the second photoelectric switch 2 on the clamp carrier 4;
(5) and the carrier continues to run according to the calibrated encoder value to reach the target position of the calibrated parking space, meanwhile, the first photoelectric switch 3 close to the end of the designated parking space is separated from the parking space reflector 9, the second photoelectric verification switch far away from the designated parking space irradiates the parking space reflector 9, and the step that the carrier enters the parking space 10 is finished.
Example two:
the utility model provides a method of embracing clamp carrier walking accurate positioning with encoder and verification switch which characterized in that: the method comprises the following specific steps that the holding clamp carrier 4 travels to the transverse trolley 1 from an appointed parking space:
(1) initial position: the transverse moving trolley 1 is positioned at a position aligned with a designated parking space, and the holding clamp carrier 4 is positioned in the designated parking space;
(2) the control system controls the holding clamp carrier 4 to move to the transverse trolley 1 from a designated parking space in a position control mode, the target position is a calibration position where the holding clamp carrier 4 is parked on the transverse trolley 1 during debugging, the target position is called as an initial transverse trolley target position, and the control system sends an encoder value corresponding to the calibration position to the carrier;
(3) in the process that the holding clamp carrier 4 approaches the transverse moving trolley 1, the second photoelectric switch 2 far away from the appointed parking space can irradiate the first reflector 8 close to the appointed parking space, the control system increases (or decreases) the current encoder value by a calibration value, the calibration value is used as the encoder value of a calibrated target position, and the target position is called as a target position of the calibrating transverse moving trolley;
the calibration value is the encoder value corresponding to the distance between the first photoelectric switch 3 and the second photoelectric switch 2 on the clamp carrier 4;
(4) the carrier continues to operate according to the calibrated encoder value to reach a calibration target position, meanwhile, a first photoelectric switch 3 close to the appointed parking space end irradiates a first reflector 8 close to the appointed parking space end, and a second photoelectric switch 2 far away from the appointed parking space end irradiates a second reflector 7 far away from the appointed parking space end;
(5) and after the two groups of photoelectric verification switches of the holding clamp carrier 4 irradiate the corresponding reflectors on the transverse moving trolley 1 respectively, after the two groups of photoelectric verification switches continuously act for a certain time, the control system changes the current encoder value into the encoder value which is calibrated during debugging and corresponds to the time when the holding clamp carrier 4 is parked on the transverse moving trolley 1, and the step that the carrier leaves the parking space 10 is finished.
Claims (3)
1. The utility model provides a method of embracing clamp carrier walking accurate positioning with encoder and verification switch which characterized in that: the method comprises the following specific steps that the holding clamp carrier travels to an appointed parking space from the transverse trolley:
(1) initial position: the clamp carrier is parked on the transverse trolley, and the photoelectric verification switch on the clamp carrier is aligned with the reflector on the transverse trolley;
the photoelectric verification switch comprises a first photoelectric switch and a second photoelectric switch which are arranged in front and at back along the traveling direction of the carrier, and the reflector comprises a first reflector and a second reflector which are arranged on the carrying trolley and correspond to the first photoelectric switch and the second photoelectric switch; the distance between the first reflector and the second reflector is equal to the distance between the first photoelectric switch and the second photoelectric switch;
(2) the control system controls the transverse trolley to move to a designated parking space, and the holding clamp carrier walking guide rail on the transverse trolley is aligned with the holding clamp carrier walking guide rail on the parking space;
(3) the control system controls the clamp carrier to move from the transverse trolley to a designated parking space in a position control mode, the target position is a calibration position where the clamp carrier is parked on the parking space during debugging, the target position is called as an initial parking space target position, and the control system sends an encoder value corresponding to the calibration position to the carrier;
the encoder is arranged on a motor shaft of the carrier walking motor and is connected with the control system;
(4) in the process that the clamp carrier approaches the designated parking space, a photoelectric verification switch close to the designated parking space end can irradiate a parking space reflector, a control system increases (or decreases) a current encoder value by a calibration value and takes the current encoder value as an encoder value of a calibrated target position, and the target position is called as a calibrated parking space target position;
the parking space reflector is arranged on a parking space;
(5) and the carrier continues to run according to the calibrated encoder value to reach the target position of the calibrated parking space, meanwhile, the photoelectric verification switch close to the designated parking space end is separated from the parking space reflector, the photoelectric verification switch far away from the designated parking space irradiates the parking space reflector, and the step that the carrier enters the parking space is finished.
2. The utility model provides a method of embracing clamp carrier walking accurate positioning with encoder and verification switch which characterized in that: the method comprises the following specific steps that the holding clamp carrier travels to the transverse trolley from the designated parking space:
(1) initial position: the transverse moving trolley is positioned at a position aligned with the designated parking space, and the holding clamp carrier is positioned in the designated parking space;
(2) the control system controls the clamp carrier to move from the designated parking space to the transverse trolley in a position control mode, the target position is a calibration position where the clamp carrier is parked on the transverse trolley during debugging, the target position is called as an initial transverse trolley target position, and the control system sends an encoder value corresponding to the calibration position to the carrier;
the encoder is arranged on a motor shaft of the carrier walking motor and is connected with the control system;
(3) in the process that the holding clamp carrier approaches the transverse moving trolley, a photoelectric verification switch far away from the designated parking space can irradiate a reflector close to the designated parking space, the control system increases (or decreases) the current encoder value by a calibration value, the calibration value is used as the encoder value of a calibrated target position, and the target position is called as a target position of the transverse moving trolley;
the photoelectric verification switch comprises a first photoelectric switch and a second photoelectric switch which are arranged in front and at back along the traveling direction of the carrier, and the reflector comprises a first reflector and a second reflector which are arranged on the carrying trolley and correspond to the first photoelectric switch and the second photoelectric switch; the distance between the first reflector and the second reflector is equal to the distance between the first photoelectric switch and the second photoelectric switch;
(4) the carrier continues to operate according to the calibrated encoder value to reach a calibration target position, meanwhile, a photoelectric verification switch close to the specified parking space end irradiates a reflector close to the specified parking space end, and a photoelectric verification switch far away from the specified parking space end irradiates a reflector far away from the specified parking space end;
(5) and after the two groups of photoelectric verification switches of the holding clamp carrier continuously act for a certain time, the control system changes the current encoder value into the encoder value which is calibrated during debugging and corresponds to the holding clamp carrier when the holding clamp carrier is parked on the transverse moving trolley, and the step that the carrier leaves the parking space is finished.
3. Method for the walking accurate positioning of a clamp carrier with an encoder and a verification switch according to claim 1 or 2, characterized in that: the calibration value is an encoder value corresponding to the distance between the first photoelectric switch and the second photoelectric switch on the clamp carrier.
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| CN113027200B (en) | 2022-10-25 |
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