Collision detection method and device for gantry mechanism

• Main Authors: KAWAHARA SHOTA, TAKEI YASUYUKI
• Format: Patent
• Language: Chinese; English
• Published: 30.08.2022
• Subjects: CRANES; HAULING; HOISTING; LIFTING; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS,WINCHES, OR TACKLES; MEASURING; MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER,MECHANICAL EFFICIENCY, OR FLUID PRESSURE; PERFORMING OPERATIONS; PHYSICS; TESTING; TESTING STATIC OR DYNAMIC BALANCE OF MACHINES ORSTRUCTURES; TESTING STRUCTURES OR APPARATUS NOT OTHERWISE PROVIDED FOR; TRANSPORTING

The invention discloses a collision detection method and device of a gantry mechanism for improving the collision detection sensitivity, and the method is characterized in that the gantry mechanism is provided with a lifting appliance which is supported on parallel rails and is driven by a servo motor to move in the axial direction; the detection method comprises the following steps: judging whether collision occurs or not according to whether the counter-acting force generated when the lifting appliance moves in the axial direction exceeds a collision detection threshold value or not; wherein when the instruction speed of the servo motor is not changed, whether collision occurs or not is determined according to a constant-speed collision detection threshold value; determining whether a collision occurs according to a shift collision detection threshold when the command speed of the servo motor changes; wherein the variable-speed collision detection threshold value is larger than the constant-speed collision