CN114751119A - Garbage classification recycling bin compression mechanism with double drive units and leveling method thereof - Google Patents
Garbage classification recycling bin compression mechanism with double drive units and leveling method thereof Download PDFInfo
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- CN114751119A CN114751119A CN202210499286.7A CN202210499286A CN114751119A CN 114751119 A CN114751119 A CN 114751119A CN 202210499286 A CN202210499286 A CN 202210499286A CN 114751119 A CN114751119 A CN 114751119A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/14—Other constructional features; Accessories
- B65F1/1405—Compressing means incorporated in, or specially adapted for, refuse receptacles
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- 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
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/10—Waste collection, transportation, transfer or storage, e.g. segregated refuse collecting, electric or hybrid propulsion
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Abstract
The invention discloses a compression mechanism with dual drive units for a garbage classification recycling bin and a leveling method thereof, which relate to the technical field of compression mechanisms and comprise the following steps: obtaining a tilt value; judging whether the inclination value is within a preset error range or not, if not, determining a driving unit to be adjusted according to the inclination value, and transmitting a stop instruction to the driving unit to be adjusted; if the inclination value is within the preset error range, judging whether the driving unit is in a shutdown state, and if the driving unit is in the shutdown state, transmitting a starting instruction to the driving unit. Through opening in time and stopping drive unit, reduce the clamp plate and appear the appearance of the dead condition of card to guarantee that the clamp plate normally goes up and down.
Description
Technical Field
The invention relates to the technical field of compression mechanisms, in particular to a compression mechanism with dual drive units for a garbage classification recycling bin and a leveling method of the compression mechanism.
Background
Some solid waste is recyclable outer packaging materials for products, such as cartons, paper boxes, metal pop cans, beverage bottles, plastic containers, composite tetra Pak bags and the like, which are often disposable, light in weight, soft in texture and occupy a large space during storage.
At present in the industry can adopt the compression collection box to come to compress the recovery to foretell product extranal packing, the compression collection box installs drive unit and mobilizable clamp plate additional in the box, and regular or manual control drive unit drives the product extranal packing in the clamp plate extrusion incasement to reduce the volume of retrieving the thing, in order to hold more retrieves the thing.
Existing compression recovery tanks typically employ single or dual drive units. In the actual operation process, the compression mode of a single driving unit has the problems of low pressure and low compression efficiency, and cannot meet the operation requirement. Although the compression mode of the dual-drive unit has high pressure and high compression efficiency and can meet the operation requirement, the two drive units are asynchronous, so that the pressure plate can incline in the operation process to cause equipment halt, and the equipment can be damaged more seriously.
Disclosure of Invention
In order to reduce the damage of equipment, the application provides a compression mechanism of a garbage classification recycling bin with double driving units and a leveling method thereof.
In a first aspect, the application provides a leveling method for a compression mechanism of a garbage classification recycling bin with dual driving units, which adopts the following technical scheme:
A leveling method for a compression mechanism of a garbage classification recycling bin with double driving units comprises the following steps:
obtaining a tilt value;
judging whether the inclination value falls within a preset error range or not,
if the inclination value does not belong to the preset error range, determining a driving unit to be adjusted according to the inclination value, and transmitting a stop instruction to the driving unit to be adjusted;
if the inclination value is within the preset error range, judging whether the driving unit is in a shutdown state, and if the driving unit is in the shutdown state, transmitting a starting instruction to the driving unit.
Through the scheme, the inclination value represents the inclination state of the pressure plate, and when the inclination value does not belong to the error range, the pressure plate is indicated to be excessively inclined, so that the driving unit which runs too fast is determined to be the driving unit to be adjusted according to the inclination value, and then a stop instruction is transmitted to the driving unit to stop the operation of the driving unit, so that the pressure plate can be restored to balance; and when the inclination value belongs to the error range, the inclination degree of the pressure plate is not obvious, and the stopped driving unit is operated again to normally raise and lower the pressure plate. Through opening in time and stopping drive unit, reduce the clamp plate and appear the appearance of the dead condition of card to guarantee that the clamp plate normally goes up and down.
Optionally, the method further comprises the following steps:
if the driving unit is not in the shutdown state, judging whether the absolute value of the inclination value is larger than a pre-stored value or not,
if the absolute value of the inclination value is larger than the pre-stored numerical value, determining a driving unit to be adjusted according to the inclination value, transmitting a deceleration instruction to the driving unit, and updating the absolute value of the inclination value into a new pre-stored numerical value;
if the absolute value of the inclination value is less than or equal to the prestored numerical value, the absolute value of the inclination value is updated to a new prestored numerical value.
Optionally, after transmitting the shutdown command to the drive unit to be adjusted, the method further includes the following steps:
collecting the stretching amount of a driving unit in an operating state to obtain a group of arrays, wherein the arrays store a plurality of moving amounts which are arranged in sequence according to collecting time;
sequentially calculating the distance differences between adjacent moving quantities to obtain a set of distance differences, determining whether the set of distance differences is in a decreasing relationship,
and if the set of distance differences is in a decreasing relation, sending a backspacing instruction to the stopped driving unit.
Optionally, if the tilt value does not fall within the preset error range, the method further includes the following steps:
it is determined whether or not timing is currently present,
if the timing exists currently, maintaining the timing;
If timing does not exist currently, timing is started;
if the inclination value belongs to the preset error range, the method also comprises the following steps:
it is determined whether or not there is a timing currently,
if the timing exists currently, stopping timing;
and when the timing is finished, sending alarm information.
Optionally, before transmitting the deceleration command to the driving unit, the method further includes the following steps:
determining a change trend quantity according to the inclination value and a preset value, and determining the expected time required for reaching the error range boundary from the inclination value according to the change trend quantity;
acquiring the moved distance and the actual moving speed, determining the residual estimated distance according to the moved distance and the prestored height of the recovered object, and determining the estimated distance according to the estimated time and the actual moving speed; determining whether the estimated distance is less than the remaining estimated distance,
if the estimated distance is smaller than the residual estimated distance, transmitting a deceleration instruction to the driving unit;
if the estimated distance is greater than or equal to the remaining estimated distance, no deceleration command needs to be transmitted to the driven element.
Optionally, before determining the estimated time required for reaching the error range boundary from the inclination value according to the variation trend amount, the method further includes the following steps:
judging whether the change trend quantity exceeds a preset change threshold value, if so, executing the step of acquiring the moved distance quantity and the actual moving speed, and updating the preset change threshold value according to the change trend quantity;
And if the change trend amount is smaller than or equal to the preset change threshold, not acquiring the moved distance amount and the actual moving speed, and updating the preset change threshold according to the change trend amount.
Optionally, the method further comprises the following steps:
when the actual moving speeds of the two driving units in the starting state are both zero, acquiring the current moved distance quantity, judging whether the current moved distance quantity is lower than or equal to a preset warning value, and if the current moved distance quantity exceeds the preset warning value, updating the height of the prestored recovered object by the current moved distance quantity;
and if the current moved distance is lower than or equal to the preset warning value, resetting the pre-stored height of the recycled objects.
In a second aspect, the present application provides a garbage classification recycling bin compressing mechanism with dual driving units, which adopts the following technical scheme:
a compression mechanism with dual drive units for a garbage classification recycling bin comprises a bin body, a drive unit, a processor and a pressing plate piece;
the box body is provided with a recovery tank with an upward opening, the number of the driving units is two, the two driving units are respectively fixed on the outer walls of the two sides of the box body, the output shafts of the two driving units are vertically upward, and the box body is also provided with distance measuring equipment for detecting the extension amount of the output shafts of the driving units;
The pressing plate piece comprises a mounting plate, a connecting rod and a pressing plate, the two ends of the mounting plate are fixed to the end portions of the output shafts of the two driving units respectively, the connecting rod is perpendicular to the pressing plate, and the two ends of the connecting rod are fixed to the mounting plate and the pressing plate respectively. The mounting plate and the pressing plate are arranged in parallel, the pressing plate is positioned below the mounting plate, and the section of the pressing plate is smaller than the opening of the recovery tank; a horizontal sensor is arranged on the mounting plate;
the horizontal sensor, the distance measuring equipment and the driving unit are electrically connected with the processor;
the processor also stores a computer program, and the computer program is executed by the processor to realize the leveling method of the compression mechanism of the garbage classification recycling bin with the double driving units.
Optionally, the outer side wall of the box body is further provided with four racks arranged along the vertical direction, the four racks are grouped in pairs, and two groups of racks are respectively in one-to-one correspondence with the two driving units; the same group of racks and the corresponding driving units are arranged on the same outer side wall of the box body, and the two racks in the same group are respectively positioned on two sides of the corresponding driving units; the mounting plate is rotatably connected with four gears, the four gears correspond to the four racks one by one, and the gears are meshed with the corresponding racks.
Through the scheme, when the mounting plate is obviously inclined, the processor does not timely detect the inclination of the mounting plate and does not respond, so that the inclination of the mounting plate is continuously enlarged, the gear on the mounting plate is clamped with the corresponding rack at first, one side of the mounting plate where the gear is clamped cannot be continuously moved, the other side of the mounting plate can be continuously operated, and the inclination of the mounting plate is leveled to a certain degree. The mechanical leveling and the electric control leveling are combined, and the leveling capability of the mounting plate is further enhanced.
In a third aspect, the present application provides a computer readable storage medium storing a computer program that can be loaded by a processor and execute the leveling method of the trash classification recycling bin compression mechanism with the dual driving units.
In summary, when the inclination value does not fall within the error range, it indicates that the pressure plate has been excessively inclined, and therefore, it is necessary to determine the driving unit that has run too fast as the driving unit to be adjusted according to the inclination value, and then transmit a stop instruction to the driving unit to stop the operation of the driving unit, so that the pressure plate can be restored to balance; and when the inclination value belongs to the error range, the inclination degree of the pressure plate is not obvious, and the stopped driving unit is operated again to normally raise and lower the pressure plate. Through opening in time and stopping drive unit, reduce the clamp plate and appear the appearance of the dead condition of card to the guarantee clamp plate is normally gone up and down.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present application.
Fig. 2 is a block diagram of steps of an embodiment of the present application.
Description of the reference numerals:
1. a box body; 2. a drive unit; 3. mounting a plate; 4. a connecting rod; 5. pressing a plate; 6. a rack; 7. a gear.
Detailed Description
The present application is described in further detail below with reference to fig. 1-2.
The embodiment of the application provides a leveling method which is applied to a compression mechanism with double driving units. Referring to fig. 1, the compressing mechanism with the dual driving unit includes a case 1, a driving unit 2, and a pressing plate 5. The driving unit 2 may be a hydraulic cylinder, an electric cylinder, or other common driving devices, in this embodiment, the driving unit 2 is a hydraulic cylinder, and further, the driving unit 2 is an oil cylinder.
5 clamp plates include mounting panel 3, connecting rod 4 and clamp plate 5, and mounting panel 3 and clamp plate 5 parallel arrangement, connecting rod 4 perpendicular to clamp plate 5, and the both ends of connecting rod 4 are fixed respectively on mounting panel 3 and clamp plate 5. The box body 1 is provided with a recovery tank with an upward opening. The number of the driving units 2 is two, and the two driving units 2 are respectively fixed on the outer walls of the two sides of the box body 1. The output shafts of the two driving units 2 are vertically upward and fixed at two ends of the mounting plate 3 respectively. The pressure plate 5 is positioned below the mounting plate 3 and the cross section of the pressure plate 5 is smaller than the opening of the recovery tank.
In addition, a level sensor is mounted on the mounting plate 3. When the output shafts of the two drive units 2 are simultaneously extended or simultaneously contracted by the same length, the mounting plate 3 maintains a horizontal state, and the level sensor outputs a signal representing the level. When there is a significant difference in the length of extension and retraction of the output shafts of the two drive units 2, the level sensor outputs a signal representing the inclination. For ease of understanding, in the present embodiment, the two drive units 2 are named a drive unit 2A and a drive unit 2B, respectively.
A leveling method for a compression mechanism of a garbage classification recycling bin with double driving units is disclosed, and referring to fig. 2, the leveling method comprises the following steps:
and S100, acquiring a tilt value.
The tilt value is obtained from a level sensor on the mounting plate 3. And the acquisition of the inclination value is carried out at intervals, the intervals are related to the expansion and contraction speed of the output shaft of the driving unit 2 and are only related to the maximum expansion and contraction speed of the two driving units 2, and specifically, the faster the expansion and contraction speed is, the shorter the intervals are; and the slower the telescoping speed, the longer the interval time.
In order to improve the accuracy, a plurality of level sensors may be mounted on the mounting plate 3, and in this case, the inclination value may correspond to a median value of the output signals of the plurality of level sensors or may correspond to a mean value of the output signals of the plurality of level sensors.
There are two cases in which the mounting plate 3 is connected to the driving unit 2A at an end lower than the end connected to the driving unit 2B or the mounting plate 3 is connected to the driving unit 2A at an end higher than the end connected to the driving unit 2B due to the inclined manner of the mounting plate 3. This results in the tilt value being either a positive or negative number, where a positive value corresponds to the former case and a negative value corresponds to the latter case. Therefore, before determining the degree of inclination of the mounting plate 3, it is often necessary to distinguish whether the inclination value is positive or negative. If the inclination value is positive, the larger the inclination value is, the larger the inclination of the mounting plate 3 is, and the lower the height of the end of the mounting plate 3 connected to the driving unit 2A is; if the inclination value is negative, the smaller the inclination value is, the lower the end of the mounting plate 3 connected to the drive unit 2B is. Of course, the probability of the inclination value is 0, and both ends of the mounting plate 3 are located at the same horizontal plane.
And S200, judging whether the inclination value is within a preset error range.
The preset error range refers to the range of the inclination value allowed by the mounting plate 3 in the lifting process. The preset error range is set manually. For example, the error range is-10 degrees to 10 degrees.
When the inclination value is within the preset error range, the inclination of the mounting plate 3 at the moment can be received, and the normal operation of the mounting plate 3 is not easily interfered; when the inclination value does not fall within the preset error range, it indicates that the mounting plate 3 is obviously inclined at this time, the mounting plate 3 easily touches the side wall of the box body 1, and the current inclination of the mounting plate 3 is to be avoided as much as possible.
And S300, if the inclination value does not belong to the preset error range, determining the driving unit 2 to be adjusted according to the inclination value, and transmitting a stop instruction to the driving unit 2 to be adjusted.
The drive unit 2 to be adjusted is the drive unit 2 that is running too fast and needs to be paused.
Determining the drive unit 2 to be adjusted on the basis of the tilt value means that the particular drive unit 2 is determined on the basis of the positive or negative tilt value.
Of course, when determining the drive unit 2 to be adjusted on the basis of the inclination value, it is necessary to determine it in conjunction with the operating state of the mounting plate 3.
For example, if the mounting plate 3 is lifted, and the inclination value at this time is positive, the end of the mounting plate 3 connected to the driving unit 2A is lower than the end connected to the driving unit 2B, which means that the extension speed of the output shaft of the driving unit 2B is too fast, and it is necessary to temporarily stop the operation of the driving unit 2B until the output shaft of the driving unit 2A extends to a corresponding position, in which case the driving unit 2 to be adjusted is the driving unit 2B.
If the inclination value of the mounting plate 3 is still positive during the descending process, and the end of the mounting plate 3 connected with the driving unit 2A is lower than the end connected with the driving unit 2B, it means that the contraction speed of the output shaft of the driving unit 2A is too fast, and the operation of the driving unit 2A needs to be temporarily stopped until the output shaft of the driving unit 2B extends to the corresponding position, in which case the driving unit 2 to be adjusted is the driving unit 2A.
The drive unit 2 to be adjusted will pause operation and keep the output shaft in the current position after receiving the stop command.
In one embodiment, after transmitting the shutdown command to the drive unit 2 to be regulated, the method further comprises the following steps:
and S310, collecting the stretching amount of the driving unit 2 in the running state to obtain a group of number series, wherein the number series stores a plurality of moving amounts which are arranged in sequence according to the collecting time.
And S320, sequentially calculating the distance difference between the adjacent moving amounts to obtain a group of distance differences, and judging whether the group of distance differences are in a descending relation.
And S330, if the set of distance differences is in a decreasing relation, sending a rollback instruction to the stopped driving unit 2.
The purpose of the above-mentioned steps is to monitor the operation of the other drive unit 2 after the adjusted drive unit 2 has been shut down. The acquisition of the amount of expansion and contraction of the driving unit 2 in the operating state means that the moving distance of the output shaft of the driving unit 2 is detected by a distance measuring device such as an encoder, and the interval time for acquiring the amount of expansion and contraction is shorter than the interval time for acquiring the inclination value.
The decreasing relationship means that the data in the set of distance differences each satisfy that the previous data is greater than or equal to the adjacent next data.
If the distance difference is in a decreasing relation, the output shaft of the driving unit 2 corresponding to the distance difference is considered to be difficult to operate, the output shaft is judged to be due to the fact that the mounting plate 3 is clamped on the side wall of the box body 1, in order to reduce the probability that the driving unit 2 and the box body 1 are damaged, a backspacing instruction is sent to the stopped driving unit 2, and after the driving unit 2 receives the backspacing instruction, the driving unit operates reversely to level the mounting plate 3 as much as possible.
And S400, if the inclination value is within the preset error range, judging whether the driving unit 2 is in a stop state, and if the driving unit 2 is in the stop state, transmitting a starting instruction to the driving unit 2.
When the inclination value falls within the preset error range and the driving unit 2 is in the stop state, it indicates that the mounting plate 3 has adjusted from the obvious inclination back to the inclination within the allowable range, and therefore, a start instruction is transmitted to the driving unit 2 which has been stopped, and the driving unit 2 which has been stopped resumes operation after receiving the start instruction.
In one embodiment, if the inclination value falls within a preset error range, determining whether there is a shutdown state of the driving unit 2, further comprises the following steps:
And S410, if the driving unit 2 is not in the stop state, judging whether the absolute value of the inclination value is larger than a pre-stored numerical value or not.
The prestored values are absolute values that are prestored. And the pre-stored numerical value is bound to fall within the preset error range.
S420, if the absolute value of the inclination value is greater than the pre-stored value, determining the driving unit 2 to be adjusted according to the inclination value, transmitting a deceleration command to the driving unit 2, and updating the absolute value of the inclination value to a new pre-stored value.
If the absolute value of the inclination value is larger than the pre-stored value, no matter whether the inclination value is a positive number or a negative number, the inclination value indicates that the inclination of the mounting plate 3 is larger than the inclination represented by the pre-stored value, which indicates that the inclination of the mounting plate 3 tends to be enlarged, so that the occurrence of the jamming is reduced by decelerating the corresponding driving unit 2 in advance.
In addition, the absolute value of the current inclination value is updated to a new pre-stored numerical value, so as to be better compared with the absolute value of the inclination value acquired next time, so that the change between two adjacent inclination values can be more flexibly and accurately analyzed.
And S430, if the absolute value of the inclination value is less than or equal to the pre-stored value, updating the absolute value of the inclination value to a new pre-stored value.
Further, since the step of determining whether the absolute value of the inclination value is larger than the pre-stored value needs to be performed in the case where "no drive unit 2 is in the stopped state", when the transition is made from the case where "no drive unit 2 is in the stopped state" to the case where "the drive unit 2 is in the stopped state", the pre-stored value is the absolute value of the last inclination value in the case where "no drive unit 2 is in the stopped state". However, when the next time the situation of "no drive unit 2 is in the off state" is resumed, the previously retained preset value is not necessarily associated with the current inclination value, i.e. when the operating state is switched, it is not necessary to retain the preset value.
Therefore, in step S400, if the driving unit 2 is in the shutdown state, the driving unit 2 clears the current prestored value after the restart after the start command is transmitted to the driving unit 2.
Before judging whether the absolute value of the inclination value is larger than a pre-stored numerical value, the method also comprises the following steps:
s411, judging whether a prestored numerical value exists or not.
And S412, if no pre-stored numerical value exists, determining that the absolute value of the inclination value is less than or equal to the pre-stored numerical value.
S413, if there is a pre-stored value, determining whether the absolute value of the slope is greater than the pre-stored value.
After the drive unit 2 is restarted, the absolute value of the tilt value acquired for the first time will be taken as new pre-stored data.
In one embodiment, before transmitting the deceleration command to the drive unit 2, the method further comprises the following steps:
and S421, determining a variation trend quantity according to the inclination value and a preset value, and determining the expected time required for reaching the error range boundary from the inclination value according to the variation trend quantity.
The amount of variation is actually a difference of the absolute value of the inclination value minus a preset value, and since the absolute value of the inclination value is necessarily larger than the preset value in this step, the amount of variation is necessarily a positive number.
The preset time is calculated in the following way: the shortest difference is determined based on the boundary of the error range and the current tilt value, e.g., the current tilt value is 15, the error range is-10 to 10, the difference from the tilt value to the upper limit is 5, and the difference from the tilt value to the lower limit is 25, so the shortest difference at this time is 5. And finally, multiplying the change times by the acquisition interval time of the current inclination value to obtain preset time.
Because the preset numerical value is an absolute value, the positive and negative of the last inclination value cannot be determined, so that the positive and negative of the currently acquired inclination value are also ignored, and a certain error exists in the calculated variation trend. If more accurate prediction is needed, the corresponding inclination value can be recorded as the historical value when the preset value is updated, and the historical value and the current inclination value are used for subtraction calculation when the change trend amount is calculated.
S422, the moved distance and the actual moving speed are obtained, the residual estimated distance is determined according to the moved distance and the pre-stored height of the recovered object, and the estimated distance is determined according to the estimated time and the actual moving speed; and judging whether the estimated distance is smaller than the residual estimated distance.
The expected distance is calculated from the standard distance minus the distance traveled and the pre-stored height of the recyclate. Wherein, the standard distance is fixed, namely the distance between the pressing plate 5 and the bottom of the box body 1 after the driving unit 2 is fully extended.
The actual moving speed refers to the extension and contraction speed of the output shaft of the drive unit 2.
The actual moving speed can be detected in real time by adding a speed measuring device on the compression mechanism, or can be determined according to the current output power of the driving unit 2. Although the output power of the driving unit 2 is different during normal starting and deceleration operations, the value of the output power may be the same as or close to the preset output power, and the output power of the driving unit 2 is proportional to the stretching speed of the output shaft of the driving unit 2, so that the actual moving speed can be determined by acquiring the current working state of the driving unit 2.
S423, if the estimated distance is smaller than the remaining estimated distance, transmitting a deceleration command to the driving unit 2.
When the estimated distance is smaller than the remaining estimated distance, it is indicated that the mounting plate 3 is likely to be jammed before the pressing plate 5 touches the recovered object without decelerating the driving unit 2, and thus it is necessary to avoid the jam in advance.
S424, if the estimated distance is greater than or equal to the remaining estimated distance, no deceleration command needs to be transmitted to the driven element.
When the estimated distance is greater than or equal to the remaining estimated distance, it is indicated that the mounting plate 3 is less likely to be jammed before the pressing plate 5 hits the retrieved object without decelerating the driving unit 2, and therefore, it is not necessary to transmit a deceleration command.
Wherein, before determining the estimated time required for reaching the error range boundary from the inclination value according to the change trend quantity, the method further comprises the following steps:
and judging whether the variation trend quantity exceeds a preset variation threshold value or not.
And if the change trend quantity exceeds a preset change threshold value, executing the step of acquiring the moved distance quantity and the actual moving speed, and updating the preset change threshold value according to the change trend quantity.
And if the change trend amount is less than or equal to the preset change threshold, not acquiring the moved distance amount and the actual moving speed, and updating the preset change threshold according to the change trend amount.
The preset change threshold is the change trend amount calculated by last obtaining the inclination value.
When the variation trend amount exceeds the preset variation threshold, it indicates that the inclination of the mounting plate 3 corresponding to the current variation trend amount has changed greatly from the previous one. The estimated distance calculated originally corresponds to the last change trend, and therefore, the estimated distance is no longer suitable for the current change trend, and it is necessary to calculate the estimated distance again.
When the variation trend amount is smaller than or equal to the preset variation threshold, if the speed reduction is not needed last time, the speed reduction operation is not needed even more this time. If the last deceleration operation is performed, the last deceleration operation has a certain effect, and the recalculation is not performed temporarily in order to save the calculation.
In addition, the determination of the height of the prestored reclaimed materials comprises the following steps:
when the actual moving speeds of the two driving units 2 in the starting state are both zero, acquiring the current moved distance quantity, judging whether the current moved distance quantity is lower than or equal to a preset warning value, and if the current moved distance quantity exceeds the preset warning value, updating the height of the prestored recovered object by the current moved distance quantity;
And if the current moved distance is lower than or equal to the preset warning value, resetting the pre-stored height of the recycled objects.
The preset warning value is the distance from the notch of the recovery tank to the pressure plate 5 when the output shaft of the drive unit 2 extends to the longest.
And judging whether the current moved distance amount is lower than or equal to a preset alarm value or not, namely judging whether the recycling groove is filled with the compressed recyclable matters or not.
When the current moved distance is lower than or equal to the preset warning value, indicating that the recovery tank is full of compressed recyclables, an alarm is issued to notify the operator to process the recyclables and the pre-stored height of the recyclables is cleared.
The current distance moved exceeds a preset warning value, which indicates that the recycling tank can also contain recyclable materials, and the current distance moved updates the height of the prestored recyclable materials so as to facilitate the next more accurate calculation of the estimated distance.
When judging that mounting panel 3 card is dead, nevertheless whether move very fast drive unit 2 and shut down in order to wait for another drive unit 2 to move, still move very fast drive unit 2 and adopt the mode of falling back and all can't accomplish level and mean, in order to further cause the equipment damage, need the manual work to intervene.
In one embodiment, if the tilt value does not fall within the predetermined error range, the method further comprises the following steps: judging whether timing exists at present, and if so, maintaining the timing; and if the timing does not exist currently, starting timing.
Correspondingly, if the inclination value belongs to the preset error range, the method further comprises the following steps: and judging whether timing exists currently, and if so, stopping timing.
And when the timing is finished, sending alarm information.
The timing time is set manually and generally needs to cover the interval of at least two times of obtaining the inclination value.
The embodiment of the application also provides a compression mechanism of the garbage classification recycling bin with the double driving units, and the compression mechanism comprises a bin body 1, a driving unit 2, a processor and a pressing plate 5 pieces, and is shown in the figure 1.
The box body 1 is provided with a recovery tank with an upward opening. The number of the driving units 2 is two, and the two driving units 2 are respectively fixed on the outer walls of the two sides of the box body 1. The output shafts of the two driving units 2 are vertical upwards, and distance measuring equipment for detecting the telescopic amount of the output shafts of the driving units 2 is further installed on the box body 1. The distance measuring equipment can adopt various detection devices such as a displacement sensor, an encoder and the like.
5 clamp plates include mounting panel 3, connecting rod 4 and clamp plate 5, and the both ends of mounting panel 3 are fixed respectively on the tip of 2 output shafts of two drive unit, and connecting rod 4 perpendicular to clamp plate 5, and the both ends of connecting rod 4 are fixed respectively on mounting panel 3 and clamp plate 5. The mounting plate 3 and the pressing plate 5 are arranged in parallel, the pressing plate 5 is positioned below the mounting plate 3, and the section of the pressing plate 5 is smaller than the opening of the recovery tank. In addition, a level sensor is mounted on the mounting plate 3.
The horizontal sensor, the distance measuring equipment and the driving unit 2 are all electrically connected with the processor.
The processor is used for loading and executing the computer program with the method.
In addition, four racks 6 arranged in the vertical direction are further arranged on the outer side wall of the box body 1, every two of the four racks 6 are in one group, two groups of racks 6 are respectively in one-to-one correspondence with the two driving units 2, and one group of racks 6 and the corresponding driving units 2 are arranged on the same outer side wall of the box body 1. The two racks 6 of the same group are respectively positioned at both sides of the corresponding driving unit 2. The mounting plate 3 is rotatably connected with four gears 7, the four gears 7 correspond to the four racks 6 one by one, and the gears 7 are meshed with the corresponding racks 6.
Embodiments of the present application further provide a computer-readable storage medium storing a computer program that can be loaded by a processor and execute the above method.
The above are preferred embodiments of the present application, and the scope of protection of the present application is not limited thereto, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (10)
1. A leveling method for a compression mechanism of a garbage classification recycling bin with double driving units is characterized by comprising the following steps:
Obtaining a tilt value;
judging whether the inclination value falls within a preset error range or not,
if the inclination value does not belong to the preset error range, determining the driving unit (2) to be adjusted according to the inclination value, and transmitting a stop instruction to the driving unit (2) to be adjusted;
if the inclination value is within the preset error range, judging whether the driving unit (2) is in a stop state or not, and if the driving unit (2) is in the stop state, transmitting a starting instruction to the driving unit (2).
2. The method for leveling the compressing mechanism of the garbage classification recycling bin with the dual driving units according to claim 1, is characterized by further comprising the following steps:
if the driving unit (2) is not in the stop state, judging whether the absolute value of the inclination value is larger than a pre-stored value or not,
if the absolute value of the inclination value is larger than the pre-stored value, determining a driving unit (2) to be adjusted according to the inclination value, transmitting a deceleration instruction to the driving unit (2), and updating the absolute value of the inclination value into a new pre-stored value;
and if the absolute value of the inclination value is less than or equal to the pre-stored numerical value, updating the absolute value of the inclination value to a new pre-stored numerical value.
3. The method for leveling the compacting mechanism of a refuse sorting and recycling bin with double drive units according to claim 1, characterized in that after transmitting a stop command to the drive unit (2) to be regulated, it comprises the following steps:
Collecting the stretching amount of the driving unit (2) in the running state to obtain a group of series, wherein the series stores a plurality of moving amounts which are arranged in sequence according to the collecting time;
sequentially calculating the distance differences between adjacent moving quantities to obtain a set of distance differences, determining whether the set of distance differences is in a decreasing relationship,
if the set of distance differences is in a decreasing relationship, a rollback instruction is sent to the stopped drive unit (2).
4. The leveling method of the compressing mechanism of the garbage classification recycling bin with the double driving units according to claim 1 is characterized in that:
if the inclination value does not belong to the preset error range, the method also comprises the following steps:
it is determined whether or not timing is currently present,
if the timing exists currently, maintaining the timing;
if the timing does not exist at present, timing is started;
if the inclination value belongs to the preset error range, the method also comprises the following steps:
it is determined whether or not there is a timing currently,
if the timing exists currently, stopping timing;
and when the timing is finished, sending alarm information.
5. The method for leveling the compressing mechanism of the garbage classification recycling bin with the dual driving units according to claim 2,
before transmitting a deceleration command to the drive unit (2), the method further comprises the following steps:
Determining a change trend quantity according to the inclination value and a preset value, and determining the predicted time required for reaching the error range boundary from the inclination value according to the change trend quantity;
acquiring the moved distance and the actual moving speed, determining the residual estimated distance according to the moved distance and the height of the prestored recovered object, and determining the estimated distance according to the estimated time and the actual moving speed; determining whether the estimated distance is less than the remaining estimated distance,
if the estimated distance is smaller than the residual estimated distance, transmitting a deceleration command to the driving unit (2);
if the estimated distance is greater than or equal to the remaining estimated distance, no deceleration command need be transmitted to the drive.
6. The method for leveling the compressing mechanism of the garbage classification recycling bin with the dual driving units according to claim 5, is characterized in that: before determining the predicted time required for reaching the error range boundary from the inclination value according to the variation trend amount, the method further comprises the following steps:
judging whether the change trend quantity exceeds a preset change threshold value, if so, executing the step of acquiring the moved distance quantity and the actual moving speed, and updating the preset change threshold value according to the change trend quantity;
And if the change trend amount is less than or equal to the preset change threshold, not acquiring the moved distance amount and the actual moving speed, and updating the preset change threshold according to the change trend amount.
7. The method for leveling the compressing mechanism of the garbage classification and recycling bin with the dual driving units according to claim 5, is characterized by further comprising the following steps:
when the actual moving speeds of the two driving units (2) in the starting state are both zero, acquiring the current moved distance quantity, judging whether the current moved distance quantity is lower than or equal to a preset warning value, and if the current moved distance quantity exceeds the preset warning value, updating the prestored height of the recovered object by the current moved distance quantity;
and if the current moved distance is lower than or equal to the preset warning value, resetting the pre-stored height of the recycled objects.
8. The utility model provides a waste classification collection box compressing mechanism with dual drive unit which characterized in that: comprises a box body (1), a driving unit (2), a processor and a pressing plate (5);
the box body (1) is provided with a recovery tank with an upward opening, the number of the driving units (2) is two, the two driving units (2) are respectively fixed on the outer walls of the two sides of the box body (1), the output shafts of the two driving units (2) are both vertically upward, and distance measuring equipment for detecting the telescopic amount of the output shafts of the driving units (2) is further installed on the box body (1);
The pressing plate (5) comprises a mounting plate (3), a connecting rod (4) and a pressing plate (5), the two ends of the mounting plate (3) are fixed on the end portions of the output shafts of the two driving units (2) respectively, the connecting rod (4) is perpendicular to the pressing plate (5), and the two ends of the connecting rod (4) are fixed on the mounting plate (3) and the pressing plate (5) respectively. The mounting plate (3) and the pressing plate (5) are arranged in parallel, the pressing plate (5) is positioned below the mounting plate (3), and the section of the pressing plate (5) is smaller than the opening of the recovery tank; a horizontal sensor is arranged on the mounting plate (3);
the horizontal sensor, the distance measuring equipment and the driving unit (2) are electrically connected with the processor;
the processor also stores a computer program which when executed by the processor implements a method of leveling the trash classification recycling bin compaction mechanism with dual drive units as described in any one of claims 1 to 7.
9. The trash classification recycling bin compressing mechanism with the dual driving units as claimed in claim 8, wherein: the outer side wall of the box body (1) is also provided with four racks (6) arranged along the vertical direction, every two of the four racks (6) are in a group, and the two groups of racks (6) are respectively in one-to-one correspondence with the two driving units (2); the same group of racks (6) and the corresponding driving units (2) are arranged on the same outer side wall of the box body (1), and the two same group of racks (6) are respectively positioned at two sides of the corresponding driving units (2); the mounting plate (3) is connected with four gears (7) in a rotating mode, the four gears (7) correspond to the four racks (6) one by one, and the gears (7) are meshed with the corresponding racks (6).
10. A computer-readable storage medium storing a computer program that can be loaded by a processor and execute the method of leveling the trash classification recycling bin compression mechanism with dual drive units of any one of claims 1-7.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210499286.7A CN114751119B (en) | 2022-05-09 | 2022-05-09 | Garbage classification recycling bin compression mechanism with double drive units and leveling method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210499286.7A CN114751119B (en) | 2022-05-09 | 2022-05-09 | Garbage classification recycling bin compression mechanism with double drive units and leveling method thereof |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN210050135U (en) * | 2019-06-27 | 2020-02-11 | 江西特种汽车有限责任公司 | Differential device of hydraulic control system for lifting compression station box body |
| CN113859566A (en) * | 2021-10-29 | 2021-12-31 | 中国兵器装备集团自动化研究所有限公司 | Vehicle-mounted unmanned aerial vehicle lifting leveling take-off and landing platform, device and method |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN210050135U (en) * | 2019-06-27 | 2020-02-11 | 江西特种汽车有限责任公司 | Differential device of hydraulic control system for lifting compression station box body |
| CN113859566A (en) * | 2021-10-29 | 2021-12-31 | 中国兵器装备集团自动化研究所有限公司 | Vehicle-mounted unmanned aerial vehicle lifting leveling take-off and landing platform, device and method |
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| CN114751119B (en) | 2023-03-31 |
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