CN108422148B - Control method of turnover mechanism with middle groove welded on two sides - Google Patents
Control method of turnover mechanism with middle groove welded on two sides Download PDFInfo
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- CN108422148B CN108422148B CN201810062266.7A CN201810062266A CN108422148B CN 108422148 B CN108422148 B CN 108422148B CN 201810062266 A CN201810062266 A CN 201810062266A CN 108422148 B CN108422148 B CN 108422148B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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Abstract
The invention provides a control method of a turnover mechanism for double-side welding of a middle groove, which comprises the turnover mechanism and a control system, wherein the control system is provided with a motion curve of the turnover mechanism: the motion curve from the starting point is uniform acceleration motion and uniform motion in turnHigh-speed movement, uniform deceleration movement and uniform low-speed movement, and the maximum linear speed v of limited parametersmaxLow speed linear velocity vminTotal operation time t of overturningzUniform acceleration movement time t1Time t of uniform high-speed movement2(ii) a The control system calculates the highest angular velocity omega according to the limited parameter and the turning radius r of the large gear ring with the known parametermaxLow speed angular velocity omegaminTime t of uniform deceleration motion3Finally, the time t of the uniform low-speed motion is calculated according to the total time4Accurately obtaining a motion curve graph; the control system controls the turnover mechanism to start and stop according to the motion curve graph. The control method of the turnover mechanism with the middle groove welded on both sides can not only accelerate the efficiency of the turnover mechanism, but also reduce the impact of the turnover mechanism when the turnover mechanism is started and stopped, and prolong the service life.
Description
Technical Field
The invention relates to the technical field of middle groove welding, in particular to a control method of a turnover mechanism for double-side welding of a middle groove.
Background
The middle groove is a component of a conveying groove of the scraper conveyor and is a main part of the scraper conveyor, the middle groove mainly comprises a middle plate, baffle ledges and shovel ledge walls on two sides of the middle plate, the middle plate is used for bearing materials and is in direct contact with the scraper chain, and therefore the middle plate, the baffle ledges and the shovel ledges are welded on two sides. After one side of the traditional middle groove is welded and turned over, the welding needs lifting, turning and resetting. When the middle trough is overturned by the overturning mechanism, the overturning mechanism is started or stopped in an emergency stop and emergency start mode, the whole overturning machine is constructed to impact, and the service life is shortened.
Disclosure of Invention
The invention provides a control method of a turnover mechanism with a middle groove welded on two sides, which solves the problem that the turnover mechanism in the prior art is impacted by sudden start and sudden stop and has short service life.
The technical scheme of the invention is realized as follows:
a control method of a turnover mechanism for double-side welding of a middle groove comprises the turnover mechanism and a control system, wherein the turnover mechanism comprises: the pulley support, the bull gear, the pinion, the connecting frame and the power system, wherein the pinion is placed on a base of the pulley support and is meshed with the bull gear; the connecting frame is arranged at the rear end of the large gear ring and matched with the pulley bracket; the power system is used for driving the pinion and is electrically connected with the control system;
the motion curve of the turnover mechanism is set in the control system: the motion curves are uniform accelerated motion, uniform high-speed motion, uniform decelerated motion and uniform low-speed motion in sequence from the starting point, and the maximum linear velocity v of the parameters is limitedmaxLow speed linear velocity vminTotal operation time t of overturningzUniform acceleration movement time t1Time t of uniform high-speed movement2；
The control system calculates the highest angular velocity omega according to the limited parameters and the turning radius r of the large gear ring and the relation between the linear velocity v and the angular velocity omega, wherein v is omega.rmaxAnd low speed angular velocity omegaminAccording to
Calculating the time t of uniform deceleration movement3Finally, the time t of the uniform low-speed motion is calculated according to the total time4Accurately obtaining a motion curve graph;
the control system controls the turnover mechanism to start and stop according to the motion curve diagram through the power system.
Preferably, the control system is dependent on the maximum angular velocity ωmaxTime t of uniform acceleration1Relation ω ofmax＝β1·t1Calculating angular acceleration β1Then according to the rotation angle theta during the uniform acceleration motion1And angular acceleration β1In relation to (2)
Calculating the rotation angle theta1；
The control system rotates the angle theta according to the uniform high-speed motion2Maximum angular velocity ωmaxTime t of uniform high-speed movement2Relation of (a) theta2＝ωmaxt2Calculating the rotation angle theta2；
Angular acceleration β of uniform deceleration motion2Angular acceleration β of sum-and-average acceleration motion1Equality, the control system then rotates the angle theta according to the uniform deceleration movement3Maximum angular velocity ωmaxTime t of uniform deceleration movement3In relation to (2)
Calculating the rotation angle theta3；
The control system rotates the angle theta according to the uniform low-speed motion4Minimum angular velocity ωminTime t of uniform low-speed movement4Relation of (a) theta4＝ωmint4Calculating the rotation angle theta4；
Control system checks total rotation angle thetaGeneral assembly＝θ1+θ2+θ3+θ4，θGeneral assemblyPi, the turnover angle of the turnover mechanism is precisely realized to be 180 degrees.
Preferably, the control system calculates the moment of inertia of the parts of the tilting mechanism, the moment of inertia of the tilting central trough and the moment of inertia J of the external parts on the tilting mechanism from the parts of the tilting mechanism1And calculating the moment of inertia J caused by friction factors in the actual rotation process2And accumulating all the calculation to obtain the total inertia moment J ═ J2+J1And then the relation T of the total torque and the total inertia moment is J β1Calculating total torque according to gear drive principle
Calculating the output torque of the power system, and checking according to the output torqueThe power system.
Preferably, the connecting frame comprises a pair of turntables and a pair of side frames, one turntable is arranged at the rear end of the large gear ring, and the pair of turntables are oppositely arranged and respectively matched with the pulley bracket; the pair of side frames are oppositely arranged on the end surface between the pair of turntables, and a space formed by the pair of side frames and the pair of turntables is used for connecting a part to be turned;
the calculation mode of the rotational inertia of the large gear ring of the turnover mechanism is as follows: the big gear ring is equivalent to a hollow right cylinder and the rotational inertia of the big gear ring
The calculation mode of the rotational inertia of the pair of rotating discs of the turnover mechanism is as follows: each rotary table is equivalent to a hollow right cylinder and the rotary inertia of a pair of rotary tables
The calculation mode of the rotational inertia of the middle groove on the turnover mechanism is as follows: the middle groove rotates around the rotation axis of the big gear ring, the rotation axis passes through the center of mass of the middle groove, so that the middle groove is equivalent to a cuboid, and the moment of inertia of the middle groove
The calculation mode of the rotational inertia of a pair of side frames of the turnover mechanism is as follows: the rotational axes of the pair of side frames are parallel to the rotation axis of the large gear ring, and the moment of inertia J of the pair of side frames is determined according to the parallel axis theoremj＝Jc+M4e1 2，e1The distance from each side frame to the axis of rotation;
the calculation mode of the rotational inertia of the external component on the turnover mechanism is as follows: moment of inertia J of the external component according to the parallel axis theoremb＝Jc+M5e2 2。
Preferably, the moment of inertia J is caused by friction factors during the actual rotation2The calculation method is as follows: examinationConsider the friction factor and moment of inertia J of the integral turnover mechanism2Is J (5% -10%).
The invention has the beneficial effects that: according to the control method of the turnover mechanism for double-side welding of the middle groove, disclosed by the invention, the control system controls the turnover mechanism to move according to the motion curve graph through the power system according to the structural characteristics of the turnover mechanism, and the highest linear velocity v on the motion curve graph is setmaxLow speed linear velocity vminTotal operation time t of overturningzUniform acceleration movement time t1Time t of uniform high-speed movement2The time t of the remaining parametric uniform deceleration motion can be calculated3And time t of uniform low-speed movement4The motion curve diagram of the turnover mechanism is accurately set, the turnover mechanism is controlled more accurately, and each continuous motion process of the turnover mechanism can accelerate the efficiency of the turnover mechanism, reduce the impact of the turnover mechanism when the turnover mechanism is started and stopped, and prolong the service life. In the present invention, the maximum linear velocity v is definedmaxLow speed linear velocity vminTotal operation time t of overturningzUniform acceleration movement time t1Time t of uniform high-speed movement2And the parameters avoid that the turnover mechanism is too fast or too slow in the motion process, and the rated torque of a power system of the turnover mechanism is considered in combination so as to optimize the motion curve of the turnover mechanism.
The control system calculates the angular acceleration β based on known parameters1Angle of rotation theta1Angle of rotation theta2Angle of rotation theta3And a rotation angle theta4And further checking the control precision.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a motion curve diagram of a control method of a turnover mechanism with a middle groove welded on two sides;
FIG. 2 is a schematic front view of the turnover mechanism of the present invention;
FIG. 3 is a schematic side view of the turnover mechanism of the present invention;
fig. 4 is a motion curve diagram of the first embodiment of the invention.
In the figure:
1. a pulley bracket; 2. a large gear ring; 3. a pinion gear; 4. a connecting frame; 41. a turntable; 42. a side frame.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (c); a control method of a turnover mechanism for double-side welding of a middle groove comprises the turnover mechanism and a control system, as shown in figure 1, the motion curve of the turnover mechanism set in the control system is as follows: the motion curves from the starting point are uniform acceleration motion in the OA section, uniform high-speed motion in the AB section, uniform deceleration motion in the BC section and uniform low-speed motion in the CD section in sequence.
The turnover mechanism shown in fig. 2 and 3 includes: the pulley support comprises a pulley support 1, a large gear ring 2, a small gear 3, a connecting frame 4 and a power system, wherein the small gear is placed on a base of the pulley support and is meshed with the large gear ring; the connecting frame is arranged at the rear end of the large gear ring and matched with the pulley bracket; the power system is used for driving the pinion and is electrically connected with the control system; the connecting frame 4 comprises a pair of turntables 41 and a pair of side frames 42, one turntable 41 is arranged at the rear end of the large gear ring 2, and the pair of turntables 41 are oppositely arranged and respectively matched with the pulley bracket 1; a pair of side frames 42 are oppositely disposed on the end surface between the pair of turntables 41, and a space formed by the pair of side frames 42 and the pair of turntables 41 is used for connecting a member to be turned.
Shown in FIG. 1Setting process of the shown operation curve: limited parametric maximum linear velocity vmaxLow speed linear velocity vminTotal operation time t of overturningzUniform acceleration movement time t1Time t of uniform high-speed movement2(ii) a The control system calculates the highest angular velocity omega according to the limited parameter and the turning radius r of the large gear ring with the known parameter and the relation between the linear velocity v and the angular velocity omega, wherein v is omegamaxAnd low speed angular velocity omegaminAccording toCalculating the time t of uniform deceleration movement3Finally, the time t of the uniform low-speed motion is calculated according to the total time4Accurately obtaining the motion curve chart in the figure 1; the control system controls the turnover mechanism to start and stop according to the motion curve graph.
Checking the rotation angle controlled by the control system: control system based on maximum angular velocity omegamaxTime t of uniform acceleration1Relation ω ofmax＝β1·t1Calculating angular acceleration β1Then according to the rotation angle theta during the uniform acceleration motion1And angular acceleration β1In relation to (2)
Calculating the rotation angle theta1(ii) a The control system rotates the angle theta according to the uniform high-speed motion2Maximum angular velocity ωmaxTime t of uniform high-speed movement2Relation of (a) theta2＝ωmaxt2Calculating the rotation angle theta2Angular acceleration β of uniform deceleration motion2Angular acceleration β of sum-and-average acceleration motion1Equality, the control system then rotates the angle theta according to the uniform deceleration movement3Maximum angular velocity ωmaxTime t of uniform deceleration movement3In relation to (2)
Calculating the rotation angle theta3(ii) a The control system rotates the angle theta according to the uniform low-speed motion4Minimum angular velocity ωminTime t of uniform low-speed movement4Relation of (a) theta4＝ωmint4Calculating the rotation angle theta4(ii) a Control system checks total rotation angle thetaGeneral assembly＝θ1+θ2+θ3+θ4，θGeneral assemblyPi, the turnover angle of the turnover mechanism is precisely realized to be 180 degrees.
Selecting parameters of a power system of the turnover mechanism controlled by the control system: the control system calculates the rotational inertia of each part of the turnover mechanism, the rotational inertia of the middle groove of the turnover mechanism and the rotational inertia J of the external part on the turnover mechanism according to the parts1And calculating the moment of inertia J caused by friction factors in the actual rotation process2And accumulating all the calculation to obtain the total inertia moment J ═ J2+J1And then the relation T of the total torque and the total inertia moment is J β1And calculating the total torque, selecting a power system of the turnover mechanism according to the total torque, and checking the rated torque of the power system.
The calculation mode of the rotational inertia of the large gear ring of the turnover mechanism is as follows: the big gear ring is equivalent to a hollow right cylinder and the rotational inertia of the big gear ring
The calculation mode of the rotational inertia of a pair of rotating discs of the turnover mechanism is as follows: each rotary table is equivalent to a hollow right cylinder and the rotary inertia of a pair of rotary tables
The calculation mode of the rotational inertia of the middle groove on the turnover mechanism is as follows: the middle groove rotates around the rotation axis of the big gear ring, the rotation axis passes through the center of mass of the middle groove, so that the middle groove is equivalent to a cuboid, and the moment of inertia of the middle grooveThe calculation mode of the rotational inertia of a pair of side frames of the turnover mechanism is as follows: the rotational axes of the pair of side frames are parallel to the rotation axis of the large gear ring, and the moment of inertia J of the pair of side frames is determined according to the parallel axis theoremj＝Jc+M4e1 2，e1The distance from each side frame to the axis of rotation; moment of inertia J of external componentb＝Jc+M5e2 2，e2The distance of the outboard component from the axis of rotation. Considering the friction factor of the integral turnover mechanism, the moment of inertia J2Is J (5% -10%).
The first embodiment is as follows: the parameters of the actual tilting mechanism are exemplified: the mass of the large gear ring is as follows: m1＝795kg，R1＝1.22m,r1＝1.1m，The mass of a pair of turntables is: m2＝2565kg，R2＝1.26m,r2＝0.54m，
The mass of the middle groove is as follows: m3＝3000kg，a＝0.38m,c＝2m，
The mass of a pair of side frames is: m4＝758kg，e1＝1.163m，Jj＝Jc+M4e1 2＝1025kg·m2(ii) a The external parts have the following mass: m5＝5000kg，e2＝0.6m，Jb＝Jc+M5e2 2＝1800kg·m2Therefore J is1＝7344kg·m2(ii) a The total moment of inertia is: j is J2+J1＝J1(1+10％)＝8078kg·m2。
Limited parametric maximum linear velocity vmax300mm/s and low speed linear velocity vmin30mm/s total turnover operating time tz16.75s, uniform acceleration movement time t11.5s, uniform high-speed movement time t2D, is 11.3s and r is 1260mm, and the obtained product is
And
in the OA section of the uniform acceleration motion,
T-J β maximum torque required by power system of turnover mechanism1＝8810*0.161＝1420N·m；
In the AB section of the uniform and high-speed motion,t2＝11.3s，θ2＝ωmaxt2＝0.8692π；
in the section BC of the uniform deceleration movement,
β2＝β1＝0.161，
CD segment of uniform low speed motion, t4＝2.6s，θ4＝ωmint4＝0.02π；
Checking the total angle of rotation, θGeneral assembly＝θ1+θ2+θ3+θ4，θGeneral assemblyPi, a motion profile as shown in fig. 4 is thus obtained.
The maximum torque T required by the rotation of the turnover mechanism is J β18078 × 0.161 × 1300N · m. And the power system is used for checking the turnover mechanism.
Required power Pm＝Tωmax314w, 2.3r/min of maximum rotation speed n,
the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (4)
1. The control method of the turnover mechanism for double-side welding of the middle groove comprises the turnover mechanism and a control system, and is characterized in that the turnover mechanism comprises: the pulley support, the bull gear, the pinion, the connecting frame and the power system, wherein the pinion is placed on a base of the pulley support and is meshed with the bull gear; the connecting frame is arranged at the rear end of the large gear ring and matched with the pulley bracket; the power system is used for driving the pinion and is electrically connected with the control system;
the motion curve of the turnover mechanism is set in the control system: the motion curves are uniform accelerated motion, uniform high-speed motion, uniform decelerated motion and uniform low-speed motion in sequence from the starting point, and the maximum linear velocity v of the parameters is limitedmaxLow speed linear velocity vminTotal operation time t of overturningzUniform acceleration movement time t1Time t of uniform high-speed movement2；
The control system calculates the highest angular velocity omega according to the limited parameters and the turning radius r of the large gear ring and the relation between the linear velocity v and the angular velocity omega, wherein v is omega.rmaxAnd low speed angular velocity omegaminAccording to
Calculating the time t of uniform deceleration movement3Finally, the time t of the uniform low-speed motion is calculated according to the total time4Accurately obtaining a motion curve graph;
the control system controls the turnover mechanism to start and stop according to the motion curve diagram through the power system.
2. The control method of the turnover mechanism for double-sided welding of the middle tank as claimed in claim 1, wherein the control system is based on the highest angular velocity ωmaxTime t of uniform acceleration1Relation ω ofmax＝β1·t1Calculating angular acceleration β1Then according to the rotation angle theta during the uniform acceleration motion1And angular acceleration β1In relation to (2)
Calculating the rotation angle theta1；
The control system rotates the angle theta according to the uniform high-speed motion2Maximum angular velocity ωmaxTime t of uniform high-speed movement2Relation of (a) theta2＝ωmaxt2Calculating the rotation angle theta2；
Angular acceleration β of uniform deceleration motion2Angular acceleration β of sum-and-average acceleration motion1Equality, the control system then rotates the angle theta according to the uniform deceleration movement3Maximum angular velocity ωmaxTime t of uniform deceleration movement3In relation to (2)
Calculating the rotation angle theta3；
The control system rotates the angle theta according to the uniform low-speed motion4Minimum angular velocity ωminTime t of uniform low-speed movement4Relation of (a) theta4＝ωmint4Calculating the rotation angle theta4；
Control system checks total rotation angle thetaGeneral assembly＝θ1+θ2+θ3+θ4，θGeneral assemblyPi, the turnover angle of the turnover mechanism is precisely realized to be 180 degrees.
3. The control method of the turnover mechanism for double-sided welding of the middle tank as claimed in claim 2,
the control system calculates the rotational inertia of each part of the turnover mechanism, the rotational inertia of the middle groove of the turnover mechanism and the rotational inertia J of the external part on the turnover mechanism according to the parts1And calculating the moment of inertia J caused by friction factors in the actual rotation process2And accumulating all the calculation to obtain the total inertia moment J ═ J2+J1And then the relation T of the total torque and the total inertia moment is J β1Calculating total torque according to gear drive principle
Calculating the output torque of the power system, and checking according to the output torqueThe power system.
4. The control method of the turnover mechanism for double-sided welding of the middle groove as claimed in claim 3, wherein the moment of inertia J caused by friction factors in the actual rotation process2The calculation method is as follows: considering the friction factor of the integral turnover mechanism, the moment of inertia J2Is J (5% -10%).
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| CN203343676U (en) * | 2013-07-02 | 2013-12-18 | 云南农垦科赛特机械制造有限公司 | Middle trough turnover device of scrapper blade machine |
| CN203509740U (en) * | 2013-09-17 | 2014-04-02 | 南京贝奇尔机械有限公司 | High-load circumferential equally-feeding device |
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