Gantry long-stroke walking deviation correcting device based on encoder closed-loop control

Abstract

The utility model provides a gantry long-stroke walking deviation rectifying device based on encoder closed-loop control, which is characterized in that two parallel gantry operation tracks are arranged on a track foundation, and a gantry main body is bridged on the gantry operation tracks through walking wheels below two ends; a servo motor on the gantry body drives the gantry body to walk through a driving gear and a transmission rack which are meshed, encoders abut against a gantry operation track all the time through an elastic mechanism on a connecting plate, and the encoders for obtaining real-time movement data are symmetrically arranged on the two sides of the gantry body. After analysis and comparison, the control system controls the electric appliance cabinet to rectify walking of the gantry body, and the problems that in the operation process of the gantry mechanism, deviation, long-distance accumulated walking errors and asynchronous operation of the two ends are prone to occurring, and an encoder may have detection errors are solved.

Description

Technical Field

[0001] The utility model relates to the field of gantry mechanism deviation rectification, in particular to a long-stroke walking deviation rectification device for a gantry based on encoder closed-loop control. Background Art

[0002] A gantry mechanism generally consists of a main beam, walking wheels, a driving device, and a control system. The control system controls the driving device to drive the walking wheels to move at a set speed and distance. During operation, there is generally no closed-loop feedback. Due to the influence of factors such as the assembly accuracy of the mechanism and the installation accuracy of the track, during actual operation, the gantry mechanism is prone to phenomena such as deviation, long-distance cumulative walking error, and asynchronous operation at both ends. In more serious cases, it may cause the gantry to jam during walking, leading to safety accidents.

[0003] In a long-stroke walking deviation rectification device for a gantry, a closed-loop control system usually consists of an encoder, a controller, and an actuator. An encoder is a device that encodes signals or data and converts them into signal forms that can be used for communication, transmission, and storage. A closed-loop control system is a control system that can automatically adjust the input according to the deviation between the actual output and the desired output. The controller is the brain of the closed-loop control system. It receives the position and speed signals from the encoder and compares them with the preset target values. If a deviation is detected, the controller will adjust the output of the drive system to correct the deviation.

[0004] During the walking process of the gantry mechanism, there may be an angular deviation caused by the speed difference at both ends of the gantry, the pressure-induced bending deformation of the gantry running track, thermal expansion and contraction, or installation errors, resulting in the encoder not fully conforming to the actual movement path, thereby causing a deviation between the detected movement data and the actual movement distance. Therefore, it is urgent to propose a long-stroke walking deviation rectification device for a gantry based on encoder closed-loop control and a deviation elimination method to eliminate such influences and improve the synchronism of the gantry's movement and ensure the safe and stable operation of the gantry. Summary of the Utility Model

[0005] The main purpose of the utility model is to provide a long-stroke walking deviation rectification device for a gantry based on encoder closed-loop control, which solves the problems that the gantry mechanism is prone to deviation, long-distance cumulative walking error, and asynchronous operation at both ends during operation, and there may be detection errors in the encoder.

[0006] To solve the above technical problems, the technical solution adopted by the utility model is: a long-stroke walking deviation rectification device for a gantry based on encoder closed-loop control. Two parallel gantry running tracks are provided on the track foundation. The gantry main body is straddled on the gantry running tracks through the walking wheels at both ends. The driving mechanism on the gantry main body drives the gantry main body to walk. Encoders for obtaining real-time movement data are symmetrically arranged on both sides of the gantry main body. After analysis and comparison by the control system, the walking of the gantry main body is rectified.

[0007] The encoder is connected to the gantry main body through a connecting plate. The connecting plate is an L-shaped plate, and its vertical plate is connected to the appropriate position of the gantry main body. The input shaft of the encoder passes through the horizontal plate of the connecting plate and is connected to the transmission gear.

[0008] The connecting plate further includes a sliding plate. The sliding plate is slidably connected to the T-shaped chute at the lower end of the connecting plate through a T-shaped slider at one end. A baffle is also provided on the side of the connecting plate away from the gantry running track. One side of the sliding plate is connected to the baffle through at least one elastic member, and the elastic member provides a force for the sliding plate to approach the gantry running track.

[0009] In a preferred embodiment, two parallel transmission racks are symmetrically provided on the side surface of the gantry running track. A servo motor is provided on the gantry main body, and its output shaft is connected to the driving gear. The driving gear meshes with the transmission rack, and the servo motor drives the gantry main body to move along the gantry running track.

[0010] In a preferred embodiment, encoders are symmetrically provided at the front ends on both sides of the gantry main body. Their input shafts are connected to the transmission gears. The transmission gears mesh with the transmission racks. The axis of rotation of the driving gear is parallel to the axis of rotation of the transmission gear and is perpendicular to the transmission rack.

[0011] The transmission gear rotates as the gantry main body moves, and feeds back the movement information to the encoder.

[0012] In a preferred embodiment, the width of the sliding plate is smaller than the width of the connecting plate. The length of the T-shaped chute is adapted to the required movement range of the encoder, and both ends thereof do not exceed the end faces on both sides of the lower end of the connecting plate.

[0013] In a preferred embodiment, a rotating bearing is further provided in the middle of the sliding plate. The input shaft of the encoder is sleeved in the rotating bearing, and the output end face of the encoder is connected to the boss on the upper surface of the sliding plate.

[0014] In a preferred embodiment, a long strip-shaped through hole is further provided in the middle of the horizontal plate of the connecting plate. The input shaft of the encoder passes through the long strip-shaped through hole and is connected to the transmission gear. The length of the long strip-shaped through hole is adapted to the sliding stroke range of the sliding plate.

[0015] In a preferred embodiment, the deviation correction device further includes a control system for information transmission with the encoder, which is used to receive and process the real-time running speed and running distance of the gantry main body.

[0016] In a preferred embodiment, an electrical cabinet for information transmission with the encoder and the control system is further provided on the gantry main body. The electrical cabinet is electrically connected to the servo motor and is used to control the movement of the gantry main body.

[0017] The utility model provides a gantry long-stroke walking deviation correction device based on encoder closed-loop control. The gantry main body is bridged on the gantry running track through walking wheels below both ends. The servo motor on the gantry main body drives the gantry main body to walk through the meshing driving gear and transmission rack. Encoders for obtaining real-time movement data are symmetrically arranged on both sides of the gantry main body. The encoders always abut against the gantry running track through the connecting plate. After the control system analyzes and compares, it controls the electrical cabinet to correct the walking of the gantry main body, solving the problems of easy deviation, long-distance cumulative walking error, and asynchronous operation at both ends during the operation of the gantry mechanism, and the problem that the encoder may have detection errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The following further describes the present utility model in conjunction with the drawings and embodiments:

[0019] Figure 1 It is a schematic plan view of the gantry track installation of the present utility model;

[0020] Figure 2 It is a schematic diagram of the gantry running structure of the present utility model;

[0021] Figure 3 It is a schematic diagram of the overall device layout and external structure of the present utility model;

[0022] Figure 4 It is an isometric structural diagram of the connection between the gantry main body and the encoder of the present utility model;

[0023] Figure 5 It is a side view structural diagram of the connection between the gantry main body and the encoder of the present utility model;

[0024] Figure 6 It is a front view of the transmission structure between the driving mechanism and the encoder of the present utility model;

[0025] Figure 7 It is an isometric view of the transmission structure between the driving mechanism and the encoder of the present utility model;

[0026] Figure 8 It is an isometric structural diagram of the encoder and the connecting plate of the present utility model;

[0027] Figure 9 It is an isometric structural diagram of the explosion mode of the encoder and the connecting plate of the present utility model;

[0028] Figure 10 It is a sectional view structural diagram of the connecting plate of the present utility model.

[0029] In the figure: track foundation 1; gantry running track 2; transmission rack 3; drive gear 4; servo motor 5; walking wheel 6; gantry main body 7; electrical cabinet 8; control system 9; transmission gear 10; encoder 11; connecting plate 12; sliding plate 1201; T-shaped slider 1202; T-shaped chute 1203; baffle 1204; elastic member 1205; rotating bearing 1206; long strip through hole 1207. Detailed implementation

[0030] Embodiment 1

[0031] As Figures 1 to 10 shown, a gantry long-stroke walking deviation correction device based on encoder closed-loop control. Two parallel gantry running tracks 2 are provided on the track foundation 1. The gantry main body 7 is straddled on the gantry running tracks 2 through the walking wheels 6 below both ends. The driving mechanism on the gantry main body 7 drives the gantry main body 7 to walk. Encoders 11 for obtaining real-time movement data are symmetrically arranged on both sides of the gantry main body 7. After analysis and comparison by the control system 9, the walking of the gantry main body 7 is corrected;

[0032] The encoder 11 is connected to the gantry main body 7 through the connecting plate 12. The connecting plate 12 is an L-shaped plate, and its vertical plate is connected to the appropriate position of the gantry main body 7. The input shaft of the encoder 11 passes through the horizontal plate of the connecting plate 12 and is connected to the transmission gear 10;

[0033] The connecting plate 12 further includes a sliding plate 1201. The sliding plate 1201 is slidably connected to the lower T-shaped chute 1203 of the connecting plate 12 through the T-shaped slider 1202 at one end. A baffle 1204 is further provided on the side of the connecting plate 12 away from the gantry running track 2. One side of the sliding plate 1201 is connected to the baffle 1204 through at least one elastic member 1205. The elastic member 1205 provides a force for the sliding plate 1201 to approach the gantry running track 2.

[0034] By making the two rotating shafts parallel, the real-time and accuracy of data transmission are ensured. By providing the L-shaped connecting plate 12, the encoder 11 can be connected to the end of the gantry main body 7 with different specifications and structures. The elastic mechanism enables the sliding plate 1201 to move along with the change of the gantry running track 2 and always closely abuts, so as to obtain accurate real-time movement data.

[0035] In a preferred solution, two parallel transmission racks 3 are symmetrically provided on the side surface of the gantry running track 2. A servo motor 5 is provided on the gantry main body 7, and its output shaft is connected to the drive gear 4. The drive gear 4 meshes with the transmission rack 3, and the servo motor 5 drives the gantry main body 7 to walk along the gantry running track 2.

[0036] In a preferred embodiment, encoders 11 are symmetrically arranged at the front ends on both sides of the gantry main body 7. The input shaft thereof is connected to the transmission gear 10, the transmission gear 10 meshes with the transmission rack 3, the rotation axis of the driving gear 4 is parallel to the rotation axis of the transmission gear 10, and both are perpendicular to the transmission rack 3;

[0037] The transmission gear 10 rotates as the gantry main body 7 moves, and feeds back the movement information to the encoder 11.

[0038] In a preferred embodiment, the width of the sliding plate 1201 is smaller than the width of the connecting plate 12. The length of the T-shaped sliding groove 1203 is adapted to the movement range required by the encoder 11, and neither of its two ends exceeds the end faces on both sides of the lower end of the connecting plate 12.

[0039] Limit the movement range of the sliding plate 1201 to prevent it from slipping off both ends of the connecting plate 12.

[0040] In a preferred embodiment, a rotating bearing 1206 is further provided in the middle of the sliding plate 1201. The input shaft of the encoder 11 is sleeved in the rotating bearing 1206, and the output end face of the encoder 11 is connected to the boss on the upper surface of the sliding plate 1201.

[0041] Provide rotational support and centering limit for the input shaft of the encoder 11, enhance the structural stability, and ensure the accuracy of obtaining movement data.

[0042] In a preferred embodiment, a long strip-shaped through hole 1207 is further provided in the middle of the horizontal plate of the connecting plate 12. The input shaft of the encoder 11 passes through the long strip-shaped through hole 1207 and is connected to the transmission gear 10. The length of the long strip-shaped through hole 1207 is adapted to the sliding stroke range of the sliding plate 1201.

[0043] While the horizontal plate of the connecting plate 12 provides a certain supporting force for the sliding plate 1201, it does not affect the movement of the input shaft of the encoder 11.

[0044] In a preferred embodiment, the deviation rectifying device further includes a control system 9 for information transmission with the encoder 11, which is used to receive and process the real-time running speed and running distance of the gantry main body 7.

[0045] In a preferred embodiment, an electrical cabinet 8 for information transmission with the encoder 11 is further provided on the gantry main body 7. The electrical cabinet 8 is electrically connected to the servo motor 5 and is used to control the movement of the gantry main body 7.

[0046] Specifically, the gantry main body 7 rolls on the gantry running track 2 by the traveling wheels 6 at both lower ends. The servo motor 5 on the gantry main body 7 drives the gantry main body 7 to travel through the meshing driving gear 4 and the transmission rack 3. The transmission rack 3 drives the transmission gear 10 to rotate. The encoder 11 connected to the transmission gear 10 acquires real-time operation data. The encoder 11 is connected to the sliding plate 1201 through the rotating bearing 1206. The sliding plate 1201 slides on the connecting plate 12, and the elastic member 1205 always presses the sliding plate 1201 against the gantry running track 2, so that the input information of the encoder 11 is always closely fitted with the actual movement track. After analysis and comparison, the control system 9 controls the electrical cabinet 8 to correct the travel of the gantry main body 7.

[0047] The above embodiments are only the preferred technical solutions of the present invention and should not be regarded as limitations to the present invention. The protection scope of the present invention should be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A gantry long-stroke walking deviation correction device based on encoder closed-loop control, characterized in that: There are two parallel gantry running tracks (2) provided on the track foundation (1). The gantry main body (7) straddles the gantry running tracks (2) through the walking wheels (6) below both ends. The driving mechanism on the gantry main body (7) drives the gantry main body (7) to move. Encoders (11) for obtaining real-time movement data are symmetrically arranged on both sides of the gantry main body (7). After analysis and comparison by the control system (9), the walking of the gantry main body (7) is corrected. The encoder (11) is connected to the gantry main body (7) through a connecting plate (12). The connecting plate (12) is an L-shaped plate, and its vertical plate is connected to an appropriate position of the gantry main body (7). The input shaft of the encoder (11) passes through the horizontal plate of the connecting plate (12) and is connected to the transmission gear (10). The connecting plate (12) further includes a sliding plate (1201). The sliding plate (1201) is slidably connected to the T-shaped chute (1203) at the lower end of the connecting plate (12) through a T-shaped slider (1202) at one end. A baffle (1204) is further provided on the side of the connecting plate (12) away from the gantry running track (2). One side of the sliding plate (1201) is connected to the baffle (1204) through at least one elastic member (1205). The elastic member (1205) provides a force for the sliding plate (1201) to approach the gantry running track (2).

2. The long-stroke gantry walking deviation rectification device based on encoder closed-loop control according to claim 1, characterized in that: Two parallel transmission racks (3) are symmetrically provided on the side surface of the gantry running track (2). A servo motor (5) is provided on the gantry main body (7), and its output shaft is connected to a driving gear (4). The driving gear (4) meshes with the transmission rack (3), and the servo motor (5) drives the gantry main body (7) to move along the gantry running track (2).

3. The gantry long-stroke walking deviation correction device based on encoder closed-loop control according to claim 1 is characterized in that: Encoders (11) are symmetrically provided at the front ends on both sides of the gantry main body (7). Their input shafts are connected to the transmission gears (10). The transmission gears (10) mesh with the transmission racks (3). The rotation axis of the driving gear (4) is parallel to the rotation axis of the transmission gear (10), and both are perpendicular to the transmission rack (3). The transmission gear (10) rotates as the gantry main body (7) moves, and feeds back the movement information to the encoder (11).

4. The long-stroke gantry walking deviation rectification device based on encoder closed-loop control according to claim 1, characterized in that: The width of the sliding plate (1201) is smaller than the width of the connecting plate (12). The length of the T-shaped chute (1203) is adapted to the movement range required by the encoder (11), and both of its ends do not exceed the end faces on both sides of the lower end of the connecting plate (12).

5. The gantry long-stroke walking deviation correction device based on encoder closed-loop control according to claim 1, characterized in that: A rotating bearing (1206) is further provided in the middle of the sliding plate (1201). The input shaft of the encoder (11) is sleeved in the rotating bearing (1206), and the output end face of the encoder (11) is connected to the boss on the upper surface of the sliding plate (1201).

6. The long-stroke gantry walking deviation rectification device based on encoder closed-loop control according to claim 1, characterized in that: A long strip-shaped through hole (1207) is further provided in the middle of the horizontal plate of the connecting plate (12). The input shaft of the encoder (11) passes through the long strip-shaped through hole (1207) and is connected to the transmission gear (10). The length of the long strip-shaped through hole (1207) is adapted to the sliding stroke range of the sliding plate (1201).

7. The long-stroke gantry walking deviation correction device based on encoder closed-loop control according to claim 1, wherein: The rectifying device further includes a control system (9) for information transmission with the encoder (11), which is used to receive and process the real-time running speed and running distance of the gantry main body (7).

8. The long-stroke gantry walking deviation correction device based on encoder closed-loop control according to claim 1, wherein: An electric cabinet (8) for information transmission with an encoder (11) and a control system (9) is further provided on the gantry main body (7). The electric cabinet (8) is electrically connected to a servo motor (5) and is used to control the movement of the gantry main body (7).

Images