CN104743160B - The push rod device of freeze dryer automatic feed/discharge - Google Patents
The push rod device of freeze dryer automatic feed/discharge Download PDFInfo
- Publication number
- CN104743160B CN104743160B CN201310744648.5A CN201310744648A CN104743160B CN 104743160 B CN104743160 B CN 104743160B CN 201310744648 A CN201310744648 A CN 201310744648A CN 104743160 B CN104743160 B CN 104743160B
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- China
- Prior art keywords
- push rod
- limit switch
- control assembly
- freeze dryer
- automatic feed
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/40—Arranging and feeding articles in groups by reciprocating or oscillatory pushers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/46—Arranging and feeding articles in groups by rotary conveyors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/18—Automatic control, checking, warning, or safety devices causing operation of audible or visible alarm signals
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Drying Of Solid Materials (AREA)
- Control Of Conveyors (AREA)
Abstract
The invention discloses a kind of push rod device of freeze dryer automatic feed/discharge, including push rod, motor and control assembly, the push rod is installed on a slide assemblies, the motor driving push rod moves along a straight line on slide assemblies, the detection components of detection rotating shaft physical location are installed in the rotating shaft of motor, detection components detect rotating shaft physical location and pass to control assembly, control assembly calculates the rotating shaft physical location of detection components transmission and the difference of corresponding normal place, then difference is compared with deviation relative threshold value；When difference is more than deviation relative threshold value, sends halt instruction and stop the operation of push rod to motor, and send initialization command to detection components.The present invention has the advantages that to be accurately positioned push rod, anti-throw-out lever maloperation.
Description
Technical field
The invention mainly relates to the package packing machine such as medicine, food field, a kind of push rod of freeze dryer automatic feed/discharge is refered in particular to
Device.
Background technology
Freeze dryer automatic feed/discharge by by the cillin bottle after partly jumping a queue by feeding integrating device, bottle-sorting device and entering
Expect the combination feeding freeze-drying machine partition board of push rod, discharging integrating device is combined by XiLin by kick-off arm after completing the lyophilized technique cycle
Bottle sends out shelf, is transferred to Cover-rolling machine and subsequent handling, and whole input and output material process is completely by control system control, it is not necessary to artificial dry
In advance, it is to avoid human contact's product, so that the pollution caused in preventing the transport process of product to greatest extent, therefore automatically enter
The use of discharging increasingly receives an acclaim.
As China's medicine, food service industry are further to international joint, and new edition GMP requirement more and more higher, pharmacy
Industry is increasingly paid attention to the lyophilized and transport process of product, is ensured while bottle automatic feed/discharge lifting speed is required
Its course of conveying is steady, safely, the operating characteristics such as continuously run and it is also proposed expectation higher.Pushed away in the bottle of automatic feed/discharge
Enter with push, the control of push rod device is extremely important, it is mainly reflected in bottle and advances/send out in the positioning of process,
The order of accuarcy of the positioning is directly connected to the precision of whole system control, and can entrance freeze dryer that steadily safe with bottle be put
Can reliably send out freeze dryer after plate and completion lyophilization cycle also has larger association into next process, while push rod is filled
Put also very crucial in the coordination control process with freeze dryer, except the positioning precision and action that need to control freeze dryer its shelf
Outside opportunity, the control of the push rod device of automatic feed/discharge in itself is also particularly important, to avoid two equipment from being sent out during docking
Raw collision etc. is unexpected, and equipment is caused to damage and influence the normal production of product.
The equipment is to the conventional measure that push rod device is controlled at present：By the servo motor encoder on servomotor
Device measures position of magnetic pole and servomotor corner and rotating speed, then right according to the information state of encoder feedback etc. by control system
The affiliated motor of push rod is controlled.The main deficiency of control of the measure to push rod has：1st, in the event of collision rift, encoder
Positional information of feedback etc. is no longer accurate, but control system None- identified, and continuation carries out the control such as positioning according to feedback information, easily
Initiation accident；2nd, there is servomotor to fail the situation of driving push rod, the encoder for servo motor feedback position of itself occur
Confidence breath is correct, but push rod is not situations such as be moved actually.Once there is the collision of push rod and freeze dryer, push rod dress will be damaged
Put or freeze-drying machine partition board, destroy input and output material equipment, will so cause all fronts out of service, operating personnel enter maintained equipment etc.,
This occurrence of, can not only reach the desired safe and reliable quick operation of pharmacy producer, so as to shorten whole lyophilized week
Phase improve production efficiency, has delayed the carrying out of production on the contrary, and the intervention of plant maintenance is more to the clean of aseptic area in the production cycle
Net environment causes influence, and the aseptic medicine in production certainly will be polluted.
The content of the invention
The technical problem to be solved in the present invention is that：For the technical problem that prior art is present, the present invention provides one
Plant the push rod device of the freeze dryer automatic feed/discharge for being capable of localization handspike position.
In order to solve the above technical problems, technical scheme proposed by the present invention is：
A kind of push rod device of freeze dryer automatic feed/discharge, including push rod, motor and control assembly, the push rod peace
Loaded on a slide assemblies, the motor driving push rod moves along a straight line on slide assemblies, the motor turn
The detection components of detection rotating shaft physical location are installed, the detection components are connected with control assembly, the detection components on axle
Detection rotating shaft physical location simultaneously passes to control assembly, and the position of detection slide assemblies position is fixedly installed on the slide assemblies
Inductive component is put, control assembly is preset with rotating shaft normal place and the deviation relative threshold corresponding with location sensitive module position
Value, when the location sensitive component detection is to slide assemblies and when induced signal is passed into control assembly, the control assembly
The difference of rotating shaft physical location and the corresponding normal place transmitted according to now detection components, then by difference and deviation relative threshold value
Compare；When difference is more than the deviation relative threshold value, the control assembly sends halt instruction and stops pushing away to motor
The operation of bar, and initialization command is sent to detection components.
As the further improvement of above-mentioned technical proposal：
The location sensitive component includes more than one position switch set gradually along push rod direction.
The position switch is three, including the rear limit switch that sets gradually along push rod direction of advance, origin position are opened
Close and front limit switch, be the movement locus of push rod between the front limit switch and rear limit switch.
Also include alarm assemblies, alarm command is sent while the control assembly sends halt instruction and gives alarm assemblies reality
Now alarm.
The two ends of the slide assemblies are provided with the preceding limit switch and rear limit switch moved for limiting push rod to continue,
It is the extreme sport track of push rod, the preceding limit switch and rear limit switch between the preceding limit switch and rear limit switch
It is connected with control assembly, the control assembly sends halt instruction according to the switching signal of preceding limit switch or rear limit switch
To push rod, while send alarm command to realize alarming to alarm assemblies.
The control assembly connects a host computer.
The detection components are rotary encoder.
The position switch is proximity switch.
The control assembly is Programmable Logic Controller.
The alarm assemblies are audible-visual annunciator.
Compared with prior art, the advantage of the invention is that：
1st, push rod device of the invention is provided with location sensitive component in the moving region of push rod, is run to position in push rod
During inductive component position, it is compared by the position signalling and default normal place that are fed back to detection components, such as beyond pre-
If deviation relative threshold value, can timely stop continuing to run with for push rod, it is to avoid push rod is out of control and the handspike damaged that causes or
The situation that freeze-drying machine partition board is damaged.
2nd, push rod device of the invention sends alarm or other text informations is carried while stopping push rod being continued to run with
Show, remind operating personnel to carry out maintenance adjustment in time, so as to shorten whole lyophilization cycle, improve production efficiency.
3rd, push rod device of the invention is provided with preceding limit switch and rear limit switch, when push rod touches switch, opens
Close can timely in cutting by ejector pin respective direction power, it is to avoid damage miscellaneous equipment of the push rod under runaway condition.
4th, control logic of the invention is rigorous, facilitate installation and debugging and maintenance, it is safe and reliable, workable, can be extensive
It is applicable the improvement of old automatic feed/discharge.
Brief description of the drawings
Fig. 1 is that concrete application of the device of the invention in freeze dryer implements illustration.
Fig. 2 is the structural representation of device of the invention.
Fig. 3 is circuit theory schematic diagram of the invention.
Fig. 4 is control flow chart of the invention.
Label declaration in figure：1st, frame；2nd, motor；3rd, Programmable Logic Controller；4th, sliding platform；5th, slide and perform
Block；6th, push rod；81st, rear limit switch；82nd, origin position switch；83rd, front limit switch；9th, audible-visual annunciator；10th, the preceding limit
Switch；11st, rear limit switch；12nd, host computer.
Specific embodiment
Below in conjunction with Figure of description and specific embodiment, the invention will be further described.
As shown in Figures 1 to 4, the push rod device of the freeze dryer automatic feed/discharge of the present embodiment, including frame 1, push rod 6,
Motor 2 and control assembly, install slide assemblies in frame 1, slide assemblies include sliding platform 4, are installed on sliding platform 4
The slip for having connection push rod 6 performs block 5, and slip execution block 5 drives push rod 6 on sliding platform 4 under the driving of motor 2
Linear telescopic motion is done, the detection components of detection rotating shaft physical location, detection components and control are installed in the rotating shaft of motor 2
Component processed is connected, and detection components detection rotating shaft physical location simultaneously passes to control assembly, and detection is fixedly installed on sliding platform 4
The location sensitive component for performing the position of block 5 is slided, control assembly is preset with the rotating shaft mark corresponding with location sensitive module position
Level is put and deviation relative threshold value, when location sensitive component detection performs block 5 to slip and induced signal is passed into control group
During part, the difference of the rotating shaft physical location that control assembly is transmitted according to now detection components and corresponding normal place, then by difference
Compared with deviation relative threshold value；When difference is more than deviation relative threshold value, control assembly sends halt instruction to motor 2
Stop the operation of push rod 6, and send initialization command to detection components, it is to avoid the push rod 6 that is out of control and causing of push rod 6 is damaged or frozen
The situation that dry machine shelf is damaged, further prevents contamination of products.
In the present embodiment, location sensitive component includes more than one position switch set gradually along the direction of push rod 6.
In the present embodiment, position switch is three, including set gradually along the direction of advance of push rod 6 rear limit switch 81,
Origin position switchs 82 and front limit switch 83, is the movement locus of push rod 6 between front limit switch 83 and rear limit switch 81.
In the present embodiment, also including alarm assemblies, control assembly sends alarm command to report while sending halt instruction
Alert component realizes alarm, reminds operating personnel to carry out maintenance adjustment in time, so as to shorten whole lyophilization cycle, improves production effect
Rate.
In the present embodiment, the two ends on sliding platform are provided with the preceding limit switch 10 moved for limiting push rod 6 to continue
It is the extreme sport track of push rod 6, preceding limit switch between preceding limit switch 10 and rear limit switch 11 with rear limit switch 11
10 and rear limit switch 11 be connected with control assembly, control assembly is according to preceding limit switch 10 or the switch of rear limit switch 11
Signal sends halt instruction to push rod 6, while send alarm command to realize alarming to alarm assemblies, when push rod 6 touches switch
When, the power that switch can timely in the respective direction of cutting by ejector pin 6 further avoids push rod 6 from damaging other under runaway condition
Equipment.
In the present embodiment, control assembly connects a host computer 12.
In the present embodiment, detection components are rotary encoder.
In the present embodiment, position switch is proximity switch.
In the present embodiment, control assembly is Programmable Logic Controller 3.
In the present embodiment, alarm assemblies are audible-visual annunciator 9.
Operation principle：Preceding limit switch 10 is respectively arranged in the two ends of sliding platform 4 with rear limit switch 11, as push rod
The protective position of device.Slide and perform block 5 by the control of servo drive motor 2 by screw rod transmission, straight line fortune is done in sliding platform 4
Dynamic, push rod 6 performs block 5 and realizes that linkage is advanced or retrogressing by slip.Front limit switch 83, origin position switch 82 and rear limit
Bit switch 81 is installed on the side of sliding platform 4 by fixed block, and the lower section that block 5 is moved is performed relative to sliding.Front limit is opened
Close 83, origin position switch 82 and rear limit switch 81 is nested in corresponding fixed block medial small hole, stretched execution block 5 is slided
During by Close approach sense and feedback signal.Before front limit switch 83 represents that the push rod 6 is needed in process of production
The maximum position for entering, rear limit switch 81 represents that the push rod 6 needs the maximum position for retreating in process of production.Origin position is switched
82 represent the push rod 6 original point position position in process of production.Alarm assemblies are connected by control circuit with control system.Push rod
Device and motor 2 and alarm assemblies are all controlled by control system, and host computer 12 is connected with control system communication, for setting
Parameter needed for automatic feed/discharge operation and the operation information for feeding back monitoring device.
Job step of the invention is as follows：
Initialization module is first carried out：
1）Setting origin：Manual reverse inching turning push rod 6 is to rear limit switch 81, then rotates forward, and is opened when origin position is captured
82 rising edge signal is closed, then the positional information for setting the position as soft origin, i.e. rotary encoder is set as 0 herein, accordingly
Host computer 12 set to should the soft numerical value of position be b.
（2）Arrange parameter：Manual crawl push rod 6 runs, and is successively read slip and performs block 5 in front limit switch 83, rear limit
The reading of feedback servo rotary encoder when bit switch, preceding limit switch 10, rear 11 position of limit switch, and correspondence be set as on
The parameter distribution of position machine 12 is a, c, d, e, and it is f to set allowable error parameter.
The step of control performing module is performed is as follows：
1）If preceding limit switch 10 and rear limit switch 11 are all without feedback signal, push rod 6 stretches out or retreats；
2）If the induced signal of front limit switch 83 is produced, such as servo rotary encoder Real-time Feedback positional information x is exhausted with a
Allowable error f is less than to difference f0, system can normally be continued to run with；Otherwise, control system stops the operation of push rod device, passes through
Warning device sends alarm signal prompting manual intervention and enters fault processing module, while man-machine interface has corresponding text information
Point out it that position etc. occurs.
3）If origin position position switch induced signal is produced, such as encoded servo device Real-time Feedback positional information x is exhausted with b
Allowable error f is less than to difference f0, system can normally be continued to run with；Otherwise, control system stops the operation of push rod device, passes through
Alarm assemblies send alarm signal prompting manual intervention and enter fault processing module, while host computer 12 has corresponding text information
Point out it that position etc. occurs.
4）If the induced signal of rear limit switch 81 is produced, the absolute difference of such as encoded servo device Real-time Feedback positional information x and c
Value f0 is less than allowable error f, and system can normally be continued to run with；Otherwise, control system stops the operation of push rod device, by alarm
Component sends alarm signal prompting manual intervention and enters fault processing module, while host computer 12 has corresponding Word message prompting
There is position etc. in it.
5）During the operation control of this push rod 6, if the signal of preceding limit switch 10 is produced, control system stops pushing away immediately
The operation of lever apparatus, sends alarm signal and points out manual intervention to enter fault processing module, while host computer by alarm assemblies
12 have corresponding Word message prompting there is position etc. in it, even if in this case manual intervention performs manually operated, push rod device
Also advance command is not can perform, only allows to withdraw.
6）During the operation control of this push rod 6, if the rear stroke signal of limit switch 11 is produced, control system is stopped immediately
The operation of thrust lever apparatus, sends alarm signal and points out manual intervention to enter fault processing module by alarm assemblies, while on
Position machine 12 has corresponding Word message prompting there is position etc. in it, even if in this case manual intervention performs manually operated, push rod
Device also not can perform and withdraw order, only allow to stretch out.
7）End of run, exits push rod 6 and controls.
Fault processing module handling process is as follows：
1）If the parts such as push rod device mechanical mechanism do not constitute damage, such as cause with reference to original simply because there is slight impact
Point changes, encoded servo device etc. can not correct feedback position information, then by re-executing initialization module by releasing
Failure.
2）If origin position switch 82, front limit switch 83 and the induced signal of rear limit switch 81 are produced, but push rod 6 is watched
The absolute difference f0 for taking encoder feedback signal x and parameter value a or b or c is more than f, then servo rotary encoder etc. fails correctly
Feedback position information is, it is necessary to release failure by by re-executing initialization module.
3）If collision more seriously causes the push rod device mechanical mechanism even part such as freeze-drying machine partition board to constitute damaged,
Manual intervention is needed to safeguard that the appropriate initialization module that performs again is operated.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical schemes belonged under thinking of the present invention belong to protection scope of the present invention.It should be pointed out that for the art
For those of ordinary skill, some improvements and modifications without departing from the principles of the present invention should be regarded as protection of the invention
Scope.
Claims (10)
1. a kind of push rod device of freeze dryer automatic feed/discharge, including push rod（6）, motor（2）And control assembly, it is described to push away
Bar（6）It is installed on a slide assemblies, the motor（2）Driving push rod（6）Moved along a straight line on slide assemblies, it is described
Motor（2）Rotating shaft on the detection components of detection rotating shaft physical location, the detection components and control assembly phase are installed
Even, the detection components detect rotating shaft physical location and pass to control assembly, it is characterised in that：It is fixed on the slide assemblies
The location sensitive component of detection slide assemblies position is provided with, control assembly is preset with corresponding with location sensitive module position
Rotating shaft normal place and deviation relative threshold value, when the location sensitive component detection is passed to slide assemblies and by induced signal
During control assembly, the difference of the rotating shaft physical location that the control assembly is transmitted according to now detection components and corresponding normal place
Value, then difference is compared with deviation relative threshold value；When difference is more than the deviation relative threshold value, the control assembly sends
Halt instruction is to motor（2）Stop push rod（6）Operation, and send initialization command to detection components.
2. the push rod device of freeze dryer automatic feed/discharge according to claim 1, it is characterised in that the location sensitive group
Part includes more than one along push rod（6）The position switch that direction sets gradually.
3. the push rod device of freeze dryer automatic feed/discharge according to claim 2, it is characterised in that the position switch is
Three, including along push rod（6）The rear limit switch that direction of advance sets gradually（81）, origin position switch（82）Opened with front limit
Close（83）, the front limit switch（83）With rear limit switch（81）Between be push rod（6）Movement locus.
4. the push rod device of freeze dryer automatic feed/discharge according to claim 1, it is characterised in that also including alarm group
Part, the control assembly sends alarm command and realizes alarming to alarm assemblies while sending halt instruction.
5. the push rod device of freeze dryer automatic feed/discharge according to any one of claim 1 to 4, it is characterised in that institute
Stating slide assemblies includes sliding platform（4）, the sliding platform（4）On two ends be provided with for limiting push rod（6）Continue to transport
Dynamic preceding limit switch（10）With rear limit switch（11）, the preceding limit switch（10）With rear limit switch（11）Between to push away
Bar（6）Extreme sport track, the preceding limit switch（10）With rear limit switch（11）It is connected with control assembly, the control
Component processed is according to preceding limit switch（10）Or rear limit switch（11）Switching signal send halt instruction to push rod（6）, while
Alarm command is sent to realize alarming to alarm assemblies.
6. the push rod device of freeze dryer automatic feed/discharge according to claim 5, it is characterised in that the control assembly connects
Connect a host computer（12）.
7. the push rod device of freeze dryer automatic feed/discharge according to claim 6, it is characterised in that the detection components are
Rotary encoder.
8. the push rod device of freeze dryer automatic feed/discharge according to claim 3, it is characterised in that the position switch is
Proximity switch.
9. the push rod device of freeze dryer automatic feed/discharge according to claim 6, it is characterised in that the control assembly is
Programmable Logic Controller（3）.
10. the push rod device of freeze dryer automatic feed/discharge according to claim 4, it is characterised in that the alarm assemblies
It is audible-visual annunciator（9）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310744648.5A CN104743160B (en) | 2013-12-31 | 2013-12-31 | The push rod device of freeze dryer automatic feed/discharge |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310744648.5A CN104743160B (en) | 2013-12-31 | 2013-12-31 | The push rod device of freeze dryer automatic feed/discharge |
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| CN104743160A CN104743160A (en) | 2015-07-01 |
| CN104743160B true CN104743160B (en) | 2017-06-06 |
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| CN201310744648.5A Active CN104743160B (en) | 2013-12-31 | 2013-12-31 | The push rod device of freeze dryer automatic feed/discharge |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110697136B (en) * | 2017-07-04 | 2021-03-16 | 深圳市施威德自动化科技有限公司 | Automatic material distributing mechanism for bulk binding tapes |
| CN110316420A (en) * | 2018-03-30 | 2019-10-11 | 广州米贺智能科技有限公司 | A kind of automatic pusher |
| CN109016822A (en) * | 2018-04-30 | 2018-12-18 | 浙江聚众柔印科技有限公司 | Drying bracket in flexible printing forme drying unit |
| CN113834400B (en) * | 2020-06-23 | 2022-11-15 | 长鑫存储技术有限公司 | Position detection judging device, calibration device, method and system |
| CN114275249A (en) * | 2021-12-28 | 2022-04-05 | 重庆医药高等专科学校 | Preparation equipment of powder for injection |
| CN114906388A (en) * | 2022-04-01 | 2022-08-16 | 衡所华威电子有限公司 | Side-push type cake stacking and boxing device |
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| CN104743160A (en) | 2015-07-01 |
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