CN108422148A - A kind of control method of the switching mechanism of intermediate channel two-sided welding - Google Patents
A kind of control method of the switching mechanism of intermediate channel two-sided welding Download PDFInfo
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- CN108422148A CN108422148A CN201810062266.7A CN201810062266A CN108422148A CN 108422148 A CN108422148 A CN 108422148A CN 201810062266 A CN201810062266 A CN 201810062266A CN 108422148 A CN108422148 A CN 108422148A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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Abstract
The present invention proposes a kind of control method of the switching mechanism of intermediate channel two-sided welding, including switching mechanism and control system, sets the curve movement of switching mechanism in the controls：It is followed successively by uniformly accelerated motion, even high-speed motion, uniformly retarded motion and even low-speed motion from starting point setting in motion curve, limits parameter maximum linear velocity νmax, low speed linear velocity νmin, overturning run time t in totalz, uniformly accelerated motion time t1With even high-speed motion time t2；Control system calculates highest angular velocity omega according to the overturning radius r for limiting parameter and known parameter bull gearmax, low speed angular velocity omegaminWith the time t of uniformly retarded motion3, finally according to the time t for calculating even low-speed motion total time4, accurately obtain movement profiles；Control system controls switching mechanism according to movement profiles start and stop.The control method of the switching mechanism of the intermediate channel two-sided welding of the present invention had not only accelerated the efficiency of switching mechanism, but also reduced impact of the switching mechanism in unlatching and stopping, prolonging the service life.
Description
Technical field
The present invention relates to intermediate channel welding technology fields, particularly relate to a kind of control of the switching mechanism of intermediate channel two-sided welding
Method processed.
Background technology
Intermediate channel is the component part of the delivery chute of drag conveyor, is the critical piece of drag conveyor, intermediate channel master
It to be made of the baffle and shovel board ledge of middle plate and middle plate both sides, middle plate had not only been used to carry material, but also direct with scraper chain
Contact, therefore middle plate uses two-sided welding with baffle and shovel board ledge.Traditional intermediate channel is welded after having welded one side overturning
It connects and needs lifting, overturning and reset.When intermediate channel is overturn by switching mechanism, the start and stop of switching mechanism are that emergency stop suddenly plays mode,
Entire switching mechanism can be caused to impact, reduced the service life.
Invention content
The present invention proposes a kind of control method of the switching mechanism of intermediate channel two-sided welding, solves and overturns in the prior art
The problem that mechanism suddenly plays emergency stop impact switching mechanism and causes its service life short.
The technical proposal of the invention is realized in this way：
A kind of control method of the switching mechanism of intermediate channel two-sided welding, including switching mechanism and control system, tipper
Structure includes：Pulley bracket, bull gear, pinion gear, link and dynamical system, pinion gear are placed on the pedestal of pulley bracket,
And it is engaged with bull gear；Link is arranged in the rear end of bull gear, and coordinates with the pulley bracket；Dynamical system is for driving
Pinion gear, and be electrically connected with control system；
The curve movement of switching mechanism is set in the controls：It is followed successively by even acceleration fortune from starting point setting in motion curve
Dynamic, even high-speed motion, uniformly retarded motion and even low-speed motion, limit parameter maximum linear velocity νmax, low speed linear velocity νmin, overturning
Run time t in totalz, uniformly accelerated motion time t1With even high-speed motion time t2；
Control system is according to the overturning radius r for limiting parameter and known parameter bull gear, according to linear velocity ν and angular velocity omega
Relationship ν=ω r calculate highest angular velocity omegamaxWith low speed angular velocity omegamin, foundationMeter
Calculate the time t of uniformly retarded motion3, finally according to the time t for calculating even low-speed motion total time4, accurately obtain curve movement
Figure；
Control system controls switching mechanism according to movement profiles start and stop by dynamical system.
Preferably, control system is according to highest angular velocity omegamaxWith uniformly accelerated motion time t1Relationship ωmax=β1·
t1Calculate angular acceleration β1, then rotation angle θ when foundation uniformly accelerated motion1With angular acceleration β1RelationshipMeter
Calculate rotation angle θ1；
Control system is according to rotation angle θ when even high-speed motion2, highest angular velocity omegamaxWith even high-speed motion time t2's
Relationship θ2=ωmaxt2Calculate rotation angle θ2；
The angular acceleration β of uniformly retarded motion2With the angular acceleration β of uniformly accelerated motion1Equal, control system subtracts further according to even
Rotation angle θ when speed movement3, highest angular velocity omegamaxWith uniformly retarded motion time t3RelationshipCalculate rotation angle θ3；
Control system is according to rotation angle θ when even high-speed motion4, highest angular velocity omegaminWith even low-speed motion time t4's
Relationship θ4=ωmint4Calculate rotation angle θ4；
Control system checks total rotation angle θAlways=θ1+θ2+θ3+θ4, θAlways=π, the accurate flip angle for realizing switching mechanism
Degree is 180 degree.
Preferably, control system according to each component of switching mechanism calculate its rotary inertia, overturning intermediate channel turn
The rotary inertia J of dynamic inertia and the external component on switching mechanism1, and calculate what friction factor during actual rotation was brought
Rotary inertia J2, cumulative all total rotary inertia J=J to be calculated2+J1, then according to the relationship T of total torque and total rotary inertia
=J β1Total torque is calculated, according to gear drive principleDynamical system output torque is calculated, according to output torque
Check the dynamical system.
Preferably, the link includes a pair of of turntable and a pair of of side frame, and a turntable is arranged in the rear end of bull gear,
A pair of of turntable is oppositely arranged, and is coordinated respectively with pulley bracket；A pair of of side frame is oppositely arranged on the end face between a pair of of turntable,
The space that a pair of of side frame and a pair of of turntable are formed is for connecting component to be flipped；
The calculation of the rotary inertia of the bull gear of the switching mechanism is：Bull gear is equivalent to hollow positive cylinder,
The rotary inertia of bull gear
The calculation of the rotary inertia of a pair of of turntable of the switching mechanism is：Each turntable is equivalent to hollow positive round
Column, the rotary inertia of a pair of of turntable
The calculation of the rotary inertia of intermediate channel on the switching mechanism is：Rotation axis of the intermediate channel around bull gear
Intermediate channel is equivalent to cuboid, the rotary inertia of intermediate channel by rotation, rotation axis by the barycenter of intermediate channel
The calculation of the rotary inertia of a pair of of side frame of the switching mechanism is：The rotary shaft of a pair of of side frame and bull gear
Line is parallel, according to parallel-axis theorem, the rotary inertia J of a pair of of side framej=Jc+M4e1 2, e1For each side frame to rotation axis away from
From；
The calculation of the rotary inertia of external component on the switching mechanism is：According to parallel-axis theorem, external portion
The rotary inertia J of partb=Jc+M5e2 2。
Preferably, the rotary inertia J that friction factor is brought during the actual rotation2Calculation be：Consider
To the friction factor of whole switching mechanism, rotary inertia J2Range be (J5%-J10%).
Beneficial effects of the present invention are：The control method of the switching mechanism of the intermediate channel two-sided welding of the present invention, according to turning over
The architectural characteristic of rotation mechanism, control system control switching mechanism by dynamical system and are moved according to movement profiles, setting movement
Maximum linear velocity ν in curve graphmax, low speed linear velocity νmin, overturning run time t in totalz, uniformly accelerated motion time t1With it is even
High-speed motion time t2, the time t for learning remaining parameter uniformly retarded motion can be calculated3With the time t of even low-speed motion4, accurately
The movement profiles of switching mechanism, more precise control switching mechanism, and each continuous motion process of switching mechanism are set,
Not only it can accelerate the efficiency of switching mechanism, but also impact of the switching mechanism in unlatching and stopping can be reduced, prolong the service life.At this
In invention, maximum linear velocity ν is limitedmax, low speed linear velocity νmin, overturning run time t in totalz, uniformly accelerated motion time t1With it is even
High-speed motion time t2Parameter avoids switching mechanism too fast during the motion or excessively slow, and takes the dynamic of switching mechanism into consideration
The nominal torque of Force system, so that the curve movement of switching mechanism optimizes.
Control system calculates angular acceleration β according to known parameter1, rotation angle θ1, rotation angle θ2, rotation angle θ3
With rotation angle θ4, further check the precision of control.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without having to pay creative labor, may be used also for those of ordinary skill in the art
With obtain other attached drawings according to these attached drawings.
Fig. 1 is a kind of movement profiles of the control method of the switching mechanism of intermediate channel two-sided welding of the present invention；
Fig. 2 is the positive structure schematic of the switching mechanism of the present invention；
Fig. 3 is the side structure schematic diagram of the switching mechanism of the present invention；
Fig. 4 is the movement profiles of the embodiment of the present invention one.
In figure：
1, pulley bracket；2, bull gear；3, pinion gear；4, link；41, turntable；42, side frame.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
Embodiment；A kind of control method of the switching mechanism of intermediate channel two-sided welding, including switching mechanism and control system,
As shown in Figure 1, the curve movement of the switching mechanism set in control system as：It is followed successively by OA sections from starting point setting in motion curve
Uniformly accelerated motion, AB sections of even high-speed motions, BC sections of uniformly retarded motion and CD sections of even low-speed motions.
Switching mechanism as shown in Figures 2 and 3 includes：Pulley bracket 1, bull gear 2, pinion gear 3, link 4 and power
System, pinion gear are placed on the pedestal of pulley bracket, and are engaged with bull gear；Link is arranged in the rear end of bull gear, and
Coordinate with pulley bracket；Dynamical system is used for driving pinion, and is electrically connected with control system；Link 4 includes a pair of of turntable
41 and a pair of of side frame 42, a turntable 41 be arranged in the rear end of bull gear 2, a pair of of turntable 41 is oppositely arranged, and respectively with pulley
Holder 1 coordinates；A pair of of side frame 42 is oppositely arranged on the end face between a pair of of turntable 41,41 shape of a pair of of side frame 42 and a pair of of turntable
At space for connecting component to be flipped.
The setting process of operation curve shown in FIG. 1：Limit parameter maximum linear velocity νmax, low speed linear velocity νmin, overturning
Run time t in totalz, uniformly accelerated motion time t1With even high-speed motion time t2；Control system is according to restriction parameter and known ginseng
The overturning radius r for measuring bull gear, relationship ν=ω r according to linear velocity ν and angular velocity omega calculate highest angular velocity omegamaxWith
Low speed angular velocity omegamin, foundationCalculate the time t of uniformly retarded motion3, finally according to total time
Calculate the time t of even low-speed motion4, accurately obtain the movement profiles in Fig. 1；Control system controls switching mechanism according to fortune
Moving curve figure start and stop.
The check process of the rotation angle of control system control：Control system is according to highest angular velocity omegamaxIt is transported with even acceleration
Dynamic time t1Relationship ωmax=β1·t1Calculate angular acceleration β1, then rotation angle θ when foundation uniformly accelerated motion1Accelerate with angle
Spend β1RelationshipCalculate rotation angle θ1；Control system is according to rotation angle θ when even high-speed motion2, the most angle of elevation
Speed omegamaxWith even high-speed motion time t2Relationship θ2=ωmaxt2Calculate rotation angle θ2；The angle of uniformly retarded motion accelerates
Spend β2With the angular acceleration β of uniformly accelerated motion1It is equal, rotation angle θ when control system is further according to uniformly retarded motion3, the most angle of elevation speed
Spend ωmaxWith uniformly retarded motion time t3RelationshipCalculate rotation angle θ3；Control system
According to rotation angle θ when even high-speed motion4, highest angular velocity omegaminWith even low-speed motion time t4Relationship θ4=ωmint4Meter
Calculate rotation angle θ4；Control system checks total rotation angle θAlways=θ1+θ2+θ3+θ4, θAlways=π, accurate realization switching mechanism
Flip angle is 180 degree.
The parameter of the dynamical system of the switching mechanism of control system control is chosen：Control system is according to each portion of switching mechanism
Part calculate its rotary inertia, overturning intermediate channel rotary inertia and the external component on switching mechanism rotary inertia J1,
And calculate the rotary inertia J that friction factor during actual rotation is brought2, cumulative all total rotary inertia J=J to be calculated2+
J1, then according to the relationship T=J β of total torque and total rotary inertia1Total torque is calculated, is used for choosing switching mechanism according to total torque
Dynamical system, and check the nominal torque of the dynamical system.
The calculation of the rotary inertia of the bull gear of switching mechanism is：Bull gear is equivalent to hollow positive cylinder, canine tooth
The rotary inertia of circleThe calculation of the rotary inertia of a pair of of turntable of switching mechanism is：By each turntable
It is equivalent to hollow positive cylinder, the rotary inertia of a pair of of turntableThe rotary inertia of intermediate channel on switching mechanism
Calculation be：Intermediate channel is rotated around the rotation axis of bull gear, and rotation axis is by the barycenter of intermediate channel, therefore by intermediate channel
It is equivalent to cuboid, the rotary inertia of intermediate channelThe calculating of the rotary inertia of a pair of of side frame of switching mechanism
Mode is：A pair of of side frame is parallel with the rotation axis of bull gear, according to parallel-axis theorem, the rotary inertia J of a pair of of side framej=Jc+
M4e1 2, e1For the distance of each side frame to rotation axis；The rotary inertia J of external componentb=Jc+M5e2 2, e2Extremely for external component
The distance of rotation axis.In view of the friction factor of whole switching mechanism, rotary inertia J2Range be (J5%-J10%).
Embodiment one：It is illustrated with the parameter of practical switching mechanism：The quality of bull gear is：M1=795kg, R1
=1.22m, r1=1.1m,The quality of a pair of of turntable is：M2=2565kg,
R2=1.26m, r2=0.54m,The quality of intermediate channel is：m3=
3000kg, a=0.38m, c=2m,The quality of a pair of of side frame is：M4=758kg,
e1=1.163m, Jj=Jc+M4e1 2=1722kgm2；The quality of external component is：M5=5000kg, e2=0.6m, Jb=Jc+
M5e2 2=1800kgm2, therefore J1=8005kgm2；Always rotary inertia is：J=J2+J1=J1(1+10%)=8810kg
m2。
Limit parameter maximum linear velocity νmax=300mm/s, low speed linear velocity νmin=30mm/s, run time in total is overturn
tz=16.75s, uniformly accelerated motion time t1=1.5s, even high-speed motion time t2=11.3s, r=1260mm, obtainsWith
In OA sections of uniformly accelerated motion,θ1=ωmact1=0.577 π, switching mechanism
Dynamical system needed for peak torque：T=J β1=8810*0.161=1420Nm；
At even high-speed motion AB sections,t2=11.3s, θ2=ωmaxt2=0.8692 π；
Even low-speed motion CD sections, t4=2.6s, θ4=ωmint4=0.02 π；
Check overall rotation angle degree, θAlways=θ1+θ2+θ3+θ4, θAlways=π, therefore obtain movement profiles as shown in Figure 4.
Torque capacity T is needed for switching mechanism rotation：T=J β1=8810*0.161=1420Nm.It is overturn for checking
The dynamical system of mechanism.
Required power Pm=T ωmax=343w, maximum (top) speed n=2.3r/min,
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention god.
Claims (5)
1. a kind of control method of the switching mechanism of intermediate channel two-sided welding, including switching mechanism and control system, feature exist
In switching mechanism includes：Pulley bracket, bull gear, pinion gear, link and dynamical system, pinion gear are placed on pulley bracket
Pedestal on, and engaged with bull gear；Link is arranged in the rear end of bull gear, and coordinates with the pulley bracket；Dynamical system
System is used for driving pinion, and is electrically connected with control system；
The curve movement of switching mechanism is set in the controls：From starting point setting in motion curve be followed successively by uniformly accelerated motion,
Even high-speed motion, uniformly retarded motion and even low-speed motion limit parameter maximum linear velocity vmax, low speed linear velocity vmin, overturning it is total
Run time t altogetherz, uniformly accelerated motion time t1With even high-speed motion time t2；
Control system is according to the overturning radius r for limiting parameter and known parameter bull gear, the pass according to linear velocity v and angular velocity omega
It is that v=ω r calculate highest angular velocity omegamaxWith low speed angular velocity omegamin, foundationIt calculates
The time t of uniformly retarded motion3, finally according to the time t for calculating even low-speed motion total time4, accurately obtain movement profiles；
Control system controls switching mechanism according to movement profiles start and stop by dynamical system.
2. the control method of the switching mechanism of intermediate channel two-sided welding according to claim 1, which is characterized in that control system
System is according to highest angular velocity omegamaxWith uniformly accelerated motion time t1Relationship ωmax=β1·t1Calculate angular acceleration β1, then according to
According to rotation angle θ when uniformly accelerated motion1With angular acceleration β1RelationshipCalculate rotation angle θ1；
Control system is according to rotation angle θ when even high-speed motion2, highest angular velocity omegamaxWith even high-speed motion time t2Relationship
θ2=ωmaxt2Calculate rotation angle θ2；
The angular acceleration β of uniformly retarded motion2With the angular acceleration β of uniformly accelerated motion1Equal, control system is transported further according to even deceleration
Rotation angle θ when dynamic3, highest angular velocity omegamaxWith uniformly retarded motion time t3RelationshipMeter
Calculate rotation angle θ3；
Control system is according to rotation angle θ when even high-speed motion4, highest angular velocity omegaminWith even low-speed motion time t4Relationship
θ4=ωmint4Calculate rotation angle θ4；
Control system checks total rotation angle θAlways=θ1+θ2+θ3+θ4, θAlways=π, it is accurate to realize that the flip angle of switching mechanism is
180 degree.
3. the control method of the switching mechanism of intermediate channel two-sided welding according to claim 1, which is characterized in that
Control system according to each component of switching mechanism calculate its rotary inertia, overturning intermediate channel rotary inertia and overturning
The rotary inertia J of external component in mechanism1, and calculate the rotary inertia J that friction factor during actual rotation is brought2, add up
It is all that total rotary inertia J=J is calculated2+J1, then according to the relationship T=J β of total torque and total rotary inertia1Calculate total turn
Square, according to gear drive principleDynamical system output torque is calculated, the dynamical system is checked according to output torque
System.
4. the control method of the switching mechanism of intermediate channel two-sided welding according to claim 3, which is characterized in that the company
It includes a pair of of turntable and a pair of of side frame to connect frame, and a turntable is arranged in the rear end of bull gear, and a pair of of turntable is oppositely arranged, and respectively
Coordinate with pulley bracket；A pair of of side frame is oppositely arranged on the end face between a pair of of turntable, and a pair of of side frame and a pair of of turntable are formed
Space for connecting component to be flipped；
The calculation of the rotary inertia of the bull gear of the switching mechanism is：Bull gear is equivalent to hollow positive cylinder, canine tooth
The rotary inertia of circle
The calculation of the rotary inertia of a pair of of turntable of the switching mechanism is：Each turntable is equivalent to hollow positive cylinder,
The rotary inertia of a pair of of turntable
The calculation of the rotary inertia of intermediate channel on the switching mechanism is：Intermediate channel turns around the rotation axis of bull gear
Dynamic, intermediate channel is equivalent to cuboid, the rotary inertia of intermediate channel by rotation axis by the barycenter of intermediate channel
The calculation of the rotary inertia of a pair of of side frame of the switching mechanism is：The rotation axis of a pair of of side frame and bull gear is flat
Row, according to parallel-axis theorem, the rotary inertia J of a pair of of side framej=Jc+M4e1 2, e1For the distance of each side frame to rotation axis；
The calculation of the rotary inertia of external component on the switching mechanism is：According to parallel-axis theorem, external component
Rotary inertia Jb=Jc+M5e2 2。
5. the control method of the switching mechanism of intermediate channel two-sided welding according to claim 3, which is characterized in that the reality
The rotary inertia J that friction factor is brought in the rotation process of border2Calculation be：In view of whole switching mechanism friction because
Element, rotary inertia J2Range be (J5%-J10%).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810062266.7A CN108422148B (en) | 2018-01-23 | 2018-01-23 | Control method of turnover mechanism with middle groove welded on two sides |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810062266.7A CN108422148B (en) | 2018-01-23 | 2018-01-23 | Control method of turnover mechanism with middle groove welded on two sides |
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| CN108422148B CN108422148B (en) | 2020-02-21 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112077008A (en) * | 2020-08-18 | 2020-12-15 | 普罗格智芯科技(湖北)有限公司 | Flip sorting device and system |
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