CN101452265B - Real time on-line auto-calibration method and device - Google Patents
Real time on-line auto-calibration method and device Download PDFInfo
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- CN101452265B CN101452265B CN2007101717168A CN200710171716A CN101452265B CN 101452265 B CN101452265 B CN 101452265B CN 2007101717168 A CN2007101717168 A CN 2007101717168A CN 200710171716 A CN200710171716 A CN 200710171716A CN 101452265 B CN101452265 B CN 101452265B
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Abstract
The invention relates to a real-time online automatic calibration method and a device thereof, wherein the real-time online automatic calibration device comprises a measuring device which is used for measuring conveying length of conveyed material on a conveying system at real time and producing measured feeding distance data; a marking device which is used for marking the conveyed material at a proper position; a detection device which is used for detecting a mark made on the conveyed material by the marking device and producing a detection signal; and a control device which is used for calculating the actual feeding distance data of the conveyed material according to the detection signal, comparing the measured feeding distance data and the actual feeding distance data so as to acquire an actual feeding distance error, and correcting conveying control parameters according to the error. The real-time online automatic calibration method and the real-time online automatic calibration device can correct in real time material feeding errors caused by equipment replacement, driving chain wear, transmission error, and the like and ensure feeding accuracy.
Description
Technical field
The present invention relates to real time on-line auto-calibration method and device, relate in particular to a kind of real time on-line auto-calibration method and device that is used for material transfer equipment.
Background technology
In the mass transport field, for example at the roll forming manufacture field, friction gearing is a kind of widely used kind of drive.Generally, fricting movement can be decomposed into two kinds of forms of motion: roll and slide.When fricting movement was pure rolling, motion can be transmitted accurately; When fricting movement was pure slip, motion can not be transmitted fully.In concrete fricting movement, the ratio of these two kinds of forms of motion is relevant with a lot of factors, and for example, rolling is to the normal pressure of material, its surface nature, degree of lubrication, humidity, dust etc.In commercial production, these correlative factors all are dynamic changes, for example, and the temperature variation of wearing and tearing, the friction surface gradually of dummy roll etc.These factors can be left in the basket in general friction gearing, but in the occasion that transmission accuracy is had relatively high expectations or transmission stability is had relatively high expectations, only rely on friction transmission itself often to be difficult to meet the requirements.After rod is rolled in the transmission of wearing and tearing changing,, need demarcate again simultaneously the coefficient of kinematic train owing to roll the difference of rod manufacturing accuracy.And this demarcation need repeat repeatedly to carry out, and need expend a large amount of time and efforts, but machining precision is still lower.
The feasible demand that objectively exists automatic calibration and real-time online calibration steps and system of these reasons.
Summary of the invention
According to an aspect of the present invention, provide a kind of real time on-line auto-calibration device, comprising:
Measurement mechanism in order to be sent the delivered length of material on the real-time measurement induction system, produces the feed distance data of measuring;
Labelling apparatus is done mark being sent on the appropriate location of material;
Pick-up unit detects described labelling apparatus at the mark of being done by sending on the material, and produces detection signal;
Control device calculates the actual feed distance data of being sent material according to described detection signal, and the feed distance data of more described measurement obtain actual feed distance error with the feed distance data of reality, and carry controlled variable according to described error correction.
According to above-mentioned real time on-line auto-calibration device, described pick-up unit comprises producing the first sensor of first detection signal when sensing described mark respectively and producing second sensor of second detection signal of being provided with at interval.
According to above-mentioned real time on-line auto-calibration device, the described first sensor of described labelling apparatus double as produces first detection signal.
According to above-mentioned real time on-line auto-calibration device, described control device is controlled described labelling apparatus and is made marks in the appropriate location of being sent material according to the measured value of control strategy and measurement mechanism.
According to a further aspect in the invention, provide a kind of real time on-line auto-calibration method, comprise the steps:
A. measure the delivered length of being sent material, produce a measured value;
B. sent on the material at quilt and made marks;
C. when detecting described mark, send a detection signal;
D. when receiving described detection signal, read described measured value;
E. the quilt that obtains to measure according to the measured value that reads send material feed distance data, and send material feed distance data according to the actual quilt of detection signal acquisition;
F. the quilt that compares and measures send the quilt of material feed distance data and reality to send material feed distance data to obtain actual feeding error;
G. when judging actual feeding error, revise and carry control coefrficient greater than preset range.
According to above-mentioned real time on-line auto-calibration method, described step b comprises and making marks in the appropriate location of being sent material according to control strategy and measured value.
According to above-mentioned real time on-line auto-calibration method, described step c comprises send detection signal twice when detecting described mark twice; Described steps d comprises when receiving described detection signal twice and to read described measured value twice.
According to real time on-line auto-calibration method of the present invention and real time on-line auto-calibration device, can revise in real time because the material feeding error that more exchange device, driving-chain wearing and tearing, driving error or the like cause, guarantee the accuracy of feeding.
Description of drawings
Fig. 1 is the system chart of expression according to a real time on-line auto-calibration method of the present invention and device.
Fig. 2 is the structural representation of expression according to the embodiment of a real time on-line auto-calibration device of the present invention.
Fig. 3 is the schematic process flow diagram of expression according to real time on-line auto-calibration method of the present invention.
Fig. 4 is that expression is according to process flow diagram that the mark mark is handled in the real time on-line auto-calibration method of the present invention.
Fig. 5 is that expression is according to process flow diagram that marker detection is handled in the real time on-line auto-calibration method of the present invention.
Embodiment
Below in conjunction with drawings and Examples real time on-line auto-calibration method of the present invention and device are specifically described.
Figure 1 shows that the system chart of real time on-line auto-calibration method of the present invention and device, it comprises: measurement mechanism in order to be sent the delivered length of material on the real-time measurement induction system, produces the feed distance data of measuring; Labelling apparatus is done mark being sent on the appropriate location of material; Pick-up unit detects described labelling apparatus at the mark of being done by sending on the material, and produces detection signal; Control device calculates the actual feed distance data of being sent material according to described detection signal, and the feed distance data of more described measurement obtain actual feed distance error with the feed distance data of reality, and carry controlled variable according to described error correction.
Fig. 2 is the structural drawing according to an embodiment of real time on-line auto-calibration device of the present invention.This real time on-line auto-calibration device is for example according to following but be not that only transmission path comprises that successively transmission rolls rod 201, measurement mechanism 204, labelling apparatus 205, pick-up unit 206 and control device 109 and propulsion system 207.Propulsion system 207 drive transmission and roll rod 201 rotations, and then are sent material 200 to travel forward by the friction gearing drive.In whole feeding process, measurement mechanism 204 relies on the effect of hold-down mechanism to be pressed on and is sent on the material 200, detects feed distance by friction gearing, and the feed distance data are sent to control device 109.Control system 109 makes marks being sent on the appropriate location of material 200 according to the measured value of measurement mechanism 204 and control strategy control mark device 205.Pick-up unit 206 includes known sensor 206a and the 206b of a pair of distance each other.When the same mark of making when labelling apparatus arrived the position of sensor 206a and 206b respectively, pick-up unit 206 sent detection signals to control device 109.Control system 109 reads the measured value of measurement mechanism 204 according to the detection signal of receiving, reads the difference of measured value and the known distance between sensor 206a, 206b according to twice, can draw the convey error of material.Because measurement mechanism 204 also is the feed length that relies on friction gearing to detect to be sent material 200, thereby can well react actual feeding situation.
Fig. 3 is the schematic process flow diagram of expression according to real time on-line auto-calibration method of the present invention.Referring to Fig. 3, step S11, measurement mechanism 204 is measured the delivered length of being sent material.Step S12, labelling apparatus 205 are sent on the material at quilt and are made marks.When detecting described mark, step S13, pick-up unit 206 send a detection signal to control device 109.Step S14, control device 109 reads the measured value that measurement mechanism 204 records when receiving described detection signal.Do step S15, control device 109 judge that the described detection signal that receives is the detection signal that detects for the second time? as not, process is returned step S13, waits for that pick-up unit 206 detects institute for the second time and makes marks.In this way, process enters step S16, the feed distance that control device 109 obtains measuring according to the measured value that reads for 2 times, and obtain actual feed distance according to 2 detection signals.Then, process enters step S17, and the feed distance and the actual feed distance that are compared and measured by control device 109 obtain actual feeding error.Then, do step S18, control device 109 judge that actual feeding error exceeds preset range? as not, process turns back to step S11, continues the measurement and the detection of next round.In this way, process enters step S19, is revised by control device 109 and carries control coefrficient.
Figure 4 shows that labelling apparatus 205 carries out the FB(flow block) that mark is handled.Step S21, control device 109 reads the measured value of measurement mechanism 204; Step S22, control device compares judgement with the measured value that reads and the mark spacing of setting; Step S23, when measured value reached the mark distance values of setting, control device sent marking signal, and did a series of mark at step S24 control mark device 205 on the material being sent.The mark spacing can be definite value, also can change.By the mark spacing that changes, control device promptly can detect and the irrelevant error of feed length, also can detect the error relevant with feed length.
Figure 5 shows that the marker detection process flow block diagram, this flow process is waken up when mark is by the first sensor 206a in the pick-up unit 206.Step S25, whether the control device judge mark is by first sensor 206a.In this way, enter step S26, control device is according to the feeding position of this moment under the value record of measurement mechanism 204.Step S27, control device is judged same marking whether by the second sensor S206b.In this way, step S28, control device note feeding position once more.Then, step S29, control device can draw feed distance by the position of noting for twice, can draw the error of feeding after known distance between itself and the first sensor 206a and the second sensor 206b is compared.Then, step S30, control device judge that the error obtain is whether in the feeding error range.If error in allowed limits, then control device is not done any action and is entered idle condition; If error exceeds the error range of permission, then enter step S31, enter idle condition after the corresponding feeding controlled variable of control device correction, wait for being waken up once more.For example, if propulsion system are stepper motor, then when detecting the error relevant, can be compensated by the conversion coefficient of change feed distance to pulse equivalency with feed length; When detecting the error that has nothing to do with feed length, can be by adding that on feed distance a constant is compensated.
By rational arrangement mark spacing and sensor between distance, system can obtain the better controlled performance and can not get muddled.
As a kind of conversion, the effect of the first sensor 206a of pick-up unit 206 also can be held a concurrent post by labelling apparatus 205.That is, can be with position, the position of labelling apparatus 205 as first sensor 206a, labelling apparatus 205 is considered as the detection signal first time that pick-up unit 206 records when making marks.
Certainly, according to above-mentioned principle of the present invention, those of ordinary skill in the art also can make various conversion and modification to this, but these conversion and modification all belong to scope of the present invention.
Claims (3)
1. real time on-line auto-calibration device comprises:
Measurement mechanism in order to be sent the delivered length of material on the real-time measurement induction system, produces the feed distance data of measuring;
Labelling apparatus is done mark being sent on the appropriate location of material;
Pick-up unit, detect described labelling apparatus at the mark of being done by sending on the material, and the generation detection signal, described pick-up unit comprises producing the first sensor of first detection signal when sensing described mark respectively and producing second sensor of second detection signal of being provided with at interval;
Control device, controlling described labelling apparatus according to the measured value of described measurement mechanism and control strategy makes marks on the described appropriate location of being sent material, when receiving described detection signal, read the measured value that described measurement mechanism records, calculate the actual feed distance data of being sent material according to described detection signal, the feed distance data of more described measurement obtain actual feed distance error with the feed distance data of reality, and carry controlled variable according to described error correction.
2. real time on-line auto-calibration device as claimed in claim 1 is characterized in that, the described first sensor of described labelling apparatus double as produces first detection signal.
3. a real time on-line auto-calibration method comprises the steps:
A. measure the delivered length of being sent material, produce a measured value;
B. be controlled on the described appropriate location of being sent material according to described measured value and control strategy and make marks;
C. when sensing described mark respectively, the first sensor that is provided with at interval by pick-up unit and second sensor produce first detection signal and second detection signal;
D. when receiving described detection signal, read described measured value;
E. the quilt that obtains to measure according to the measured value that reads send material feed distance data, and send material feed distance data according to the actual quilt of detection signal acquisition;
F. the quilt that compares and measures send the quilt of material feed distance data and reality to send material feed distance data to obtain actual feeding error;
G. when judging actual feeding error, revise and carry control coefrficient greater than preset range.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101717168A CN101452265B (en) | 2007-12-04 | 2007-12-04 | Real time on-line auto-calibration method and device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101717168A CN101452265B (en) | 2007-12-04 | 2007-12-04 | Real time on-line auto-calibration method and device |
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| Publication Number | Publication Date |
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| CN101452265A CN101452265A (en) | 2009-06-10 |
| CN101452265B true CN101452265B (en) | 2011-12-21 |
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| CN2007101717168A Expired - Fee Related CN101452265B (en) | 2007-12-04 | 2007-12-04 | Real time on-line auto-calibration method and device |
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| CN108720611B (en) * | 2017-04-13 | 2020-10-02 | 费伦扎拓Mc有限公司 | Automatic and continuous dose calibration coffee bean grinding and dosing method and apparatus |
| CN109454648A (en) * | 2018-11-27 | 2019-03-12 | 栖霞龙蒲五金有限责任公司 | Intelligent robot system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2000043797A1 (en) * | 1999-01-20 | 2000-07-27 | Robert Bosch Gmbh | Control device for controlling applications which are crucial to safety |
| CN1264047A (en) * | 1999-01-29 | 2000-08-23 | K·A·施莫沙尔公司 | Device for testing position |
| CN1418170A (en) * | 2000-03-16 | 2003-05-14 | 奥蒂斯电梯公司 | Leveling system for elevator |
| CN1843823A (en) * | 2006-04-19 | 2006-10-11 | 湖南理工学院 | Automatic positioning control system for station-arrival of subway train |
-
2007
- 2007-12-04 CN CN2007101717168A patent/CN101452265B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2000043797A1 (en) * | 1999-01-20 | 2000-07-27 | Robert Bosch Gmbh | Control device for controlling applications which are crucial to safety |
| CN1264047A (en) * | 1999-01-29 | 2000-08-23 | K·A·施莫沙尔公司 | Device for testing position |
| CN1418170A (en) * | 2000-03-16 | 2003-05-14 | 奥蒂斯电梯公司 | Leveling system for elevator |
| CN1843823A (en) * | 2006-04-19 | 2006-10-11 | 湖南理工学院 | Automatic positioning control system for station-arrival of subway train |
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| CN101452265A (en) | 2009-06-10 |
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Owner name: DING XIAOYUE Free format text: FORMER OWNER: SHANGHAI PRECISION HOUSES MANUFACTURING CO., LTD. Effective date: 20101230 |
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Effective date of registration: 20101230 Address after: 201401 Minhang export processing zone, No. 3111 West Ring Road, Shanghai, Fengxian District Applicant after: Ding Xiaoyue Address before: 201401 Minhang export processing zone, No. 3111 West Ring Road, Shanghai, Fengxian District Applicant before: Shanghai Precision Houses Manufacturing Co., Ltd. |
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