Skid slippage monitoring device

Abstract

The invention discloses a skid slippage monitoring device, and belongs to the technical field of automobile manufacturing, the skid slippage monitoring device comprises a rotary supporting assembly, a fixed supporting assembly, a friction wheel assembly, a skid encoder, a starting switch, a reset assembly and a controller, the rotary supporting assembly comprises a long edge part and a short edge part which are connected with each other at an included angle, the long edge part is rotatably connected with the fixed supporting assembly around a first axis, the friction wheel assembly is rotatably installed on the long edge part, the skid encoder is coaxially connected with the friction wheel assembly, the starting switch is installed on the fixed supporting assembly, and the reset assembly is connected with the fixed supporting assembly and the short edge part. According to the skid slippage monitoring device provided by the embodiment of the invention, the movement of the skid can be monitored through the cooperation of the friction wheel assembly, the starting switch and the skid encoder, and after the movement of the skid is compared with the movement of a double-chain mechanism, the relative displacement generated by the skid can be effectively detected, so that the problem that a sprayed vehicle body collides with a robot is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile manufacturing, in particular to a skid slip monitoring device. BACKGROUND

[0002] In the existing robot spraying system, the skid is loaded with the vehicle body to be sprayed, and is synchronously operated by the double chain bearing. The PLC and the robot track the spraying by collecting data from the encoder on the double chain drive shaft, and the double chain does not need to be stopped during the entire spraying process. However, this spraying method requires that the skid and the double chain of the conveying system be completely synchronized. Once the skid moves relatively on the double chain, the encoder on the double chain will not accurately feedback the position of the vehicle body, resulting in a collision between the robot and the vehicle body.

[0003] However, during the long-term production process, the double chain or the skid will accumulate paint, which causes the relative movement of the skid and the double chain, i.e. the skid is stuck. The data collected by the PLC and the robot can only feedback the distance of the double chain running, and cannot feedback the relative movement of the skid and the double chain. The robot continues to track the spraying according to the distance of the double chain running, which will cause the robot to collide with the vehicle body, resulting in the phenomenon of vehicle body scrapping and robot damage. SUMMARY

[0004] The present application aims to at least solve one of the above technical problems in the prior art to some extent. To this end, the present application provides a skid slip monitoring device, which can monitor the movement of the skid to determine whether the skid and the double chain move relatively.

[0005] The skid slip monitoring device according to the embodiment of the present application comprises: a rotating support assembly, the rotating support assembly comprises a long side part and a short side part connected at an angle; a fixed support assembly, the long side part is rotationally connected with the fixed support assembly about a first axis; a friction wheel assembly, the friction wheel assembly is rotationally installed on the long side part; a skid encoder, the skid encoder is coaxially connected with the friction wheel assembly; a start switch, the start switch is installed on the fixed support assembly; a reset assembly, the reset assembly is connected with the fixed support assembly and the short side part respectively; a controller, the start switch and the skid encoder are communicatively connected with the controller; when the friction wheel assembly contacts the skid, the friction wheel assembly rotates and drives the rotating support assembly to rotate about the first axis, so that the reset assembly deforms, the short side part triggers the start switch, and the controller controls the skid encoder to count when the start switch is triggered; when the friction wheel assembly is separated from the skid, the reset assembly drives the rotating support assembly to reset about the first axis, so that the short side part releases the triggering of the start switch, and the controller controls the skid encoder to stop counting.

[0006] According to some embodiments of the present application, the fixed support assembly comprises: a base, wherein the start switch is mounted on the base; a fixed plate, wherein the reset assembly is connected to the fixed plate and the short edge portion respectively; a connecting plate, wherein the base and the fixed plate are connected to the connecting plate, and the short edge portion is located between the base and the fixed plate, and the long edge portion is rotatably connected to the connecting plate about the first axis through a main shaft.

[0007] According to some embodiments of the present application, the reset assembly comprises: a support rod, wherein the support rod is connected to the short edge portion, and the support rod is movably arranged in the fixed plate; and an elastic member, wherein the elastic member is arranged on a side of the fixed plate away from the short edge portion, one end of the elastic member abuts against the fixed plate, and the other end of the elastic member is connected to the support rod.

[0008] According to some embodiments of the present application, the fixed plate is provided with an assembly through slot extending to the edge thereof, and the support rod is movably arranged in the assembly through slot.

[0009] According to some embodiments of the present application, the elastic member is sleeved on the support rod.

[0010] According to some embodiments of the present application, the reset assembly further comprises: an adjusting nut, wherein the adjusting nut is threadedly matched with the support rod, and the abutment of the elastic member is between the fixed plate and the adjusting nut.

[0011] According to some embodiments of the present application, the skid sliding monitoring device further comprises: an adjusting block, wherein the adjusting block is threadedly matched with the short edge portion, and the short edge portion triggers the start switch through the adjusting block.

[0012] According to some embodiments of the present application, the friction wheel assembly comprises: a connecting shaft, wherein the connecting shaft is rotatably arranged in the long edge portion; and a friction wheel, wherein the friction wheel is connected to the connecting shaft on one side of the long edge portion, and the skid encoder is connected to the connecting shaft on the other side of the long edge portion.

[0013] According to some embodiments of the present application, the friction wheel is made of polyurethane material.

[0014] According to some embodiments of the present application, the skid sliding monitoring device further comprises: a lock, wherein the lock is used to lock the friction wheel assembly when the friction wheel assembly is separated from the skid.

[0015] Compared with the prior art, the present application has the following beneficial effects: 1. The relative displacement caused by the stuck skid can be effectively detected by monitoring the movement of the skid through the cooperation of the friction wheel assembly, the start switch and the skid encoder, and after comparing with the movement of the double chain mechanism, so as to avoid the problem of collision between the sprayed body and the robot, reduce the loss and quickly recover the production.

[0016] 2. The reset assembly can help the friction wheel assembly to reset, improving the convenience of operation.

[0017] Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will become apparent to those skilled in the art upon examination of the following description, or can be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a structural schematic view of a skid slip monitoring device according to an embodiment of the application; Figure 2 is a structural schematic view of a skid slip monitoring device, a double chain mechanism and a body according to an embodiment of the application; Figure 3 is a structural schematic view of a skid slip monitoring device, a double chain mechanism and a skid according to an embodiment of the application; Figure 4 is a running logic block diagram of a controller according to an embodiment of the application.

[0019] Reference signs: Rotary support assembly 1; long side part 11; short side part 12; adjusting stopper 121; Fixed support assembly 2; base 21; fixed plate 22; assembly through slot 221; connecting plate 23; main shaft 231; Friction wheel assembly 3; connecting shaft 31; friction wheel 32; Skid encoder 4; Start switch 5; Reset assembly 6; support rod 61; elastic member 62; adjusting nut 63; Lock 8; guide plate 81, fixed shaft 82, rotating arm 83, roller 84; Skid slip monitoring device 10; Skid 20; double chain mechanism 30; double chain encoder 301; body 40. DETAILED DESCRIPTION

[0020] The embodiments of the application are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are intended to explain the application, and cannot be understood as a limitation of the application.

[0021] In the present application, unless otherwise clearly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integrated; it can be mechanical connection, or electrical connection or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0022] The sled slip monitoring device 10 according to the embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0023] Referring to Figures 1-3 The sled slip monitoring device 10, as shown, comprises a rotating support assembly 1, a fixed support assembly 2, a friction wheel assembly 3, a sled encoder 4, a start switch 5, a reset assembly 6 and a controller. The rotating support assembly 1 comprises an angle-connected long side part 11 and a short side part 12, the long side part 11 is rotationally connected with the fixed support assembly 2 around a first axis L, the friction wheel assembly 3 is rotatably installed on the long side part 11, the sled encoder 4 is coaxially connected with the friction wheel assembly 3, the start switch 5 is installed on the fixed support assembly 2, the reset assembly 6 is connected with the fixed support assembly 2 and the short side part 12 respectively, the start switch 5 and the sled encoder 4 are both in communication connection with the controller. When the friction wheel assembly 3 contacts the sled 20, the friction wheel assembly 3 rotates and drives the rotating support assembly 1 to rotate around the first axis L, so that the reset assembly 6 deforms and the short side part 12 triggers the start switch 5. The controller controls the sled encoder 4 to count when the start switch 5 is triggered. When the friction wheel assembly 3 is separated from the sled 20, the reset assembly 6 drives the rotating support assembly 1 to reset around the first axis L, so that the short side part 12 releases the triggering of the start switch 5, and the controller controls the sled encoder 4 to stop counting.

[0024] Specifically, the double-chain mechanism 30 can drive the sled 20 to move, the fixed support assembly 2 can be fixed on the wall plate of the double-chain mechanism 30, the wall plate has a hole, and the friction wheel assembly 3 can be inserted into the inside of the wall plate.

[0025] The rotating support assembly 1 can be an L-shaped bracket, and the rotating support assembly 1 comprises an angle-connected long side part 11 and a short side part 12, and the long side part 11 is rotationally connected with the fixed support assembly 2 around a first axis L, that is, the rotating support assembly 1 can rotate relative to the fixed support assembly 2 around the first axis L.

[0026] When the sled 20 passes through the sled slip monitoring device 10, the friction wheel assembly 3 contacts the sled 20, the friction wheel assembly 3 rolls and rotates along the sled 20 to drive the sled encoder 4, and at the same time, the friction wheel assembly 3 drives the rotating support assembly 1 to rotate clockwise around the first axis L under the pushing of the sled 20, so that the short side part 12 of the rotating support assembly 1 triggers the start switch 5.Figure 1 When the short edge portion 12 rotates in the direction a, the reset assembly 6 rotates the rotating support assembly 1 in a counterclockwise direction around the first axis L, so that the short edge portion 12 approaches and triggers the start switch 5, and the controller controls the sledge encoder 4 to count when the start switch 5 is triggered.

[0027] When the sledge 20 leaves the sledge slip monitoring device 10, the friction wheel assembly 3 is separated from the sledge 20, and the reset assembly 6 rotates the rotating support assembly 1 in a counterclockwise direction around the first axis L (in the opposite direction of the direction a) to reset, so that the short edge portion 12 is removed from triggering the start switch 5, and the controller controls the sledge encoder 4 to stop counting. Figure 1

[0028] Thus, the sledge encoder 4 can record the rotation data of the sledge 20 passing through the friction wheel assembly 3, the controller can obtain the rotation data of the double-chain encoder 301 recording the double-chain movement in the double-chain mechanism 30 in the same period, and the controller can compare the two rotation data to determine whether the sledge 20 and the double-chain mechanism 30 have relative movement.

[0029] The sledge slip monitoring device 10 according to the embodiment of the present application can monitor the movement of the sledge 20 through the cooperation of the friction wheel assembly 3, the start switch 5, and the sledge encoder 4, and can effectively detect the relative displacement caused by the sledge after comparing with the double-chain movement, thereby avoiding the problem of the collision between the spraying body 40 and the robot, reducing the loss and quickly recovering the production. Meanwhile, the reset assembly 6 can help the friction wheel assembly 3 to reset, thereby improving the convenience of operation.

[0030] In some embodiments of the present application, as shown in FIG. 1, the fixed support assembly 2 includes a base 21, a fixed plate 22, and a connecting plate 23, the start switch 5 is installed on the base 21, the reset assembly 6 is connected to the fixed plate 22 and the short edge portion 12 respectively, the base 21 and the fixed plate 22 are connected to the connecting plate 23, the short edge portion 12 is located between the base 21 and the fixed plate 22, and the long edge portion 11 is rotationally connected to the connecting plate 23 around the first axis L through the main shaft 231. Figure 1 Specifically, the base 21 can be fixed on the wall plate of the double-chain mechanism 30 through fasteners, the start switch 5 is installed on the base 21, the start switch 5 can be an optical proximity switch, the sensing distance is 30 mm to 40 mm, when the short edge portion 12 rotates to block the start switch 5, the start switch 5 is triggered, when the short edge portion 12 rotates to unblock the start switch 5, the triggering of the start switch 5 is removed, and the optical proximity switch can be triggered without the short edge portion 12 contacting the optical proximity switch, so as to reduce the abrasion and impact of the short edge portion 12 on the start switch 5.

[0031]

[0032] ​​The connecting plate 23 is connected with the base 21, and the long side part 11 is rotationally connected with the connecting plate 23 around the first axis L through the main shaft 231, the axis of the main shaft 231 is the first axis L, and the long side part 11 can rotate relative to the connecting plate 23 around the main shaft 231.

[0033] The fixed plate 22 is connected with the connecting plate 23, the short side part 12 is located between the base 21 and the fixed plate 22, and the reset assembly 6 is connected with the fixed plate 22 and the short side part 12 respectively; when the long side part 11 rotates relative to the connecting plate 23 around the main shaft 231, the positions of the starting switch 5 on the base 21 and the fixed plate 22 remain unchanged, the position of the short side part 12 between the starting switch 5 and the fixed plate 22 changes, and the compression amount of the reset assembly 6 changes; the structure is compact and occupies small space.

[0034] In some embodiments of the present application, referring to Figure 1 The reset assembly 6 includes a support rod 61 and an elastic member 62; the support rod 61 is connected with the short side part 12, the support rod 61 is movably arranged in the fixed plate 22, the elastic member 62 is arranged on the side of the fixed plate 22 away from the short side part 12, one end of the elastic member 62 abuts against the fixed plate 22, and the other end of the elastic member 62 is connected with the support rod 61.

[0035] Specifically, when the rotating support assembly 1 rotates clockwise (a direction in the figure) around the first axis L, the short side part 12 can pull the elastic member 62 to compress through the support rod 61. Figure 1 When the rotating support assembly 1 is reset, the elastic member 62 is elongated and pulls the short side part 12 through the support rod 61, so that the rotating support assembly 1 rotates counterclockwise (the opposite direction of the a direction in the figure) around the first axis L to reset. Figure 1

[0036] It can be understood that the space between the short side part 12 and the fixed plate 22 is small, and it is difficult to arrange an elastic member 62 with a large elastic coefficient, therefore, the support rod 61 is movably arranged in the fixed plate 22, and the elastic member 62 is arranged on the side of the fixed plate 22 away from the short side part 12, so that the elastic member 62 can fully utilize the space on the side of the fixed plate 22 away from the short side part 12, so as to arrange the elastic member 62 with a large elastic coefficient, thereby the acting force of the elastic member 62 on the short side part 12 can press the friction wheel assembly 3 against the passing skid 20, and the risk of relative sliding between the friction wheel assembly 3 and the skid 20 is reduced.

[0037] ​Optionally, the elastic member 62 is a spring made of 65Mn spring steel, and the elastic coefficient of the spring is 50N / mm to 80N / mm. When the sled 20 passes, the friction wheel assembly 3 can always be tightly attached to the side of the sled 20 under the action of the elastic member 62 with a pressure of 15N to 25N, which not only ensures that there is no relative sliding between the friction wheel assembly 3 and the sled 20, but also avoids that the pressure is too large to increase the running resistance of the sled 20. In addition, the elastic member 62 can also be a gas spring.

[0038] In some embodiments of the present application, referring to Figure 1 As shown in the figure, the fixed plate 22 is provided with an assembly through groove 221 extending to the edge thereof, and the support rod 61 is movably arranged in the assembly through groove 221, so as to facilitate assembly and maintenance replacement of the support rod 61.

[0039] In some embodiments of the present application, referring to Figure 1 As shown in the figure, the elastic member 62 is sleeved on the support rod 61, and the support rod 61 can avoid the elastic member 62 from being deflected, so as to improve the stability and reliability of the elastic member 62.

[0040] In some embodiments of the present application, referring to Figure 1 As shown in the figure, the reset assembly 6 further comprises an adjusting nut 63, the adjusting nut 63 is threadedly connected with the support rod 61, and the elastic member 62 is abutted between the fixed plate 22 and the adjusting nut 63, that is, one end of the elastic member 62 is abutted with the fixed plate 22, and the other end of the elastic member 62 is abutted with the adjusting nut 63, that is, the elastic member 62 is indirectly connected with the support rod 61 through the adjusting nut 63, the compression amount of the elastic member 62 can be adjusted by rotating the adjusting nut 63 to change the position of the adjusting nut 63 on the support rod 61, so as to adjust the pressure between the friction wheel assembly 3 and the sled 20, and the adjusting nut 63 can facilitate assembly and debugging of the sled sliding monitoring device 10.

[0041] In some embodiments of the present application, referring to Figure 1 As shown in the figure, the sled sliding monitoring device 10 further comprises an adjusting block 121, the adjusting block 121 is threadedly connected with the short edge part 12, the short edge part 12 triggers the start switch 5 through the adjusting block 121, the position of the adjusting block 121 on the short edge part 12 can be changed by rotating the adjusting block 121, so as to adjust the relative position between the adjusting block 121 and the start switch 5, to control the timing of the short edge part 12 triggering the start switch 5 through the adjusting block 121, and thus facilitate assembly and debugging of the sled sliding monitoring device 10.

[0042] In some embodiments of the present application, referring to Figure 1As shown, the friction wheel assembly 3 comprises a connecting shaft 31 rotatably penetrating the long side part 11 and a friction wheel 32 connected to the connecting shaft 31 on one side of the long side part 11, and the sled encoder 4 is connected to the connecting shaft 31 on the other side of the long side part 11.

[0043] Specifically, the friction wheel 32 and the sled encoder 4 can be connected to the connecting shaft 31 on both upper and lower sides of the long side part 11 to make full use of the space on both upper and lower sides of the long side part 11, and when the friction wheel 32 is in contact with the sled 20, the friction wheel 32 can roll along the side surface of the sled 20 and drive the sled encoder 4 through the connecting shaft 31 to make the sled encoder 4 record the rolling data of the friction wheel 32.

[0044] In some embodiments of the present application, the friction wheel 32 is made of polyurethane material, which has stable friction coefficient and certain elasticity, so as to reduce the accumulation of paint on the wheel surface, and even if a small amount of paint adheres, it can also be detached in the friction process with the sled 20 through the elastic deformation of the wheel surface.

[0045] Optionally, the wheel surface of the friction wheel 32 is provided with diamond-shaped anti-skid lines with a depth of 1-2 mm, which can further enhance the friction force between the friction wheel 32 and the side surface of the sled 20, and ensure that the sled 20 can reliably drive the friction wheel 32 to rotate when the sled 20 operates.

[0046] In some embodiments of the present application, referring to Figure 1 As shown, the sled slip monitoring device 10 further comprises a lock 8 for locking the friction wheel assembly 3 when the friction wheel assembly 3 is separated from the sled 20, so as to avoid the friction wheel assembly 3 from continuing to rotate under the action of inertia and affecting the measurement accuracy of the sled encoder 4.

[0047] Specifically, the lock 8 can comprise a guide plate 81 fixed to the fixed support assembly 2, a fixed shaft 82 fixed to the long side part 11, a rotating arm 83 rotatably connected to the fixed shaft 82, both ends of the rotating arm 83 being a locking end and a guide end respectively, the guide end being provided with a roller 84 cooperating with the guide plate 81, the locking end being selectively locked with the friction wheel assembly 3, and a torsional spring connected to the fixed shaft 82 and the rotating arm 83 respectively, the torsional spring being used to apply a force to the rotating arm 83 to make the locking end close to the friction wheel assembly 3.

[0048] When the sled 20 is in contact with the friction wheel assembly 3, the friction wheel assembly 3 drives the rotating support assembly 1 to rotate clockwise (counterclockwise) around the first axis L (second axis M) under the pushing of the sled 20, and the sled encoder 4 records the rolling data of the friction wheel 32. Figure 1When the sledge 20 rotates in the direction a, the roller 84 rotates the rotating arm 83 clockwise around the fixed shaft 82 under the guidance of the guide plate 81 to overcome the force of the torsion spring, so that the locking end is separated from the connecting shaft 31 of the friction wheel assembly 3, and the locking of the friction wheel assembly 3 by the locking end is released, so that the friction wheel assembly 3 can rotate.

[0049] When the sledge 20 is separated from the friction wheel assembly 3, the force of the torsion spring on the rotating arm 83 can rotate the rotating arm 83 counterclockwise around the fixed shaft 82, so that the locking end is in contact with the connecting shaft 31 of the friction wheel assembly 3, and the locking end can lock the connecting shaft 31 by friction, so that the connecting shaft 31 and the friction wheel 32 are prevented from rotating due to mechanical vibration, inertia, etc.

[0050] In other embodiments of the present application, the locking device 8 can also be a caliper locking device controlled by the controller. When the friction wheel assembly 3 is separated from the sledge 20, the rotating speed of the friction wheel assembly 3 slows down, and the controller can control the caliper locking device to clamp the friction wheel 32 to lock the friction wheel assembly 3.

[0051] Referring to Figures 1-3 As shown in the figure, the sledge slip monitoring device 10 according to the embodiment of the present application is installed on the wall plate of the double chain mechanism 30 in use, so that the friction wheel 32 is inside the wall plate. When the sledge 20 passes through the friction wheel 32, the friction wheel 32 will be pressed to the side of the sledge 20, and the movement of the sledge 20 will drive the friction wheel 32 to rotate. At the same time, the friction wheel 32 will drive the long side part 11 to rotate around the main shaft 231 when it is pressed, and the long side part 11 will drive the short side part 12 to rotate, and the short side part 12 will drive the adjusting block 121 to move to the side of the starting switch 5. When the starting switch 5 is blocked by the adjusting block 121, the controller controls the sledge encoder 4 to count, and the sledge encoder 4 records the rotation data of the friction wheel 32.

[0052] The sledge encoder 4 and the double chain encoder 301 of the double chain mechanism 30 can both be high-precision incremental encoders. The double chain encoder 301 can be rigidly connected with the output shaft of the driving motor in the double chain mechanism 30 through a flange, so as to collect the rotating speed and rotating angle of the driving motor in the double chain mechanism 30 in real time, and further convert the moving distance of the double chain.

[0053] The controller can be a PLC controller. The controller can read the counting value A of the double chain encoder 301 and the counting value B of the sledge encoder 4 according to the set sampling period (10 ms to 50 ms), and calculate the displacement difference value and the proportional coefficient K of the two according to the collected data. The control process of the controller is shown in FIG. 4. The controller continuously collects the values of the double-chain encoder 301 and the values of the sled encoder 4 according to the set sampling period, and sequentially obtains A2, A3…An+1 and B2, B3…Bn+1. After each collection, the controller calculates the displacement increment of the double chain in the sampling period ΔA=An+1-An and the displacement increment of the sled 20 in the sampling period ΔB=Bn+1-Bn according to the current collected count value and the last collected count value. At the same time, the controller calculates the displacement ratio coefficient K=(A2-A1) / (B2-B1) of the sled 20 and the double chain according to the collected A and B data using linear regression algorithm.

[0054] When the sled 20 is stuck, the encoder value of the sled 20 does not change, and the following condition is met to trigger the stop chain stop alarm: (An+1-An)-(Bn+1-Bn)*K>R, wherein R is a preset alarm value.

[0055] When the alarm is triggered, the controller can control the light and buzzer to issue a warning, and control the stop of the movement of the double-chain mechanism 30, and also control the stop of the movement of the robot for spraying to avoid the collision between the robot and the vehicle body 40. After the manual processing is completed, the robot can be restarted.

[0056] In the description of the present specification, the description of the terms “one embodiment”, “some embodiments”, “an example”, “a specific example” or “some examples” and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in the present specification.

[0057] Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A sled slippage monitoring device, characterized by, The utility model relates to a kind of rotating support assembly (1), the rotating support assembly (1) includes long side (11) and short side (12) connected at an angle; Fixed support assembly (2), the long side (11) is rotatably connected with the fixed support assembly (2) around first axis; Friction wheel assembly (3), the friction wheel assembly (3) is rotatably installed in the long side (11); Sled encoder (4), the sled encoder (4) is coaxially connected with the friction wheel assembly (3); Start switch (5), the start switch (5) is installed in the fixed support assembly (2); Reset component (6), the reset component (6) is connected with the fixed support assembly (2) and the short side (12) respectively; Controller, the start switch (5) and the sled encoder (4) are all connected with the controller communication; When the friction wheel assembly (3) contacts sled (20), the friction wheel assembly (3) rotates and drives the rotating support assembly (1) to rotate around the first axis, so that the reset component (6) is deformed, the short side (12) triggers the start switch (5), and the controller controls the sled encoder (4) to count when the start switch (5) is triggered; When the friction wheel assembly (3) is separated from sled (20), the reset component (6) drives the rotating support assembly (1) to reset around the first axis, so that the short side (12) releases the trigger of the start switch (5), and the controller controls the sled encoder (4) to stop counting. The fixed support assembly (2) includes:

2. The sled slip monitoring apparatus of claim 1, wherein, Base (21), the start switch (5) is installed in the base (21); Fixed plate (22), the reset component (6) is connected with the fixed plate (22) and the short side (12) respectively; Connecting plate (23), the base (21) and the fixed plate (22) are connected with the connecting plate (23), the short side (12) is located between the base (21) and the fixed plate (22), and the long side (11) is rotatably connected with the connecting plate (23) around the first axis through main shaft (231). The reset component (6) includes:

3. The sled slip monitoring apparatus of claim 2, wherein, Supporting rod (61), the supporting rod (61) is connected with the short side (12), and the supporting rod (61) is movably arranged in the fixed plate (22); Elastic member (62), the elastic member (62) is arranged on the side of the fixed plate (22) away from the short side (12), one end of the elastic member (62) abuts against the fixed plate (22), and the other end of the elastic member (62) is connected with the supporting rod (61). The fixed plate (22) is provided with assembly through slot (221) extending to its edge, and the supporting rod (61) is movably arranged in the assembly through slot (221).

4. The sled slip monitoring apparatus of claim 3, wherein, The elastic member (62) is sleeved on the supporting rod (61).

5. The sled slip monitoring apparatus of claim 3, wherein, ​ 6. The sled slip monitoring apparatus of claim 5, wherein, The reset assembly (6) further comprises an adjusting nut (63) threadedly matched with the support rod (61), and the elastic member (62) abuts between the fixing plate (22) and the adjusting nut (63).

7. The sled slip monitoring apparatus of claim 1, wherein, The skid sliding monitoring device further comprises an adjusting block (121) threadedly matched with the short side part (12), and the short side part (12) triggers the starting switch (5) through the adjusting block (121).

8. The sled slip monitoring apparatus of claim 1, wherein, The friction wheel assembly (3) comprises: a connecting shaft (31) rotatably penetrating the long side part (11); a friction wheel (32) connected with the connecting shaft (31) on one side of the long side part (11), and the skid encoder (4) is connected with the connecting shaft (31) on the other side of the long side part (11).

9. The sled slip monitoring apparatus of claim 8, wherein, The friction wheel (32) is a polyurethane material piece.

10. The sled slip monitoring apparatus of any one of claims 1-9, wherein, The skid sliding monitoring device further comprises a lock (8) for locking the friction wheel assembly (3) when the friction wheel assembly (3) is separated from the skid (20).

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