CN114646002A - Sprayer and angle control method thereof, PLC (programmable logic controller) and readable storage medium - Google Patents
Sprayer and angle control method thereof, PLC (programmable logic controller) and readable storage medium Download PDFInfo
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- CN114646002A CN114646002A CN202210301820.9A CN202210301820A CN114646002A CN 114646002 A CN114646002 A CN 114646002A CN 202210301820 A CN202210301820 A CN 202210301820A CN 114646002 A CN114646002 A CN 114646002A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000005507 spraying Methods 0.000 claims abstract description 53
- 230000007246 mechanism Effects 0.000 claims abstract description 42
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 239000000428 dust Substances 0.000 claims description 20
- 239000007921 spray Substances 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 3
- 238000004590 computer program Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 claims description 2
- 125000000217 alkyl group Chemical group 0.000 claims 1
- 230000009471 action Effects 0.000 abstract description 6
- 238000006243 chemical reaction Methods 0.000 abstract description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 239000003595 mist Substances 0.000 description 3
- 230000001629 suppression Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- -1 coking Substances 0.000 description 1
- 238000004939 coking Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/68—Arrangements for adjusting the position of spray heads
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
Abstract
The invention discloses a spraying machine and an angle control method thereof, a PLC (programmable logic controller) and a readable storage medium, wherein the spraying machine comprises a spraying main body, a bracket, a pitching mechanism and a slewing mechanism; the swing mechanism comprises a swing support and a swing servo motor which are in transmission connection, the support is fixedly connected to the swing support, and the spraying main body is hinged to the support through a hinge A; the pitching mechanism comprises an electric push rod and a pitching servo motor which are in transmission connection, one end of the electric push rod is hinged to the support through a hinge B, and the other end of the electric push rod is hinged to the spraying main body through a hinge C. The sprayer is driven by the servo motor, the servo motor is internally provided with an integrated encoder, the rotating angle and zero position signals of the motor can be output and detected, functions of the pitching and rotating angles and the rotating angles of the driving servo motors can be obtained through certain conversion and function modeling, the pitching and rotating angles can be controlled by controlling the servo motor, and accurate action of an actuating mechanism is achieved.
Description
Technical Field
The invention relates to the technical field of spraying equipment, in particular to a spraying machine, an angle control method of the spraying machine, a PLC (programmable logic controller) and a readable storage medium.
Background
The air-assisted sprayer is generally mainly composed of a fan, a spray ring, a rotary mechanism, a pitching mechanism, a rack, a booster pump, a controller and the like, wherein the spray ring is positioned at an air outlet at the front end of the fan, the booster pump conveys water to the spray ring in a pressurized mode and atomizes the water into water mist, the water mist is blown to the front by high-speed airflow generated by the fan, the rotary mechanism, the pitching mechanism and the rack are combined and connected properly, the air outlet of the fan can be tilted up and down and rotated left and right in a certain space range, the controller can control the rotation and pitching mechanism to act, and the air outlet can be swept back and forth or positioned in one direction, so that the requirement of blowing the water mist into a larger space for dust suppression and dust fall or directional dust suppression and dust fall can be met.
At present, dust treatment enterprises such as iron and steel, coking, cement and the like mostly adopt visual linkage, dust linkage, gray level identification linkage based on machine vision and other modes to realize accurate treatment. The position information of the dust generating point is obtained through visual identification analysis or monitoring of a dust monitor, the position data is finally transmitted to the spraying machine, and the rotation and pitching mechanism of the spraying machine executes actions to aim at the dust generating point for spraying treatment.
A hydraulic motor or a motor-driven slewing bearing is generally adopted as an actuator for a spraying machine rotating mechanism on the market, a hydraulic oil cylinder, an electro-hydraulic push rod and an electric push rod are generally adopted as the actuator for a pitching mechanism, and in order to obtain the rotation angle of a fan driven by the slewing mechanism and the pitching mechanism or the real-time orientation of the fan, angle sensors in two directions are required to be additionally arranged to be matched with the pitching mechanism and the rotating mechanism, the angle sensor used by the slewing mechanism is a rotary encoder, and the rotary encoder or an inclination angle sensor is used by the pitching mechanism. And the controller of the spraying machine compares the pitch and rotation angle data obtained by the angle sensor with the pitch and rotation angle data converted from the position information of the dust generating point sent by the upper computer, controls the pitch and rotation mechanisms to act until the angle data are consistent, and realizes fixed-point dust suppression and reduction. Although this technical scheme can realize accurate location and press down dirt dust fall, still have following drawback simultaneously:
1. the pitching mechanism and the slewing mechanism can realize accurate positioning only by additionally arranging an angle sensor, so that the economy is poor;
2. the sensor is not integrated with the actuating mechanism into a whole, the requirement on the installation and matching precision is high, and the manufacturing cost is additionally increased for the non-precise machine such as a sprayer;
3. the sensor is exposed in a high-concentration dust environment for a long time and is very easy to lose efficacy along with the vibration of the fan;
4. the angle data of the sensor is transmitted to the controller in real time, when the actuator executes pitching or rotating actions at a normal speed, the angle data of the sensor is consistent with the angle data of the upper computer, the controller issues an instruction to the actuator to stop the actions, and the actuator does not have any buffer at the moment, so that the equipment shakes violently.
Disclosure of Invention
In view of the above-mentioned deficiencies in the prior art, the present invention provides a spraying machine and an angle control method thereof, a PLC controller and a readable storage medium, wherein the spraying machine is driven by a servo motor, and since an integrated encoder is built in the servo motor, the rotation angle and zero position signal of the motor can be output and detected, and functions of the pitch and rotation angles and the rotation angles of the driving servo motors can be obtained through certain conversion and function modeling, i.e., the pitch and rotation angles can be controlled by controlling the servo motor, thereby realizing precise operation of an actuator.
Compared with the prior art, the scheme driven by the servo motor has the advantages of equivalent equipment cost, reduced maintenance cost, increased reliability, stable operation and no jitter when the positioning action is executed.
In order to achieve the aim, the invention provides a spraying machine which comprises a base, a spraying main body, a support, a pitching mechanism, a slewing mechanism and a PLC (programmable logic controller);
the rotary mechanism comprises a rotary support and a rotary servo motor, the rotary support is rotatably connected to the base, the support is fixedly connected to the rotary support, the spraying main body is hinged to the top end of the support through a hinge A, and the rotary servo motor is fixedly arranged on the rotary support and is in transmission connection with the rotary support;
the pitching mechanism comprises an electric push rod and a pitching servo motor, one end of the electric push rod is hinged to the slewing bearing or the bracket through a hinge B, the other end of the electric push rod is hinged to the spraying main body through a hinge C, and the pitching servo motor is fixedly arranged on the slewing bearing and is in transmission connection with the electric push rod;
the PLC controller is arranged on the base or the slewing bearing or the bracket, and the slewing servo motor and the pitching servo motor are respectively electrically connected with the PLC controller.
In one embodiment, the spraying main body comprises a fan and a spraying ring, and the spraying ring is arranged in front of an air outlet of the air;
the hinge A and the hinge C are both connected to the fan.
In one embodiment, the support is a U-shaped frame.
In one embodiment, the bracket or the slewing bearing is provided with a booster pump connected with the spraying main body.
In order to achieve the purpose, the invention provides an angle control method of the sprayer, which comprises the following steps:
constructing a pitching function model between the pitching angle instruction and the pitching pulse instruction and a rotation function model between the rotation angle instruction and the rotation pulse instruction;
the PLC acquires a pitching angle instruction and a rotation angle instruction corresponding to a pitching angle and a rotation angle which are required by the spraying machine;
obtaining a pitching pulse instruction of the pitching servo motor based on the pitching angle instruction and the pitching function model, and obtaining a rotary pulse instruction of the rotary servo motor based on the rotary angle instruction and the rotary function model;
the PLC controller controls the servo driver based on the pitching pulse instruction and the rotating pulse instruction, and then controls the pitching servo motor and the rotating servo motor to drive the spraying main body to pitch and/or rotate.
In one embodiment, the pitch function model is:
in the formula, alpha is an included angle between a horizontal plane and the axis of the fan, namely a pitching angle instruction of the spraying machine;
is the included angle between the connecting line between the hinge C and the hinge A and the axis of the fan; l is1Is the distance from hinge a to hinge B; l is2Is the distance from hinge a to hinge C; l is0The installation distance of the electric push rod is set; k is a radical of1The number of pitch pulses is the pitch pulse instruction; f. of1The resolution of the pitch servo motor is the angle turned by a pitch pulse; p is the lead of the electric push rod; n is1The speed ratio between the electric push rod and the pitching servo motor is adopted.
In one embodiment, the gyroscopic function model is:
in the formula, omega is the rotation angle of the spraying machine corresponding to the position of the dust generating point, namely the spraying machineA rotation angle command of; k is a radical of formula2Is the number of the rotary pulses, namely a rotary pulse instruction; f. of2Is the resolution of the rotary servo motor, namely the angle rotated by one rotary pulse.
In one embodiment, the PLC controller controls the servo driver based on the pitching pulse instruction and the rotation pulse instruction, and then controls the pitching servo motor and the rotation servo motor to drive the spraying body to pitch and/or rotate, and the pitching servo motor and the rotation servo motor feed back signals including an actual rotation angle and a zero position to the servo driver and the PLC controller, so that closed-loop control is realized.
In order to achieve the above object, the present invention provides a PLC controller, wherein the pitch function model and the rotation function model are preset in a PLC program of the PLC controller;
the PLC controller, when executing the PLC program, implements some or all of the steps of the angle control method of claim 5 or 6 or 7 or 8.
To achieve the above object, the present invention provides a readable storage medium having stored thereon a computer program which, when executed by a processor, implements the above-described angle control method.
The invention has the following beneficial technical effects:
1. the precise control of the pitching and rotating angles of the sprayer can be realized only by adopting a servo motor without additionally increasing an angle sensor, and the reliability is high;
2. the feedback of an external angle sensor is omitted, the vibration cannot occur during starting and stopping, and the stability is good;
3. the equipment does not need to improve the manufacturing precision or design a protection device for mounting the angle sensor, and is good in economy.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a front view of a sprayer according to an embodiment of the invention;
FIG. 2 is a side view of a sprayer in an embodiment of the invention;
FIG. 3 is a flowchart illustrating a control of a servo motor according to an embodiment of the present invention;
fig. 4 is a plan view of the pitch mechanism in relation to the components in an embodiment of the present invention.
Reference numerals: the device comprises a pitching mechanism 1, an electric push rod 101, a pitching servo motor 102, a slewing mechanism 2, a slewing bearing 201, a slewing servo motor 202, a fan 3, a spraying ring 4, a booster pump 5, a U-shaped frame 6, a base 7 and a PLC 8.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; the connection can be mechanical connection, electrical connection, physical connection or wireless communication connection; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
As shown in fig. 1-2, the spraying machine disclosed in this embodiment includes a base 7, a spraying main body, a booster pump 5, a support, a pitching mechanism 1, a slewing mechanism 2, and a PLC controller 8, wherein the support is a U-shaped frame 6, and the spraying main body is composed of a fan 3 and a spraying ring 4.
The spraying ring 4 is arranged at the front part of an air outlet of the fan 3, the two sides of the fan 3 are hinged with the two sides of the U-shaped frame 6 through hinges A, the booster pump 5 and the controller are respectively fixed at one side of the U-shaped frame 6, and the U-shaped frame 6 is connected with the base 7 through a rotary driving mechanism.
The slewing mechanism 2 comprises a slewing bearing 201 and a slewing servo motor 202, the slewing bearing 201 is rotationally connected to the base 7, the support is fixedly connected to the slewing bearing 201, the slewing servo motor 202 is fixedly arranged on the slewing bearing 201 and is in transmission connection with the slewing bearing 201, the slewing servo motor 202 drives the slewing bearing 201 to rotate, the U-shaped frame 6 and all parts connected with the U-shaped frame 6 are driven to rotate together, and circumferential slewing motion of the air outlet of the fan 3 is achieved. The pitching mechanism 1 comprises an electric push rod 101 and a pitching servo motor 102, one end of the electric push rod 101 is hinged on the slewing bearing 201 or the U-shaped frame 6 through a hinge B, and the other end of the electric push rod is hinged on the fan 3 through a hinge C. The pitching servo motor 102 is fixedly arranged on the slewing bearing 201 and is in transmission connection with the electric push rod 101, the pitching servo motor 102 drives the electric push rod 101 to do linear motion, and the fan 3 is driven to rotate relative to the U-shaped frame 6 to achieve pitching motion of the air outlet of the fan 3 within a certain range. Namely, the orientation of the air outlet of the spraying machine can be controlled by controlling the pitching servo motor 102 and the rotating servo motor 202.
The PLC controller 8 is arranged on the base 7 or the rotary support 201 or the bracket, and the rotary servo motor 202 and the pitching servo motor 102 are respectively and electrically connected with the PLC controller 8.
Referring to fig. 3, the process of controlling the rotation servo motor 202 and the pitch servo motor 102 by the PLC controller 8 is that after the upper computer receives data of a dust point position, a pitch angle instruction and a rotation angle instruction corresponding to the position that the air-assisted sprayer needs to reach are obtained through analysis and calculation, the pitch angle instruction and the rotation angle instruction are transmitted to the PLC controller 8 through a network, the PLC controller 8 controls the servo driver through a pulse instruction to further control the servo motor, and the servo motor feeds back signals such as an actual rotation angle and a zero position to the servo driver and the PLC, so that closed-loop control is realized. Based on this, the embodiment also discloses an angle control method of the spraying machine, which is used for realizing pitching and rotating positioning of the spraying machine, and the angle control method specifically comprises the following steps:
constructing a pitching function model between the pitching angle instruction and the pitching pulse instruction and a rotation function model between the rotation angle instruction and the rotation pulse instruction;
the PLC 8 acquires a pitching angle instruction and a rotation angle instruction corresponding to a pitching angle and a rotation angle which are required by the spraying machine;
obtaining a pitching pulse instruction of the pitching servo motor 102 based on the pitching angle instruction and the pitching function model, and obtaining a revolving pulse instruction of the revolving servo motor 202 based on the revolving angle instruction and the revolving function model;
the PLC controller 8 controls the servo driver based on the pitch pulse command and the rotation pulse command, and further controls the pitch servo motor 102 and the rotation servo motor 202 to drive the spray body to pitch and/or rotate.
In the control flow, the pitch angle command and the rotation angle command are known inputs for the spraying machine, and the spraying machine can accurately execute the angle action to aim at a dust point, so that the PLC 8 can convert the pitch angle command and the rotation angle command into the pulse command according to a preset function model. FIG. 4 is a plan view of the pitch mechanism 1 in relation to the respective members, wherein L0Is the mounting distance of the electric push rod 101; l is1The distance from a hinge point A of the fan 3 and the U-shaped frame 6 to a hinge point B of the electric push rod 101 and the U-shaped frame 6 is the distance from the hinge A to the hinge B; l is2The distance from the hinge point A to the hinge point C of the electric push rod 101 and the fan 3 is the distance from the hinge A to the hinge C; alpha is the included angle between the horizontal plane and the axis of the fan 3, namely the pitching angle instruction of the spraying machine, beta is the included angle ABC between the connecting line between the hinge C and the hinge B and the connecting line between the hinge A and the hinge B, and theta is the included angle between the BA connecting line and the horizontal plane,
is the included angle between the CA connecting line and the axial line of the fan 3. S is the actual stroke of the electric putter 101, wherein the distance between the hinge C and the hinge B can be expressed as L0+ S. According to the trigonometric function relationship, the following steps are carried out:
sin2β+cos2β＝1
the following can be derived from the above equation system:
after the sprayer equipment is manufactured and formedMiddle L0、L1、L2、θ、
Since the pitch angle is determined and can be regarded as a known value, only α and S in the equation are unknown values, that is, a relational expression between the pitch angle of the fan 3 and the stroke of the electric putter 101 is obtained.
The stroke of the electric push rod 101 is:
in the formula, k1The number of pitching pulses is the pitching pulse instruction; f. of1For the resolution of the pitch servo motor 102, i.e. the angle turned by a pitch pulse, n1In order to obtain a speed ratio between the electric putter 101 and the motor, p is the lead of the electric putter 101. The pitch function model between the pitch angle command and the pitch pulse command can be finally derived as:
in the swing mechanism 2, the swing bearing 201 may be a pair of gears with a reduction ratio of n2The rotary servo motor 202 drives the fan 3 and other components to rotate after being decelerated by a gear. The rotation angle omega instruction of the sprayer corresponding to the position of the dust generation point is known input, and the PLC of the controller can realize that the rotation direction of the sprayer is aligned with the dust generation point only by converting a rotation function model into a pulse instruction to control the rotation servo motor 202, wherein the rotation function model is as follows:
in the formula, omega is a rotation angle of the sprayer corresponding to the position of the dust generating point, namely a rotation angle instruction of the sprayer; k is a radical of2Is the number of the rotary pulses, namely the rotary pulse instruction; f. of2Is the resolution of the rotary servo motor 202,i.e. the angle over which one revolution pulse turns.
In conclusion, the pitching function model and the rotation function model are preset in the PLC program, so that the pitching and rotation angles of the spraying machine can be accurately controlled according to the angle instruction of the upper computer, and the accurate control on the orientation of the fan 3 of the spraying machine is realized. Based on this, the present embodiment also discloses a PLC controller 8, in which the pitch function model and the rotation function model are preset in a PLC program of the PLC controller 8, and the PLC controller 8 implements part or all of the steps of the angle control method when executing the PLC program. Meanwhile, the sprayer disclosed by the embodiment does not need to be fed back by an external angle sensor, and the servo motor feeds back the position information to the PLC in real time, so that the servo motor can set acceleration and deceleration time when starting and stopping, and the sprayer can be started and stopped stably while realizing accurate positioning.
It should be noted that the rotation servo motor 202 and the pitch servo motor 102 in this embodiment may be narrow servo motors, or may be control motors having a position feedback function, such as a stepping motor and a steering engine.
It should be noted that, in the angle control method of the present invention, the change of the function model of the calculated angle due to the change of the positions of the respective hinge points of the pitching mechanism 1 of the spraying machine, the fan 3, the U-shaped frame 6, etc. should be regarded as the protection scope of the present invention.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structural changes made by using the contents of the present specification and the drawings, or any other related technical fields, which are directly or indirectly applied to the present invention, are included in the scope of the present invention.
Claims (10)
1. A spraying machine is characterized by comprising a base, a spraying main body, a support, a pitching mechanism, a slewing mechanism and a PLC (programmable logic controller);
the rotary mechanism comprises a rotary support and a rotary servo motor, the rotary support is rotatably connected to the base, the support is fixedly connected to the rotary support, the spraying main body is hinged to the top end of the support through a hinge A, and the rotary servo motor is fixedly arranged on the rotary support and is in transmission connection with the rotary support;
the pitching mechanism comprises an electric push rod and a pitching servo motor, one end of the electric push rod is hinged to the slewing bearing or the bracket through a hinge B, the other end of the electric push rod is hinged to the spraying main body through a hinge C, and the pitching servo motor is fixedly arranged on the slewing bearing and is in transmission connection with the electric push rod;
the PLC controller is arranged on the base or the slewing bearing or the bracket, and the slewing servo motor and the pitching servo motor are respectively electrically connected with the PLC controller.
2. The sprayer according to claim 1, wherein the spray body comprises a fan and a spray ring, and the spray ring is arranged in front of an air outlet of the air;
the hinge A and the hinge C are both connected to the fan.
3. The sprayer according to claim 1 or 2, characterized in that said support is a U-shaped frame.
4. A sprayer according to claim 1 or 2, wherein a booster pump is provided on the stand or the slewing bearing and is connected to the sprayer body.
5. An angle control method of a sprayer according to any one of claims 1 to 4, characterized by comprising the following steps:
constructing a pitching function model between the pitching angle instruction and the pitching pulse instruction and a rotation function model between the rotation angle instruction and the rotation pulse instruction;
the PLC acquires a pitching angle instruction and a rotation angle instruction corresponding to a pitching angle and a rotation angle which are required by the spraying machine;
obtaining a pitching pulse instruction of the pitching servo motor based on the pitching angle instruction and the pitching function model, and obtaining a rotary pulse instruction of the rotary servo motor based on the rotary angle instruction and the rotary function model;
the PLC controller controls the servo driver based on the pitching pulse instruction and the rotating pulse instruction, and then controls the pitching servo motor and the rotating servo motor to drive the spraying main body to pitch and/or rotate.
6. The angle control method of claim 5, wherein the pitch function model is:
in the formula, alpha is an included angle between a horizontal plane and the axis of the fan, namely a pitching angle instruction of the spraying machine;
is the included angle between the connecting line between the hinge C and the hinge A and the axis of the fan; l is a radical of an alcohol1Is the distance from hinge a to hinge B; l is a radical of an alcohol2Is the distance from hinge a to hinge C; l is0Is the installation distance of the electric push rod; k is a radical of1The number of pitch pulses is the pitch pulse instruction; f. of1The resolution of the pitch servo motor is the angle turned by a pitch pulse; p is the lead of the electric push rod; n is a radical of an alkyl radical1The speed ratio between the electric push rod and the pitching servo motor is adopted.
7. The angle control method according to claim 5, wherein the gyro function model is:
in the formula, omega is a rotation angle of the sprayer corresponding to the position of the dust generating point, namely a rotation angle instruction of the sprayer; k is a radical of2Is the number of the rotary pulses, namely a rotary pulse instruction; f. of2Is the resolution of the rotary servomotor, i.e. the angle through which a rotary pulse is rotated。
8. The angle control method according to claim 5, 6 or 7, wherein the PLC controller controls the servo driver based on the pitch pulse command and the rotation pulse command, and further controls the pitch servo motor and the rotation servo motor to feed back signals including an actual rotation angle and a zero position to the servo driver and the PLC controller in the process of driving the spraying body to pitch and/or rotate by the pitch servo motor and the rotation servo motor, so as to realize closed-loop control.
9. A PLC controller, wherein the pitch function model and the slew function model of claim 5, 6, 7 or 8 are preset in a PLC program of the PLC controller;
the PLC controller, when executing the PLC program, implements some or all of the steps of the angle control method of claim 5 or 6 or 7 or 8.
10. A readable storage medium on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the angle control method according to claim 5 or 6 or 7 or 8.
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