CN103207603B - Multi-pipeline transmission line automatic control system - Google Patents

Abstract

The present invention relates to pipeline transmission equipment, particularly multi-pipeline transmission line automatic control system, comprise workshop section one, workshop section two and workshop section three, workshop section one is positioned at workshop section two front end, and workshop section three is near workshop section two end; The operation one of processing, operation two, operation three is had successively from workshop section one to workshop section three; Power wheel is also provided with and whether pipeline is transferred to the proximity switch one on power wheel for detecting workshop section one, be used for the proximity switch two to four of the position of testing pipes, be used for the proximity switch five of safe spacing; The signal that whole system is sent according to proximity switch by PLC sends start and stop, acceleration and deceleration instruction to frequency converter, and meet corresponding time, distance according to technological requirement, realize the processing of same production line multiple operation, multi-pipeline, multiple speed, high efficiency automatic transmission pipeline, and the phenomenon such as to knock into the back that ensures can not collide in transmission process.

Description

Multi-pipeline transmission line automatic control system

Technical field

The present invention relates to pipeline transmission equipment, particularly a kind of multi-pipeline transmission line automatic control system.

Background technology

The direct start and stop motor of the many employings of transmission line of current pipeline, drive transmission line, so not only energy consumption is high, and impacts large to kinematic train, the article of easy damage equipment and transmission.The speed of transmission line is determined jointly by motor number of pole-pairs and speed reduction unit, once mechanical package has been debugged, its speed is unique, can not change; Speed in whole transmission line can not meet the control overflow of zones of different friction speed; The length of the device of transmission is definite value, can not automatically calculate its length to different length device, and automatically regulates the speed of each area segments.

Summary of the invention

The present invention is for solving the problems of the technologies described above, provide a kind of multi-pipeline transmission line automatic control system, this system can have the machining production line of three process automatically to control to one, the pipeline different to each batch of length can be met, automatically control, on every procedure, synchronization has pipeline in processing, the phenomenon such as to knock into the back and each duct section mustn't collide.

Technical scheme of the present invention is as follows:

Multi-pipeline transmission line automatic control system, is characterized in that: the transmission line of described system comprises workshop section one, workshop section two and workshop section three, and workshop section one is positioned at the front end of workshop section two, and workshop section three is positioned at the end of workshop section two; Be disposed with operation one, operation two, operation three from workshop section one to workshop section three, respectively difference processing carried out to the pipeline on transmission line by three process;

Being workshop section one to operation two again and again from the front end of transmission line, through operation, is workshop section two from operation two to operation three, from operation three to the end of transmission line be workshop section three; Power wheel on the transmission line that described workshop section one, workshop section two, workshop section three are corresponding is respectively driven by the frequency converter one of correspondence, frequency converter two, frequency converter three respectively;

Described transmission line is also provided with: whether be lowered to the proximity switch one on power wheel for testing pipes, for proximity switch two, proximity switch three, the proximity switch four of the position of testing pipes; Described proximity switch one is installed on the front end of workshop section one, and proximity switch two is installed on the front end of operation one, and proximity switch three is installed on the front end of operation two, and proximity switch four is installed on the front end of operation three.

Described Operation system setting has PLC, the time detecting the connection of all proximity switches, calculates the length of pipeline, and calculates the correlation time of per pass operation according to the length gauge of the pipeline calculated, control the start and stop of every procedure simultaneously with the data detected by PLC; Further, the instruction that all frequency converters send according to PLC, completion timing start and stop, stepless speed regulation, multistage speed control system.

The course of work of a described system transfers pipeline is as follows:

The first step, in workshop section one:

Pipeline is transferred on power wheel by tube-grasping device, and pipeline stops reliable, and the center of pipeline bottom surface overlaps with proximity switch one, and the distance of proximity switch one to transmission line front end is S ₅; Now proximity switch one detects existing pipeline on power wheel, and send instruction by PLC and start frequency converter one, frequency converter one drives the power wheel of workshop section one, and power wheel drives pipeline to move;

First, through acceleration time t ₂after, the speed of pipeline movement is V ₁, the output frequency of frequency converter one is f ₁, the distance S that pipeline advances ₄for: pipeline continues with speed V ₁at the uniform velocity move ahead until touch proximity switch two, the advance time is t ₃, the distance of advance is: S ₇=V ₁t ₃>=0;

Then, pipeline is with speed V ₁by the processing of operation one, the time of passing through is t ₄; The distance that pipeline completes the processing movement of operation one is: L=S ₈=V ₁t ₄, duct length is L; So far, pipeline completes the processing of operation one;

Then, after the variable-speed processing of frequency converter one, pipeline is through time t ₅after speed be V ₂, now frequency converter one output frequency is f ₂: $f_2=\frac{V_2\mathrm{pi}}{60},$ The distance of advancing is: $S_9=\frac{1}{2}(V_1-V_2)t_5;$

After this, pipeline is with speed V ₂travel at the uniform speed to operation two place, elapsed time t ₆, the distance of operation is: S ₁₀=V ₂t ₆; Enter workshop section two, before entering workshop section two, workshop section two starts, and the speed of workshop section two is identical with the speed of workshop section one, is V ₂; Pipeline is with speed V ₂elapsed time t ₇, by operation two, complete the processing of operation two, the distance of advancing around here is: L=S ₁₁=V ₂t ₇;

Second step, in workshop section two:

First, the power wheel of workshop section two by static startup, through time t ₁₀after acceleration, the output frequency of frequency converter two is f ₃, the speed of transmission pipeline is in order to ensure the smooth and easy processing by operation two of pipeline, so make the power wheel of workshop section two with speed V ₂stable operation; The power wheel parallel-adder settle-out time t of workshop section two ₁₁after, pipeline touches proximity switch three, and proximity switch three is turned on by the disconnect, and pipeline starts to enter workshop section two, wherein t ₁₁>=0;

When pipeline enters operation two, speed is V ₂, be t in the process time of operation two ₇, the distance of advance is: L=S ₁₁=V ₂t ₇, so far, pipeline completes the processing of operation two and departs from workshop section one completely;

Then, after the variable-speed processing of frequency converter two, pipeline is through time t ₁₂after speed be V ₃, now the output frequency of frequency converter two is f ₄, the distance of advance is:

After this, pipeline is with speed V ₃at the uniform velocity continue mobile, through time t ₁₃after, the distance that pipeline is advanced is: S ₁₃=V ₃t ₁₃, prepare to enter workshop section three, before entering workshop section three, workshop section three starts, and the speed of workshop section three is identical with the speed of workshop section two, is V ₃; Pipeline is with speed V ₃continue to move ahead, through time t ₁₄after, pipeline departs from workshop section two completely, all enters workshop section three, and the distance of advancing around here is: L=S ₁₄=V ₃t ₁₄;

3rd step, in workshop section three:

First, the power wheel of workshop section three by static startup, through time t ₁₇after acceleration, the output frequency of frequency converter three is f ₅, the speed of pipeline transmission is because the motor number of pole-pairs of whole transmission line, reduction gear ratio are all identical, in conjunction with formula f can be drawn ₄=f ₅; For ensureing the smooth and easy processing by operation three of pipeline, so the speed of workshop section three must be made with V ₃stable operation, through time t ₁₈after, pipeline touches proximity switch four, and proximity switch four is turned on by the disconnect, and pipeline starts to enter workshop section three, wherein t ₁₈>=0;

When pipeline enters workshop section three, speed is V ₃, be t in the process time of operation three ₁₄, the distance of advance is: L=S ₁₄=V ₃t ₁₄, so far, pipeline completes the processing of operation three and departs from workshop section two completely, and proximity switch four becomes disconnection from connection simultaneously;

Then, pipeline departs from after namely workshop section two all enter workshop section three completely, and pipeline is with speed V ₃the time at the uniform velocity moved ahead is t ₂₀, the distance of movement is: S ₁₆=V ₃t ₂₀, then PLC sends instruction and makes frequency converter three carry out reduction of speed process, elapsed time t ₁₉movement, speed is zero, then pipeline stop, the distance of this process pipeline movement is: before pipeline slows down, pipeline is always with speed V ₃at the uniform velocity front line time t ₂₀, the distance of operation is S ₁₆=V ₃t ₂₀; After pipeline stops, through time t ₂₁after, pipeline is gone out pipe device and is lifted away from transmission line.

In a first step, when pipeline all enters workshop section two, namely pipeline departs from workshop section for the moment completely, and frequency converter slows down at the beginning, and the power wheel of workshop section one reduces speed now, through time t ₈after, the power wheel of workshop section one slows down and is zero and stops reliable; Stand-by period t ₉after, PLC sends instruction, and the upper end of workshop section one starts to transfer another pipeline, through time t ₁after, another pipeline described is put on the power wheel of workshop section one, and stops reliable, and workshop section one carries out periodic duty.

In second step, when pipeline all enters workshop section three, when namely pipeline departs from workshop section two completely, frequency converter two reduces speed now, and the power wheel of workshop section two reduces speed now, through time t ₁₅after, the power wheel of workshop section two slows down and is zero and stops reliable; Stand-by period t ₁₆after, PLC sends instruction, starts the power wheel of workshop section two, through time t ₁₀after acceleration, the transmission speed of the power wheel of workshop section two is V ₂, and run t with this speed ₁₁after, continue to accept another pipeline from workshop section one, so carry out the cyclic process of operation two, wherein t ₁₁>=0.

In the third step, pipeline is lifted away from the time of transmission line is t ₂₁, the 3rd EOS, stand-by period t ₂₂after, PLC sends instruction and starts frequency converter three, and the power wheel of workshop section three starts again to start, through time t ₁₇after, the speed of the power wheel of workshop section three reaches V ₃, and with speed V ₃travel at the uniform speed t ₁₈after, continue to accept another pipeline from workshop section two, and by this reciprocation cycle, wherein t ₁₈>=0.

The cycle of described workshop section one is: T ₁=t ₁+ t ₂+ t ₃+ t ₄+ t ₅+ t ₆+ t ₇+ t ₈+ t ₉;

By the total length of workshop section one be: S ₁=L/2+S ₄+ S ₅+ S ₇+ S ₈+ S ₉+ S ₁₀can obtain:

$\begin{array}{c}{S}_1=\frac{L}{2}+\frac{V_1{t}_2}{2}+S_5+V_1{t}_3+L+\frac{(V_1-V_2)t_5}{2}+V_2{t}_6\\ =\frac{1}{2}[V_1(t_2+2t_3+t_5)+V_2(2t_6-t_5)]+S_5+L\\ =\frac{30}{\mathrm{pi}}[f_1(t_2+2t_3+t_5)+f_2(2t_6-t_5)]+S_5+L\end{array}$

Therefore can draw, as the length S of operation one to transmission line head end ₆after determining, for the Guan Junneng meeting different length processes on described transmission line, then the length L of most long pipeline that described control system can be processed meets following relation:

S ₇=0, i.e. S ₆=L/2+S ₄+ S ₅, so L=2 (S ₆-S ₅)-V ₁t ₂.

Therefore, the full segment length S of workshop section one ₁meet following relation:

S ₁＝L/2+S ₄+S ₅+S ₇+S ₈+S ₉+S ₁₀≥L/2+S ₄+S ₅+S ₈+S ₉，

Can obtain: $S_1\≥\frac{1}{2}[3L+V_1{t}_2+(V_1-V_2)t_5+2S_5].$

So known, as the length L=2 (S of the most long pipeline that described control system is processed ₆-S ₅)-V ₁t ₂time, the shortest length of workshop section one is:

$S_1=\frac{1}{2}[3L+V_1{t}_2+(V_1-V_2)t_5+2S_5].$

The cycle of operation of described workshop section two is: T ₂=t ₇+ t ₁₂+ t ₁₃+ t ₁₄+ t ₁₅+ t ₁₆+ t ₁₀+ t ₁₁.

The length of the full section of described workshop section two is: $S_2=S_{11}+S_{12}+S_{13}=L+\frac{1}{2}(V_3-V_2)t_{12}+V_3{t}_{13}.$

In like manner, should meet the variation of production specification, shorten production line again, therefore the bee-line of workshop section two is: wherein L is the length that transmission line allows the most long pipeline of processing; For short pipeline, then S ₁₃>=0.

The cycle of described workshop section three is: T ₃=t ₁₇+ t ₁₈+ t ₁₄+ t ₁₉+ t ₂₀+ t ₂₁+ t ₂₂,

The total length of described workshop section three is: wherein S ₁₄for the total displacement of pipeline on the power wheel of workshop section three, the power wheel end safety allowance stroke of workshop section three is S ₁₈;

All there is pipeline to transmit for meeting each workshop section, namely at utmost enhancing productivity, guarantee that every root pipeline can not collide simultaneously and knock into the back, so the cycle between three workshop sections must meet following relation:

T ₁＝T ₂＝T ₃∵t ₁₁≥0 t ₁₈≥0

∴T ₂-t ₁₁≤T ₁＝T ₃T ₃-t ₁₈≤T ₂＝T ₁

For the cycle T of workshop section one ₁=t ₁+ t ₂+ t ₃+ t ₄+ t ₅+ t ₆+ t ₇+ t ₈+ t ₉, wherein t ₁be from inlet pipe device pipeline to be transferred to the power wheel of workshop section one and stop reliable after until before this section of power wheel start, time t ₂, t ₅, t ₈be the Acceleration and deceleration time parameter that frequency converter one is arranged, after system debug, these three times are also decided, and are considered as fixed value; t ₄, t ₇be length be that the pipeline of L is with speed V ₁, V ₂by operation one, operation two time used, for the pipeline of same batch, L is definite value, V ₁, V ₂the speed of operation one, operation two requirement, so t ₄, t ₇can be considered definite value; For t ₃, t ₆, can obtain:

$T_1=t_1+t_2+t_5+t_8+t_4+t_7+\frac{S_7}{V_1}+\frac{S_{10}}{V_2}+t_9$

Again because obtain S ₁₀=S ₁-S ₆-L-S ₉; S ₇, S ₁₀all can be considered definite value, so for cycle of workshop section one, only need determine t by PLC according to program and above-mentioned definite value and arithmetic expression ₉, namely PLC is according to above-mentioned time constant, calculation expression, determines after first pipeline leaves workshop section one, workshop section one power wheel slow down be wait after zero how long, second pipeline is transferred by workshop section one.

For the cycle T of workshop section two ₂=t ₇+ t ₁₂+ t ₁₃+ t ₁₄+ t ₁₅+ t ₁₆+ t ₁₀+ t ₁₁, wherein t ₇, t ₁₄be length be that the pipeline of L is with speed V ₂, V ₃respectively by the time that operation two, operation three are used, for the pipeline of same batch, L is definite value, V ₂, V ₃the speed of procedure calls, so t ₇, t ₁₄can be considered definite value; t ₁₀, t ₁₂, t ₁₅be the Acceleration and deceleration time parameter that frequency converter two is arranged, after system debug, these three times are also decided, and are considered as fixed value; t ₁₁for ensureing the smooth and easy processing by operation two of pipeline, must power wheel being made with speed V ₂stable operation t ₁₁after, the pipeline of workshop section one just enters workshop section two, and this time constant can be set according to technological requirement, is considered as fixed value; t ₁₆for workshop section two power wheel is by V ₃deceleration is after zero, and wait for the power wheel how long starting workshop section two, this time constant can set according to technological requirement, is considered as fixed value; For t ₁₃, in conjunction with formula S ₁₃=V ₃t ₁₃, can obtain:

$T_2=t_7+t_{14}+t_{10}+t_{12}+t_{15}+t_{11}+t_{16}+\frac{S_{13}}{V_3},$

Again because S ₁₃=S ₂-S ₁₂-L, known S ₁₃being considered as definite value, so for cycle of workshop section two, can be considered by PLC by calculating, control t ₁₆size the time constant be directly proportional to duct length L; So can obtain:

$t_7+t_{14}+t_{10}+t_{12}+t_{15}+t_{11}+\frac{S_{13}}{V_3}\≤t_1+t_2+t_5+t_8+t_4+t_7+\frac{S_7}{V_1}+\frac{S_{10}}{V_2}+t_9$

As can be seen here, above-mentioned time constant, algebraic expression are enrolled in PLC program, meets above formula, the automatical and efficient rate processing of pipeline of workshop section one, workshop section two can be realized.

For the cycle T of workshop section three ₃=t ₁₇+ t ₁₈+ t ₁₄+ t ₁₉+ t ₂₀+ t ₂₁+ t ₂₂, wherein t ₁₇, t ₁₉be the Acceleration and deceleration time parameter that frequency converter three is arranged, after system debug, these three times are also decided, and are considered as fixed value; t ₁₈for ensureing the smooth and easy processing by operation three of pipeline, workshop section three must being made with speed V ₃stable operation t ₁₈after, the pipeline of workshop section two just enters workshop section three, and this time constant can be set according to technological requirement, is considered as fixed value; t ₁₄be length be that the pipeline of L is with speed V ₃by operation three time used, for the pipeline of same batch, L is definite value, V ₃the speed of procedure calls, so t ₁₄can be considered definite value; t ₂₁after pipeline stopping, going out pipe device action, through time t ₂₁after, go out the power wheel that pipeline is lifted away from workshop section three by pipe device, be considered as fixed value; t ₂₂for the power wheel of workshop section three is by V ₃deceleration is after zero, and wait for the power wheel how long starting workshop section three, this time constant can set according to technological requirement, is considered as fixed value; In conjunction with can obtain:

$T_3=t_{17}+t_{19}+t_{18}+t_{14}+t_{21}+t_{22}+\frac{2(S_{17}-S_{15})-L}{2V_3}$

Wherein S ₁₇, S ₁₅be definite value, so t ₂₀for definite value; It can thus be appreciated that the cycle of workshop section three is by PLC by program computation, control t ₂₂size the time constant be directly proportional to duct length L; So can obtain:

$t_{17}+t_{19}+t_{18}+t_{14}+t_{21}+\frac{2(S_{17}-S_{15})-L}{2V_3}\≤t_7+t_{14}+t_{10}+t_{12}+t_{15}+t_{11}+t_{16}+\frac{S_{13}}{V_3}.$

Described whole control system is also provided with the proximity switch five for safe spacing, and described proximity switch five is installed on the end of transmission line; When pipeline touches proximity switch five, proximity switch five is turned on by the disconnect, and connection signal is delivered to PLC, and PLC sends instruction at once, stops the work of transmission line; Proximity switch five can, when system malfunctions, prevent pipeline from going out transmission line, and then proterctive equipment and personal safety.

So whole control system by PLC according to mechanical parameter, electric parameter and relational algebra formula, the start-stop time of adjustment workshop section one, workshop section two, workshop section three, and automatically calculate the length L of pipeline; The signal simultaneously sent according to proximity switch, sends the acceleration and deceleration instruction to frequency converter, and finally meets corresponding time, distance according to technological requirement, can realize same production line multi-pipeline, multiple speed, high efficiency automatic transmission.

The mechanical drive reduction gear ratio of whole control system is i, and motor all identical (ideal sets motor used as the same model of same brand, and namely the parameter such as power, moment, number of pole-pairs p is all identical), all without relative sliding between power wheel and pipeline; Therefore, according to the speed of power wheel with the output frequency that can obtain frequency converter one is respectively: according to the speed of power wheel also can obtain the output frequency of frequency converter two: according to the speed of power wheel the output frequency of frequency converter two can be obtained: according to the speed of power wheel also can obtain the output frequency of frequency converter two:

Beneficial effect of the present invention is as follows:

The signal that whole system is sent according to each proximity switch by PLC, send the acceleration and deceleration instruction to each frequency converter respectively, and meet corresponding time, distance according to technological requirement, same production line multi-pipeline, multiple speed, expeditiously automatic transmission pipeline can be realized, multistage pipeline can be realized and carry out multiple operation processing simultaneously, and the transmission processing of multiple different size pipeline can be realized, and the phenomenon such as to knock into the back that can not collide in transmission process.

Accompanying drawing explanation

Fig. 1 is the structural representation that the present invention arranges three workshop sections

Fig. 2 is that pipeline of the present invention moves S in workshop section one ₄schematic diagram

Fig. 3 is that pipeline of the present invention moves S in workshop section one ₇schematic diagram

Fig. 4 is that pipeline of the present invention moves S in workshop section one ₈schematic diagram

Fig. 5 is that pipeline of the present invention moves S in workshop section one ₉schematic diagram

Fig. 6 is that pipeline of the present invention moves S in workshop section one ₁₀schematic diagram

Fig. 7 is the schematic diagram of pipeline of the present invention by operation two

Fig. 8 is that pipeline of the present invention moves S in workshop section two ₁₂schematic diagram

Fig. 9 is that pipeline of the present invention moves S in workshop section two ₁₃schematic diagram

Figure 10 is the schematic diagram of pipeline of the present invention in workshop section three by operation three

Figure 11 is that pipeline of the present invention moves S in workshop section three ₁₆schematic diagram

Figure 12 is that pipeline of the present invention moves S in workshop section three ₁₅schematic diagram

Figure 13 is the schematic diagram of pipeline of the present invention in the whole displacement of workshop section three

Figure 14 is the control signal of PLC of the present invention, time and speed schematic diagram

Embodiment

Multi-pipeline transmission line automatic control system, described system comprises workshop section one, workshop section two and workshop section three.Workshop section one is positioned at the front end of workshop section two, and workshop section three is near the end of workshop section two; There are operation one, operation two, operation three from workshop section one to workshop section three successively, respectively difference processing carried out to the pipeline on transmission line by three process; Transmission line is provided with and whether pipeline is transferred to the proximity switch one on power wheel, the proximity switch two being used for the position of testing pipes, proximity switch three, proximity switch four for detecting workshop section one; Proximity switch one is installed on workshop section one relevant position, and proximity switch two is installed on the front end of operation one, and proximity switch three is installed on the front end of operation two, and proximity switch four is installed on the front end of operation three.

Be workshop section one from the front end of transmission line to operation two, being workshop section two from operation two to operation three, is workshop section three from operation three to line end.The power wheel of workshop section one, workshop section two, workshop section three correspondence is driven by the frequency converter one of correspondence, frequency converter two, frequency converter three respectively.

Described Operation system setting has PLC, is detected the time of the proximity switch connection that power wheel is arranged, calculate the length of pipeline, and calculate the correlation time of per pass operation according to the length gauge calculated, control the start and stop of every procedure simultaneously with this by PLC; Further, the instruction that all frequency converters send according to PLC, completion timing start and stop, stepless speed regulation, multistage speed control system; Proximity switch is mainly used to the position detecting current pipeline; The instruction that frequency converter sends according to PLC, completion timing start and stop, stepless speed regulation, multistage speed control etc.

As shown in figure 14, the speed of workshop section one, the rate signal of workshop section two provide by proximity switch, and deliver in PLC input, calculating is compared through its logic, the signal calculated is delivered to frequency converter, to reach the control to frequency converter start and stop, acceleration and deceleration, eventually pass through motor, speed reduction unit, power wheel act on pipeline, finally reach the control to pipeline speed governing, location.

As shown in Figure 1, the translational speed of per pass procedure calls pipeline is V ₁, V ₂, V ₃(suppose V ₁> V ₃> V ₂), the length of workshop section one is S1, the length of workshop section two is S2, the length of workshop section three is S3.

The course of work of a described system transfers pipeline is as follows:

The first step, in workshop section one:

The inlet pipe device of workshop section one is through time t ₁transferred by pipeline on power wheel, pipeline stops reliable, and the center of pipeline bottom surface overlaps with proximity switch one, and the distance of proximity switch one to power wheel front end is S ₅, now proximity switch one detects existing pipeline on power wheel, and send instruction by PLC and start frequency converter one, frequency converter one drives the power wheel of workshop section one, and power wheel drives pipeline to move;

First, as shown in Figure 2, through acceleration time t ₂after, the speed of pipeline movement is V ₁, the output frequency of frequency converter one is f ₁, the distance S that pipeline advances ₄for: pipeline continues with speed V ₁at the uniform velocity move ahead until touch proximity switch two, the advance time is t ₃, as shown in Figure 3, the distance of advance is: S ₇=V ₁t ₃>=0;

Then, pipeline is with speed V ₁by the processing of operation one, the time of passing through is t ₄(proximity switch two is turned on by the disconnect beginning timing, and till again disconnecting, timing terminates), this time enters PLC, and is stored in PLC by this length, calls in order to work after this; As shown in Figure 4, pipeline completes the distance of the processing movement of operation one and is: L=S ₈=V ₁t ₄, duct length is L; So far, pipeline completes the processing of operation one;

Then, (if V after the variable-speed processing of frequency converter one ₁>V ₂, then slow down; If V ₁<V ₂, then accelerate), pipeline is through time t ₅after speed be V ₂, now frequency converter one output frequency is f ₂: as shown in Figure 5, the distance of advance is: $S_9=\frac{1}{2}(V_1-V_2)t_5;$

After this, pipeline is with speed V ₂travel at the uniform speed to operation two place, elapsed time t ₆, the distance of operation is: S ₁₀=V ₂t ₆, (before entering workshop section two, this section starts, and its speed is identical with first paragraph, is V to enter workshop section two ₂).Pipeline is with speed V ₂pass through, elapsed time t ₇, complete the processing of operation two, all enter workshop section two, the distance of advancing around here is: L=S ₁₁=V ₂t ₇.When pipeline all enters workshop section two, namely all depart from workshop section for the moment, workshop section slows down at the beginning, through time t ₈, the power wheel of workshop section one slows down and is zero and stops reliable.Stand-by period t ₉after, PLC sends instruction, and inlet pipe device starts to transfer another pipeline, through time t ₁, another pipeline is transferred on the transmission line of workshop section one, and stops reliable ..., workshop section one carries out periodic duty by this.

Second step, in workshop section two:

First, for workshop section two, by static startup, through time t ₁₀after acceleration, frequency converter output frequency is f ₃, the speed of pipeline transmission is for ensureing the smooth and easy processing by operation two of pipeline, workshop section two must be made with speed V ₂stable operation t ₁₁(t ₁₁>=0) after, the pipeline of workshop section two just touches proximity switch three, and proximity switch three is turned on by the disconnect, and pipeline starts to enter workshop section two.

When pipeline on the power wheel of workshop section two enters workshop section two, speed is V ₂, be t in the process time of operation two ₇, the distance of advance is: L=S ₁₁=V ₂t ₇, so far, pipeline completes the processing of operation two and departs from workshop section one completely;

Depart from workshop section one completely at pipeline, when namely all entering workshop section two, frequency converter slows down at the beginning, elapsed time t ₈, the power wheel of workshop section one stops, stand-by period t ₉after, PLC sends instruction, and workshop section transfers new pipeline at the beginning, through time t ₁, pipeline is transferred on the power wheel of workshop section one, and workshop section one carries out periodic duty according to the first step.

Then, (if V after the variable-speed processing of frequency converter two ₂>V ₃, then slow down; If V ₂<V ₃, then accelerate), pipeline is through time t ₁₂after speed be V ₃, now frequency converter two output frequency is f ₄, as shown in Figure 8, the distance of advance is: $S_{12}=\frac{1}{2}(V_3-V_2)t_{12};$

After this, pipeline is with speed V ₃at the uniform velocity continue mobile, through time t ₁₃after, the distance that pipeline is advanced is: S ₁₃=V ₃t ₁₃, (before entering workshop section three, this section starts, and its speed is identical with second segment, is V to prepare to enter workshop section three ₃); Pipeline is with speed V ₃continue to move ahead, through time t ₁₄after, pipeline departs from workshop section two completely, all enters workshop section three, and the distance of advancing around here is: L=S ₁₄=V ₃t ₁₄.When pipeline all enters workshop section three, when namely all departing from workshop section two, workshop section two power wheel reduces speed now, through time t ₁₅after, the power wheel of workshop section two stops reliable.After this t is waited for ₁₆after, start the power wheel of workshop section two, through time t ₁₀after acceleration, the transmission speed of the power wheel of workshop section two is V ₂, and run t with this speed ₁₁(t ₁₁>=0) after, accept the pipeline from workshop section one, so carry out the cyclic process of operation two.

3rd step, in workshop section three:

First, by static startup, through time t ₁₇after acceleration, frequency converter output frequency is f ₅, the speed of pipeline transmission is because the motor number of pole-pairs of whole production line, reduction gear ratio are all identical, in conjunction with formula f can be drawn ₄=f ₅.For ensureing the smooth and easy processing by operation three of pipeline, workshop section three must be made with speed V ₃stable operation t ₁₈(t ₁₈>=0) after, touch proximity switch four, proximity switch four is turned on by the disconnect, and pipeline just starts to enter workshop section three.

When the pipeline of workshop section two enters workshop section three, speed is V ₃, be t in the process time of operation three ₁₄, the distance of advance is: L=S ₁₄=V ₃t ₁₄, so far, pipeline completes the processing of operation three and departs from workshop section two completely, and proximity switch four becomes disconnection from connection simultaneously;

Then, pipeline departs from after namely workshop section two all enter workshop section three completely, and pipeline is with speed V ₃the time at the uniform velocity moved ahead is t ₂₀, the distance of movement is: S ₁₆=V ₃t ₂₀, then PLC sends instruction and makes frequency converter three carry out reduction of speed process, elapsed time t ₁₉movement, speed is zero, then pipeline stop, the distance of this process movement is: before pipeline slows down, pipeline is always with speed V ₃at the uniform velocity front line time t ₂₀, the distance of operation is S ₁₆=V ₃t ₂₀.After pipeline stops, going out pipe device action, through time t ₂₁after, go out pipe device and pipeline is lifted away from transmission line, wait for t ₂₂, transmission line starts, through time t ₁₇after, the speed of transmission line reaches V ₃, and to travel at the uniform speed t with this speed ₁₈(t ₁₈>=0), after, the pipeline from workshop section two is accepted, and by this reciprocation cycle.

According to the time cycle of whole transmission line can obtain workshop section one, workshop section two, workshop section three time cycle respectively:

The cycle of described workshop section one is: T ₁=t ₁+ t ₂+ t ₃+ t ₄+ t ₅+ t ₆+ t ₇+ t ₈+ t ₉;

By the total length of workshop section one be: S ₁=L/2+S ₄+ S ₅+ S ₇+ S ₈+ S ₉+ S ₁₀can obtain:

$\begin{array}{c}{S}_1=\frac{L}{2}+\frac{V_1{t}_2}{2}+S_5+V_1{t}_3+L+\frac{(V_1-V_2)t_5}{2}+V_2{t}_6\\ =\frac{1}{2}[V_1(t_2+2t_3+t_5)+V_2(2t_6-t_5)]+S_5+L\\ =\frac{30}{\mathrm{pi}}[f_1(t_2+2t_3+t_5)+f_2(2t_6-t_5)]+S_5+L\end{array}$

Therefore can draw, as the length S of production line operation one to transmission line head end ₆after determining, all can process on native system to meet different length, then the length of most long pipeline that native system can be processed meets following relation:

S ₇=0, i.e. S ₆=L/2+S ₄+ S ₅, so L=2 (S ₆-S ₅)-V ₁t ₂.

Therefore, the full segment length S of workshop section one ₁meet following relation:

S ₁＝L/2+S ₄+S ₅+S ₇+S ₈+S ₉+S ₁₀≥L/2+S ₄+S ₅+S ₈+S ₉，

Can obtain: $S_1\&GreaterEqual;\frac{1}{2}[3L+V_1{t}_2+(V_1-V_2)t_5+2S_5].$

So known, if process most long pipeline, i.e. duct length L=2 (S ₆-S ₅)-V ₁t ₂time, the shortest length S1 of workshop section one is: $S_1=\frac{1}{2}[3L+V_1{t}_2+(V_1-V_2)t_5+2S_5].$

The cycle of operation of described workshop section two is: T ₂=t ₇+ t ₁₂+ t ₁₃+ t ₁₄+ t ₁₅+ t ₁₆+ t ₁₀+ t ₁₁.

The length of the full section of described workshop section two is: $S_2=S_{11}+S_{12}+S_{13}=L+\frac{1}{2}(V_3-V_2)t_{12}+V_3{t}_{13}.$

In like manner, should meet the variation of production specification, shorten production line again, therefore the bee-line of workshop section two is: wherein L is the length that production line allows the most long pipeline of processing; For short duct, then S ₁₃>=0.

Described go out pipe device time of pipeline being lifted away from workshop section three be t ₂₁, the 3rd EOS, waits for t ₂₂after, the power wheel of workshop section three starts, through time t ₁₇after, the speed of the power wheel of workshop section three reaches V ₃, and to travel at the uniform speed t with this speed ₁₈after, accept the pipeline from workshop section two, and by this reciprocation cycle, wherein t ₁₈>=0.

The cycle of described workshop section three is: T ₃=t ₁₇+ t ₁₈+ t ₁₄+ t ₁₉+ t ₂₀+ t ₂₁+ t ₂₂,

As shown in figure 13, the total length of described workshop section three is: wherein S ₁₄for pipeline is in total displacement of workshop section three, S ₁₈for power wheel end safety allowance stroke.

All there is pipeline to transmit for meeting each workshop section, namely at utmost enhancing productivity, guarantee that every root pipeline can not collide simultaneously and knock into the back, so the cycle between three workshop sections must meet following relation:

T ₁＝T ₂＝T ₃∵t ₁₁≥0 t ₁₈≥0

∴T ₂-t ₁₁≤T ₁＝T ₃T ₃-t ₁₈≤T ₂＝T ₁

For the cycle T of workshop section one ₁=t ₁+ t ₂+ t ₃+ t ₄+ t ₅+ t ₆+ t ₇+ t ₈+ t ₉, wherein t ₁be from inlet pipe device pipeline to be transferred to the power wheel of workshop section one and stop reliable after until power wheel start before fixing between, t ₂, t ₅, t ₈be the Acceleration and deceleration time parameter that frequency converter is arranged, after system debug, these three times are also decided, and are considered as fixed value; t ₄, t ₇be length be that the pipeline of L is with speed V ₁, V ₂by operation one, operation two time used, for the pipeline of same batch, L is definite value, V ₁, V ₂the speed of procedure calls, so t ₄, t ₇can be considered definite value; For t ₃, t ₆, can obtain:

$T_1=t_1+t_2+t_5+t_8+t_4+t_7+\frac{S_7}{V_1}+\frac{S_{10}}{V_2}+t_9$

Again because obtain S ₁₀=S ₁-S ₆-L-S ₉; S ₇, S ₁₀all can be considered definite value, so for cycle of workshop section one, only need determine t by PLC according to program and above-mentioned definite value and arithmetic expression ₉, namely PLC is according to above-mentioned time constant, calculation expression, determines after first pipeline leaves workshop section one, workshop section one power wheel slow down be wait after zero how long, second pipeline is transferred by workshop section one.

For the cycle T of workshop section two ₂=t ₇+ t ₁₂+ t ₁₃+ t ₁₄+ t ₁₅+ t ₁₆+ t ₁₀+ t ₁₁, wherein t ₇, t ₁₄be length be that the pipeline of L is with speed V ₂, V ₃respectively by the time that operation two, operation three are used, for the pipeline of same batch, L is definite value, V ₂, V ₃the speed of procedure calls, so t ₇, t ₁₄can be considered definite value; t ₁₀, t ₁₂, t ₁₅be the Acceleration and deceleration time parameter that frequency converter is arranged, after system debug, these three times are also decided, and are considered as fixed value; t ₁₁for ensureing the smooth and easy processing by operation two of pipeline, workshop section two must being made with speed V ₂stable operation t ₁₁after, the pipeline of workshop section one just enters power wheel, and this time constant can be set according to technological requirement, is considered as fixed value; t ₁₆for workshop section two power wheel is by V ₃deceleration is after zero, and wait for the power wheel how long starting workshop section two, this time constant can set according to technological requirement, is considered as fixed value; For t ₁₃, in conjunction with formula S ₁₃=V ₃t ₁₃, can obtain:

$T_2=t_7+t_{14}+t_{10}+t_{12}+t_{15}+t_{11}+t_{16}+\frac{S_{13}}{V_3},$

Again because S ₁₃=S ₂-S ₁₂-L, known S ₁₃be considered as definite value, so for cycle of workshop section two, can be considered by PLC by program computation, control t ₁₆size the time constant be directly proportional to duct length L; So can obtain:

$t_7+t_{14}+t_{10}+t_{12}+t_{15}+t_{11}+\frac{S_{13}}{V_3}\&le;t_1+t_2+t_5+t_8+t_4+t_7+\frac{S_7}{V_1}+\frac{S_{10}}{V_2}+t_9$

As can be seen here, above-mentioned time constant, algebraic expression are enrolled in PLC program, meets above formula, the automatical and efficient rate processing of pipeline of workshop section one, workshop section two can be realized.

For the cycle T of workshop section three ₃=t ₁₇+ t ₁₈+ t ₁₄+ t ₁₉+ t ₂₀+ t ₂₁+ t ₂₂, wherein t ₁₇, t ₁₉be the Acceleration and deceleration time parameter that frequency converter is arranged, after system debug, these three times are also decided, and are considered as fixed value; t ₁₈for ensureing the smooth and easy processing by operation three of pipeline, workshop section three must being made with speed V ₃stable operation t ₁₈after, the pipeline of workshop section two just enters workshop section three, and this time constant can be set according to technological requirement, is considered as fixed value; t ₁₄be length be that the pipeline of L is with speed V ₃by operation three time used, for the pipeline of same batch, L is definite value, V ₃the speed of procedure calls, so t ₁₄can be considered definite value; t ₂₁after pipeline stopping, going out pipe device action, through time t ₂₁after, go out the power wheel that pipeline is lifted away from workshop section three by pipe device, be considered as fixed value; t ₂₂for the workshop section two of workshop section three is by V ₃deceleration is after zero, and wait for the workshop section two how long starting workshop section three, this time constant can set according to technological requirement, is considered as fixed value; In conjunction with can obtain:

$T_3=t_{17}+t_{19}+t_{18}+t_{14}+t_{21}+t_{22}+\frac{2(S_{17}-S_{15})-L}{2V_3}$

Wherein S ₁₇, S ₁₅be definite value, so t ₂₀for definite value; It can thus be appreciated that the cycle of workshop section three is by PLC by program computation, control t ₂₂size the time constant be directly proportional to duct length L; So can obtain:

$t_{17}+t_{19}+t_{18}+t_{14}+t_{21}+\frac{2(S_{17}-S_{15})-L}{2V_3}\&le;t_7+t_{14}+t_{10}+t_{12}+t_{15}+t_{11}+t_{16}+\frac{S_{13}}{V_3}.$

Described whole control system is also provided with proximity switch five for safe spacing (namely when pipeline is transmitted so far, workshop section three does not normally stop, now instruction will be sent by PLC, this production line all stops by force, avoid security incident occurs), described proximity switch five is installed on the end of transmission line.

When pipeline touches proximity switch five, proximity switch five is turned on by the disconnect, and connection signal is delivered to PLC, and PLC sends instruction at once, stops the work of transmission line; Proximity switch five can, when system malfunctions, prevent pipeline from going out transmission line, and then proterctive equipment and personal safety.

So whole system by PLC according to mechanical parameter, electric parameter and relational algebra formula, the start-stop time of adjustment workshop section one, workshop section two, workshop section three, and automatically calculate the length L of pipeline; The signal simultaneously sent according to proximity switch, sends the acceleration and deceleration instruction to frequency converter, and finally meets corresponding time, distance according to technological requirement, can realize same production line multi-pipeline, multiple speed, high efficiency automatic transmission.This case is only transmitted as example with three sections, may extend to four sections, five sections ...

The mechanical drive reduction gear ratio of whole system is i, and motor all identical (supposing the system motor used is the same model of same brand, i.e. power, moment, and number of pole-pairs p etc. are all identical), all without relative sliding between power wheel and pipeline; Therefore, according to the speed of power wheel with the output frequency that can obtain frequency converter one is respectively: according to the speed of power wheel also can obtain the output frequency of frequency converter two: according to the speed of power wheel the output frequency of frequency converter two can be obtained: according to the speed of power wheel also can obtain the output frequency of frequency converter two:

Below the annotation of involved letter in foregoing description:

T ₁: workshop section is once time t ₁, pipeline is transferred on the transmission line of workshop section one, and stops reliable.

T ₂: frequency converter is through acceleration time t ₂after, frequency converter output frequency is f ₁, the speed of pipe level movement is V ₁, the distance that now pipeline advances is

T ₃: pipeline is with V ₁at the uniform velocity move ahead, until touch proximity switch two, the time of advance is t ₃, distance is: S ₇=V ₁t ₃.

T ₄: pipeline is with speed V ₁through the processing of operation one, be t by the time of this section ₄, the distance of pipeline movement is: L=S ₈=V ₁t ₄.

T ₅: pipeline has completed the processing of first operation, through time t ₅rear speed is promoted to V ₂, frequency converter output frequency is: $f_2=\frac{V_2\mathrm{pi}}{60},$ The distance of advancing is: $S_9=\frac{1}{2}(V_1-V_2)t_5.$

T ₆: pipeline is with V ₂speed travel at the uniform speed to operation two place, prepare the processing of subsequent processing.Elapsed time t ₆, the distance of operation is: S ₁₀=V ₂t ₆

T ₇: pipeline is with speed V ₂by the processing of operation two, elapsed time t ₇, the distance of advance is: _l=S11=V2t7.

T ₈: pipeline departs from workshop section one completely, and workshop section slows down at the beginning, elapsed time t ₈, the power wheel of workshop section one stops.

T ₉: pipeline departs from workshop section one completely, and workshop section slows down at the beginning, elapsed time t ₈, the power wheel of workshop section one stops.Stand-by period t ₉after, PLC sends instruction, and workshop section is below pipeline at the beginning.

T ₁₀: power wheel by static startup, through time t ₁₀after acceleration, frequency converter output frequency is f ₃, the speed of pipeline transmission is $V_2=\frac{60f_3}{\mathrm{pi}}.$

T ₁₁: for ensureing the smooth and easy processing by operation two of pipeline, power wheel must be made with speed V ₂stable operation t ₁₁(t ₁₁>=0), after, proximity switch three is touched.

T ₁₂: the frequency of frequency converter is by f ₃be promoted to f ₄, the speed after acceleration is V ₃, the acceleration time is t ₁₂, the distance of advance is: $S_{12}=\frac{1}{2}(V_3-V_2)t_{12}.$

T ₁₃: pipeline is again with V ₃speed at the uniform velocity move on, through time t ₁₃after, enter operation three, touch proximity switch four, the distance of advancing around here is: S ₁₃=V ₃t ₁₃.

T ₁₄: pipeline is with V ₃speed move ahead, through time t ₁₄after, pipeline departs from workshop section two completely, all enters workshop section three, and the distance of advancing around here is: L=S ₁₄=V ₃t ₁₄.

T ₁₅: workshop section two power wheel is by V ₃reduce speed now, through time t ₁₅after, power wheel stops.

T ₁₆: workshop section two power wheel is by V ₃reduce speed now, through time t ₁₅after, power wheel stops.After this t is waited for ₁₆after, start the power wheel of workshop section two.

T ₁₇: workshop section three, by static startup, through time t ₁₇after acceleration, frequency converter output frequency is f ₅, when the speed of pipeline transmission $V_3=\frac{60f_5}{\mathrm{pi}}.$

T ₁₈: for ensureing the smooth and easy processing by operation three of pipeline, workshop section three must be made with speed V ₃stable operation t ₁₈(t ₁₈>=0) after, touch proximity switch four, pipeline just starts to enter workshop section three.

T ₁₉: pipeline is with V ₃initial velocity, through time t ₁₉be kept to zero, and accurately locate, in the process, the distance that pipeline moves ahead is: $S_{15}=\frac{1}{2}{V}_3{t}_{19}.$

T ₂₀: before pipeline slows down, when pipeline enters workshop section three completely, pipeline is always with speed V ₃the time at the uniform velocity moved ahead is t ₂₀, the distance of operation is S ₁₆=V ₃t ₂₀.

T ₂₁: pipeline goes out pipe device action, through time t after stopping ₂₁after, go out the power wheel that pipeline is lifted away from workshop section three by pipe device.

T ₂₂: pipeline goes out pipe device action, through time t after stopping ₂₁after, go out the power wheel that pipeline is lifted away from workshop section three by pipe device, wait for t ₂₂after, transmission line starts.

S ₁: the length of workshop section one.

S ₂: the length of workshop section two.

S ₃: the length of workshop section three.

S ₄: frequency converter is through acceleration time t ₂after, frequency converter output frequency is f ₁, the speed of pipe level movement is V ₁, the distance that now pipeline advances is

S ₅: proximity switch one to transmission line head end distance is S ₅.

S ₆: the full segment length of operation one is S ₆(i.e. the distance of proximity switch two to transmission line head end).

S ₇: pipeline is with V ₁at the uniform velocity move ahead, until touch proximity switch two, the time of advance is t ₃, distance is: S ⁷=V ₁t ₃.

S ₈: pipeline, with the processing of speed V1 through operation one, is t by the time of this section ₄, the distance of pipeline movement is: L=S ₈=V ₁t ₄.

S ₉: pipeline has completed the processing of first operation, through time t ₅rear speed is V ₂, frequency converter one output frequency is: $f_2=\frac{V_2\mathrm{pi}}{60},$ The distance of advancing is: $S_9=\frac{1}{2}(V_1-V_2)t_5.$

S ₁₀: pipeline is with V ₂speed travel at the uniform speed to operation two place, prepare the processing of subsequent processing.Elapsed time t ₆, the distance of operation is: S ₁₀=V ₂t ₆.

S ₁₁: pipeline is with speed V ₂by the processing of operation two, elapsed time t ₇, the distance of advance is: L=S ₁₁=V ₂t ₇.

S ₁₂: the frequency of frequency converter is by f ₃be promoted to f ₄, the speed after acceleration is V ₃, the acceleration time is t ₁₂, the distance of advance is: $S_{12}=\frac{1}{2}(V_3-V_2)t_{12}.$

S ₁₃: pipeline is again with V ₃speed at the uniform velocity move on, through time t ₁₃after, enter operation three, touch proximity switch four, the distance of advancing around here is: S ₁₃=V ₃t ₁₃.

S ₁₄: pipeline is with V ₃speed move ahead, through time t ₁₄after, pipeline departs from workshop section two completely, all enters workshop section three, and the distance of advancing around here is: L=S ₁₄=V ₃t ₁₄.

S ₁₅: pipeline is with V ₃initial velocity, through time t ₁₉be kept to zero, and accurately locate, in the process, the distance that pipeline moves ahead is: $S_{15}=\frac{1}{2}{V}_3{t}_{19}.$

S ₁₆: the time that pipeline at the uniform velocity moves ahead with speed V3 is always for t ₂₀, the distance of operation is S ₁₆=V ₃t ₂₀.

S ₁₇: the center line of inlet pipe device is S to workshop section three head end distance ₁₇.

S ₁₈: line end safety allowance stroke is S ₁₈.

V ₁, f ₁: set the length of pipeline as L, frequency converter is through acceleration time t ₂after, frequency converter output frequency is f ₁, the speed of pipe level movement is V ₁, the distance that now pipeline advances is S ₄.

V ₂, f ₂=f ₃: pipeline reduces speed now, through time t after completing the processing of first operation ₅rear speed is V ₂, now frequency converter output frequency is: the distance of advancing is:

V ₃, f ₄=f ₅: the frequency upgrading of the frequency converter of workshop section two is f ₄, after reducing gear, the speed after pipeline accelerates is acceleration time is t ₁₂, the distance of advance is:

T ₁: the cycle of operation of workshop section one.

T ₂: the cycle of operation of section two.

T ₃: the cycle of operation of workshop section three.

L: duct length.

P: motor number of pole-pairs (supposing in this case that each workshop section motor number of pole-pairs is all identical).

I: reducing gear reduction gear ratio (supposing in this case that each workshop section reducing gear reduction gear ratio is all identical).

Claims (12)

1. multi-pipeline transmission line automatic control system, is characterized in that: the transmission line of described system comprises workshop section one, workshop section two and workshop section three, and workshop section one is positioned at the front end of workshop section two, and workshop section three is positioned at the end of workshop section two; Be disposed with operation one, operation two, operation three from workshop section one to workshop section three, respectively difference processing carried out to the pipeline on transmission line by three process;

Being workshop section one to operation two again and again from the front end of transmission line, through operation, is workshop section two from operation two to operation three, from operation three to the end of transmission line be workshop section three; Power wheel on the transmission line that described workshop section one, workshop section two, workshop section three are corresponding is respectively driven by the frequency converter one of correspondence, frequency converter two, frequency converter three respectively;

Described transmission line is also provided with: whether be lowered to the proximity switch one on power wheel for testing pipes, for proximity switch two, proximity switch three, the proximity switch four of the position of testing pipes; Described proximity switch one is installed on the front end of workshop section one, and proximity switch two is installed on the front end of operation one, and proximity switch three is installed on the front end of operation two, and proximity switch four is installed on the front end of operation three.

2. multi-pipeline transmission line automatic control system according to claim 1, it is characterized in that: described Operation system setting has PLC, the time of all proximity switches connection is detected by PLC, the length of pipeline is calculated with the data detected, and the correlation time of per pass operation is calculated according to the length gauge of the pipeline calculated, control the start and stop of every procedure simultaneously; Further, the instruction that all frequency converters send according to PLC, completion timing start and stop, stepless speed regulation, multistage speed control system.

3. multi-pipeline transmission line automatic control system according to claim 2, is characterized in that: the course of work of a described system transfers pipeline is as follows:

The first step, in workshop section one:

Through time t ₁, pipeline is lowered on power wheel, and pipeline stops reliable, and the center of pipeline bottom surface overlaps with proximity switch one, and the distance of proximity switch one to transmission line front end is S ₅; Now proximity switch one detects existing pipeline on power wheel, and send instruction by PLC and start frequency converter one, frequency converter one drives the power wheel of workshop section one, and power wheel drives pipeline to move;

First, through acceleration time t ₂after, the speed of pipeline movement is V ₁, the output frequency of frequency converter one is f ₁, the distance S that pipeline advances ₄for: pipeline continues with speed V ₁at the uniform velocity move ahead until touch proximity switch two, the advance time is t ₃, the distance of advance is: S ₇=V ₁t ₃>=0;

Then, pipeline is with speed V ₁by the processing of operation one, the time of passing through is t ₄; The distance that pipeline completes the processing movement of operation one is: L=S ₈=V ₁t ₄, duct length is L; So far, pipeline completes the processing of operation one;

Then, after the variable-speed processing of frequency converter one, pipeline is through time t ₅after speed be V ₂, now frequency converter one output frequency is f ₂: $f_2=\frac{V_2\mathrm{pi}}{60},$ The distance of advancing is: $S_9=\frac{1}{2}(V_1-V_2)t_5;$

After this, pipeline is with speed V ₂travel at the uniform speed to operation two place, elapsed time t ₆, the distance of operation is: S ₁₀=V ₂t ₆, prepare to enter workshop section two, before entering workshop section two, workshop section two starts, and the speed of workshop section two is identical with the speed of workshop section one, is V ₂; Pipeline is with speed V ₂elapsed time t ₇, by operation two, complete the processing of operation two, the distance of advancing around here is: L=S ₁₁=V ₂t ₇;

Second step, in workshop section two:

First, the power wheel of workshop section two by static startup, through time t ₁₀after acceleration, the output frequency of frequency converter two is f ₃, the speed of transmission pipeline is in order to ensure the smooth and easy processing by operation two of pipeline, so make the power wheel of workshop section two with speed V ₂stable operation; The power wheel parallel-adder settle-out time t of workshop section two ₁₁after, pipeline touches proximity switch three, and proximity switch three is turned on by the disconnect, and pipeline starts to enter workshop section two, wherein t ₁₁>=0;

When pipeline enters operation two, speed is V ₂, be t in the process time of operation two ₇, the distance of advance is: L=S ₁₁=V ₂t ₇, so far, pipeline completes the processing of operation two and departs from workshop section one completely;

Then, after the variable-speed processing of frequency converter two, pipeline is through time t ₁₂after speed be V ₃, now the output frequency of frequency converter two is f ₄, the distance of advance is:

After this, pipeline is with speed V ₃at the uniform velocity continue mobile, through time t ₁₃after, the distance that pipeline is advanced is: S ₁₃=V ₃t ₁₃, prepare to enter workshop section three, before entering workshop section three, workshop section three starts, and the speed of workshop section three is identical with the speed of workshop section two, is V ₃; Pipeline is with speed V ₃continue to move ahead, through time t ₁₄after, pipeline departs from workshop section two completely, all enters workshop section three, and the distance of advancing around here is: L=S ₁₄=V ₃t ₁₄;

3rd step, in workshop section three:

First, the power wheel of workshop section three by static startup, through time t ₁₇after acceleration, the output frequency of frequency converter three is f ₅, the speed of pipeline transmission is for ensureing the smooth and easy processing by operation three of pipeline, so the speed of workshop section three must be made with V ₃stable operation, through time t ₁₈after, pipeline touches proximity switch four, and proximity switch four is turned on by the disconnect, and pipeline starts to enter workshop section three, wherein t ₁₈>=0;

When pipeline enters workshop section three, speed is V ₃, be t in the process time of operation three ₁₄, the distance of advance is: L=S ₁₄=V ₃t ₁₄, so far, pipeline completes the processing of operation three and departs from workshop section two completely, and proximity switch four becomes disconnection from connection simultaneously;

Then, pipeline departs from after namely workshop section two all enter workshop section three completely, and pipeline is with speed V ₃the time at the uniform velocity moved ahead is t ₂₀, the distance of movement is: S ₁₆=V ₃t ₂₀, then PLC sends instruction and makes frequency converter three carry out reduction of speed process, elapsed time t ₁₉movement, speed is zero, then pipeline stop, the distance of this process pipeline movement is: before pipeline slows down, pipeline is always with speed V ₃at the uniform velocity front line time t ₂₀, the distance of operation is S ₁₆=V ₃t ₂₀; After pipeline stops, through time t ₂₁after, pipeline is lifted away from transmission line.

4. multi-pipeline transmission line automatic control system according to claim 3, is characterized in that: in the described first step, when pipeline all enters workshop section two, namely pipeline departs from workshop section for the moment completely, frequency converter slows down at the beginning, and the power wheel of workshop section one reduces speed now, through time t ₈after, the power wheel of workshop section one slows down and is zero and stops reliable; Stand-by period t ₉after, PLC sends instruction, and the upper end of workshop section one starts to transfer another pipeline, through time t ₁after, another pipeline described is put on the power wheel of workshop section one, and stops reliable, and workshop section one carries out periodic duty.

5. multi-pipeline transmission line automatic control system according to claim 4, is characterized in that: in described second step, when pipeline all enters workshop section three, namely when pipeline departs from workshop section two completely, frequency converter two reduces speed now, and the power wheel of workshop section two reduces speed now, through time t ₁₅after, the power wheel of workshop section two slows down and is zero and stops reliable; Stand-by period t ₁₆after, PLC sends instruction, starts the power wheel of workshop section two, through time t ₁₀after acceleration, the transmission speed of the power wheel of workshop section two is V ₂, and run t with this speed ₁₁after, continue to accept another pipeline from workshop section one, so carry out the cyclic process of operation two, wherein t ₁₁>=0.

6. multi-pipeline transmission line automatic control system according to claim 5, is characterized in that: in the third step, and the time that pipeline is lifted away from transmission line is t ₂₁, the 3rd EOS, stand-by period t ₂₂after, PLC sends instruction and starts frequency converter three, and the power wheel of workshop section three starts again to start, through time t ₁₇after, the speed of the power wheel of workshop section three reaches V ₃, and with speed V ₃travel at the uniform speed t ₁₈after, continue to accept another pipeline from workshop section two, and by this reciprocation cycle, wherein t ₁₈>=0.

7. multi-pipeline transmission line automatic control system according to claim 6, is characterized in that:

Time cycle according to workshop section one: T ₁=t ₁+ t ₂+ t ₃+ t ₄+ t ₅+ t ₆+ t ₇+ t ₈+ t ₉,

The total length of workshop section one: S ₁=L/2+S ₄+ S ₅+ S ₇+ S ₈+ S ₉+ S ₁₀,

Can obtain: $S_1=\frac{30}{\mathrm{pi}}[f_1(t_2+2t_3+t_5)+f_2(2t_6-t_5)]+S_5+L,$

Therefore, for the Guan Junneng meeting different length processes on described transmission line, then the length L of most long pipeline that described control system can be processed meets following relation: L=2 (S ₆-S ₅)-V ₁t ₂.

8. multi-pipeline transmission line automatic control system according to claim 7, is characterized in that:

The full segment length S of described workshop section one ₁meet following relation:

S ₁＝L/2+S ₄+S ₅+S ₇+S ₈+S ₉+S ₁₀≥L/2+S ₄+S ₅+S ₈+S ₉，

That is: $S_1\&GreaterEqual;\frac{1}{2}[3L+V_1{t}_2+(V_1-V_2)t_5+2S_5];$

As the length L=2 (S of the most long pipeline that described control system is processed ₆-S ₅)-V ₁t ₂time, the shortest length of workshop section one is:

$S_1=\frac{1}{2}[3L+V_1{t}_2+(V_1-V_2)t_5+2S_5].$

9. multi-pipeline transmission line automatic control system according to claim 6, is characterized in that:

The cycle of operation of described workshop section two is: T ₂=t ₇+ t ₁₂+ t ₁₃+ t ₁₄+ t ₁₅+ t ₁₆+ t ₁₀+ t ₁₁,

The length of the full section of described workshop section two is: $S_2=S_{11}+S_{12}+S_{13}=L+\frac{1}{2}(V_3-V_2)t_{12}+V_3{t}_{13},$

For meeting the variation of production specification, therefore the bee-line of workshop section two is: wherein L is the length of the most long pipeline allowing processing; For short pipeline, then S ₁₃>=0.

10. multi-pipeline transmission line automatic control system according to claim 6, is characterized in that:

The cycle of described workshop section three is: T ₃=t ₁₇+ t ₁₈+ t ₁₄+ t ₁₉+ t ₂₀+ t ₂₁+ t ₂₂,

The total length of described workshop section three is: wherein S ₁₄for the total displacement of pipeline on the power wheel of workshop section three, the power wheel end safety allowance stroke of workshop section three is S ₁₈;

All there is pipeline to transmit for meeting each workshop section, namely at utmost enhancing productivity, guarantee that every root pipeline can not collide simultaneously and knock into the back, so the cycle between three workshop sections must meet following relation

T ₂-t ₁₁≤T ₁＝T ₃，T ₃-t ₁₈≤T ₂＝T ₁

Can obtain: $t_7+t_{14}+t_{10}+t_{12}+t_{15}+t_{11}+\frac{S_{13}}{V_3}\&le;t_1+t_2+t_5+t_8+t_4+t_7+\frac{S_7}{V_1}+\frac{S_{10}}{V_2}+t_9,$

$t_{17}+t_{19}+t_{18}+t_{14}+t_{21}+\frac{2(S_{17}-S_{15})-L}{{2V}_3}\&le;t_7+t_{14}+t_{10}+t_{12}+t_{15}+t_{11}+t_{16}+\frac{S_{13}}{V_2}.$

11. multi-pipeline transmission line automatic control systems according to claim 3, is characterized in that: described multi-pipeline transmission line automatic control system is also provided with the proximity switch five for safe spacing, and described proximity switch five is installed on the end of transmission line;

When pipeline touches proximity switch five, proximity switch five is turned on by the disconnect, and connection signal is delivered to PLC, and PLC sends instruction at once, stops the work of transmission line.

12. according to the multi-pipeline transmission line automatic control system in claim 3-11 described in any one, it is characterized in that: whole control system is for driving the motor of power wheel all identical, the number of pole-pairs of motor is p, and mechanical drive reduction gear ratio is i, all without relative sliding between power wheel and pipeline; Therefore, according to the speed of power wheel with the output frequency that can obtain frequency converter one is respectively: according to the speed of power wheel also can obtain the output frequency of frequency converter two: according to the speed of power wheel the output frequency of frequency converter two can be obtained: according to the speed of power wheel also can obtain the output frequency of frequency converter two: $f_5=f_4=\frac{V_3\mathrm{pi}}{60}.$