CN103148774B - Coordinate type relative displacement detection magnetic ruler for crane big and small vehicles - Google Patents
Coordinate type relative displacement detection magnetic ruler for crane big and small vehicles Download PDFInfo
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- CN103148774B CN103148774B CN201310074539.7A CN201310074539A CN103148774B CN 103148774 B CN103148774 B CN 103148774B CN 201310074539 A CN201310074539 A CN 201310074539A CN 103148774 B CN103148774 B CN 103148774B
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- 238000001514 detection method Methods 0.000 title claims abstract description 34
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Abstract
The invention designs a coordinate type relative displacement detection magnetic scale, which is used for detecting the distance between a crane and a small vehicle when the crane moves and the center of a track. The magnetic scale is a set of a plurality of magnet blocks with the thickness of 2 min and 1 length unit arranged at intervals on a straight line, the distance between the two magnet blocks in the middle is 1 length unit, the two magnet blocks are respectively provided with N magnet blocks on the left and the right, and the distance between the two adjacent magnet blocks is 3 length units; the distance between the magnet blocks is positively correlated with the detection precision, and the number of N is positively correlated with the length of the detected linear displacement; the magnetic sensing device is a set of 4 magnetic sensing elements which are arranged at intervals on a straight line, and the distance between two adjacent magnetic sensing elements is 1 length unit. Its characteristics are simple structure, and installation and debugging are convenient, do not have the accumulative error, are applicable to big or small car displacement control automation.
Description
Technical field
The present invention relates to a kind of crane large and small vehicle wire displacement detecting magnetic scale, feature is the relative displacement detection technique that have employed coordinate type, belongs to large range of linear movement measuring field of sensing technologies.
Background technology
Displacement detecting when the large and small turner of rail-mounted gantry crane is made, belongs to the scope of relatively large distance detection；Being characterized in that detecting distance is relatively big, accuracy of detection requires higher, and wishes that assay device structures is simple.
The detection method that past uses has: the most first use machinery converting means, and displacement of the lines when large and small turner being made is transformed into an angular displacement measuring wheel；Then use optical electric axial angle encoder, detect the angular displacement size measuring wheel, after electric installation converts, then obtain displacement of the lines value when large and small turner is made.The shortcoming of this method is: the 1. many a set of converting means that displacement of the lines becomes angular displacement of frame for movement, adds the complexity of frame for movement；When the most large and small car runs, owing to large and small car wheel skids sometimes, this skidding influences whether the conversion of machinery converting means, thus causes the accumulated error of detection.
2. Shanghai Zhenhua Gang Ji limited company, is several years ago used for the displacement detecting of the large and small car of crane by absolute position detection magnetic scale, although the problem solving accumulated error, but the complicated structure of absolute position detection magnetic scale.Baroque reason is, absolute position detection magnetic scale is in order to obtain absolute location information, it is necessary to be magnetic scale and two vitals of magnetic sensing device；Magnetic scale is the set of much Magnet, and magnetic sensing device is the set of many magnet-sensitive elements.Magnet arrangement in set or magnet-sensitive element arrangement in set, it is necessary to have a side to be arranged in an aluminum pipe or plastic tube by certain encoding law, as long as the simple equidistantly arrangement of the opposing party；And the distance measured is the longest, the precision of measurement is the highest, encodes the most complicated；Encoding the most complicated, arrangement construction is the most difficult.What Zhenhua port machine selected is Magnet scheme by encoding law arrangement in set；Utility model " digital approach displacement transducer " (ZL03235453.3) is also a kind of absolute position detection magnetic scale, but its selection is magnet-sensitive element scheme by encoding law arrangement in set；Both schemes, no matter using that scheme, coding all can make structure become complicated, can make processing and debug more difficult.
Summary of the invention
The present invention devises a kind of coordinate type relative displacement detection magnetic scale, the detection of displacement of the lines when the large and small turner of crane is made, its simple in construction, and debugging is convenient, and will not build up error, is very suitable for the Aulomatizeted Detect of the big dolly of crane and digital control.
Coordinate type relative displacement detection magnetic scale is made up of magnetic scale, magnetic sensing device and electronic data processing equipment three part.Coordinate type relative displacement detection magnetic scale structure as it is shown in figure 1, in figure numbering 1 be magnetic scale, in figure, numbering 2 is magnetic sensing device, and in figure, numbering 3 is electronic data processing equipment.With reference to Fig. 2, magnetic scale is many magnet piece set point-blank, and the matrix of set is plastic strip or aluminum pipe or other non-magnet material, and wherein the spacing of magnet piece A4 and magnet piece A5 is 1 long measure；Have N number of magnet piece (in figure, only signal depicts A1～A3) on the left side of A4, the adjacent distance between two magnet pieces is 3 long measures；Also have N number of magnet piece (in figure, only signal depicts A6～A8) on the right of A5, the adjacent distance between two magnet pieces is also 3 long measures.Distance between magnet piece and the precision positive correlation of detection, the distance between magnet piece is the least, and the precision of detection is the highest；The number of N is relevant with the length of detected displacement of the lines, and length is the longest, and the value of N is the biggest.Magnetic sensing device is 4 magnet-sensitive elements B1, B2, B3, B4 set point-blank, and the matrix of set is printed substrate or chip, and the adjacent distance between two magnet-sensitive elements is 1 long measure.It is obvious that no matter magnet piece arrangement in set, or the arrangement that magnet-sensitive element is in set is all simple equidistantly arrangement, structure is the simplest.
The operation principle of coordinate type relative displacement detection magnetic scale is described as follows.The magnetic scale part of magnetic scale is usually contained on the track of cart or dolly；The magnetic sensing device part of magnetic scale is usually contained on the vehicle frame of cart or dolly, and direction is parallel with the direction of magnetic scale；There is a gap between magnetic sensing device and magnetic scale, will not collide when the size in gap relatively moves with both, but magnet-sensitive element can produce induced signal to magnet piece again is advisable.
Operationally, whom magnet-sensitive element B1, B2, B3, the B4 in magnetic sensing device, if having run to the position at magnet piece place for cart or dolly, then it just has magnetic induction pulses signal and produces.The position at Fig. 2 place, B2, B3 have magnetic induction pulses signal to produce simultaneously, and it is the initial point of coordinate.
Cart or dolly leave initial point and move right, and magnetic sensing device moves to the position of Fig. 3, and B1, B2 have magnetic induction pulses signal to produce simultaneously, represent that cart or dolly target positive direction of being present moves a long measure.When B1, B2 of magnetic sensing device have magnetic induction pulses signal to produce simultaneously, this group signal also has a function, i.e. shows that cart or dolly initially enter the positive direction region of coordinate；Present target positive direction region, by the process of electronic data processing equipment 3, can mask the signal of magnet-sensitive element B1, only allows the signal of magnet-sensitive element B2, B3, B4 effective.
Cart or dolly continue to move right, magnetic sensing device moves to the position of Fig. 4, owing to the magnetic induction pulses signal of B1 is shielded, so the magnetic induction pulses signal of only B4 is utilized by electronic data processing equipment below, represent that cart or dolly target positive direction of being present moves again a long measure.
Cart or dolly are further continued for moving right, and magnetic sensing device moves to the position of Fig. 5, and B3 has magnetic induction pulses signal to produce, and represent that cart or dolly target positive direction of being present moves again a long measure.The rest may be inferred, cart or dolly target positive direction region of being present is further, a magnet-sensitive element will be had to sense a pulse signal by the order of B2 → B4 → B3 → B2 → B4 → B3 →..., this kind of pulse signal is carried out adding counting by electronic data processing equipment；Otherwise the every backward in present target positive direction region, it will by B4 → B2 → B3 → B4 → B2 → B3 ... order, have a magnet-sensitive element can sense a pulse signal, this kind of pulse signal is carried out subtracting counting by electronic data processing equipment；Add counting and subtract the synthesis result of counting, it is simply that cart or dolly be present target positive direction regional movement time, leave the distance of origin of coordinate.
Above with Fig. 3, Fig. 4, Fig. 5 elaborate coordinate type relative displacement detection magnetic scale be present target positive direction regional movement time range measurement principle；Magnetic scale described below be present target opposite direction regional movement time range measurement principle.Cart or dolly leave the initial point of coordinate and are moved to the left, and magnetic sensing device moves to the position of Fig. 6, and B3, B4 have magnetic induction pulses signal to produce simultaneously, represent that cart or dolly target opposite direction of being present moves a long measure.When B3, B4 of magnetic sensing device have magnetic induction pulses signal to produce simultaneously, this group signal also has a function, i.e. shows that cart or dolly initially enter the opposite direction region of coordinate；Present target opposite direction region, by the process of electronic data processing equipment, can mask the signal of magnet-sensitive element B4, only allows the signal of magnet-sensitive element B1, B2, B3 effective.
Cart or dolly continue to be moved to the left, magnetic sensing device moves to the position of Fig. 7, owing to the magnetic induction pulses signal of B4 is shielded, so the magnetic induction pulses signal of only B1 is utilized by electronic installation below, represent that cart or dolly target opposite direction region of being present moves again a long measure.
Cart or dolly are further continued for being moved to the left, and magnetic sensing device moves to the position of Fig. 8, and B2 has magnetic induction pulses signal to produce, and represent that cart or dolly opposite direction move again a long measure.The rest may be inferred, cart or dolly target opposite direction region of being present is further, will be by B3 → B1 → B2 → B3 → B1 → B2 ... order, have a magnet-sensitive element can sense a pulse signal, this kind of pulse signal is carried out adding counting by electronic data processing equipment；Otherwise the present every backward of target in the reverse direction, it will by B1 → B3 → B2 → B1 → B3 → B2 ... order, have a magnet-sensitive element can sense a pulse signal, this kind of pulse signal is carried out subtracting counting by electronic data processing equipment；Add counting and subtract the synthesis result of counting, it is simply that cart or dolly along the opposite direction of coordinate move time, leave the distance of origin of coordinate.
Illustrate the range measurement principle of coordinate type relative displacement detection magnetic scale above.Explained later coordinate type relative displacement once detection magnetic scale can eliminate the operation principle of accumulated error.Although magnetic scale of the present invention uses the operation principle of relative displacement detection, the operation principle of namely increment type detection, increment type detection all can have accumulated error normally, and apparatus of the present invention should be no exception；But owing to apparatus of the present invention have employed the design of coordinate type, when large and small car moves the most back and forth, can be continually by the initial point of coordinate, and often cross the initial point of a coordinate, electronic data processing equipment all must be by test data normalizing time zero, and therefore coordinate type relative displacement detection magnetic scale can eliminate accumulated error.
According to above-mentioned operation principle, the basic function of electronic data processing equipment is: when magnetic sensing device arrives the initial point of coordinate along with the motion of large and small car, magnet-sensitive element B2 and magnet-sensitive element B3 has induced signal, at this moment electronic data processing equipment should make test zeroing data, also should immediately release magnet-sensitive element B1 and the shielding of magnet-sensitive element B4, recover to sentence to function.When magnetic sensing device is along with when moving by the positive direction region of the initial point entrance coordinate of coordinate of large and small car, when magnet-sensitive element B1, B2 have induced signal simultaneously, at this moment electronic data processing equipment should shield the induced signal of magnet-sensitive element B1 immediately, only with the induced signal of magnet-sensitive element B2, B3 and B4, according to the plus-minus counting principle that is set forth above, calculate cart or dolly is present the coordinate values in target positive direction region；When magnetic sensing device is along with when moving by the opposite direction region of the initial point entrance coordinate of coordinate of large and small car, when magnet-sensitive element B3, B4 have induced signal simultaneously, at this moment electronic data processing equipment should shield the induced signal of magnet-sensitive element B4 immediately, only with the induced signal of magnet-sensitive element B1, B2 and B3, according to the plus-minus counting principle that is set forth above, calculate cart or dolly is present the coordinate values in target opposite direction region.Electronic data processing equipment uses single chip circuit can realize above-mentioned basic function.
Accompanying drawing explanation
Fig. 1 coordinate type relative displacement detection magnetic scale composition diagram
The magnetic scale of Fig. 2 magnetic scale and the coding principle figure of magnetic sensing device
The large and small car of Fig. 3 be present target positive direction regional movement time operation principle explanation figure (B2 has signal)
The large and small car of Fig. 4 be present target positive direction regional movement time operation principle explanation figure (B4 has signal)
The large and small car of Fig. 5 be present target positive direction regional movement time operation principle explanation figure (B3 has signal)
The large and small car of Fig. 6 be present target negative direction regional movement time operation principle explanation figure (B3 has signal)
The large and small car of Fig. 7 be present target negative direction regional movement time operation principle explanation figure (B1 has signal)
The large and small car of Fig. 8 be present target negative direction regional movement time operation principle explanation figure (B2 has signal)
When Fig. 9 is embodied as, the combination type scheme schematic diagram of magnetic scale.Magnetic scale makes two kinds of parts: the first parts 11 and the second parts 12.
Detailed description of the invention
When the large and small turner of rail-mounted gantry crane is made, the scope that cart runs seems the length on a rectangle square, and the scope of trolley travelling seems the width on a rectangle square, and the suspension hook being arranged on dolly seems the object run in a Ge Juxing square.
Coordinate type relative displacement detection magnetic scale is arranged on rail-mounted gantry crane, just looks like to placed a two-dimentional coordinate on Ju Xing square, and the initial point of coordinate just overlaps with the central point on Ju Xing square, and Ju Xing square is divided into four quadrants；Suspension hook moves on Ju Xing square, no matter in which position, can represent exactly with the coordinate of some quadrant.
When being embodied as,Magnetic scale is assembled by two kinds of parts, and a kind of is the scale with origin of coordinate, and another kind is the scale not having origin of coordinate.Typical embodiment, as shown in Figure 9: the first parts 11, it it is the scale with origin of coordinate, the distance of two blocks of middle Magnet is 1 parasang, the distance of remaining two blocks of Magnet is all 3 parasangs, and the distance of the Magnet of the right and left to respective scale end face is all 1.5 parasangs；The second parts 12, are the scales not having origin of coordinate, and the distance of all two blocks of Magnet is all 3 parasangs, and the distance of the Magnet of the right and left to respective scale end face is all 1.5 parasangs.The thickness of Magnet equals to or less than 0.5 parasang.1 parasang specifically takes how many meters, relevant to the precision of detection.No matter the first parts 11 or the second parts 12, the most only depict several blocks of Magnet, actually have a lot of block Magnet in figure；Concrete block number, relevant with the length of parts, such as the first parts 11 and the second parts 12 all make of 1 meter of length, if 1 parasang specifically take how many meters it has been determined that, then just can calculate the number of magnet piece required for these 1 meter of long parts.When 1 the first parts 11 and many part the second parts 12 are combined, just become the magnetic scale introduced in description [0006] section, both architectural features are identical: the spacing between middle two blocks of Magnet is 1 long measure, and the spacing between remaining any two blocks of Magnet is all 3 long measures；Certainly, both operation principles are the most identical.
During installation, the magnetic scale of coordinate type relative displacement detection magnetic scale is arranged on the track of the large and small car of crane, and the magnetic sensing device of coordinate type relative displacement detection magnetic scale is arranged on the vehicle frame of cart or dolly.No matter how long the track of the large and small car of crane has, magnetic scale is all assembled by the first parts 11 and the second parts 12, and the first large and small car of parts 11 is each the most only with one, and the second parts 12 use the length of how many tracks to be seen.
Claims (2)
1. a coordinate type relative displacement detection magnetic scale, is made up of magnetic scale, magnetic sensing device and electronic data processing equipment three part；Its architectural feature is: magnetic scale is much thickness equal to 1/2nd long measures or less than the magnet piece spaced set point-blank of 1/2nd long measures, the matrix of set is plastic strip or aluminum pipe or other non-magnet material, the distance of two pieces of Magnet center lines of middle is 1 long measure, midpoint between these two pieces of Magnet center lines is the initial point of coordinate, and initial point left and right is positive region and the negative region of coordinate respectively；The positive region of magnetic scale and negative region are respectively arranged with N block Magnet, and the distance of two adjacent Magnet center lines is all 3 long measures；Distance between magnet piece and the precision positive correlation of detection, the number of N and the length positive correlation of detected displacement of the lines；Magnetic sensing device is the spaced set point-blank of 4 magnet-sensitive elements, and the matrix of set is printed substrate or chip, and the adjacent distance between two magnet-sensitive elements is all 1 long measure.
2. detect magnetic scale according to the coordinate type relative displacement described in claim 1, magnetic scale therein is assembled by two kinds of parts, it is characterized in that: magnetic scale is made into two kinds of parts, the first parts (1 1) are the scales with origin of coordinate, the second parts (1 2) are the scales not having origin of coordinate, and each parts of two kinds of parts make the standard component of 1 to 5 meters long；Either the first parts (1 1) or the second parts (1 2), the distance of the center line of the magnet piece at the left and right two ends of each parts to these parts end face is 1.5 long measures；When magnetic scale is installed, select 1 the first parts (1 1) and several the second parts (1 2), the first parts (1 1) are arranged on the centre of track, the second parts (1 2) are arranged on the both sides of the first parts (1 1), and the number of the second parts (1 2) is relevant to the length of the length of single standard component and track.
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| CN201310074539.7A CN103148774B (en) | 2013-03-11 | 2013-03-11 | Coordinate type relative displacement detection magnetic ruler for crane big and small vehicles |
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| CN103148774B true CN103148774B (en) | 2016-08-24 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103808244A (en) * | 2014-02-28 | 2014-05-21 | 南京景曜智能科技有限公司 | Magnetic encoder for position measurement |
| CN105203057B (en) * | 2015-10-12 | 2018-07-17 | 江西瑞林装备有限公司 | Driving system and its road location detection device and road location detection method |
| CN111486878A (en) * | 2020-05-08 | 2020-08-04 | 长春晟博光学技术开发有限公司 | Integrated magnetic grid ruler encoder with limiting function |
| CN111829427A (en) * | 2020-06-18 | 2020-10-27 | 华帝股份有限公司 | Pot-leaving detection device and detection method for kitchen range |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1309282A (en) * | 2001-03-09 | 2001-08-22 | 武汉华岩电子有限责任公司 | Position coded magnetic displacement sensor |
| CN101566484A (en) * | 2008-04-24 | 2009-10-28 | 武汉大学 | Magnetic position sensing device and positioning method thereof |
| CN101846487A (en) * | 2009-03-26 | 2010-09-29 | 曹宜 | Magnetic array position sensing device and positioning method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10293042A (en) * | 1997-04-16 | 1998-11-04 | Yaskawa Electric Corp | Magnetic encoder device |
| JP2011080839A (en) * | 2009-10-06 | 2011-04-21 | Tokai Rika Co Ltd | Position detecting device and shift device |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1309282A (en) * | 2001-03-09 | 2001-08-22 | 武汉华岩电子有限责任公司 | Position coded magnetic displacement sensor |
| CN101566484A (en) * | 2008-04-24 | 2009-10-28 | 武汉大学 | Magnetic position sensing device and positioning method thereof |
| CN101846487A (en) * | 2009-03-26 | 2010-09-29 | 曹宜 | Magnetic array position sensing device and positioning method thereof |
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