CN117142049B - Control method for material conveying device - Google Patents
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- CN117142049B CN117142049B CN202311305578.3A CN202311305578A CN117142049B CN 117142049 B CN117142049 B CN 117142049B CN 202311305578 A CN202311305578 A CN 202311305578A CN 117142049 B CN117142049 B CN 117142049B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
- B65G47/64—Switching conveyors
- B65G47/644—Switching conveyors by a pivoting displacement of the switching conveyor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/025—Speed of the article
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0258—Weight of the article
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Conveyors (AREA)
Abstract
The invention relates to the technical field of material transmission, in particular to a control method for a material conveying device, which comprises an adjusting device for controlling material steering, wherein the adjusting device comprises a plurality of horizontally arranged guide mechanisms, each guide mechanism comprises a base and a rotating seat rotationally connected with the base, a first driver for driving the rotating seat to horizontally rotate relative to the base is arranged in the rotating seat, and one side of the rotating seat, which is away from the base, is provided with a plurality of conveying rollers capable of rotating around the axis of the rotating seat. The detection component in the control method for the material conveying device can timely feed back the real-time conveying speed of the material and the position of the material relative to the adjusting device, and adjusts the first driver and the second driver through the controller so as to reduce the real-time conveying speed of the material and/or enlarge the turning radius of the material passing through the adjusting device, thereby ensuring the smooth turning of the material and preventing the lateral dumping of the material due to overlarge centrifugal force in the turning process.
Description
Technical Field
The invention relates to the field of material conveying, in particular to a control method for a material conveying device.
Background
Along with the rapid development of industries such as hospitals, express delivery, logistics and the like, higher requirements are put forward on the steering performance of the automatic conveying device. And traditional conveyor relies on belt structure to convey, and when the material quality is great, and the focus is higher, the material turns to and easily takes place the side direction and empties because of the centrifugal force that high-speed motion produced, is difficult to realize steadily turning to. The existing conveying device is improved against the problem, but after actual use, the following problems are found to exist:
1. The guardrail is arranged to limit materials, but the mechanical structure is only used for reinforcing the material, so that the effect is poor when the material is turned at a high speed.
2. The speed can be reduced at the corner by adopting the variable speed conveyor belt, but the speed change cannot be accurately controlled, so that the conveying efficiency is reduced.
3. The inertial damping mode of hydraulic buffering is used for steering, but the structure is complex, the cost is high, and the reliability is poor.
In summary, the existing various steering technologies have the problems of single structure and extensive control, and cannot realize high-speed accurate stable steering. Therefore, a novel multidirectional accurate steering technology is urgently needed to meet the requirement of materials on efficient conveying.
Disclosure of Invention
The invention aims to provide a control method for a material conveying device.
The invention solves the problems by adopting the following technical scheme: a material conveying apparatus, comprising:
A adjusting device for controlling material turns to, adjusting device includes the guiding mechanism that a plurality of level set up, and every guiding mechanism all includes the base and rotates the rotation seat of being connected with the base, is equipped with in the rotation seat and drives its relative base and carry out horizontal pivoted first driver to, one side that the rotation seat deviates from the base is equipped with can rotate and a plurality of conveying rollers of mutual parallel arrangement around self axis. And
And the conveying device is connected with the adjusting device and is used for conveying the materials to the adjusting device and comprises a second driver for controlling the conveying speed of the materials. And
The detection assembly comprises a speed detection assembly, a weight detection assembly and a contour detection assembly.
The speed detection assembly at least comprises four detection units, each detection unit is arranged on the side face of the transmission device, and the distribution direction of each detection unit is parallel to the material conveying direction and used for detecting the speed of a material interval.
Wherein, weight detection subassembly sets up on conveyer for detect material weight.
Wherein the profile detection assembly is arranged on the conveying device and is used for determining the geometric center of the material. And
And the controller is connected with the detection assembly, the first driver and the second driver at the same time and is used for receiving signals of the detection assembly and controlling the operation state of the first driver and/or the second driver.
Preferably, the number of the guide mechanisms is three, and the connecting lines of the central points of the three guide mechanisms form an equilateral triangle.
Preferably, the profile detection component is a visual detection device, the visual detection device is arranged right above the conveying device, and the direction of a lens in the visual detection device is opposite to or opposite to the conveying direction of the material.
Preferably, the conveyor comprises a conveyor belt for conveying the material, the conveying surface of the conveyor belt being parallel to the horizontal plane and the conveying surface of the conveyor belt being coplanar with the top plane of the adjustment device.
Preferably, the distance between adjacent detection units is a fixed value, and the detection units are opposite-type photoelectric sensors.
The opposite-type photoelectric sensor comprises a transmitting part and a receiving part, wherein the transmitting part and the receiving part of the same opposite-type photoelectric sensor are respectively arranged on two sides of the conveyor belt, and the direction of light rays emitted by the transmitting part is perpendicular to the conveying direction of the conveyor belt.
Preferably, the side of the rotating seat facing away from the base is also provided with a controlled driving roller, the peripheral side of which is in abutting connection with the conveying rollers and has a driving fit, so as to drive the conveying rollers to rotate, but each driving roller is in driving fit with only a single conveying roller.
Preferably, after the contour detection assembly detects the material, the orthographic projection coordinates on the geometric center conveying surface of the material are determined, so as to calculate the turning radius r 1 of the material passing through the adjusting device in the initial state.
The maximum allowable speed v max of the material passing through the adjustment device in the initial state can be determined by the initial turning radius r 1 of the material passing through the adjustment device.
When the weight detection assembly detects that the material passes, the material mass m is obtained, and the maximum allowable centrifugal force F cmax of the material when the material is diverted through the adjusting device is determined.
After two adjacent detection units sequentially detect that the material passes, the real-time moving speed v x of the material is determined, so that the real-time centrifugal force F c generated by steering when the material passes through the adjusting device is obtained.
When F c>Fcmax, the second driver is controlled to enable the conveyor belt to run in a decelerating mode, then the materials pass through two adjacent detection units again, the real-time conveying speed v x of the materials is measured again, whether the real-time conveying speed v x of the materials is larger than v max or not is judged, and if v x>vmax is not, the guide mechanisms are controlled to enlarge the real-time turning radius r x of the materials passing through the adjusting device, and then r x>r1 is achieved.
Preferably, in the initial state, the centrifugal force generated when the material is diverted by the adjusting device: f c＝m·vx 2/r1.
Maximum allowable speed v max of material passing through the regulating device in the initial state:
maximum allowable centrifugal force when the material is diverted through the adjusting device: f cmax =μm·g.
Where μ is the coefficient of friction between the material and the conveyor belt and g is the gravitational acceleration of the object.
Preferably, the forward projection coordinates of the geometric centers of the three guide mechanisms on the top plane of the adjustment device are the plane coordinates of the turning centers of the guide mechanisms.
The turning radius r x of the material passing through the adjusting device can be determined by the plane coordinate of the turning center and the orthographic projection coordinate of the material center on the conveying surface.
Preferably, the controller is also provided with a dynamic control module, so that the real-time moving speed v x of the material approaches the maximum allowable speed of the material.
Compared with the prior art, the invention has the following advantages and effects:
The detection component in the material conveying device and the control method can timely feed back the real-time conveying speed of the material and the position of the material relative to the adjusting device, and adjust the first driver and the second driver through the controller to reduce the real-time conveying speed of the material and/or enlarge the turning radius of the material passing through the adjusting device, so that smooth turning of the material is ensured, the material is prevented from being laterally toppled over due to overlarge centrifugal force in the turning process, and further, a dynamic control module is further arranged in the controller, so that the speed of the material can approach to the maximum speed in turning, the turning radius can be adjusted in real time, the optimization is realized aiming at different material characteristics, and the adaptability and the efficiency of the device are improved.
Drawings
Fig. 1 is a side view of an embodiment of the present invention.
Fig. 2 is a top view of an embodiment of the present invention.
Fig. 3 is a schematic structural view of an adjusting device according to an embodiment of the present invention.
Fig. 4 is a side cross-sectional view of an adjustment device in an embodiment of the invention.
Fig. 5 is a schematic structural view of a guide mechanism in an embodiment of the present invention.
Fig. 6 is a schematic view of the structure of the guide roller in the embodiment of the present invention.
FIG. 7 is a schematic view of material diversion in an embodiment of the present invention.
Wherein: 1. an adjusting device; 110. a housing; 120. a guide mechanism; 121. a base; 122. a rotating seat; 123. a conveying roller; 2. a transmission device; 3. a weight detection assembly; 4. a speed detection assembly.
Detailed Description
The present invention will be described in further detail by way of examples with reference to the accompanying drawings, which are illustrative of the present invention and not limited to the following examples.
Referring to fig. 1-7, a material conveying apparatus includes a regulating device for controlling the turning of a material, a conveying device 2 connected to the regulating device and conveying the material to the regulating device 1, a detecting unit 4 for detecting the quality, conveying speed and profile shape of the material, and a controller for controlling the regulating device and the conveying device and receiving signals from the detecting unit. The adjusting device 1 comprises a plurality of horizontally arranged guide mechanisms 120, each guide mechanism 120 comprises a base 121 and a rotating seat 122 rotationally connected with the base 121, a first driver (not shown in the figure) for driving the rotating seat 122 to horizontally rotate relative to the base 121 is arranged in the rotating seat 122, and one side of the rotating seat 122, which is away from the base 121, is provided with a plurality of conveying rollers 123 capable of rotating around the axis of the conveying rollers. And the conveyor 2 comprises a second drive for controlling the material conveying speed. The detection assembly comprises a speed detection assembly and a weight detection assembly 3, wherein the speed detection assembly at least comprises four detection units, only two detection units (410, 420) are shown in the figure, each detection unit is arranged on the side face of the conveying device 2, and the distribution direction of each detection unit is parallel to the material conveying direction and is used for detecting the speed of a material interval. Wherein the weight detecting assembly 3 is arranged on the conveying device 2 and is used for detecting the weight of the materials. And the controller is connected with the detection assembly, the first driver and the second driver at the same time and is used for receiving signals of the detection assembly and controlling the operation state of the first driver and/or the second driver.
Further, the conveying device 2 includes a conveying belt for conveying materials, the conveying surface of the conveying belt is parallel to the horizontal plane, and the conveying surface of the conveying belt is coplanar with the top plane of the adjusting device 1, and meanwhile, when the conveying device 2 is arranged, the geometric center of a graph formed by connecting the central points of the three guiding mechanisms 120 needs to be ensured to be collinear with the central line of the conveying belt parallel to the conveying direction, and the second driver can control the conveying speed of the conveying belt, namely, the conveying speed of the conveying belt is controlled, but because the materials slide on the surface of the conveying belt, the real-time speed of the materials needs to be detected through the speed detecting assembly.
Specifically, the number of the guide mechanisms 120 is preferably three, the adjusting device 1 includes a housing 110 disposed outside the three guide mechanisms 120, a connection line of center points of the three guide mechanisms 120 forms an equilateral triangle, the housing 110 is preferably a sheet metal structure, the base 121 is fixedly connected with an inner bottom wall of the housing 110, the rotating base 122 is connected with the base 121 through a rotating shaft (not shown in the drawing), so that the rotating base 122 can rotate relatively with the base 121, one end of the rotating shaft is fixedly connected with the base 121, a chamber is configured inside the rotating base 122, the rotating shaft is connected with the rotating base 122 through a bearing, one end of the rotating shaft extends to the inside of the chamber, a first driver (not shown in the drawing) is installed in the chamber, an output end of the first driver is in transmission connection with the rotating shaft, the first driver is preferably a servo motor, the rotating shaft is preferably in transmission connection with a gear set, after the first driver operates, the rotating shaft has a tendency of relatively rotating, but one end of the rotating shaft is fixedly connected with the base 121, and the first driver is fixedly installed inside the chamber of the rotating base 122, so that the rotating base 122 is forced to rotate. The rotating seat 122 is provided with a plurality of parallel conveying rollers 123 which can rotate around the axis of the rotating seat on one side deviating from the base 121, and the inner wall of one side of the shell 110 deviating from the base 121 is provided with a convex roller groove for the top of the conveying rollers 123, so that the top of the conveying rollers 123 protrudes out of the top plane of the shell 110 to ensure good material conveying effect.
Specifically, after the material moves onto the conveying device 2, the weight detecting component on the conveying mechanism 2 can measure the specific weight of the material according to the weight change, and the weight detecting component is mostly arranged at the lower side of the conveying device 2. The speed detection assembly preferably comprises four detection units, and each two of the four detection units are in a group, so that the detection of the material conveying speed can be realized. The detection units are preferably opposite-type photoelectric sensors, the opposite-type photoelectric sensors comprise a transmitting part and a receiving part, the transmitting part and the structure part of one opposite-type photoelectric sensor are respectively arranged on two sides of the transmission device 2 under the condition of meeting the opposite-type requirement of optical fibers, the detection units are equidistantly distributed along the transmission direction of the transmission device 2, every two adjacent detection units are in a group, the distance between each group of detection units is known, the detection units are further arranged to be opposite-type photoelectric sensors, the opposite-type photoelectric sensors comprise the transmitting part and the receiving part, the transmitting part and the receiving part of the same opposite-type photoelectric sensor are respectively arranged on two sides of the conveyor belt, the light direction emitted by the transmitting part is perpendicular to the transmission direction of the conveyor belt, when materials pass through the photoelectric sensors, the optical fibers emitted by the transmitting part are cut off, the optical fibers emitted by the receiver cannot receive the light and emit electric signals to the controller, the controller records the time of receiving signals, and the controller can determine the real-time transmission speed of the materials by calculating the time difference of the materials passing through the two adjacent detection units.
The profile detection component is preferably a visual detection device, the visual detection device is arranged right above the conveying device 2, the direction of a lens in the visual detection device is opposite to or opposite to the conveying direction of the material, at the moment, the visual detection device can calculate the position and the direction of the object by calculating the moment of the profile based on the detected profile, and therefore, the orthographic projection coordinate of the geometric center of the profile of the material on the plane of the conveying belt can be calculated.
The specific image processing steps of the visual inspection device are as follows:
Firstly, the materials are subjected to image acquisition through a visual detection device, and a camera or other image sensors are used for capturing images of the materials on the conveyor belt.
The captured image is then pre-processed, including graying, binarization, filtering, etc., to reduce noise and highlight the contours of the parcel.
Contour detection is then performed, and a contour detection algorithm (e.g., a Canny edge detector) is used to find edges of the package.
The contours are then analyzed, and geometric analysis methods are used to determine the shape and size of the package based on the detected contours (e.g., calculating moments of the contours to obtain the position and orientation of the object).
Finally, the position of the material center is calculated, and only the orthographic projection coordinate of the geometric center of the material contour on the plane of the conveyor belt is needed to be calculated, wherein the orthographic projection coordinate can be obtained by calculating the average value of the coordinates of all points on the contour:
Where (x i,yi) is the coordinates of the ith point on the contour and n is the total number of points on the contour.
Further, a controlled driving roller is further arranged on one side of the rotating seat 122, which is away from the base 121, and the peripheral side of the driving roller is in abutting connection with the peripheral side of the conveying roller 123, and the driving roller and the conveying roller are in transmission fit, and after the driving roller rotates in a controlled manner, the conveying roller 123 in transmission fit with the driving roller can rotate, so that power is provided for material movement, and the material is prevented from being detained above the adjusting device. It should be noted that each driving roller is in transmission fit with only one conveying roller 123, so that when a plurality of conveying rollers are in transmission connection with the same driving roller, the problem that the rotation directions of the conveying rollers 123 are opposite is prevented, and the normal conveying of materials is not affected.
The application also comprises a control method for the material conveying device, which comprises the following steps:
after the contour detection assembly detects the material, the orthographic projection coordinates on the geometric center conveying surface of the material are determined, so that the turning radius r 1 of the material passing through the adjusting device in the initial state is calculated.
The calculation method of the turning radius r 1 of the material passing through the adjusting device in the initial state is as follows:
The precondition is that the line connecting the center points of the three guide mechanisms 120 forms an equilateral triangle, and the geometric center points of the three guide mechanisms 120 coincide with the geometric center points of the equilateral triangle. And several basic parameters need to be defined: the triangle formed by the centers of the guide mechanisms is an equilateral triangle. Assume that the geometric center points of the three guide mechanisms are at A, B and C, respectively, in the forward projection position on the adjustment device 120, and that these three points form an equilateral triangle. Let the orthographic projection position of the geometric center of the material on the conveying surface be P.
It should be noted that, when the guiding mechanism 120 rotates to change the moving direction of the material, the orthographic projection position of the geometric center of the material on the conveying surface is P radius relative to the rotation center of the guiding mechanism, that is, the turning radius r 1 of the material passing through the adjusting device in the initial state. The specific calculation steps are as follows:
first, the triangle center O formed by the three guide mechanisms 120 is calculated:
This center O is also the center of gravity of the equilateral triangle, the bisector of the vertex angle, the midline on the side, the high line, and the intersection of the lines where the radius of the circumscribing circle is located. This point is equidistant from the three vertices. The coordinates of the O-point can be calculated using the following formula:
then calculating the distance from the material center P to the triangle center O:
This distance is the package turn radius, i.e., r 1. This distance can be calculated using a distance formula between two points:
Here, r=r 1, which is the turning radius, P x and P y are the orthographic coordinates of the geometric center of the material on the conveying surface.
The maximum allowable speed v max of the material passing through the adjusting device in the initial state can be determined through the initial turning radius r 1 of the material passing through the adjusting device;
In the initial state, the maximum allowable speed of the material passing through the adjusting device is as follows:
when the weight detection assembly detects that the material passes through, the material mass m is obtained, and the maximum allowable centrifugal force F cmax when the material passes through the steering device is determined;
maximum allowable centrifugal force when the material is diverted through the adjusting device: f cmax =μm·g.
Where μ is the coefficient of friction between the material and the conveyor belt and g is the gravitational acceleration of the object.
After two adjacent detection units sequentially detect that the material passes, determining the real-time moving speed v x of the material, thereby obtaining the real-time centrifugal force F c generated by steering when the material passes through the adjusting device;
In the initial state, centrifugal force generated when materials are turned by the adjusting device is generated: f c＝m·vx 2/r1.
When F c>Fcmax, the second driver is controlled to enable the conveyor belt to run in a decelerating mode, then the materials pass through two adjacent detection units again, the real-time conveying speed v x of the materials is measured again, whether the real-time conveying speed v x of the materials is larger than v max or not is judged, and if v x>vmax is not, the guide mechanisms 120 are controlled to enlarge the real-time turning radius r x of the materials passing through the adjusting device 1, and then r x>r1 is achieved. At the moment, the angular speed can be reduced, and the centrifugal force is reduced, so that the material is more stable in steering. And the real-time turning radius r x of the material passing through the regulating device is jointly controlled by the three guiding mechanisms 120.
Furthermore, the material conveying device in the application not only needs to prevent the material from being dumped and thrown away due to overlarge centrifugal force when turning, but also ensures the logistics conveying speed and improves the conveying efficiency, so that the logistics conveying speed tends to the maximum allowable speed v max 'of the material passing through the adjusting device when turning, and the controller is also provided with a dynamic control module, so that the real-time conveying speed v x of the material approaches the maximum allowable speed v max' of the material passing through the adjusting device.
V max' has the following formula:
The dynamic control module is preferably a PID control module, and the PID control module comprises a speed control module and an angle control module.
The specific implementation steps are as follows:
Initialization of
The initial conveyor speed and turning radius are set. The speed and quality of the package are obtained by the sensor.
Real-time measurement and adjustment
The speed, mass, turning radius and centrifugal force of the package were measured continuously. And calculating the maximum allowable speed according to the current stability requirement. The conveyor belt speed is adjusted using a speed control module to approximate the maximum allowable speed. If the speed adjustment fails to meet the stability requirement, the angle control module is used to adjust the guide mechanism 120 to increase the real-time turning radius r x.
The detailed process is as follows:
Step one: the weight detection component and the speed detection component are used for acquiring the mass m of the material and the real-time conveying speed v x of the material.
Step two: the formulas described above are used to calculate the real-time centrifugal force F c generated by the turning of the material as it passes through the adjustment means, the maximum allowable centrifugal force F cmax when the material is turned through the adjustment means and the maximum allowable speed v max' of the material through the adjustment means.
Step three: the speed control module is used to reduce the conveyor speed to v max'. If F c>Fcmax is reduced, the angle control module is used to adjust the guide mechanism 120 to increase the real-time turning radius r x.
Step four: returning to the first step, performing real-time measurement and adjustment of the next round, and replacing r 1 in the step 1 with r x. By means of the control strategy of the integrated speed and angle adjustment, the logistics conveying device can achieve the logistics conveying speed v max' close to the maximum possible while guaranteeing the package stability.
It should be noted that, since the speed detecting assembly includes at least four detecting units, detecting units may be added to the conveying device 2 to provide detecting conditions for the next round of real-time measurement.
The speed control module is used for dynamically adjusting the speed of the conveyor belt:
the speed error e v＝vmax'-vx represents the difference between the desired speed and the actual speed.
The speed control module adjusts the formula:
k p、Ki and K d are parameters of the PID control module, and the optimal control effect is required to be obtained through adjustment.
Δv is the amount of adjustment that needs to be made to the conveyor belt speed.
The purpose is as follows: dynamic speed control is to bring the speed of the material close to the maximum speed it can reach while turning, while avoiding slipping or rolling. The speed of the conveyor belt can be adjusted in real time, so that the transportation speed of each material can be optimized, and the efficiency of the whole system is improved.
The angle control module described above implements dynamic adjustment of the dynamic adjustment guide mechanism 120:
The centrifugal force error e r＝Fcmax-Fc represents the difference between the maximum allowable centrifugal force and the actual centrifugal force.
The angle control module adjusts the formula:
k p、Ki and K d are parameters of the PID control module, and the optimal control effect is required to be obtained through adjustment.
Δr is the amount of adjustment that needs to be made to the turning radius.
The purpose is as follows: the angle control module is used for adjusting the turning radius according to the weight and the speed of the materials, so that the materials are prevented from being subjected to excessive centrifugal force during turning, and sliding or rolling is avoided. By adjusting the turning radius in real time, the method can optimize different package characteristics, and improves the adaptability and efficiency of the system.
The foregoing description of the invention is merely exemplary of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions, without departing from the scope of the invention as defined in the accompanying claims.
Claims (5)
1. A control method for a material conveying apparatus, comprising:
The adjusting device is used for controlling the material to turn and comprises a plurality of horizontally arranged guide mechanisms, each guide mechanism comprises a base and a rotating seat rotationally connected with the base, a first driver for driving the rotating seat to horizontally rotate relative to the base is arranged in the rotating seat, and one side of the rotating seat, which is away from the base, is provided with a plurality of conveying rollers which rotate around the axis of the rotating seat and are mutually parallel; and
The conveying device is connected with the adjusting device and is used for conveying the materials to the adjusting device and comprises a second driver for controlling the conveying speed of the materials; and
The detection assembly comprises a speed detection assembly, a weight detection assembly and a contour detection assembly;
the speed detection assembly at least comprises four detection units, each detection unit is arranged on the side face of the transmission device, and the distribution direction of each detection unit is parallel to the material conveying direction and is used for detecting the speed of a material interval;
The weight detection assembly is arranged on the conveying device and used for detecting the weight of the materials;
The profile detection assembly is arranged on the conveying device and is used for determining the geometric center of the material; and
The controller is connected with the detection assembly, the first driver and the second driver at the same time and is used for receiving signals of the detection assembly and controlling the running state of the first driver and/or the second driver;
The number of the guide mechanisms is three, and the connecting lines of the central points of the three guide mechanisms form an equilateral triangle;
The conveying device comprises a conveying belt for conveying materials, the conveying surface of the conveying belt is parallel to the horizontal plane, and the conveying surface of the conveying belt is coplanar with the top plane of the regulating device;
Specifically, the control method comprises the following steps:
after the contour detection assembly detects the material, determining orthographic projection coordinates on a geometric center conveying surface of the material, and accordingly calculating turning radius r 1 of the material passing through the adjusting device in an initial state;
The maximum allowable speed of the material passing through the adjusting device in the initial state can be determined by the initial turning radius r 1 of the material passing through the adjusting device ；
When the weight detection component detects that the material passes through, the material mass m is obtained, and the maximum allowable centrifugal force when the material is diverted through the regulating device is determined ；
After two adjacent detection units sequentially detect that the material passes, determining the real-time moving speed of the materialThereby obtaining the real-time centrifugal force/>, generated by the steering of the material when the material passes through the adjusting device ；
When (when)When the conveyor belt is in a deceleration state, the second driver is controlled to enable the conveyor belt to run, and then the materials pass through two adjacent detection units again to re-measure the real-time conveying speed/>And judging the real-time conveying speed/>, of the materialWhether or not to be greater than/>If/>The real-time turning radius/>, of the material passing through the adjusting device is enlarged by controlling the guiding mechanismsMake/>；
The front projection coordinates of the geometric centers of the three guide mechanisms on the top plane of the adjusting device are plane coordinates of the centers of the guide mechanisms;
The initial turning radius r 1 of the material passing through the adjusting device can be determined by the plane coordinate of the center of the guide mechanism and the orthographic projection coordinate of the center of the material on the conveying surface, and the initial turning radius r 1 is as follows: the distance from the orthographic projection of the geometric center of the material on the conveying surface to the center of the guide mechanism;
in the initial state, centrifugal force generated when materials are turned by the adjusting device is generated: ；
Maximum permissible speed of material passing through the regulating device in initial state ；
Maximum allowable centrifugal force when the material is diverted through the adjusting device: ；
Wherein, Is the friction coefficient between the material and the conveyor belt,/>Is the gravitational acceleration of the object.
2. A control method for a material conveying apparatus according to claim 1, characterized in that: the contour detection component is a visual detection device, the visual detection device is arranged right above the transmission device, and the direction of a lens in the visual detection device is opposite to or opposite to the conveying direction of the material.
3. A control method for a material conveying apparatus according to claim 1, characterized in that: the distance between adjacent detection units is a fixed value, and the detection units are opposite-incidence photoelectric sensors;
The opposite-type photoelectric sensor comprises a transmitting part and a receiving part, wherein the transmitting part and the receiving part of the same opposite-type photoelectric sensor are respectively arranged on two sides of the conveyor belt, and the direction of light rays emitted by the transmitting part is perpendicular to the conveying direction of the conveyor belt.
4. A control method for a material conveying apparatus according to claim 1, characterized in that: the side of the rotating seat, which is away from the base, is also provided with a controlled driving roller, the peripheral side of the driving roller is in abutting connection with the peripheral side of the conveying roller and is in transmission fit with the conveying roller, so that the conveying roller is driven to rotate, but each driving roller is only in transmission fit with a single conveying roller.
5. A control method for a material conveying apparatus according to claim 1, characterized in that: the controller is also provided with a dynamic control module which enables the real-time moving speed of the materialsApproaching the maximum allowable speed of the material.
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