CN108421583A - Self feed back automation compensation hulling machine - Google Patents
Self feed back automation compensation hulling machine Download PDFInfo
- Publication number
- CN108421583A CN108421583A CN201810344405.5A CN201810344405A CN108421583A CN 108421583 A CN108421583 A CN 108421583A CN 201810344405 A CN201810344405 A CN 201810344405A CN 108421583 A CN108421583 A CN 108421583A
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- China
- Prior art keywords
- rubber rollers
- fixed
- motion compensation
- crank
- feed back
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02B—PREPARING GRAIN FOR MILLING; REFINING GRANULAR FRUIT TO COMMERCIAL PRODUCTS BY WORKING THE SURFACE
- B02B3/00—Hulling; Husking; Decorticating; Polishing; Removing the awns; Degerming
- B02B3/04—Hulling; Husking; Decorticating; Polishing; Removing the awns; Degerming by means of rollers
- B02B3/045—Hulling; Husking; Decorticating; Polishing; Removing the awns; Degerming by means of rollers cooperating rollers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02B—PREPARING GRAIN FOR MILLING; REFINING GRANULAR FRUIT TO COMMERCIAL PRODUCTS BY WORKING THE SURFACE
- B02B7/00—Auxiliary devices
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- A Measuring Device Byusing Mechanical Method (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The present invention provides a kind of self feed backs to automate compensation hulling machine, which is characterized in that self feed back automation compensates hulling machine and includes：Fixed rubber rollers and motion compensation rubber rollers, fixed rubber rollers are arranged in parallel with motion compensation rubber rollers, and between there are cereal processing spaces；Double-crank synchronous platform；Pneumatic adjustment module, pneumatic adjustment module includes pneumatic cylinder, pneumatic cylinder telescopic rod and shaft, pneumatic adjustment module is set at the top of motion compensation rubber rollers, and pneumatic cylinder is connected to shaft by pneumatic cylinder telescopic rod, and the other end of shaft at the top of hinge axis and crank shelf by being co-axially mounted；First measurement module and the second measurement module.Self feed back automation compensation hulling machine can detect the abrasion condition of rubber roller automatically, be adjusted to roll surfaces linear velocity, the spacing of two rubber rollers is adjusted.
Description
Technical field
The invention belongs to agricultural hulling machine technical fields, and compensation hulling machine is automated more particularly, to a kind of self feed back.
Background technology
As the current size of population rises, the supply requirement of grain is increasing.According to on-site inspection and grain factory people
Member's reaction, large-scale rubber rollers of the key member for two initial radiums unanimously currently used for decladding, and hulling machine working condition
To work in three shifts, non-stop run in 24 hours, so can rubber rollers be caused with prodigious abrasion, general this rubber rollers working life
It was changed for 3-6 days one, and people is needed periodically to manually adjust the distance between two rubber roller shafts, the distance of two rubber roller opposite faces is to want
Stringent control, because it is related to the husking yield of rice, yield.So traditional hulling machine low production efficiency, product quality is not
Stablize, it is inconvenient for operation, it needs personnel to guard in real time, brings the waste of a large amount of human resources.
It can be obtained according to correlation technique data and field investigation, to ensure the surface speed discrepancy V1- of shelling two rubber roller of quality
V2=△ V want constant, and to ensure that yield V1+V2 is also constant, while the distance of two rubber roller apparent surfaces will remain unchanged.So
It designs a set of automatic measuring equipment to measure the timing of these values and automatically compensate it, to keep its yield and product matter
Constant, raising production efficiency is measured, reduction human cost makes full use of rubber rollers, avoids wasting.
At present first with the presence of some drawbacks of hulling machine：
1) newly drive a rubber rollers to another rubber rollers by two synchronous hydraulic cylinder movements for hulling machine at present
It does close to movement, but the disadvantage is that can not ensure that two rubber roll shafts are parallel, and displacement distance error is big, because synchronous hydraulic cylinder is transported
Error is big when dynamic；
2) have again and learnt by seeking advice from manufacturer, fast roller may be acted on by the grain of rice makes slow rollers speed become faster, and fast roller speed
Spend slack-off, two roller instantaneous velocitys have fluctuation.This seriously affects husking yield and yield
3) due to having abrasion when two rollers are run, and the two roller radius degrees of wear can be different, cause two rollers rotating speed not
Linear resonance surface velocity can change in the case of change.
Therefore, it is necessary to which two rubber roller abrasion conditions can be detected automatically by designing one kind, and automatic uncompensation distance is novel
Automate hulling machine.
Invention content
The object of the present invention is to provide a kind of self feed backs to automate compensation hulling machine, self feed back automation compensation hulling machine
The abrasion condition that rubber roller can be detected automatically, is adjusted roll surfaces linear velocity, is adjusted to the spacing of two rubber rollers
Section.
To achieve the goals above, the present invention provides a kind of self feed back automation compensation hulling machine, self feed back automation
Compensating hulling machine includes：
Fixed rubber rollers and motion compensation rubber rollers, the fixed rubber rollers are parallel with the motion compensation rubber rollers to be set
Set, and between there are cereal processing spaces；
Double-crank synchronous platform, the double-crank synchronous platform include U-shaped objective table, crank shelf and fixed crank frame, institute
It states crank shelf and four apexes in the U-shaped objective table is set, be located at the U-shaped objective table bottom, at the top of the crank shelf
It is provided with hinge axis, bottom is provided with bearing, and the fixed crank frame is set in the crank shelf, is located at the U-shaped objective table
Two crank shelfs of open end are connected to motion compensation rubber rollers both ends by the hinge axis；
Pneumatic adjustment module, the pneumatic adjustment module include pneumatic cylinder, pneumatic cylinder telescopic rod and shaft, described, pneumatically
Adjustment module is set at the top of the motion compensation rubber rollers, and the pneumatic cylinder is connected to described by the pneumatic cylinder telescopic rod
Shaft, the other end of the shaft at the top of the hinge axis and the crank shelf by being co-axially mounted；
First measurement module and the second measurement module, first measurement module are set to the fixed rubber rollers both sides,
Second measurement module is set to motion compensation rubber rollers both sides；
Processing module, it is same that the processing module is communicatively coupled to the measurement sensor, pneumatic adjustment module and double-crank
Step platform.
Preferably, the pneumatic adjustment module further include fixed plate, rotational support block, action roller shaft hold, arm shaft and swing arm,
The fixed plate is arranged at the top of the motion compensation rubber rollers, and the pneumatic cylinder is arranged in the fixed plate, the rotation
Supporting block is set to pneumatic cylinder telescopic rod one end and is co-axially mounted with the shaft, and the swing arm is set to the crank shelf one
Side, top are co-axially mounted with the top of the crank shelf and the bottom of the shaft, and bottom is connected to institute by the arm shaft
State bearing.
Preferably, further include swing arm pedestal, the swing arm pedestal is arranged the arm shaft.
Preferably, first measurement module and second measurement module respectively include longitudinally fixed bar, cross measure
The both ends of bar and measurement sensor, the cross measure bar are connected to the longitudinally fixed bar, and the measurement sensor setting exists
On the cross measure bar；
Wherein, the both ends of the fixed rubber rollers are connected to the longitudinally fixed bar of first measurement module, the movement
The both ends of compensation rubber rollers are connected to the longitudinally fixed bar of second measurement module, the fixed rubber rollers and the mobile benefit
Rubber rollers are repaid to be located between the cross measure bar and the cross measure bar of second measurement module of first measurement module.
Preferably, cross measure bar both ends are slidedly arranged on the longitudinally fixed bar.
Preferably, further include approaching servo motor, the servo motor that approaches can drive the cross measure bar in institute
It states and is moved on longitudinally fixed bar.
Preferably, the measurement sensor is slidably installed on the cross measure bar.
Preferably, further include laterally approaching motor, the transverse direction, which approaches motor, can drive the measurement sensor in institute
It states and is moved back and forth on cross measure bar, the busbar of the fixed rubber rollers, the busbar of the motion compensation rubber rollers and the roller
Cross measure bar is mutually parallel.
Preferably, further include rack, the bearing is fixed in the rack.
Preferably, fixed rubber rollers stepper motor and motion compensation rubber rollers stepper motor, the fixed rubber rollers stepping
Motor can drive the fixed rubber rollers rotation, the motion compensation rubber rollers stepper motor that can drive the motion compensation
Rubber rollers rotate, and the fixed rubber rollers stepper motor and the motion compensation rubber rollers stepper motor are communicatively coupled to the place
Manage module.
The beneficial effects of the present invention are：By the setting of the first measurement module and the second measurement module, fixed rubber is measured
The wear extent and linear resonance surface velocity of rubber roller and motion compensation rubber rollers pass through double-crank synchronous platform based on abrasion amount measuring result
And pneumatic adjustment module adjusts the spacing of fixed rubber rollers and motion compensation rubber rollers, the measurement result tune based on linear resonance surface velocity
The driving rotating speed of the fixed rubber rollers of section and motion compensation rubber rollers, makes production rice rate and husking yield be protected.
Other features and advantages of the present invention will be described in detail in subsequent specific embodiment part.
Description of the drawings
Exemplary embodiment of the invention is described in more detail in conjunction with the accompanying drawings, it is of the invention above-mentioned and its
Its purpose, feature and advantage will be apparent, wherein in exemplary embodiment of the invention, identical reference label
Typically represent same parts.
Fig. 1 shows the schematic structure of self feed back automation compensation hulling machine according to an embodiment of the invention
Figure.
Fig. 2 shows the schematic diagrams of measurement module according to an embodiment of the invention.
Fig. 3 shows the schematic structure explosive view of master reference according to an embodiment of the invention.
Fig. 4 shows the schematic structure explosive view of obstacle avoidance sensor according to an embodiment of the invention.
Fig. 5 shows the schematic structure explosive view of adjustment module according to an embodiment of the invention.
Fig. 6 shows the schematic structure explosive view of double-crank synchronous platform according to an embodiment of the invention.
Fig. 7 shows that the related geometric sense of self feed back automation compensation hulling machine according to an embodiment of the invention is shown
It is intended to.
Fig. 8 shows the self feed back automation of self feed back automation compensation hulling machine according to an embodiment of the invention
Compensating control method.
Reference sign
1, the first measurement module；2, the second measurement module；3, fixed rubber rollers；4, motion compensation rubber rollers；5, fixed rubber
Rubber roller stepper motor；6, motion compensation rubber rollers stepper motor；7, double-crank synchronous platform；8, pneumatic adjustment module；
101, servo motor is approached；102, shaft coupling；103, longitudinal screw bar；104, thread slider；105, anticollision senses
Device；106, thin pedestal；107, master reference；108, lateral servo motor；109, longitudinal slide bar；110, slide bar sliding block；111, horizontal
To threaded rod；
1071, idler wheel；1072, measuring electrode；1073, arcuate permanent magnetic iron；1074, squirrel-cage is wound；10751, sleeve end
Lid；10752, quill；1075, sensor shell；10753, insulation shell；10754, screw shell；
1051, anticollision arm support；10511, anticollision wheel shaft；10512, insulate fixing sleeve；10513, anticollision suspension；1052, prevent
Hit induction electrode；1053, anticollision induction mouse cage winding；1054, collision avoiding caster；1055, anticollision arc-shaped permanent magnet；1056, it buffers
Torsionspring；1057, anticollision mounting plate；10571, spring follow block；10572, small mounting hole；10573, big mounting hole；10574、
Axial restraint threaded hole；10575, fixed pivot pin；10576, follow block is limited；10577, swing arm pivot pin；
7, double-crank synchronous platform；71, U-shaped objective table；72, hinge axis；73, crank shelf；74, bearing；75, fixed crank
Frame；
8, adjustment module；81, pneumatic cylinder；82, fixed plate；83, pneumatic cylinder telescopic rod；84, rotational support block；85, shaft；
86, action roller shaft is held；87, swing arm pedestal；88, arm shaft；89, swing arm.
Specific implementation mode
The preferred embodiment of the present invention is described in more detail below.Although the following describe the preferred implementations of the present invention
Mode, however, it is to be appreciated that may be realized in various forms the present invention without should be limited by embodiments set forth herein.Phase
Instead, these embodiments are provided so that the present invention is more thorough and complete, and can be by the scope of the present invention completely
It is communicated to those skilled in the art.
The present invention provides a kind of self feed backs to automate compensation hulling machine, and self feed back automation compensation hulling machine includes：
Fixed rubber rollers and motion compensation rubber rollers, fixed rubber rollers are arranged in parallel with motion compensation rubber rollers, and between
There are cereal processing spaces；
Double-crank synchronous platform, double-crank synchronous platform include U-shaped objective table, crank shelf and fixed crank frame, crank shelf
Four apexes in U-shaped objective table are set, U-shaped objective table bottom is located at, hinge axis, bottom setting are provided at the top of crank shelf
There are bearing, fixed crank frame to be set in crank shelf, two crank shelfs positioned at U-shaped objective table open end are connected to by hinge axis
Motion compensation rubber rollers both ends；
Pneumatic adjustment module, pneumatic adjustment module include pneumatic cylinder, pneumatic cylinder telescopic rod and shaft, pneumatic adjustment module
It is set at the top of motion compensation rubber rollers, pneumatic cylinder is connected to shaft by pneumatic cylinder telescopic rod, and the other end of shaft passes through hinge
It is co-axially mounted at the top of chain rivet and crank shelf；
First measurement module and the second measurement module, the first measurement module are set to fixed rubber rollers both sides, and second measures
Module is set to motion compensation rubber rollers both sides；
Processing module, processing module are communicatively coupled to measurement sensor, pneumatic adjustment module and double-crank synchronous platform.
Preferably, pneumatic adjustment module further include fixed plate, rotational support block, action roller shaft hold, arm shaft and pendulum
Arm, fixed plate are arranged at the top of motion compensation rubber rollers, and pneumatic cylinder is arranged in fixed plate, and rotational support block is set to pneumatic cylinder
Telescopic rod one end is co-axially mounted with shaft, and swing arm is set to crank shelf side, the bottom at the top and shaft of top and crank shelf
It is co-axially mounted, bottom is connected to bearing by arm shaft.
Preferably, further include swing arm pedestal, swing arm pedestal is arranged arm shaft.
Specifically, pneumatic cylinder and fixed plate link together, and are fixed in rack, and pneumatic cylinder telescopic rod end is connected to
On rotational support block, rotational support block and shaft are cooperated together by axis and hole so that rotational support block can be with
Shaft rotates together, and action roller shaft holds the upper end that swing arm is connected to together with dynamic roll drive motor, lower end and the arm shaft one of swing arm
It rises and is connected on swing arm pedestal, bearing and other three identical bearings are all fixed in rack, and fixed crank frame is solid with swing arm
It is scheduled on together so that swing arm fits together always with fixed crank frame, and lower end and the bearing of crank shelf link together, crank
The upper end of frame and hinge axis are hinged, and four crank shelfs support U-shaped objective table so that U-shaped objective table is with crank shelf
Rotation and do translational motion, swing rubber rollers measurement module be fixed on U-shaped objective table.
Specifically, passing through the first measurement module and the fixed rubber rollers of the second measurement module detection and motion compensation rubber rollers
Wear extent, position of the control unit based on wear extent adjusting motion compensation rubber rollers, control unit meeting control pressure adjustment module,
Pneumatic cylinder can be according to the variation of pressure so that pneumatic cylinder telescopic rod moves, to drive the rotation of shaft, shaft and swing arm it is upper
Hold hinged, the lower end of swing arm with arm shaft by being hingedly fixed on swing arm pedestal, so that swing arm can be with
The movement of pneumatic cylinder telescopic rod and swing, simultaneously because fixed crank frame is fixed in swing arm, fixed crank frame with other three
Crank shelf supports U-shaped objective table, when ensuring that the swing of swing arm in this way, double-crank synchronous platform with second measure and
Motion compensation rubber rollers do translational motion together, and preferred double-crank synchronous platform can ensure that platform is parallel with horizontal plane.
Preferably, the first measurement module and the second measurement module respectively include longitudinally fixed bar, cross measure bar
And measurement sensor, the both ends of cross measure bar are connected to longitudinally fixed bar, measurement sensor is arranged on cross measure bar；
Wherein, the both ends of fixed rubber rollers are connected to the longitudinally fixed bar of the first measurement module, motion compensation rubber rollers
Both ends are connected to the longitudinally fixed bar of the second measurement module, and fixed rubber rollers and motion compensation rubber rollers are located at the first measurement module
Cross measure bar and the cross measure bar of the second measurement module between.
Preferably, cross measure bar both ends are slidedly arranged on longitudinally fixed bar.
Preferably, further include approaching servo motor, approaching servo motor can drive cross measure bar in longitudinal direction
It is moved in fixed link.
Preferably, measurement sensor is slidably installed on cross measure bar.
Preferably, further include laterally approaching motor, laterally approaching motor can drive measurement sensor in transverse direction
It is moved back and forth on measuring rod, the busbar of fixed rubber rollers, the busbar of motion compensation rubber rollers and roller cross measure bar are mutually parallel.
Specifically, according to practical condition, best spacing, the fixation of fixed rubber rollers and motion compensation rubber rollers are determined
Rubber rollers best surface linear velocity, motion compensation rubber rollers best surface linear velocity.
Every certain time interval, fixed rubber rollers and movement are obtained by cross measure bar and measurement sensor detection
The wear extent of rubber rollers and the linear resonance surface velocity of fixed rubber rollers and motion compensation rubber rollers are compensated, it is further same by double-crank
Step platform and pneumatic adjustment module adjust the spacing between fixed rubber rollers and motion compensation rubber rollers, between so that it is kept best
Away from by the rotating speed of the fixed rubber rollers of adjusting and motion compensation rubber rollers, its being made to keep best surface linear velocity.
It is highly preferred that longitudinally fixed bar includes：Longitudinal screw bar, longitudinal slide bar, thread slider, slide bar sliding block, are laterally surveyed
Gauge rod is horizontal thread bar.
Specifically, longitudinal screw bar one end passes through thread slider, and the other end, which is connected to, approaches servo motor, longitudinal slide bar one
End is across slide bar sliding block, and horizontal thread bar one end is connected to thread slider, and the other end is connected to lateral servo across slide bar sliding block
Motor, measurement sensor are arranged on horizontal thread bar.
It is highly preferred that further including approaching servo motor and lateral servo motor.
It is highly preferred that measurement sensor includes：Master reference and obstacle avoidance sensor, master reference and obstacle avoidance sensor are arranged side by side
Setting；
Wherein, obstacle avoidance sensor includes：Anticollision mounting plate, anticollision arm support, anticollision wheel shaft, anticollision suspension, anticollision arc are forever
Magnet, anticollision induction mouse cage winding, anticollision induction electrode, collision avoiding caster and insulation fixing sleeve, anticollision mounting plate bottom is set in
On horizontal thread bar, anticollision arm support is arranged at the top of anticollision mounting plate, and anticollision suspension is arranged on anticollision arm support, and insulate fixing sleeve
It is set on anticollision suspension, anticollision wheel shaft one end is connected to anticollision suspension, and the other end is connected to the wheel hub of collision avoiding caster, anticollision sense
Mouse cage winding and anticollision arc-shaped permanent magnet is answered to be sequentially sleeved on anticollision wheel shaft, anticollision induction electrode is set to anticollision induction mouse cage
Both sides are wound, one end passes through anticollision suspension and insulation fixing sleeve.
Specifically, which is used to detect the linear resonance surface velocity of rolling body, when use collision avoiding caster preferentially with
Rolling body is in contact, collision avoiding caster drive anticollision wheel shaft and anticollision induction mouse cage winding rotation, anticollision incude mouse cage winding with
Relative displacement occurs for anticollision arc-shaped permanent magnet, and then generates electric current, and then determines that obstacle avoidance sensor connects with rolling body
It touches, then controls master reference, close to rolling body, to measure rolling body linear resonance surface velocity compared with low velocity.It is sensed by anticollision
The setting of device can drive master reference to be moved to object under test at mobile initial stage with fast speed, obstacle avoidance sensor with wait for
After surveying object contact, actuating speed is reduced, prevents master reference from sending high velocity impact with rolling body to be measured, reduces master reference
The probability of damage.
It is highly preferred that obstacle avoidance sensor further includes anticollision fixed pivot pin, anticollision limit follow block, anticollision swing arm pivot pin, buffering
Torsionspring and spring follow block, anticollision arm support are articulated with by anticollision swing arm pivot pin at the top of anticollision mounting plate, and anticollision limits follow block
It is set to anticollision arm support side, anticollision fixed pivot pin is set to the anticollision arm support other side, is connected to anticollision mounting plate, passes through buffering
Torsionspring is connected to anticollision fixed pivot pin.
Specifically, anticollision arm support is hinged with anticollision mounting plate, can be played when collision avoiding caster is in contact with rolling body
Cushioning effect, applies lateral pull by buffering torsionspring to anticollision arm support bottom, and anticollision is arranged in the anticollision arm support other side
Follow block is limited, and then limits the swing space of anticollision arm support, so that measurement sensor is used safer.
Specifically, anticollision mounting plate is for fixing obstacle avoidance sensor.
It is highly preferred that master reference include sensor housing, idler wheel, measuring electrode, arcuate permanent magnetic iron, squirrel-cage winding,
Screw shell, quill, roller housing are set to one end of quill, and squirrel-cage winding is set in one end in quill and is connected to idler wheel
Wheel hub, sensor housing is set in that squirrel-cage winding is external, and measuring electrode is connected to squirrel-cage winding both ends, passes through sensor
Shell, for the setting of arcuate permanent magnetic iron between squirrel-cage winding and sensor housing, screw shell is fixed on sensor housing bottom.
Specifically, after obstacle avoidance sensor is contacted with rolling body, driving master reference is in contact with rolling body, to be measured
The frictional force of rolling body rotation drives idler wheel rotation, idler wheel to drive quill and squirrel-cage winding rotation, squirrel-cage winding rotation
Turn to be subjected to displacement with arcuate permanent magnetic iron, generate electric current, can assert start to measure at this time, measuring the rotating speed for obtaining and rolling can ask
Obtain the linear resonance surface velocity of rolling body to be measured.
Specifically, screw shell is for fixing master reference.
It is highly preferred that further including insulation shell, insulation shell is set in outside sensor housing, and measuring electrode passes through sensing
Device shell and insulation shell set.
Preferably, further include rack, bearing setting is in rack.
It is highly preferred that further including thin pedestal, thin pedestal is set at the top of horizontal thread bar, and one end is connected to thread slider,
The other end is connected to slide bar sliding block, and thin pedestal passes through quill, measurement sensor to be slidably installed on thin pedestal and horizontal thread bar.
Specifically, it tests on the anticollision mounting plate and screw shell of sensor and two mounting holes is respectively set, be arranged respectively
It is connected to thin pedestal and horizontal thread bar, keeps master reference and obstacle avoidance sensor more firm.
Preferably, fixed rubber rollers stepper motor and motion compensation rubber rollers stepper motor, fixed rubber rollers step
Stepper motor can drive fixed rubber rollers to rotate, and motion compensation rubber rollers stepper motor can drive motion compensation rubber rollers to turn
Dynamic, fixed rubber rollers stepper motor and motion compensation rubber rollers stepper motor are communicatively coupled to processing module.
Specifically, processing module is communicatively coupled to fixed rubber rollers stepper motor and motion compensation rubber rollers stepper motor,
Fixed rubber rollers stepper motor and motion compensation can be adjusted based on the detection information of the first measurement module and the second measurement module
The rotating speed of rubber rollers stepper motor.
Embodiment
Fig. 1 shows the schematic structure of self feed back automation compensation hulling machine according to an embodiment of the invention
Figure.Fig. 2 shows the schematic diagrams of measurement module according to an embodiment of the invention.Fig. 3 is shown according to this hair
The schematic structure explosive view of the master reference of bright one embodiment.Fig. 4 shows according to an embodiment of the invention
The schematic structure explosive view of obstacle avoidance sensor.Fig. 5 shows the signal of adjustment module according to an embodiment of the invention
Property Structure explosion diagram.Fig. 6 shows the schematic structure explosion of double-crank synchronous platform according to an embodiment of the invention
Figure.Fig. 7 shows the related geometric sense schematic diagram of self feed back automation compensation hulling machine according to an embodiment of the invention.
Fig. 8 shows the self feed back automation compensation control of self feed back automation compensation hulling machine according to an embodiment of the invention
Method.
As Figure 1-Figure 8, self feed back automation compensation hulling machine includes：
1, the first measurement module；Second measurement module 2；3, fixed rubber rollers；4, motion compensation rubber rollers；5, fixed rubber
Roller stepper motor；6, motion compensation rubber rollers stepper motor；7, double-crank synchronous platform；8, pneumatic adjustment module；
101, servo motor is approached；102, shaft coupling；103, longitudinal screw bar；104, thread slider；105, anticollision senses
Device；106, thin pedestal；107, master reference；108, lateral servo motor；109, longitudinal slide bar；110, slide bar sliding block；111, horizontal
To threaded rod；
1071, idler wheel；1072, measuring electrode；1073, arcuate permanent magnetic iron；1074, squirrel-cage is wound；10751, sleeve end
Lid；10752, quill；1075, sensor shell；10753, insulation shell；10754, screw shell；
1051, anticollision arm support；10511, anticollision wheel shaft；10512, insulate fixing sleeve；10513, anticollision suspension；1052, prevent
Hit induction electrode；1053, anticollision induction mouse cage winding；1054, collision avoiding caster；1055, anticollision arc-shaped permanent magnet；1056, it buffers
Torsionspring；1057, anticollision mounting plate；10571, spring follow block；10572, small mounting hole；10573, big mounting hole；10574、
Axial restraint threaded hole；10575, fixed pivot pin；10576, follow block is limited；10577, swing arm pivot pin；
7, double-crank synchronous platform；71, U-shaped objective table；72, hinge axis；73, crank shelf；74, bearing；75, fixed crank
Frame；
8, adjustment module；81, pneumatic cylinder；82, fixed plate；83, pneumatic cylinder telescopic rod；84, rotational support block；85, shaft；
86, action roller shaft is held；87, swing arm pedestal；88, arm shaft；89, swing arm.
The wear extent of rubber rollers and motion compensation rubber rollers is fixed by the first measurement module and the detection of the second measurement module,
Control unit adjusts the position of motion compensation rubber rollers based on wear extent, and control unit can control to adjust module 8,81 meeting of pneumatic cylinder
According to the variation of pressure so that pneumatic cylinder telescopic rod 83 moves, to drive the rotation of shaft 85, shaft 85 and swing arm 89 it is upper
Hold hinged, the lower end of swing arm 89 with arm shaft 88 by being hingedly fixed on swing arm pedestal 87, so that swing arm
89 can swing with the movement of pneumatic cylinder telescopic rod, simultaneously because fixed crank frame 75 is fixed in swing arm 89, fixed crank
Frame 75 supports U-shaped objective table 71 with other three crank shelfs 73, and when ensuring that the swing of swing arm in this way, double-crank synchronizes
Platform 7 is measured with second and motion compensation rubber rollers do translational motion together, and preferred double-crank synchronous platform 7 can ensure
Platform is parallel with horizontal plane.
First measurement module 1 and 2 fixed placement of the second measurement module are on entire rack (not shown), its preferred entirety
Placement direction should be at force balance state with horizontal direction parallel, avoid by partical gravity for a long time to its accurate spiral shell
Line face, which squeezes, causes conquassation to damage；Fixed rubber rollers 3 answer fixed placement in the static pedestal (not shown) in rack, it is preferred that
Its placement direction should be parallel with horizontal plane, and rubber rollers generatrix direction should be parallel with 111 direction of horizontal thread bar and parallel to its
Degree makes requirement；Motion compensation rubber rollers 4 are positioned on U-shaped objective table 71, it is preferred that its placement direction should be flat with horizontal plane
Row, while the busbar of rubber rollers should be parallel with 111 direction of horizontal thread bar, and requirement is made to its depth of parallelism；Approach servo electricity
Machine 101 is fixedly installed in rack；Longitudinal screw bar 103 is connect by shaft coupling 102 with servo motor 101 is approached, it is preferred that
Reply approaches the shaft of servo motor 101 and 103 concentricity of longitudinal screw bar makes requirement；Thread slider 104 and longitudinal screw
Bar 103 coordinates, it is preferred that the accurate thread axis on reply thread slider 104 makes requirement with its end face squareness；Anticollision passes
Big mounting hole 10573 is matched with 111 non-threaded section of horizontal thread bar on sensor 105, small mounting hole 10572 and thin pedestal 106
Cooperation, holding screw, which matches to merge with axial restraint threaded hole 10574, to be inserted into the fixing groove on lateral accurate thread bar 111 to anti-
It hits sensor 105 and plays axial restraint；Thin pedestal 106 is fixedly connected with thread slider 104, slide bar sliding block 110, is preferably answered
Requirement is made to related geometric tolerance, the axis for specially requiring thin pedestal 106 should be parallel with the axis of surveyed rubber rollers, while axis
The space plane that line determines should be parallel with horizontal plane；Screw shell 10754 and transverse direction in the sensor shell 1075 of master reference 107
Threaded rod 111 coordinates, and quill 10752 and thin pedestal 106 coordinate, and the geometric tolerance for preferably coping with its correlation cooperation is made and being wanted
It asks；Longitudinal slide bar 109 is set in rack, it is preferred that its setting direction should be parallel with horizontal plane, and with the rubber roll shaft of measurement
Space of lines is vertical；Lateral servo motor 108 should be set in rack and can be relative to rack transversely 111 axis side of threaded rod
To moving horizontally；Lateral servo motor 108 (208) is connect by shaft coupling 102 with horizontal thread bar 111, it is preferred that reply two
The concentricity of person makes requirement；The non-threaded section at 111 both ends of horizontal thread bar is fixed on slide bar sliding block 110, thread slider 104
Hole cooperation and axial restraint can simultaneously be freely rotated relative to two sliding blocks, it is preferred that the related geometric tolerance of reply makes requirement；Idler wheel
1071 wheel hub coordinates with quill 10752, and axle sleeve end cap 10751 plays the role of axial restraint to it, it is preferred that idler wheel 1071
Central point respectively with fixed rubber rollers 3,4 center of motion compensation rubber rollers on a horizontal line, with ensure to measure
Accuracy；Measuring electrode 1072 should pass through insulation shell 10753 and be fixed on sensor shell 1075, while ensure measuring electrode
1072 wind 1074 liang of end in contact with squirrel-cage, and arcuate permanent magnetic iron 1073 is fixed on inside sensor shell 1075 so that squirrel-cage
Winding 1074 is in its magnetic field；Squirrel-cage winding 1074 is fixed with the wheel hub of idler wheel 1071, and so that squirrel-cage is wound 1074 can be with
Idler wheel 1071 is freely rotated；Insulation shell 10753 is set in sensor shell 1075；Anticollision arm support 1051 is by swing arm pivot pin
10577 fixations are simultaneously rotatable；Anticollision induction electrode 1052 passes through insulation fixing sleeve 10512 to be fixed on anticollision suspension 10513；It is anti-
It hits induction mouse cage winding 1053 and the wheel hub of collision avoiding caster 1054 is fixed；The wheel hub of collision avoiding caster 1054 and anticollision wheel shaft 10511
Cooperation；Anticollision arc-shaped permanent magnet 1055 is set to 10513 inner wall of anticollision suspension；Torsionspring 1056 is buffered by fixed pivot pin
10575 fix, and buffering torsionspring 1056 pushes down 1051 edge of anticollision arm support on one side, and another side resists spring follow block 10571, excellent
Choosing, ensure that anticollision swing arm frame forward extends out certain angle, makes when sensor approaches rubber rollers collision avoiding caster 1054 prior to master
The idler wheel 1071 of sensor, to ensure to realize collision prevention function；Limit follow block 10576 resists 1051 other end of anticollision arm support, plays
Angle limit acts on；Pass through the first measurement module and the mill of the fixed rubber rollers of the second measurement module detection and motion compensation rubber rollers
Damage amount, control unit adjust the position of motion compensation rubber rollers based on wear extent, and control unit can control to adjust module 8, air pressure
Cylinder 81 can be according to the variation of pressure so that pneumatic cylinder telescopic rod 83 moves, to drive the rotation of shaft 85, shaft 85 and swing arm
89 upper end is hinged, and the lower end of swing arm 89 with arm shaft 88 by being hingedly fixed on swing arm pedestal 87, to make
Obtaining swing arm 89 can swing with the movement of pneumatic cylinder telescopic rod, simultaneously because fixed crank frame 75 is fixed in swing arm 89, Gu
Determine crank shelf 75 and supports U-shaped objective table 71 with other three crank shelfs 73, when ensuring that the swing of swing arm in this way, hyperbolic
Handle synchronous platform 7 is measured with second and motion compensation rubber rollers do translational motion together, and preferred double-crank synchronous platform 7 can
To ensure that platform is parallel with horizontal plane.
Automatic measurement, the compensation work flow of above-mentioned self feed back automation compensation hulling machine are as follows：
Related geometric sense is shown in Fig. 7, input single measurement rubber roller busbar acquisition points N, time of measuring interval △ T, rubber rollers
Bus length m, initial value：Fixed rubber rollers initial radium R1C1, motion compensation rubber rollers initial radium R2C1, in initial level
The heart is away from LC1, fixed rubber rollers initial speed r1C1, motion compensation rubber rollers initial radium r2C1, measured as first time initial
Value.
After time interval △ T, movement is approached on the first measurement module 1 of processing module control, the second measurement module 2
Servo motor 101 drives longitudinal screw bar 103 to be rotated with high section speed, drives thread slider 104 to fast move, makes the first measurement mould
Master reference 107 is distinguished quickly from the positions origin O1, O2 to fixed rubber rollers 3, motion compensation rubber on block 1, the second measurement module 2
Rubber roller 4 quickly approaches, and can save time of measuring in this way, while processing module start recording approaches servo motor 101 and turn-taked
Fast n11、n21。
When the collision avoiding caster 1054 of the obstacle avoidance sensor 105 on the first measurement module 1, the second measurement module 2 is first and fixed
Rubber rollers 3, motion compensation rubber rollers 4 outer surface busbar at be in contact, drive idler wheel 1054 and anticollision induction mouse cage winding
1053 rotations generate induced current, and anticollision induction electrode 1052 is measured passes to processing module by electric signal, and definition is led at this time
The position that sensor 107 reaches is Y1, Y2, and processing module records servo motor 101 at this time and turn-takes several n11(Y)、n21
(Y), (due to：Displacement distance=Lap Time × accurate thread screw pitch) to which Y1, Y2 point position be recorded, processing module control approaches
Servo motor 101 moves longitudinal screw bar 103 with low section of speed belt and rotates, so that master reference 107 approaches at a slow speed, prevents its rolling
1071 surfaces are taken turns by rubber rollers conquassation, abrasion, simultaneously because buffering 1056 cushioning effect of torsionspring so that obstacle avoidance sensor
105 can backward directions rotation evade, avoid that collision avoiding caster 1054 is caused to damage.
Master reference 107 is located at one end of horizontal thread bar 111 when initial, remembers and corresponds to this on tested two rubber rollers busbares
The point at end is a10、a20, when the outer surface of master reference 107 upper roller 1071 and fixed rubber rollers 3, motion compensation rubber rollers 4
When being in contact at busbar, idler wheel 1071 is driven by rubber rollers rotate respectively, and generating the measured measurement of electrode 1072 of induced current will
Electric signal passes to processing module, and processing module records record origin O points to a10、a20The distance of point obtains half according to formula
Diameter valueThen processing module control approach servo motor 101 reversion make master reference 107 move backward to Y1,
Y2 points position, in order to 107 transverse shifting of master reference, the then lateral rotation of servo motor 108 of processing module control drives master
Sensor 107 moves m/N distances to the other side, and approaching servo motor 101 and being rotated forward with low section of speed makes master reference 107 to rubber rollers
Upper a11、a21It approaches, the distance of record origin O points to the point, 2 points of corresponding radiuses is measured according to formulaIn this manner, the corresponding radius of N number of equidistant points outside two rollers on side bus is measured and is recorded successively.
Processing module is by the half value on recorded R1, R2 rubber rollers busbar just now at N number of equidistant points
It substitutes into formula and obtainsProcessing module obtains first according to formula
The distance, delta S1 that secondary R2 rubber rollers need to move, processing module control shaft move the rotation of servo motor 75 and mobile bearing bracket stand 71 are driven to move
Distance, delta S1 realizes compensated distance, while processing module is according to the fixed rubber rollers stepper motor 5 of formula control, motion compensation rubber
Roller stepper motor 6 changes rotating speed, ensures that two roller surface linear velocities V1, V2 remain unchanged.
Specifically calculating process is as follows：
Fixed rubber rollers 3, motion compensation rubber rollers 4 are briefly referred to as R1 rubber rollers, R2 rubber for ease of being described below
Roller, S1, S2 respectively approach servo motor 101 and measure moving distance value every time, and origin O1, O2 are to measure idler wheel every time to be close to rubber
The initial position of rubber roller side vertical water horizontal line tangent line, it is preferred that the requirement of 1071 installation site of idler wheel, the central point of idler wheel 1071
Respectively with R1 rubber rollers, R2 rubber rollers center on a horizontal line.
When known first time surveys, initial level centre-to-centre spacing LC1The initial speed of R1, R2 rubber rollers before=L is surveyed for the first time
r1C1、r2C1, R1 rubber rollers are that fixation is immovable, and R2 rubber rollers are that can compensate for axis to move rubber rollers, so X1 is invariable, X2 with
It compensates and variation and X2C1=X2, R1C1=R1, R2C1=R2 is initial radium when not wearing.So corresponding ith measures just
Beginning, horizontal centre was away from LCi, constant altitude difference H, R1Ci、R2CiThe radius change measured for the initial radium that ith measures, ith
Δ R1i, Δ R2i,
After two new rubber rollers install operating provisions time interval for the first time, first time wear measurement is carried out, it is horizontal
Master reference is driven to be parallel to that rubber rollers generatrix directions is mobile, often moves m/n distances and stop the primary point of measurement to servo motor
Go out N number of equidistant points on radius R1, R2 rubber rollers busbar that processing module record measures successively simultaneouslyPunishment
Not corresponding radius
Radius measurement principle：On R1 rubber rollers busbaresThe corresponding radius measurement principle of point, it is known that origin O1 to R1 rubbers
Rubber roller center of circle A point distance X1, processing module record wear-resistant roller on from origin O1 to master reference and touch R1 rubber roll surfaces
Approach the number of turns that servo motor turnsThe screw pitch p of known accurate thread, soIt can obtain
It is worth noting that, the distance X1 of R1 rubber rollers (fixed rubber rollers 3) center to origin O1 is constant, R2 rubber rollers
(motion compensation rubber rollers 4) center changes to origin O2 distances X2 since compensation is mobile.
According to formula：It calculates R1, R2 rubber rollers and measures average half
Diameter
Measuring R1 rubber rollers radius changes isR2 rubber rollers radius changes
For
By Pythagorean theorem in △ ABC
Distance, delta S1 need to be moved so obtaining and measuring R2 rubber roll shaft for the first time
Simultaneously because compensation movementX21=X2C1+ΔS1
Wherein,Indicate best cereal processing space horizontal centre away from；LC1Cereal processing space when indicating to measure for the first time
Horizontal centre away from；X21Initial measurement O2 points are relative to rubber roller R2 distances after indicating motion compensation rubber rollers motion compensation；X2C1：The
Initial measurement O2 points are relative to rubber roller R2 initial distances when one-shot measurement.
And the rotating speed of R1, R2 rubber rollers becomes
Wherein, r1X1：It indicates to measure the rotating speed that back cot R1 need to change for the first time；r1C1Indicate R1 glue before measuring for the first time
Original rotating speed of roller；It indicates to measure the mean radius after rubber roller R1 abrasions for the first time；R1C1 indicates that fixed rubber rollers are initially straight
Diameter；R2C1Indicate motion compensation rubber rollers initial diameter；Big 1 indicates R1 rubber rollers, and small 1 indicates that the 1st measurement, C indicate initial；X tables
Show newest.
Assignmentr1C2=r1X1、r2C2=r2X1, processing module record
Value of feedback LC2、R1C2、R2C2、r1C2、r2C2, initial value is measured for second, while processing module control approaches servo motor
101 reversions make sensor return to origin O1, O2.Wherein, numerical value when lower target small 2 indicates to measure for second.
It carries out measuring for second after interval time △ T.
Various embodiments of the present invention are described above, above description is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes will be apparent from for the those of ordinary skill in art field.
Claims (10)
1. a kind of self feed back automation compensation hulling machine, which is characterized in that self feed back automation compensates hulling machine and includes：
Fixed rubber rollers and motion compensation rubber rollers, the fixed rubber rollers are arranged in parallel with the motion compensation rubber rollers, and
Between there are cereal processing spaces；
Double-crank synchronous platform, the double-crank synchronous platform include U-shaped objective table, crank shelf and fixed crank frame, the song
Four apexes in the U-shaped objective table are arranged in grip frame, are located at the U-shaped objective table bottom, are arranged at the top of the crank shelf
There are hinge axis, bottom to be provided with bearing, the fixed crank frame is set in the crank shelf, is located at the U-shaped objective table opening
Two crank shelfs at end are connected to motion compensation rubber rollers both ends by the hinge axis；
Pneumatic adjustment module, the pneumatic adjustment module include pneumatic cylinder, pneumatic cylinder telescopic rod and shaft, described, pneumatic adjusting
Module is set at the top of the motion compensation rubber rollers, and the pneumatic cylinder is connected to described turn by the pneumatic cylinder telescopic rod
Axis, the other end of the shaft at the top of the hinge axis and the crank shelf by being co-axially mounted；
First measurement module and the second measurement module, first measurement module is set to the fixed rubber rollers both sides, described
Second measurement module is set to motion compensation rubber rollers both sides；
Processing module, the processing module be communicatively coupled to the measurement sensor, pneumatic adjustment module and double-crank synchronize it is flat
Platform.
2. self feed back automation compensation hulling machine according to claim 1, which is characterized in that the pneumatic adjustment module is also
It is held including fixed plate, rotational support block, action roller shaft, arm shaft and swing arm, the fixed plate are arranged in the motion compensation rubber
At the top of roller, the pneumatic cylinder is arranged in the fixed plate, and the rotational support block is set to pneumatic cylinder telescopic rod one end
It is co-axially mounted with the shaft, the swing arm is set to the crank shelf side, the top of top and the crank shelf and described
The bottom of shaft is co-axially mounted, and bottom is connected to the bearing by the arm shaft.
3. self feed back automation compensation hulling machine according to claim 1, which is characterized in that further include swing arm pedestal, institute
It states swing arm pedestal and is arranged the arm shaft.
4. self feed back according to claim 1 automation compensation hulling machine, which is characterized in that first measurement module and
Second measurement module respectively includes longitudinally fixed bar, cross measure bar and measurement sensor, and the two of the cross measure bar
End is connected to the longitudinally fixed bar, and the measurement sensor is arranged on the cross measure bar；
Wherein, the both ends of the fixed rubber rollers are connected to the longitudinally fixed bar of first measurement module, the motion compensation
The both ends of rubber rollers are connected to the longitudinally fixed bar of second measurement module, the fixed rubber rollers and the motion compensation rubber
Rubber roller is located between the cross measure bar and the cross measure bar of second measurement module of first measurement module.
5. self feed back automation compensation hulling machine according to claim 4, which is characterized in that cross measure bar both ends
It is slidedly arranged on the longitudinally fixed bar.
6. self feed back automation compensation hulling machine according to claim 4, which is characterized in that further include approaching servo electricity
Machine, the servo motor that approaches can drive the cross measure bar to be moved on the longitudinally fixed bar.
7. self feed back automation compensation hulling machine according to claim 4, which is characterized in that the measurement sensor cunning is set
On the cross measure bar.
8. self feed back automation compensation hulling machine according to claim 4, which is characterized in that further include laterally approaching electricity
Machine, the transverse direction, which approaches motor, can drive the measurement sensor to be moved back and forth on the cross measure bar, the fixation
The busbar of rubber rollers, the busbar of the motion compensation rubber rollers and the roller cross measure bar are mutually parallel.
9. self feed back automation compensation hulling machine according to claim 1, which is characterized in that further include rack, the branch
Seat is fixed in the rack.
10. self feed back automation compensation hulling machine according to claim 1, which is characterized in that fixed rubber rollers stepping electricity
Machine and motion compensation rubber rollers stepper motor, the fixed rubber rollers stepper motor can drive the fixed rubber rollers rotation,
The motion compensation rubber rollers stepper motor can drive the motion compensation rubber rollers to rotate, the fixed rubber rollers stepping electricity
Machine and the motion compensation rubber rollers stepper motor are communicatively coupled to the processing module.
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| CN201810344405.5A CN108421583B (en) | 2018-04-17 | 2018-04-17 | Self-feedback automatic compensation rice huller |
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|---|---|---|---|
| CN201810344405.5A CN108421583B (en) | 2018-04-17 | 2018-04-17 | Self-feedback automatic compensation rice huller |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111617823A (en) * | 2020-06-11 | 2020-09-04 | 武汉轻工大学 | Rice huller rubber roll is rolled apart from compensation arrangement |
| CN111659486A (en) * | 2020-06-11 | 2020-09-15 | 武汉轻工大学 | Rice huller rubber roll diameter measuring device |
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| JPH08150342A (en) * | 1994-11-29 | 1996-06-11 | Kaneko Agricult Mach Co Ltd | Husking roll gap controlling of husker |
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|---|---|
| CN108421583B (en) | 2022-10-14 |
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