CN109613828A - Bean vermicelli intelligent sorting system - Google Patents
Bean vermicelli intelligent sorting system Download PDFInfo
- Publication number
- CN109613828A CN109613828A CN201910078367.8A CN201910078367A CN109613828A CN 109613828 A CN109613828 A CN 109613828A CN 201910078367 A CN201910078367 A CN 201910078367A CN 109613828 A CN109613828 A CN 109613828A
- Authority
- CN
- China
- Prior art keywords
- bean vermicelli
- gripper
- weight
- sorting system
- tunnel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
-
- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23L—FOODS, FOODSTUFFS, OR NON-ALCOHOLIC BEVERAGES, NOT COVERED BY SUBCLASSES A21D OR A23B-A23J; THEIR PREPARATION OR TREATMENT, e.g. COOKING, MODIFICATION OF NUTRITIVE QUALITIES, PHYSICAL TREATMENT; PRESERVATION OF FOODS OR FOODSTUFFS, IN GENERAL
- A23L29/00—Foods or foodstuffs containing additives; Preparation or treatment thereof
- A23L29/30—Foods or foodstuffs containing additives; Preparation or treatment thereof containing carbohydrate syrups; containing sugars; containing sugar alcohols, e.g. xylitol; containing starch hydrolysates, e.g. dextrin
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Polymers & Plastics (AREA)
- Food Science & Technology (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Nutrition Science (AREA)
- Molecular Biology (AREA)
- Sorting Of Articles (AREA)
Abstract
A kind of bean vermicelli intelligent sorting system of the present invention, belongs to automated sorting system regions；Bean vermicelli intelligent sorting system based on PLC realizes the control to crawl bean vermicelli weight using fuzzy control to wash the bean vermicelli after powder as the sorting system of sorting object；The automatic control for realizing the process links such as bean vermicelli crawl, weighing and molding, significantly improves product quality and production efficiency.Mechanical system is made of four part such as mechanical arm, guide rail, top cover frame and turntable.The characteristics of design of bean vermicelli intelligent sorting system is started with by the physical characteristic of bean vermicelli first, in irregular shape for bean vermicelli, is mutually wound, it is grabbed using gripper, and the weight information of bean vermicelli is acquired by weighing sensor, then be converted into electric signal via weight transmitter, send controller to；When the weight capacity of bean vermicelli is higher than design requirement, gripper generates shake, shakes off extra bean vermicelli；When the weight capacity of bean vermicelli is lower than design requirement, gripper re-starts crawl.
Description
Technical field
The invention belongs to automated sorting system regions, in particular to a kind of bean vermicelli intelligent sorting system.
Background technique
Conventional food of the bean vermicelli as the Chinese nation, is seen everywhere in people's daily life.The production of bean vermicelli at present
Process still uses traditional production method.This production method bean vermicelli crawl, weighing and type-approval process in be all by artificial
It completes, so traditional production bean vermicelli suffers from the drawback that food safety is uncontrollable, low production efficiency, cost of labor
It is too high.Although this production method continues in food-processing industry for quite a long time, with the hair of commodity economy
Exhibition, the diet concept of people's working efficiency, improvement of living standard, healthy living have been rooted in the hearts of the people, this production method is at last
It is eliminated by industry.At the same time, design it is a set of can change bean vermicelli production method, replaced with machinery artificial, guarantee food
Safety, improving product quality, production efficiency, the automated system of reduction cost of labor just seems rather important.
The main flow of bean vermicelli production includes: that raw material, auxiliary material add water and stir → send slurry → self heating wire squeeze → continuous pre-
Aging → freezing → thaw → wash powder → drainage conveying → craft quantitatively enter box → continuous automatic drying → deposit → packaging → at
Product.Bean vermicelli in defrosting link, wash the concrete operations of powder link, drainage conveying process are as follows: the powder agglomates of defrosting is put into powder-clean machine.It washes
Turbine rotation in powder machine drives water, powder agglomates stirring, and the bean vermicelli of adhesion is promoted mutually to scatter.The bean vermicelli to scatter is arranged together with water again
Into drainage conveyer, the moisture on bean vermicelli surface is filtered off.Since the processing of three above link makes bean vermicelli inner filling water point, so
The physical characteristic of bean vermicelli changes, and surface becomes smooth, and quality becomes softness and is difficult to grab.At the same time, due to turbine
Rotation drives water, powder agglomates to form stirring, and the powder agglomates of original shape rule scatters, and bean vermicelli is mutually intertwined.
The design object of bean vermicelli sorter system is the sorting of bean vermicelli after installing machines to replace manual labor completion defrosting, weighing, determines
Type process guarantees the safety of food, improves the quality of product, production efficiency, reduces cost of labor.The design system to be realized
Function is quantitative crawl and the automatic sizing of bean vermicelli.When gripper takes bean vermicelli, since bean vermicelli is mutually intertwined, so usually
The bean vermicelli weight of gripper crawl can be greater than desired bean vermicelli weight.This will generate shake by the quick opening and closing of gripper,
Shake off extra bean vermicelli.It therefore, how to be critical issue according to the shaky time of the error of bean vermicelli weight decision gripper.
Summary of the invention
In order to solve the above technical problems, this invention provides fuzzy control method, fuzzy controller is devised, the control
The input of device is the error of bean vermicelli weight, exports the shaky time for manipulator, that is, utilizes fuzzy inference rule, according to crawl powder
The error change of silk weight determines the shaky time of gripper, and then improves gripper to the accuracy of bean vermicelli weight capacity.This
Invention proposes one kind and is made of mechanical structure portion, computer, PLC, motor etc., sorts system using the bean vermicelli of fuzzy control
System.The bean vermicelli sorting system is structurally reasonable, perfect in shape and function.
A kind of bean vermicelli intelligent sorting system, by mechanical structure portion, computer, Smart SR30 PLC, AE04 expanded mode
Block, weighing sensor, start button, stop button, limit switch, gripper, direct current generator, relay and light warning part
Composition.
Further, build-up member is respectively prepared in each component of the mechanical structure portion；Two guide rails pass through aluminum profile
Fixation forms parallel position relationship, and the sliding block on guide rail is fixed together by the bottom of screw and mechanical arm；The master of mechanical arm
Body skeleton is that 12 aluminum profiles are fixed to each other the cube to be formed, and the arm of mechanical arm is fixed to each other by 4 aluminum profiles
A rectangle is formed to obtain, the upper bottom of position and cube, bottom is parallel, and the end of this rectangular configuration is equipped with sliding block, sliding block
It is moved up and down by slide bar, the both ends of slide bar are fixed on the upper and lower ends of mechanical arm main body framework；Motor is fixed to mechanical arm master
The bottom of body skeleton, motor drive mechanical arm to move up and down by conveyer belt；The arm front end of mechanical arm and weighing sensor
Top is connected, and the bottom of weighing sensor is connect with gripper；The setting of bean vermicelli container exists in gripper following position directly and guide rail
The difference of same level, the inside connection relationship of the inside connection relationship and mechanical arm of top cover frame is the arm of top cover frame
Front end connection is top cover；Top cover frame is connected by corner brace with aluminum profile in the tail portion of guide rail, the two；Turntable is located at the tail of guide rail
Portion, position is parallel with top cover frame, and turntable, top cover frame are connected to guide rail two sides of tail；Turntable and guide rail are by corner brace, aluminium profiles
Material connection, turntable bottom are made of aluminum profile, and motor is mounted on the upper surface of aluminum profile, and motor drives turntable to turn by direct geared
It is dynamic.
Further, control system is made of master system and lower computer system, and OPC is used between upper and lower computer system
Agreement is communicated, and master system is the computer for being equipped with Windows operating system, and lower computer system is by Siemens
Smart-SR30PLC, AE04 expand module, weighing sensor, relay, direct current generator, limit switch, start-stop button composition.
Host computer interface is by starting and stopping the operation of button manipulations system；
Slave computer uses Siemens Smart-SR30 PLC for core controller, and machine is realized in the actuation by controlling relay
Machinery claw movement, mechanical arm are formed in two-dimensional space motion and bean vermicelli；AE04 expands the signal that module will be measured from weighing sensor
The voltage signal of conversion 0-10V feeds PLC, therefore PLC obtains the weight of crawl bean vermicelli.
Further, hardware design include controller and expansion module, weighing sensor and its transmitter, it is motor (4), auxiliary
Help hardware.
Further, the design of controller and expansion module is as follows:
It needs to use 8 tunnel of digital quantity input signal in control system, including starts, each 1 tunnel of stop button, each limit switch is defeated
Enter 1 tunnel, totally 6 tunnel.8 tunnel of digital output, the rotation direction including 3 direct current generators control 6 tunnels, and 1 tunnel is for controlling gripper
Opening and closing and 1 tunnel run indicator output；1 tunnel of analog input, 1 tunnel of analog output；Controller uses 220V AC power source
Power supply, the Siemens Company S7-200 Smart SR30 PLC of/12 output of 18 input；Expansion module selection has 4 tunnel analog quantitys defeated
Enter, 4 road analog inputs, the EM AE04 expansion module of 24V direct current supply.
Further, the weight information that PLC controls gripper crawl bean vermicelli all is from weighing sensor.
Weighing sensor uses resistance strain type sensor, according to the specific requirement of this system, Bangbu is selected to pass
Feel Instrument Ltd. DYLY-106 type weighing sensor, the supply voltage of sensor is 5 ~ 15VDC, output signal is 0~
10V standard signal；The mating transmitter of weighing sensor selects the DY510 type weight transmission of Bangbu sensor apparatus Co., Ltd
Device；Mechanical quantity is converted into normalized current by DY510 transmitter, voltage signal exports, and 0-5V/0-10V can be switched；Can directly and from
Dynamic control equipment PLC connection；Have zeroing, transferring gain function outside standard signal, inputs overprotection, output short circuit protection.
Further, this system uses controlled device of the direct current generator as system；Direct current generator selects XD-37GB555
Type DC speed-reducing, revolving speed 100r/min.
Further, the relay model MY4N-J in ancillary hardware design；Machinery is increased by 3D printing technique
The branched structure of pawl.
Further, software design includes following procedure part
(1) gripper shakes program
The shake of gripper is realized by quick pick-up in control relay short time and disconnecting, gripper shake when
Between be fuzzy controller output valve；
(2) bean vermicelli weight obtains program
For Analog input mModule, the analog signals corresponding data 0-27648 of 0-10V, it is therefore desirable to the number that will be obtained
Amount is converted to actual weight convenient reading and calculating；
S7-200 Smart PLC does not allow shape data to be converted directly into floating number, so first by analog quantity channel AIW16
Value by I_DI instruction be converted to double word type, be stored in register；The value in register is converted to again by DI_R
Floating number improves the precision of data；Register is obtained into the percentage that input value accounts for entire input range divided by 17648；Then
The actual value of weight is obtained multiplied by 1000, unit is gram (g).
(3) fuzzy control program of gripper shaky time
Using fuzzy control method；Wherein the input of fuzzy controller is the error of bean vermicelli weight, exports the shake for manipulator
Time determines the shaky time of gripper according to the error change of crawl bean vermicelli weight using fuzzy inference rule, and then improves
Accuracy of the gripper to bean vermicelli weight capacity；.
(4) host computer designs
Host computer interface carries out configuration using WinCC, carries out communication protocol using OPC and S7-200 PC Access SMART is built
Communication between vertical WinCC and S7-200SMART；Host computer interface is divided into automatic monitoring and manual operation two parts, automatic to supervise
Control can be by starting and stopping button come the automatic running of control system, and in system operation, picture can real-time display bean vermicelli
Weight, while required bean vermicelli weight can also be pre-seted；Manual operation is applied in system detection and maintenance stage, is passed through
Button controls the movement of each mechanical arm and the actuation of gripper；There is historical data recording function simultaneously, it can will be each
Bean vermicelli weight carry out charting and drawing tendency chart.
The advantages of the present invention
1) the bean vermicelli sorting system of the design can replace being accomplished manually bean vermicelli sorting in the case where not changing bean vermicelli length, claim
Weight, shaping process.Guarantee food safety, improve production efficiency, reduces cost of labor；
2) fuzzy control is applied in bean vermicelli sorting system, the accurate mathematical for establishing controlled device is not needed using fuzzy control
This advantage of model controls the shaky time of gripper, to improve the production of bean vermicelli by grabbing the deviation of bean vermicelli weight
Efficiency；
3) system of this secondary design adapts to the production scene of environment complexity, and structure is simple, stable, and economic cost is low.
Detailed description of the invention
Fig. 1 is the overall structure figure of bean vermicelli sorting system；
Fig. 2 is the functional diagram of bean vermicelli sorting system；
Fig. 3 is the overall workflow figure of bean vermicelli sorting system；
Fig. 4 is bean vermicelli crawl and D-M (Determiner-Measure) construction 3D structure chart；
Fig. 5 is bean vermicelli stereotyped structure 3D structure chart；
Fig. 6 is that bean vermicelli sorts shaping system overall mechanical design figure；
Fig. 7 is control system architecture figure；
Fig. 8 is PLC and expands module-external wiring diagram；
Fig. 9 is pressure sensor and weight transmitter wiring diagram；
Figure 10 is DC motor positive and negative rotation wiring diagram；
Figure 11 is that gripper shakes flow chart；
Figure 12 is that bean vermicelli weight obtains flow chart；
Figure 13 is the fuzzy control flow chart of gripper shaky time；
Figure 14 is monitoring interface figure；
Figure 15 is bean vermicelli weight record and tendency chart；
In figure: 1 is sliding block；2 be slide bar;3 be top cover；4 be motor；5 be turntable；6 be gripper；7 be weighing sensor；8 are
Guide rail；9 be top cover frame；10 be mechanical arm；11 be bean vermicelli container.
Specific embodiment
In order to further illustrate the present invention, the present invention is described in detail with reference to the accompanying drawings and embodiments, but not
They can be interpreted as limiting the scope of the present invention.
Embodiment:
1. overall construction design
The bean vermicelli sorting system of the design is mainly by mechanical structure portion, computer, Smart SR30 PLC, AE04 expanded mode
Block, weighing sensor 7, start button, stop button, limit switch, gripper 6, direct current generator 4, relay and light warning
It forms, is illustrated in fig. 1 shown below as the overall structure figure of bean vermicelli sorting system Deng part.
2. allomeric function designs
The allomeric function of the bean vermicelli sorting system of the design is mainly quantitatively grabbed by bean vermicelli and bean vermicelli forms two parts and forms, as follows
Fig. 2 show the functional diagram of bean vermicelli sorting system.
3. overall workflow
Reset routine is first carried out in the bean vermicelli sorting system after power-up, then quantitative crawl is carried out to bean vermicelli, if bean vermicelli
Weight is higher than setting range, then gripper 6 is shaken；It such as crosses bean vermicelli and weighs less than setting range, then re-start crawl；If grabbed
It takes bean vermicelli weight to meet setting range, then bean vermicelli is put into molding bean vermicelli container 11, rotational forming.Be illustrated in fig. 3 shown below for
The overall workflow figure of bean vermicelli sorting system.
4. mechanical mechanism designs
The design use from bottom and on assembly method, component first that component assembly is different at function, then be uniformly assembled into whole
Body.In assembly, bean vermicelli sorting shaping system is divided into mechanical arm 10, guide rail 8, top cover frame 9, turntable 5 etc., assembly is respectively prepared
Component finally carries out unified assembly.
The crawl of bean vermicelli is completed by mechanical arm 10 and guide rail 8, and structure is as shown in Figure 4.It is put into after bean vermicelli crawl specified
In bean vermicelli container 11, after top cover 3 declines certain distance, the starting of 5 motor 4 of turntable drives the high-speed rotation together of bean vermicelli container 11,
Top cover 3 plays the role of preventing bean vermicelli from flying out in high speed rotation bean vermicelli container 11.Mechanical structure mainly includes top cover frame 9 and turns
Disk 5,3D modeling is as shown in Figure 5.System integral mechanical structure is as shown in Figure 6.
5. Control System Design
Bean vermicelli sorting system is mainly made of master system and lower computer system, and OPC agreement is used between upper and lower computer system
It is communicated, master system is the computer for being equipped with Windows operating system, and lower computer system is by Siemens Smart-
SR30PLC, AE04 expand the composition such as module, weighing sensor 7, relay, direct current generator 4, limit switch, start-stop button.Such as
Fig. 7 show control system architecture figure.
Host computer interface is by starting and stopping the operation of button manipulations system, when in system operation, ipc monitor
The weight of picture meeting real-time display bean vermicelli, while default setting can also be carried out to required bean vermicelli weight, to adapt to different production
Demand.Host computer has historical data recording function, each bean vermicelli weight can be carried out charting and draw tendency chart,
Convenient for observation and equipment debugging.
Slave computer uses Siemens Smart-SR30 PLC for core controller, by the actuation reality for controlling relay
Existing gripper 6 acts, and mechanical arm 10 is formed in two-dimensional space motion and bean vermicelli.AE04 expands module and will survey from weighing sensor 7
The voltage signal of the signal conversion 0-10V obtained feeds PLC, therefore PLC obtains the weight of crawl bean vermicelli.
6. hardware design
(1) design of controller and expansion module
It needs to use 8 tunnel of digital quantity input signal in control system, including starts, each 1 tunnel of stop button, each limit switch is defeated
Enter 1 tunnel, totally 6 tunnel.8 tunnel of digital output, the rotation direction including 3 direct current generators 4 control 6 tunnels, and 1 tunnel is for controlling gripper
6 opening and closing and the output of 1 tunnel run indicator.1 tunnel of analog input, 1 tunnel of analog output.Controller uses 220V AC power source
Power supply, the Siemens Company S7-200 Smart SR30 PLC of/12 output of 18 input.Expansion module selection has 4 tunnel analog quantitys defeated
Enter, 4 road analog inputs, the EM AE04 expansion module of 24V direct current supply.PLC and expansion module-external wiring diagram such as Fig. 8 institute
Show.
(2) weighing sensor 7 and its transmitter
Weighing sensor 7 is the main sensors in this system.The weight information that PLC controls the crawl bean vermicelli of gripper 6 all comes
Self-weighing sensor 7, it must have very high reliability, if weighing sensor 7 malfunctions, will affect whole system operation
Stability and accuracy, therefore the selection of weighing sensor 7 is very crucial.
Weighing sensor 7 uses resistance strain type sensor.According to the specific requirement of this system, Bangbu is selected to pass
Feel Instrument Ltd. DYLY-106 type weighing sensor 7, the supply voltage of sensor is 5 ~ 15VDC, output signal is 0~
10V standard signal.The mating transmitter of weighing sensor 7 selects the DY510 type weight transmission of Bangbu sensor apparatus Co., Ltd
Device.Mechanical quantity is converted into normalized current by DY510 transmitter, voltage signal exports, and 0-5V/0-10V can be switched.Can directly and from
Dynamic control equipment PLC connection.Have zeroing, transferring gain function outside standard signal, inputs overprotection, output short circuit protection.Pressure
The wiring diagram of force snesor and weight transmitter is as shown in Figure 9.
(3) selection of motor 4
This development system need 4 quantity of motor it is more, considering 4 revolving speed of motor, load, reaction speed, economic cost this
After 4 factors, this system uses controlled device of the direct current generator 4 as system.Direct current generator 4 selects XD-37GB555 type straight
Decelerating motor 4 is flowed, revolving speed has 100r/min and two kinds of 300r/min respectively.Positive and negative rotation wiring diagram such as Figure 10 institute of direct current generator 4
Show.
(4) other hardware designs
Relay plays very important reuse in the design system, and PLC completes electricity by controlling the actuation of relay
The starting and stopping of machine 4 and the crawl of gripper 6, the set actions such as shake.The relay model MY4N-J of the design Systematic selection.
Gripper 6 completes the crawl work of bean vermicelli in this secondary design, is selected according to the physical characteristic of bean vermicelli and design requirement
A mechanical structure is simple, the easy gripper 6 of control, and according to actual crawl effect, is increased by 3D printing technique
The branched structure of gripper 6.
7 software designs
(1) gripper 6 shakes program
Bean vermicelli has the case where weight capacity is greater than demand weight in the process of grasping, at this moment just needs trembling by gripper 6
The extra bean vermicelli of dynamic removal.The shake of gripper 6 is realized by quick pick-up in the control relay short time and disconnection,
The time that gripper 6 is shaken is the output valve of fuzzy controller.The control flow that gripper 6 is shaken is as shown in figure 11.
(2) bean vermicelli weight obtains program
For Analog input mModule, the analog signals corresponding data 0-27648 of 0-10V, it is therefore desirable to the number that will be obtained
Amount is converted to actual weight convenient reading and calculating.It is as shown in figure 12 that bean vermicelli weight obtains flow chart.
S7-200 Smart PLC does not allow shape data to be converted directly into floating number, so first by analog quantity channel
The value of AIW16 is converted to double word type by I_DI instruction, is stored in register.The value in register is turned again by DI_R
It is changed to floating number, improves the precision of data.Register is obtained into the percentage that input value accounts for entire input range divided by 17648.
Then the actual value of weight is obtained multiplied by 1000, unit is gram (g).
(3) fuzzy control program of 6 shaky time of gripper
Have the characteristics that nonlinear since gripper 6 grabs bean vermicelli weight, and is difficult to set up accurate mathematical model, therefore use
Fuzzy control method.Wherein the input of fuzzy controller is the error of bean vermicelli weight, exports the shaky time for manipulator, is utilized
Fuzzy inference rule, the shaky time of gripper 6 is determined according to the error change of crawl bean vermicelli weight, and then improves gripper 6
To the accuracy of bean vermicelli weight capacity.The fuzzy control process of 6 shaky time of gripper is as shown in figure 13.
(4) host computer designs
The host computer interface of the design carries out configuration using WinCC, carries out communication protocol and S7-200 PC Access using OPC
SMART establishes the communication between WinCC and S7-200SMART.Host computer interface is broadly divided into automatic monitoring and manual operation two
Part, automatic monitoring can be by starting and stopping button come the automatic running of control system, and in system operation, picture can be real
When show the weight of bean vermicelli, while required bean vermicelli weight can also be pre-seted, to adapt to different production requirements.Behaviour manually
Work is mainly used in system detection and maintenance stage, and movement and the gripper 6 of each mechanical arm 10 can be controlled by button
Actuation.There is historical data recording function simultaneously, each bean vermicelli weight can be subjected to charting and draw tendency chart,
Convenient for observation and equipment debugging.Monitoring interface in system operation is as shown in figure 14, and bean vermicelli weight record and tendency chart are such as
Shown in Figure 15.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (9)
1. a kind of bean vermicelli intelligent sorting system, it is characterised in that: by mechanical structure portion, computer, Smart SR30 PLC,
AE04 expansion module, weighing sensor (7), start button, stop button, limit switch, gripper (6), direct current generator, relay
Device and light warning part composition.
2. bean vermicelli intelligent sorting system according to claim 1, it is characterised in that: each component of the mechanical structure portion
Build-up member is respectively prepared；Two guide rails (8) form parallel position relationship, the sliding block on guide rail (8) top by aluminum profile fixation
(1) it is fixed together by the bottom of screw and mechanical arm (10)；The main body framework of mechanical arm (10) is that 12 aluminum profiles are mutual
The fixed cube formed, the arm of mechanical arm (10) is to be fixed to each other to form to obtain a rectangle, position by 4 aluminum profiles
Set parallel with the upper bottom of cube, bottom, the end of this rectangular configuration is equipped with sliding block (1), and sliding block (1) passes through on slide bar (2)
Lower movement, the both ends of slide bar (2) are fixed on the upper and lower ends of mechanical arm (10) main body framework；Motor (4) is fixed to mechanical arm
(10) bottom of main body framework, motor (4) drive mechanical arm (10) to move up and down by conveyer belt；Before the arm of mechanical arm (10)
End is connected with the top of weighing sensor (7), and the bottom of weighing sensor (7) is connect with gripper (6)；Bean vermicelli container (11) is set
It sets in gripper (6) following position directly and guide rail (8) in same level, the inside connection relationship and mechanical arm of top cover frame (9)
(10) what the difference of inside connection relationship was the arm front end connection of top cover frame (9) is top cover (3)；Top cover frame (9) exists
The tail portion of guide rail (8), the two are connected by corner brace with aluminum profile；Turntable (5) is located at the tail portion of guide rail (8), position and top cover frame
(9) in parallel, turntable (5), top cover frame (9) are connected to guide rail (8) two sides of tail；Turntable (5) and guide rail (8) are by corner brace, aluminium
Profile connection, turntable (5) bottom are made of aluminum profile, and motor (4) is mounted on the upper surface of aluminum profile, and motor (4) is straight by gear
Tape splicing turn disk (5) rotation.
3. bean vermicelli intelligent sorting system according to claim 1, it is characterised in that: control system is by master system under
Position machine system forms, and is communicated between upper and lower computer system using OPC agreement, and master system is to be equipped with Windows behaviour
Make the computer of system, lower computer system by Siemens Smart-SR30PLC, AE04 expand module, weighing sensor (7), after
Electric appliance, direct current generator (4), limit switch, start-stop button composition；
Host computer interface is by starting and stopping the operation of button manipulations system；
Slave computer uses Siemens Smart-SR30 PLC for core controller, and machine is realized in the actuation by controlling relay
Machinery claw (6) movement, mechanical arm (10) are formed in two-dimensional space motion and bean vermicelli；AE04 expands module will be from weighing sensor (7)
The voltage signal of the signal conversion 0-10V measured feeds PLC, therefore PLC obtains the weight of crawl bean vermicelli.
4. bean vermicelli intelligent sorting system according to claim 1, it is characterised in that: hardware design includes controller and extension
Module, weighing sensor (7) and its transmitter, motor (4), ancillary hardware.
5. bean vermicelli intelligent sorting system according to claim 4, it is characterised in that: the design of controller and expansion module is such as
Under:
It needs to use 8 tunnel of digital quantity input signal in control system, including starts, each 1 tunnel of stop button, each limit switch is defeated
Enter 1 tunnel, totally 6 tunnel；
8 tunnel of digital output, the rotation direction including 3 direct current generators (4) control 6 tunnels, and 1 tunnel is for controlling gripper (6)
Opening and closing and the output of 1 tunnel run indicator；1 tunnel of analog input, 1 tunnel of analog output；Controller is supplied using 220V AC power source
Electricity, the Siemens Company S7-200 Smart SR30 PLC of/12 output of 18 input；Expansion module selection has 4 tunnel analog quantitys defeated
Enter, 4 road analog inputs, the EM AE04 expansion module of 24V direct current supply.
6. bean vermicelli intelligent sorting system according to claim 4, it is characterised in that: PLC controls gripper (6) and grabs bean vermicelli
Weight information all be from weighing sensor (7)；
Weighing sensor (7) uses resistance strain type sensor, according to the specific requirement of this system, selects Bangbu sensing
Instrument Ltd. DYLY-106 type weighing sensor (7), the supply voltage of sensor are 5 ~ 15VDC, output signal is 0~
10V standard signal；The mating transmitter of weighing sensor (7) selects the DY510 type weight of Bangbu sensor apparatus Co., Ltd to become
Send device；Mechanical quantity is converted into normalized current by DY510 transmitter, voltage signal exports, and 0-5V/0-10V can be switched；Can directly with
Automatic control equipment PLC connection；Have zeroing, transferring gain function outside standard signal, inputs overprotection, output short circuit protection.
7. bean vermicelli intelligent sorting system according to claim 4, it is characterised in that: this system is made using direct current generator (4)
For the controlled device of system；Direct current generator (4) selects XD-37GB555 type DC speed-reducing (4), revolving speed 100r/min.
8. bean vermicelli intelligent sorting system according to claim 4, it is characterised in that: the relay-type in ancillary hardware design
Number be MY4N-J；The branched structure of gripper (6) is increased by 3D printing technique.
9. bean vermicelli intelligent sorting system according to claim 1, it is characterised in that: software design includes following procedure part
1) gripper (6) shakes program；
The shake of gripper (6) is realized by quick pick-up in the control relay short time and disconnection, and gripper (6) is trembled
The dynamic time is the output valve of fuzzy controller；
2) bean vermicelli weight obtains program；
For Analog input mModule, the analog signals corresponding data 0-27648 of 0-10V, it is therefore desirable to the number that will be obtained
Amount is converted to actual weight convenient reading and calculating；
S7-200 Smart PLC does not allow shape data to be converted directly into floating number, so first by analog quantity channel AIW16
Value by I_DI instruction be converted to double word type, be stored in register；The value in register is converted to again by DI_R
Floating number improves the precision of data；Register is obtained into the percentage that input value accounts for entire input range divided by 17648；Then
The actual value of weight is obtained multiplied by 1000, unit is gram (g)；
3) fuzzy control program of gripper (6) shaky time；
Using fuzzy control method；Wherein the input of fuzzy controller is the error of bean vermicelli weight, exports the shake for manipulator
Time determines the shaky time of gripper (6) according to the error change of crawl bean vermicelli weight, in turn using fuzzy inference rule
Gripper (6) are improved to the accuracy of bean vermicelli weight capacity；
4) host computer designs
Host computer interface carries out configuration using WinCC, carries out communication protocol using OPC and S7-200 PC Access SMART is built
Communication between vertical WinCC and S7-200SMART；Host computer interface is divided into automatic monitoring and manual operation two parts, automatic to supervise
Control can be by starting and stopping button come the automatic running of control system, and in system operation, picture can real-time display bean vermicelli
Weight, while required bean vermicelli weight can also be pre-seted；Manual operation is applied in system detection and maintenance stage, is passed through
Button controls the movement of each mechanical arm (10) and the actuation of gripper (6)；There is historical data recording function simultaneously, it will be every
Secondary bean vermicelli weight carries out charting and draws tendency chart.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910078367.8A CN109613828B (en) | 2019-01-28 | 2019-01-28 | Intelligent vermicelli sorting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910078367.8A CN109613828B (en) | 2019-01-28 | 2019-01-28 | Intelligent vermicelli sorting system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109613828A true CN109613828A (en) | 2019-04-12 |
| CN109613828B CN109613828B (en) | 2023-07-07 |
Family
ID=66018505
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910078367.8A Active CN109613828B (en) | 2019-01-28 | 2019-01-28 | Intelligent vermicelli sorting system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109613828B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111350062A (en) * | 2020-04-27 | 2020-06-30 | 深圳市欧瑞博科技有限公司 | Intelligent clothes hanger and control method and device thereof |
| CN111542135A (en) * | 2020-05-18 | 2020-08-14 | 湖南双达机电有限责任公司 | Heater control method, heater and deicing vehicle |
| CN112109100A (en) * | 2019-06-21 | 2020-12-22 | 株式会社石田 | Article discharge system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002365122A (en) * | 2001-06-06 | 2002-12-18 | Eiji Hayashi | Weighing equipment, automatic cooker provided with the same, and robot hand |
| CN202292771U (en) * | 2011-09-26 | 2012-07-04 | 桐乡市中辰化纤有限公司 | Automatic weighing device of manipulator |
| CN204070478U (en) * | 2014-09-18 | 2015-01-07 | 天津明佳智能包装科技有限公司 | The automatic setting fastening system of a kind of bean vermicelli |
| CN108208770A (en) * | 2018-01-18 | 2018-06-29 | 广西马山县壮香缘食品有限公司 | The automatic production control system of dry lotus root vermicelli |
| CN207974489U (en) * | 2017-12-25 | 2018-10-16 | 华南农业大学珠江学院 | One kind being intelligently laid with floor tile machine based on PLC |
| CN109201512A (en) * | 2018-08-14 | 2019-01-15 | 上海工程技术大学 | A kind of bean vermicelli weighs automatically, sorts and formation system and method |
-
2019
- 2019-01-28 CN CN201910078367.8A patent/CN109613828B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002365122A (en) * | 2001-06-06 | 2002-12-18 | Eiji Hayashi | Weighing equipment, automatic cooker provided with the same, and robot hand |
| CN202292771U (en) * | 2011-09-26 | 2012-07-04 | 桐乡市中辰化纤有限公司 | Automatic weighing device of manipulator |
| CN204070478U (en) * | 2014-09-18 | 2015-01-07 | 天津明佳智能包装科技有限公司 | The automatic setting fastening system of a kind of bean vermicelli |
| CN207974489U (en) * | 2017-12-25 | 2018-10-16 | 华南农业大学珠江学院 | One kind being intelligently laid with floor tile machine based on PLC |
| CN108208770A (en) * | 2018-01-18 | 2018-06-29 | 广西马山县壮香缘食品有限公司 | The automatic production control system of dry lotus root vermicelli |
| CN109201512A (en) * | 2018-08-14 | 2019-01-15 | 上海工程技术大学 | A kind of bean vermicelli weighs automatically, sorts and formation system and method |
Non-Patent Citations (1)
| Title |
|---|
| 陈宝江等: "一种短小丝条状物连续包装自动充填与计量机械手的研究", 《包装工程》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112109100A (en) * | 2019-06-21 | 2020-12-22 | 株式会社石田 | Article discharge system |
| CN112109100B (en) * | 2019-06-21 | 2023-12-12 | 株式会社石田 | Article discharge system |
| CN111350062A (en) * | 2020-04-27 | 2020-06-30 | 深圳市欧瑞博科技有限公司 | Intelligent clothes hanger and control method and device thereof |
| CN111542135A (en) * | 2020-05-18 | 2020-08-14 | 湖南双达机电有限责任公司 | Heater control method, heater and deicing vehicle |
| CN111542135B (en) * | 2020-05-18 | 2022-06-10 | 湖南双达机电有限责任公司 | Heater control method, heater and deicing vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109613828B (en) | 2023-07-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109613828A (en) | Bean vermicelli intelligent sorting system | |
| CN206710884U (en) | Coal preparation plant customizes production Automatic Control System for Mixing Coal | |
| CN101976997B (en) | Multi-motor synchronous control system of belt conveyor | |
| CN101776867A (en) | Automatic material taking control device and method of material piling and taking machine | |
| CN101572522B (en) | Fool type self-learning motor soft on-off control device | |
| CN101628489B (en) | Paper box molding, positioning and processing control method and positioning control system | |
| CN111620029A (en) | Shuttle vehicle control device and method and shuttle vehicle | |
| CN104898574B (en) | Shear-line multi-axis numerical control system based on P500 controller | |
| CN101295179A (en) | Multi-motor control system of walking robot | |
| CN104874893A (en) | Groove cutting machine based on ZYNQ7000 SOC and control system thereof | |
| CN215819871U (en) | Cigarette buffer storage conveying device | |
| CN106269198A (en) | Vertical Mill intelligence control system based on DCS | |
| CN106886212A (en) | A kind of test device of servo-drive system | |
| CN105970464A (en) | Computer jacquard glove machine control device and flower pattern preparation method thereof | |
| CN201854229U (en) | Multi-motor synchronous control system for band conveyor | |
| CN101308367B (en) | Mixed flow assembly line intelligent material gallow device possessing visualized monitoring function | |
| CN106216079A (en) | Vertical Mill intelligent control method based on PLC | |
| CN201130311Y (en) | Computer control apparatus of high speed independent quilter | |
| CN207764643U (en) | A kind of remote centralized monitoring system of intelligence manufacture | |
| CN102393665B (en) | Profibus filed bus type electric actuating mechanism controller | |
| CN112363445B (en) | Glass twister control system | |
| CN208120191U (en) | A kind of cargo dial-out device of electromagnetic braking | |
| CN204576195U (en) | A kind of servo-control system of polished section production equipment | |
| CN209382356U (en) | High-speed intelligent robot packaging production line | |
| CN202837930U (en) | Process storage and output device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |