CN107572016B - Vertical multiple groups part material blanking device and its controller - Google Patents

Vertical multiple groups part material blanking device and its controller Download PDF

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Publication number
CN107572016B
CN107572016B CN201710895674.6A CN201710895674A CN107572016B CN 107572016 B CN107572016 B CN 107572016B CN 201710895674 A CN201710895674 A CN 201710895674A CN 107572016 B CN107572016 B CN 107572016B
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blanking
module
multiple groups
blender
controller
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CN107572016A (en
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邹细勇
徐伟
陈亮
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China Jiliang University
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China Jiliang University
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Priority to CN201910845716.4A priority patent/CN110697100B/en
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    • 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
    • B65B1/00—Packaging fluent solid material, e.g. powders, granular or loose fibrous material, loose masses of small articles, in individual containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, or jars
    • B65B1/30—Devices or methods for controlling or determining the quantity or quality or the material fed or filled
    • B65B1/32—Devices or methods for controlling or determining the quantity or quality or the material fed or filled by weighing
    • 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
    • B65B1/00—Packaging fluent solid material, e.g. powders, granular or loose fibrous material, loose masses of small articles, in individual containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, or jars
    • B65B1/04—Methods of, or means for, filling the material into the containers or receptacles
    • B65B1/10—Methods of, or means for, filling the material into the containers or receptacles by rotary feeders
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/04—Bulk
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Quality & Reliability (AREA)
  • Filling Or Emptying Of Bunkers, Hoppers, And Tanks (AREA)

Abstract

The invention discloses vertical multiple groups part material blanking device and its controller, the blanking device includes rack, multiple groups blanking bin and baiting valve, weighing hopper, Weighing module, discharge valve, blending bucket and controller；There is a hourglass shape tripper on the top of weighing hopper, range sensor and blender are installed on blanking bin side wall；There are level sensor and blender in blending bucket.Controller is based on current and accumulation drafting error, is iterated PREDICTIVE CONTROL to baiting valve, material is uniformly mixed by the blanking in turn of each baiting valve in blending bucket.The present invention is detected and is adjusted to the material accumulation in blanking bin using range sensor and blender, is guaranteed blanking form stable, is reduced the variation of material falling down error and buckles further through tripper, so that iteration predicts more rapid convergence.Compared with prior art, blanking of the present apparatus in iterative learning procedure can be used effectively, it is therefore prevented that the waste of material, and can be applied to the quick ingredient of small lot.

Description

Vertical multiple groups part material blanking device and its controller
Technical field
The present invention relates to Quantitative dosing fields, and in particular to a kind of vertical multiple groups part material blanking device and its control Device.
Background technique
In industrial or agricultural manufacture and commodity packaging, there are a large amount of powder grain material, such as iron ore concentrate, coal dust iron-smelting raw material, gathers The industrial chemicals such as propylene, polystyrene, polyvinyl chloride, light methylcellulose, polyacrylonitrile, epoxy powder coating, quartz It is the building materials raw material such as sand, cement, the daily chemical products such as washing powder, the corn beans such as millet, soybean agricultural products or powder, slag, granular Health care product, Chinese and Western medicine, flavouring of processed food, the agricultural productions such as feed, chemical fertilizer, pesticide material and granular etc. are Automatic quantitative packing or ingredient is needed to manufacture.
China has many enterprises still to use manual quantitative ingredient or packaging, one side large labor intensity, rate at present Slowly, deficiency in economic performance；On the other hand, food, drug etc. quantitatively tend not to meet hygienic requirements, poisonous and hazardous object by hand Material, it is artificial to participate in quantitatively being easy to cause harm to the human body.Therefore for manufacturing enterprise, being badly in need of providing inexpensive has higher speed Perhaps device meets a large amount of material dosing packaging or ingredient manufacture for rate and multiple groups part automatic ration blanking equipment of accuracy It is required that.
At present both at home and abroad there are two types of powder grain material automatic quantitative blanking machine common methods, positive displacement and Weighing type.Volume Formula quantitative basis material volume carries out metering filling or feeds intake, and quantitatively feeds intake rapidly, but quantitative quality of material is close by material Degree changes and changes.Such as application No. is 200920248298.2 Chinese patent consider to be difficult to control when fast blanking it is quantitative and Reduce the influence of feed drop by method first quick and back slow, but its blanking final value can only be close to desired value, accuracy is not high.
Weighing type quantitative basis quality of material carries out metering filling or feeds intake, and needs constantly to weigh in blanking process, According to weighing results feedback control discharge quantity, since weighing is affected by blanking impact and aerial lag material, blanking speed Degree and precision all suffer from many difficulties.Interference in order to compensate for aerial material to measuring accuracy, many schemes are used and are closed in advance The technology of valve, such as application No. is 201410230888.8 Chinese patents is divided into three phases for batching weighing process, and Closing is calculated using iterative learning control mode in the last stage and shifts to an earlier date control amount, but the program is only capable of improving and learn Cutting stock precision after, the accumulation cutting stock precision in learning process not can guarantee then.
Summary of the invention
Since the aerial blanking amount in blanking process is by conveying device closing velocity, feed opening to drop between hopper charge level The factors such as size, material whereabouts form flow rate influence, and the time of closing conveying device is difficult to disposable by test experiment in advance It determines.For this purpose, the present invention is improved by blanking bin to blanking device and weighing hopper, reduce the falling down error and shape of material State variation, while by that, using accumulated error as controlled volume, to realize the continuous blanking of high-precision, and can be fitted in iteration is predicted For the quick ingredient blanking of small lot.
The technical solution of the invention is as follows, provides a kind of vertical multiple groups part material blanking device with flowering structure, packet It includes: rack, blanking bin, baiting valve, weighing hopper, Weighing module, discharge valve, blending bucket and controller；
The baiting valve is located at the bottom opening of blanking bin, and the blanking bin and baiting valve are 2~6 groups,
The weighing hopper below baiting valve, is mounted on the Weighing module for being fixed on rack, and its bottom opening It is controlled by discharge valve；One tripper is arranged at the top of the weighing hopper；
The blending bucket is located at below discharge valve, and a push plate is arranged at its bottom；
The controller is read by the opening time control to each baiting valve and to the sensing data of Weighing module, point Not carry out each component material blanking calibration, prediction is iterated to the air weighting of its blanking；And it is based on accumulation discharge quantity and matches The shut-in time for comparing baiting valve is adjusted in number formulary evidence；Controller successively controls each blanking valve events, completes once After formula ratio blanking, discharge valve is opened, then after detecting the accumulation of material to setting value in blending bucket, opens push plate, it will Uniformly mixed material discharge.
Preferably, it further includes a storage bin and feed pump, the outlet of feed pump rear end feed pipe has one Material spray head, the material spray head be it is spherical, circular aperture is distributed in surface.
Preferably, the feed pump uses screw rod conveyor.
Preferably, there are two range sensor, described two range sensor difference for installation on the blanking bin side wall It is directed toward preset material position high point and material position low spot in blanking bin.
Preferably, it is the hourglass shape tripper that cone lower part is the cone structure flattened that the tripper, which is in top, Upper part is opening shape, and then only there is slope shape nozzle in lower part at the both ends of length direction；The weighing hopper is towards the nozzle Spherical crown shape protrusion straggly is distributed on direction；The projection diameter is 0.2~0.6 millimeter or is the 2~3 of institute's falling material diameter Times.
Preferably, the side wall of the blanking bin is also equipped with a blender, the blender includes being sequentially connected Pedestal, two support arms, support arm rotating shaft, cleft hand shaft and the cleft hand for connecting two support arms.
Preferably, being also equipped with a level sensor on the side wall of the blending bucket, internal there are one mixings Device, the blender use helical blade blender.
Preferably, there are one conveying pipelines below the push plate.
Preferably, the controller predicts the air weighting of blanking using following formula:
Ak+1=Ak+(α·ek+β·Ek),
Wherein, AkAnd Ak+1It is air weighting predicted value twice in succession, e respectivelykAnd EkDrafting error when respectively kth is secondary With accumulation drafting error, α and β are respectively the coefficient in section (0,1) and have alpha+beta=1.
Another technical solution of the invention is to provide vertical multiple groups part material blanking device controller comprising Input module, memory module, output module and processing module, the processing module include again prediction module, monitoring weight module, Error calculating module and Logic control module；
Input module receives touch screen operation instruction and reads the sensing data of Weighing module,
Memory module is used for storage configuration data and process data,
Real-time weight value that monitoring weight module is obtained according to input module with through the compensated target of air weighting predicted value Weight value is compared and closes the baiting valve at blanking bin bottom opening by output module when this two weight values are equal,
Error calculating module carries out calculating update to this drafting error and accumulation drafting error,
Prediction module predicts air weighting according to last air weighting predicted value, this drafting error and accumulation drafting error Value is iterated update,
Each baiting valve of Logic control module wheel flow control, weighing hopper bottom discharge valve and blanking bin in blender it is dynamic Make, carries out blanking by formula.
Using the present invention program, compared with prior art, have the advantage that the present invention be respectively adopted range sensor and Mechanical hand shape blender is detected and is adjusted to the material accumulation form in blanking bin, guarantees blanking form stable, further through Tripper is set in weighing hopper to reduce the variation of material falling down error and buckles, the convergence speed of iteration prediction can be accelerated Degree, so that apparatus of the present invention can apply to the quick ingredient of small lot, and by the control to blanking accumulated error, so that Material during iteration prediction can efficiently use, it is therefore prevented that the waste of material.
Detailed description of the invention
Fig. 1 is the composite structural diagram of vertical multiple groups part material blanking device；
Fig. 2 is the shape assumption diagram of vertical multiple groups part material blanking device；
Fig. 3 is material dropping process schematic diagram；
Fig. 4 is storage bin and blanking bin partial structural diagram；
Fig. 5 is agitator structure schematic diagram in blanking bin；
Fig. 6 is Flow of Goods and Materials laminar flow schematic diagram in blanking bin；
Fig. 7 is tripper and weighing hopper side wall construction schematic diagram；
Fig. 8 is multiple groups part material distribution schematic diagram in weighing hopper；
Fig. 9 is variation diagram of weighing in material dropping process；
Figure 10 is the error statistics figure in a kind of material iteration prediction blanking process；
Figure 11 is the composite structural diagram of vertical multiple groups part material blanking device controller.
Wherein: 1, blanking bin 2, baiting valve 3, weighing hopper 4, Weighing module 5, discharge valve 6, blending bucket 7, push plate 8, conveying pipeline 9, controller 10, storage bin 11, feed pump 12, blender 13, blender 14, level sensor 15, into Expects pipe 16, material spray head 17, aperture 18, range sensor 19, material position face 20, tripper 21, tripper nozzle 22, Protrusion
30, rack
91, input module 92, processing module 93, memory module 94, output module 95, monitoring weight module 96, patrol Collect control module 97, prediction module 98, error calculating module
121, pedestal 122, support arm 123, support arm rotating shaft 124, cleft hand shaft 125, cleft hand
Specific embodiment
The preferred embodiment of the present invention is described in detail below in conjunction with attached drawing, but the present invention is not restricted to these Embodiment.The present invention covers any substitution made in the spirit and scope of the present invention, modification, equivalent method and scheme.
In order to make the public have thorough understanding to the present invention, it is described in detail in the following preferred embodiment of the present invention specific Details, and the present invention can also be understood completely in description without these details for a person skilled in the art.
The present invention is more specifically described by way of example referring to attached drawing in the following passage.It should be noted that attached drawing is adopted With more simplified form and using non-accurate ratio, only to facilitate, lucidly aid in illustrating the embodiment of the present invention Purpose.
As depicted in figs. 1 and 2, vertical multiple groups part material blanking device of the present invention comprising blanking bin 1, baiting valve 2, Weighing hopper 3, Weighing module 4, discharge valve 5, blending bucket 6 and controller 9, wherein the material of every kind of component has one group of blanking bin 1 Corresponding with baiting valve 2, common component classification is 2~6 kinds, can also increase component classification as needed.Preferably, blanking The feed bin shape structure of right-angled trapezium and rectangle composition is selected in storehouse 1, and baiting valve 2 uses piston type pneumatic movable valve, valve event component It is mounted at the outlet at bottom of blanking bin 1.
Frame of the rack 30 as equipment, for fixing and supporting other all parts.Weighing module 4 is fixed on rack 30 On, weighing hopper 3 is then movable to be withheld on Weighing module 4, and opening arranged at the bottom of weighing hopper 3, the opening it is on and off By the control of discharge valve 5.Weighing hopper 4 is located at the lower part of blanking bin 1, and the center of multiple baiting valves 2 is in respect to the center of weighing hopper 4 Arc-shaped distribution.
In conjunction with shown in Fig. 1 and Figure 11, controller 9, including input module 91, memory module 93, output module 94 and processing Module 92, the processing module 92 includes prediction module 97, monitoring weight module 95, error calculating module 98 and logic control again Module 96.
Input module 91 receives the sensing number of operational order and reading Weighing module and range sensor etc. by touch screen According to memory module 93 is used for storage configuration data and process data, and monitoring weight module 95 is obtained according to input module 91 Real-time weight value be compared with through the compensated target weight value of air weighting predicted value and when this two weight values are equal The baiting valve 2 at 1 bottom opening of blanking bin is closed by output module 94, error calculating module 98 is to this drafting error and tires out Product drafting error carries out calculating update, and prediction module 97 is according under last air weighting predicted value, this drafting error and accumulation Material error is iterated updates to air weighting predicted value, the wheel flow control of Logic control module 98 each baiting valve 2, weighing hopper bottom Discharge valve and other action components include blender in blanking bin, in blending bucket push plate and feed pump etc. movement operating, by matching Fang Jinhang blanking.
Controller 9 uses touching type operation mode, has man-machine interface for the formula of progress multiple groups part material on touch screen And the setting of other parameters, total weight and each component of the formula including a blanking account for the percentage of the weight.Controller 9 is dynamic State reads the current reading of Weighing module 4, realizes the blanking by formula by controlling each valve event.
Blending bucket 6 is located at 5 lower section of discharge valve, and a push plate 7 is arranged at its bottom, is connected with a conveying pipeline 8 below push plate, The mixed material of multiple groups part is transported to packaging bag or production equipment by the latter.
Preferably, being equipped with a level sensor 14 on the side wall of blending bucket 6, internal there are one blenders 13, the blender 13 uses helical blade blender.The capacity of blending bucket 6 is the several such as 15 times of weighing hopper 3, is completed After multiple secondary amounts blankings, controller 9 reads the state of level sensor 14, if detecting, material position is more than given threshold, controls Blender Stirring processed, after mixing by various materials, under the control of controller 9, push plate 7 open, mixed material from Conveying pipeline 8 exports.
Fig. 3 illustrates the variation that material position drop and blanking speed impact weighing hopper in material dropping process, and material is with first Speed v0It is fallen from baiting valve 2, the outlet of baiting valve 2 is H at a distance from 3 bottom of weighing hopper, with material position h in weighing hopper2Increasing Add, falling down error h1It will become smaller.
The mass equivalent variation of material can be represented by the formula in weighing hopper:
Wherein, in t moment, dm is the unit time blanking quality (g/s) that baiting valve 2 exports, v0When falling for material Initial velocity, speed of the material of Δ m when falling on weighing hopper is within the Δ t time from speed v1Become 0.
From formula (1) as can be seen that with falling down error h1Variation, material to the impact of weighing hopper also with change, because This, the weight change of weighing hopper changes over time.
On the other hand, shadow of the unit time blanking mass equivalent also by material fractions distribution in blanking bin 1 in formula (1) It rings.
Particulate matter mainly has bulk flow and center stream two types from blanking bin outflow form under the effect of gravity.It is whole Entire stratum granulosum can substantially evenly flow out in feed bin in the flow problem of stream, and substantially each particle is moving； And in the flow problem of center stream then some particles be it is static, there are a flow channel sides between flowing static particle Boundary.The Whole blanking speed ratio center stream of bulk flow is big, and the fluctuation of blanking rate is smaller, flowing is stablized.
In the actual production process, material is difficult to fully meet overall flow condition in storehouse, is often in addition to equal in feed bin Except even particulate component, there are also partially having certain viscosity, the block containing certain moisture, storeroom involves in such cases The effect of effect, compacted fill ground and electrostatic, internal friction will become apparent upon, this causes in storehouse during material is easy to appear The flow problem of heart stream, so that being compacted stress when material mouth starts discharging caused by storehouse is pressed and causing material knot In fact at plate.
For this purpose, the present invention is using range sensor and mechanical hand shape blender in blanking bin in conjunction with shown in 4,5 and 6 Material accumulation form is detected and is adjusted, so that being alternately present the formation and collapsing of dynamic material arch above feed opening, guarantees to fall Material form is stable bulk flow pattern, to greatly reduce the fluctuation of blanking bin blanking flow rate.
As shown in figure 4, blanking bin 1 constantly discharges, when material position is reduced to certain value in storehouse, need to carry out feed supplement to it. For this purpose, a storage bin 10 is arranged above blanking bin 1, the material in storage bin 10 is entered by feed pump 11 and feed pipe 15 Blanking bin 1.To make the uniform blanking of material particles, a material spray head 16, material are equipped at the end outlet of feed pipe 15 16 surface of spray head be it is spherical, surface is distributed with circular aperture 17, and small aperture carries out preferred according to the granularity of material.
Preferably, feed pump 11 uses screw rod conveyor, movement is controlled by controller.
Material position in blanking bin 1 is examined by the range sensor 18 for two small-angles being mounted on its side wall Survey, due to material spray head 16 center D and blanking bin 1 feed opening B generally not on a vertical line, by two away from Arranged off-centre is pressed from sensor 18, height two range sensors P, Q are respectively directed to preset material position high point C and material in blanking bin Position low spot A, wherein C, A are on same vertical line with D, B respectively.In 1 blanking process of blanking bin, with material position face 19 Reduce, when the distance that range sensor Q is detected be greater than QA corresponding to apart from when, control order feed pump 11 act, open Begin to 1 feeding of blanking bin；Then, plane increase, when the distance that range sensor P is detected be less than PC corresponding to apart from when, Control order feed pump 11 acts, and stops to 1 feeding of blanking bin.
Preferably, the pedestal of adjustable upper angle of declination can be added on two range sensors, thus to blanking bin Interior bed of material distribution carries out the higher detection of resolution ratio.
Preferably, to different blanking bins 1 due to the difference of size and shape, two range sensors are not enough to detect When all materials are hardened, the number of range sensor can be increased and them is made to be directed toward Different layer of the compost height.
As shown in figure 5, the present invention improves point of material by installing a blender 12 on the side wall of blanking bin 1 Cloth.Blender 12 includes 121, two support arms 122 of pedestal being sequentially connected, the support arm rotating shaft 123 for connecting two support arms, cleft hand turn Axis 124 and cleft hand 125, wherein pedestal 121 also contains a rotary shaft.
In blanking process, the present invention sentences by the detection of range sensor and to the tracking of unit time blanking rate respectively The distribution of material in disconnected blanking bin, so that the material face in blanking bin keeps near parabolic face shape.In conjunction with shown in Fig. 4 and Fig. 5, The arrangement of optimization distance sensor, so that the material distance that range sensor P and Q are detected is one when material is uniformly distributed Within the scope of certainty ratio.When hardened or stable material arch locally occurs for material, the reading of range sensor will exceed the range, such as P detects material and when material is then not detected in Q in certain distance, illustrates occur local anomaly at this time.Meanwhile passing through title Molality block carries out real-time tracking to the blanking velocity of each blanking bin.When range sensor detects above-mentioned abnormality or discovery The fluctuation of unit time discharge quantity is more than given threshold such as after 5%, the movement of control order blender, by the rotation of shaft, Cleft hand is from the off through material position high point region to material position low spot region, shape of spinning overturning, to abolish the plate formed once in a while Knot or material arch, make material restore flowing, keep the laminar flow regime of bulk flow.
As shown in fig. 6, the present invention is cooperated by the detection and movement of range sensor and blender, significantly reduce Compaction force effect, effectively prevents the size segregation of material in storehouse, makes the object in the magazine of lower part caused by charging impact etc. Material activation, improves the flowing of material.In continuous charging with blanking process, all particles are all flowing in an orderly manner, With the outflow of storehouse endoparticle, the laminar flow regime of bulk flow is presented in particle swarm.
In conjunction with shown in Fig. 3 and Fig. 7, from formula (1) as can be seen that due to material falling down error h1Variation, material is to metering Also with change, causing the weight gain in the Weighing module unit time is variation for the impact of bucket.As shown in fig. 7, to subtract A tripper 20 is arranged on 3 top of weighing hopper in the influence of small falling down error variation, the present invention, and tripper 20 is circular cone in top Body lower part is the hourglass shape tripper of the cone structure flattened；Its middle and upper part is opening shape, receives the material in blanking bin；Lower part Then slope shape nozzle 21 only has been symmetrically distributed at the both ends of length direction.Weighing hopper 3 is distributed on the direction towards nozzle 21 Spherical crown shape protrusion 22 straggly, preferably, projection diameter is 0.2~0.6 millimeter or is 2~3 times of institute's falling material diameter.
By the effect of tripper, material whereabouts is divided into the two-stage, the first stage be from blanking bin bottom opening under Fall on tripper under material valve port, second stage be from tripper nozzle to weighing hopper in material heap.Wherein, the material of first stage Impact is constant, second stage, due to distribution raised role straggly on tripper and metering headwall, material particles impact metre The speed in material face has substantially reduced in batch box, and the impact force in different height material heap face in weighing hopper is reached from tripper nozzle Difference is very small, so that the iteration prediction for controller provides condition.
Controller of the present invention carries out blanking control using following steps:
(1) according to a secondary amounts and each formula rate, a discharge quantity Ws of each component is determined, to the accumulation blanking of each component Error E assigns initial value 0；Current component is set as the first component；
(2) to current component blanking, controller reads the sensed values of Weighing module, records the initial weight G0 of weighing hopper, Control baiting valve starts blanking；
(3) when detecting that weighing hopper weight reaches (G0+Ws-Wa), baiting valve is closed；
(4) it waits material to fall to weighing hopper completely, reads the sensed values of Weighing module, obtain currently practical discharge quantity Wr calculates this drafting error e=Wr-Ws；
(5) accumulation drafting error E '=E+e is updated, is calculated air weighting predicted value Wa '=Wa+ (α e+ β E '), wherein α and β Respectively the iteration coefficient of section (0,1) and there is alpha+beta=1；
(6) iteration enables E=E ', Wa=Wa ', for the preparation of blanking next time；
(7) blanking component is replaced, if whole component blankings finish, turns in next step, otherwise, to go to step 2；
(8) discharge valve is opened, so that a formula ratio material of multiple groups part material composition falls into blending bucket, material position is read and passes The state of sensor, if detecting, material position is more than given threshold, controls blender Stirring, multiple groups part material is uniformly mixed Afterwards, push plate is opened, mixed material is exported from conveying pipeline；
(9) if default blanking batch has been completed, terminate blanking；Otherwise, component is set as the first component, turned Step 2.
During blanking, controller is also analyzed by the calculating of adjust the distance sensor and Weighing module signal, in blanking bin Material heap form be measured in real time, if finding improper blanking, order mechanical hand shape blender movement in time, ensure blanking When bulk flow laminar flow regime.
Before continuous blanking, also to perform the following operation:
(i) by test experiment, Weighing module and range sensor are demarcated；
(ii) parameter setting, including a secondary amounts, formula table, batch value, blanking rate are carried out by the touch screen of controller The duration Tb and number of repetition of calibration, stablize weighing delay Ts；
(iii) blanking calibration is carried out to each component: starts to open baiting valve certain time length Tb from 0 moment, closing blanking At the Tb+Ts moment after valve Tb moment and weighing are stable, the weight value Wcb and Wdb of Weighing module are read and recorded respectively；It repeats more After secondary, the blanking rate PD=AVG (Wdb/Tb) of this component, air weighting initial value Wa=AVG (Wdb-Wcb) are calculated.
Blanking is carried out using apparatus of the present invention, Fig. 8~10 give the result of blanking.Wherein, 4 kinds of groups of Fig. 8 amount of showing Material distribution schematic diagram when part blanking in meter bucket.Fig. 9 is Weighing module reading in a 2500ms duration material dropping process Change curve, wherein abscissa be close baiting valve after delay time.Therefrom as it can be seen that due to impact force effect, weighing Reading will overshoot, and then just be returned to actual weight；Also, aerial material is just complete after baiting valve closes about 800ms Weighing hopper is fallen into, Weighing module reading tends towards stability.
Figure 10 is the statistics of one-component material drafting error in apparatus of the present invention blanking process, it can be seen from the figure that by The factor of accumulated error is considered in iteration prediction, therefore, not only drafting error can level off to 0, and accumulated error is under repeatedly It has also been restrained after material.Therefore, compared to other iterative learnings, the present apparatus does not need to give up the material in iterative learning procedure It abandons, but may be directly applied to subsequent production, so being suitable for the quick ingredient blanking of small lot.
Embodiments described above does not constitute the restriction to the technical solution protection scope.It is any in above-mentioned implementation Made modifications, equivalent substitutions and improvements etc., should be included in the protection model of the technical solution within the spirit and principle of mode Within enclosing.

Claims (8)

1. vertical multiple groups part material blanking device comprising rack, blanking bin, baiting valve, weighing hopper, Weighing module, blanking Valve, blending bucket and controller；
The baiting valve is located at the bottom opening of blanking bin, and the blanking bin and baiting valve are 2~6 groups,
The weighing hopper below baiting valve, is mounted on the Weighing module for being fixed on rack, and its bottom opening is fallen Expect valve control；One tripper is arranged at the top of the weighing hopper；
For the tripper in the hourglass shape tripper that top is that cone lower part is the cone structure flattened, upper part is opening Then only there are slope shape nozzle in shape, lower part at the both ends of length direction；The weighing hopper is distributed on the direction towards the nozzle Spherical crown shape protrusion straggly；
The blending bucket is located at below discharge valve, and a push plate is arranged at its bottom；
The controller is read by the control of opening time to each baiting valve and to the sensing data of Weighing module, respectively into The blanking of row each component material is demarcated, and is iterated prediction to the air weighting of its blanking；And based on accumulation discharge quantity and match number formulary According to compare baiting valve shut-in time be adjusted；Controller successively controls each blanking valve events, completes primary formula After measuring blanking, discharge valve is opened, then after detecting the accumulation of material to setting value in blending bucket, push plate is opened, will mix Uniform material discharge.
2. vertical multiple groups part material blanking device according to claim 1, it is characterised in that: it further includes a storing There are a material spray head in storehouse and feed pump, the outlet of feed pump rear end feed pipe, and the material spray head is spherical, table EDS maps have circular aperture.
3. vertical multiple groups part material blanking device according to claim 2, it is characterised in that: the feed pump uses spiral shell Bar conveyer.
4. vertical multiple groups part material blanking device according to claim 1, it is characterised in that: on the blanking bin side wall There are two range sensors for installation, and it is low that described two range sensors are respectively directed to preset material position high point and material position in blanking bin Point.
5. vertical multiple groups part material blanking device according to claim 1, it is characterised in that: the side wall of the blanking bin It is also equipped with a blender, the blender includes the pedestal being sequentially connected, two support arms, the support arm turn for connecting two support arms Axis, cleft hand shaft and cleft hand.
6. vertical multiple groups part material blanking device according to claim 1, it is characterised in that: the side wall of the blending bucket On a level sensor is installed, internal there are one blender, the blender uses helical blade blender, institute Conveying pipeline there are one stating below push plate.
7. vertical multiple groups part material blanking device described in any one according to claim 1~6, it is characterised in that: described Controller predicts the air weighting of blanking using following formula:
Ak+1=Ak+(α·ek+β·Ek),
Wherein, AkAnd Ak+1It is air weighting predicted value twice in succession, e respectivelykAnd EkRespectively kth time when drafting error and tired Product drafting error, α and β are respectively the coefficient in section (0,1) and have alpha+beta=1.
8. vertical multiple groups part material blanking device controller comprising input module, memory module, output module and processing mould Block, the processing module include prediction module, monitoring weight module, error calculating module and Logic control module again；
Input module receives touch screen operation instruction and reads the sensing data of Weighing module,
Memory module is used for storage configuration data and process data,
Real-time weight value that monitoring weight module is obtained according to input module with through the compensated target weight of air weighting predicted value Value is compared and closes the baiting valve at blanking bin bottom opening by output module when this two weight values are equal,
Error calculating module carries out calculating update to this drafting error and accumulation drafting error,
Prediction module predicts air weighting according to last air weighting predicted value, this drafting error e and accumulation drafting error E ' Value is iterated update: Wa '=Wa+ (α e+ β E '), wherein and α and β is respectively the iteration coefficient in section (0,1) and has alpha+beta=1,
Each baiting valve of Logic control module wheel flow control, weighing hopper bottom discharge valve and blanking bin in blender movement, press Formula carries out blanking.
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