CN108722534A - Measurement sensor and self feed back automation compensation hulling machine - Google Patents
Measurement sensor and self feed back automation compensation hulling machine Download PDFInfo
- Publication number
- CN108722534A CN108722534A CN201810343567.7A CN201810343567A CN108722534A CN 108722534 A CN108722534 A CN 108722534A CN 201810343567 A CN201810343567 A CN 201810343567A CN 108722534 A CN108722534 A CN 108722534A
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- Prior art keywords
- anticollision
- rubber rollers
- slide bar
- motion compensation
- sensor
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Classifications
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- 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
-
- 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
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- Force Measurement Appropriate To Specific Purposes (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
The present invention provides a kind of measurement sensors and self feed back automation compensation hulling machine, the measurement sensor to include：Master reference and obstacle avoidance sensor, master reference and obstacle avoidance sensor are set up in parallel；Wherein, anticollision mounting plate, anticollision arm support, anticollision wheel shaft, anticollision suspension, anticollision arc-shaped permanent magnet, anticollision induction mouse cage winding, anticollision induction electrode, collision avoiding caster and insulation fixing sleeve, anticollision arm support is arranged at the top of anticollision mounting plate, anticollision suspension is arranged on anticollision arm support, insulation fixing sleeve 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.The measurement sensor can measure the linear resonance surface velocity of article for rotation, and 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
It is automatic more particularly, to a kind of measurement sensor and self feed back the invention belongs to agricultural hulling machine technical field
Change compensation hulling machine.
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 measurement sensor and self feed back automation compensation hulling machine, the measurement sensors
The linear resonance surface velocity of article for rotation can be measured, self feed back automation compensation hulling machine can detect the abrasion feelings of rubber roller automatically
Roll surfaces linear velocity is adjusted in condition, and the spacing of two rubber rollers is adjusted.
To achieve the goals above, a kind of measurement sensor, measurement sensor packet are provided according to an aspect of the present invention
It includes：
Master reference and obstacle avoidance sensor, the master reference and obstacle avoidance sensor are set up in parallel；
Wherein, the obstacle avoidance sensor includes：Anticollision mounting plate, anticollision arm support, anticollision wheel shaft, anticollision suspension, anticollision arc
Shape permanent magnet, anticollision induction mouse cage winding, anticollision induction electrode, collision avoiding caster and insulation fixing sleeve, the anticollision arm support setting
At the top of the anticollision mounting plate, the anticollision suspension is arranged on the anticollision arm support, and the insulation fixing sleeve is set in institute
It states on anticollision suspension, anticollision wheel shaft one end is connected to the anticollision suspension, and the other end is connected to the wheel of the collision avoiding caster
Hub, the anticollision induction mouse cage winding and the anticollision arc-shaped permanent magnet are sequentially sleeved on the anticollision wheel shaft, the anticollision
Induction electrode is set to anticollision induction mouse cage winding both sides, and one end passes through the anticollision suspension and the insulation fixing sleeve.
Preferably, the master reference include sensor housing, idler wheel, measuring electrode, arcuate permanent magnetic iron, squirrel-cage around
Resistance, screw shell, quill, the roller housing are set to one end of the quill, and the squirrel-cage winding is set in quill
Upper one end is connected to the wheel hub of idler wheel, and the sensor housing is set in squirrel-cage winding outside, and the measuring electrode connects
Squirrel-cage winding both ends are connected to, the sensor housing, the arcuate permanent magnetic iron setting is passed through to be wound in the squirrel-cage
Between the sensor housing, the screw shell is fixed on the sensor housing bottom.
Preferably, further include insulation shell, the insulation shell is set in outside the sensor housing, the measurement electricity
Pole passes through the sensor housing and the insulation shell set.
A kind of self feed back automation compensation hulling machine is provided according to another aspect of the present invention, and self feed back automation is mended
Repaying 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；
Mobile bearing pedestal, the motion compensation rubber rollers are arranged on the mobile bearing pedestal；
First measurement module and the second measurement module, first measurement module and second measurement module respectively include
Horizontal thread bar, longitudinal screw bar, longitudinal slide bar, thread slider, slide bar sliding block, approach servo motor, lateral servo motor and
Measurement sensor described in claim 1-3, longitudinal screw bar one end pass through the thread slider, and the other end, which is connected to, forces
Nearly servo motor, described longitudinal direction slide bar one end pass through the slide bar sliding block, and horizontal thread bar one end is connected to the screw thread
Sliding block, the other end are connected to the lateral servo motor across the slide bar sliding block, and the measurement sensor is arranged in the cross
To on threaded rod；
Wherein, longitudinal screw bar one end of first measurement module is connected to the fixed rubber across the thread slider
Longitudinal slide bar one end of one end of rubber roller, first measurement module is connected to the fixed rubber rollers across the slide bar sliding block
The other end；
Wherein, longitudinal screw bar one end of second measurement module is connected to the mobile benefit across the thread slider
One end of rubber rollers is repaid, longitudinal slide bar one end of second measurement module is connected to the mobile benefit across the slide bar sliding block
Repay the other end of rubber rollers；
On the first measurement module, the horizontal distance between the obstacle avoidance sensor and the fixed rubber rollers is less than described
The distance between master reference and the fixed rubber rollers；
On the second measurement module, the horizontal distance between the obstacle avoidance sensor and the motion compensation rubber rollers is less than
The distance between the master reference and the motion compensation rubber rollers
Processing module, the processing module are communicatively coupled to the measurement sensor, described approach servo motor, the cross
To servo motor and the mobile bearing pedestal.
Preferably, the mobile bearing pedestal includes：First movement bearing bracket stand, the second movement bearing bracket stand, connecting rod, shifting
Moving frame thread slider, mobile threaded screw rod, shift servo motor, mobile sliding block, mobile slide bar, postive stop baffle and limit switch,
The both ends of the motion compensation rubber rollers are connected at the top of the first movement bearing bracket stand and the second movement bearing bracket stand,
The connecting rod connects the first movement bearing bracket stand and the second movement bearing bracket stand, and the movable stand thread slider setting exists
First movement bearing bracket stand bottom, the mobile threaded screw rod are arranged in the movable stand thread slider, and the movement is watched
The output shaft for taking motor is connected to the mobile threaded screw rod, and the shift servo communications are connected to the processing module,
The mobile sliding block setting is in second movement bearing bracket stand bottom, and the mobile slide bar is arranged in the mobile sliding block, institute
It states postive stop baffle and is set to the mobile slide bar both ends, the limit switch is arranged on the mobile sliding block.
Preferably, further include rack, described longitudinal direction slide bar one end passes through the slide bar sliding block, the other end to be connected to the machine
Frame.
Preferably, further include thin pedestal, the thin pedestal is set at the top of the horizontal thread bar, and one end is connected to described
Thread slider, the other end are connected to the slide bar sliding block, and the thin pedestal passes through the quill, the measurement sensor cunning to set
On the thin pedestal and the horizontal thread bar.
Preferably, further include shaft coupling, the shaft coupling is arranged approaches servo motor and the longitudinal screw bar described
Between and the horizontal thread bar and the lateral servo motor between.
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.
Preferably, institute's longitudinal screw bar is arranged in parallel with longitudinal slide bar, and the horizontal thread bar is perpendicular to institute
State longitudinal screw bar and longitudinal slide bar, the busbar of the fixed rubber rollers, the busbar of the motion compensation rubber rollers and institute
Horizontal thread bar is stated to be mutually parallel.
The beneficial effects of the present invention are：
1) measurement sensor measures rolling body linear resonance surface velocity by the setting of master reference, passes through obstacle avoidance sensor
Setting, collision avoiding caster are preferentially in contact with rolling body, and preventing master reference from sending collision or strong wear causes to damage.
2) self feed back automation compensation setting of the hulling machine by horizontal thread bar, driving horizontal thread bar is close to fixed rubber
Rubber roller or motion compensation rubber rollers, crash sensor and master reference connect with fixed rubber rollers or motion compensation rubber rollers successively
It touches, by detecting the fixed rubber rollers of shift length detection of horizontal thread bar and the wear extent of motion compensation rubber rollers, Jin Erke
Mobile bearing base adjusts the position of motion compensation rubber rollers, controls fixed rubber rollers at a distance from motion compensation rubber rollers, leads to
The fixed rubber rollers of measurement sensor detection and motion compensation rubber roll surface linear velocity are crossed, and then processing module adjusts fixed rubber
The rotating speed of roller and motion compensation rubber rollers keeps fixed the distance between rubber rollers and motion compensation rubber rollers constant, fixed rubber
Roller is consistent with the linear resonance surface velocity of motion compensation rubber rollers.Ensure husking yield, the yield of cereal.
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 mobile bearing pedestal according to an embodiment of the invention.
Fig. 6 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. 7 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；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, mobile bearing pedestal；
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；
Second movement bearing bracket stand 71, connecting rod 72, first movement bearing bracket stand 73, mobile threaded screw rod 74, shift servo electricity
Machine 75, mobile slide bar 76, postive stop baffle 761, limit switch 77.
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.
A kind of measurement sensor is provided according to an aspect of the present invention, which includes：
Master reference and obstacle avoidance sensor, master reference and obstacle avoidance sensor are set up in parallel；
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.
Preferably, master reference include sensor housing, idler wheel, measuring electrode, arcuate permanent magnetic iron, squirrel-cage around
Resistance, 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
The wheel hub of idler wheel, sensor housing are set in squirrel-cage winding outside, and measuring electrode is connected to squirrel-cage winding both ends, passes through and pass
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.
Preferably, further include insulation shell, insulation shell is set in outside sensor housing, and measuring electrode passes through
Sensor housing and insulation shell set.
A kind of self feed back automation compensation hulling machine is provided according to another aspect of the present invention, and self feed back automation is mended
Repaying 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；
Mobile bearing pedestal, motion compensation rubber rollers are arranged on mobile bearing pedestal；
First measurement module and the second measurement module, the first measurement module and the second measurement module respectively include horizontal thread
Bar, longitudinal slide bar, thread slider, slide bar sliding block, approaches servo motor, lateral servo motor and claim at longitudinal screw bar
The measurement sensor of 1-3, longitudinal screw bar one end pass through thread slider, and the other end, which is connected to, approaches servo motor, longitudinal slide bar
One end passes through slide bar sliding block, horizontal thread bar one end to be connected to thread slider, and the other end is connected to across slide bar sliding block and laterally watches
Motor is taken, measurement sensor is arranged on horizontal thread bar；
Wherein, longitudinal screw bar one end of the first measurement module is connected to one end of fixed rubber rollers across thread slider,
Longitudinal slide bar one end of first measurement module is connected to the other end of fixed rubber rollers across slide bar sliding block；
Wherein, longitudinal screw bar one end of the second measurement module is connected to the one of motion compensation rubber rollers across thread slider
End, longitudinal slide bar one end of the second measurement module are connected to the other end of motion compensation rubber rollers across slide bar sliding block；
On the first measurement module, the horizontal distance between obstacle avoidance sensor and fixation rubber rollers is less than master reference and consolidates
Determine the distance between rubber rollers；
On the second measurement module, the horizontal distance between obstacle avoidance sensor and motion compensation rubber rollers is less than master reference
The distance between motion compensation rubber rollers
Processing module, processing module are communicatively coupled to measurement sensor, approach servo motor, lateral servo motor and removable
Dynamic bearing pedestal.
Specifically, during actual use, according to practical condition, determine fixed rubber rollers and motion compensation rubber rollers
Best spacing, fixed rubber rollers best surface linear velocity, motion compensation rubber rollers best surface linear velocity.
Every certain time interval, by driving approach servo motor drive horizontal thread bar close to fixed rubber rollers and
Motion compensation rubber rollers will produce electric current letter when master reference is in contact with fixed rubber rollers and motion compensation rubber rollers
Number, record the displacement information for obtaining horizontal thread bar, you can know the wear extent of fixed rubber rollers and motion compensation rubber rollers.
It is in contact with fixed rubber rollers and motion compensation rubber rollers by master reference, you can measure and obtain fixed rubber rollers
And the linear resonance surface velocity of motion compensation rubber rollers.
The wear extent of fixation rubber rollers and motion compensation rubber rollers of the processing unit based on measurement, passes through mobile bearing bottom
Seat adjusts the position of motion compensation rubber rollers, then makes the best spacing of holding of fixed rubber rollers and motion compensation rubber rollers.
Linear resonance surface velocity of the processing unit based on fixed rubber rollers and motion compensation rubber rollers, passes through the fixed rubber rollers of adjusting
And the rotating speed of motion compensation rubber rollers ensures that fixed rubber rollers keep best surface linear velocity, motion compensation rubber rollers to keep best
Linear resonance surface velocity.
Preferably, mobile bearing pedestal includes：First movement bearing bracket stand, second movement bearing bracket stand, connecting rod,
Movable stand thread slider, mobile threaded screw rod, shift servo motor, mobile sliding block, mobile slide bar, postive stop baffle and limit are opened
It closes, the both ends of motion compensation rubber rollers are connected at the top of first movement bearing bracket stand and the second movement bearing bracket stand, and connecting rod connects
First movement bearing bracket stand and the second movement bearing bracket stand are connect, the setting of movable stand thread slider is in first movement bearing bracket stand bottom, movement
Threaded screw rod is arranged in movable stand thread slider, and the output shaft of shift servo motor is connected to mobile threaded screw rod, and movement is watched
It takes communications and is connected to processing module, mobile sliding block setting is arranged in the second movement bearing bracket stand bottom, mobile slide bar in movement
In sliding block, postive stop baffle is set to mobile slide bar both ends, and limit switch setting is on mobile sliding block.
Specifically, mobile bearing pedestal is based on the abrasion for measuring the fixation rubber rollers and motion compensation rubber rollers that obtain
Amount drives mobile threaded screw rod rotation by shift servo motor, then drives first movement bearing bracket stand and the second movement bearing
Frame moves, and adjusts the position of motion compensation rubber rollers.Make the best spacing of holding of fixed rubber rollers and motion compensation rubber rollers.
Mobile threaded screw rod and shift servo motor positioned at first movement bearing bracket stand bottom play driving effect, are located at the
Movable stand thread slider, mobile slide bar, postive stop baffle and the limit switch of two movement bearing bracket stand bottoms play position-limiting action, prevent
Mobile bearing pedestal moves out controllable range, causes danger.
Preferably, further include rack, longitudinal slide bar one end passes through slide bar sliding block, the other end to be connected to rack.
Preferably, further include thin pedestal, thin pedestal is set at the top of horizontal thread bar, and one end is connected to screw thread cunning
Block, the other end are connected to slide bar sliding block, and thin pedestal passes through quill, measurement sensor to be slidably installed in thin pedestal and horizontal thread bar
On.
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, further include shaft coupling, shaft coupling setting approaching between servo motor and longitudinal screw bar and
Between horizontal thread bar and lateral servo motor.
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.
Preferably, institute's longitudinal screw bar is arranged in parallel with longitudinal slide bar, and horizontal thread bar is transversely to the machine direction screw thread
Bar and longitudinal slide bar, the busbar of fixed rubber rollers, the busbar of motion compensation rubber rollers and horizontal thread bar are mutually parallel.
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 mobile bearing pedestal according to an embodiment of the invention
Schematic structure explosive view.Fig. 6 shows self feed back automation compensation hulling machine according to an embodiment of the invention
Related geometric sense schematic diagram.Fig. 7 shows oneself of self feed back automation compensation hulling machine according to an embodiment of the invention
Feedback automation compensating control method.
As shown in Fig. 1-Fig. 7, self feed back automation compensation hulling machine includes：
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, mobile bearing pedestal；
101, motion servo motor is approached；102, shaft coupling；103, longitudinal screw bar；104, thread slider；105, anticollision
Sensor；106, thin pedestal；107, master reference；108, lateral servo motor；109, longitudinal slide bar；110, slide bar sliding block；
111, horizontal thread bar；
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；
Second movement bearing bracket stand 71, connecting rod 72, first movement bearing bracket stand 73, mobile threaded screw rod 74, shift servo electricity
Machine 75, mobile slide bar 76, postive stop baffle 761, limit switch 77.
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 over the cooperation of the sliding bearing on movable axle frame module 7, it is preferred that it is placed
Direction should be parallel with horizontal plane, while the busbar of rubber rollers should be parallel with 111 direction of horizontal thread bar, and is made to its depth of parallelism
It is required that；Servo motor 101 is approached to be fixedly installed in rack；Longitudinal screw bar 103 is by shaft coupling 102 and approaches servo motor
101 connections, it is preferred that reply approaches the shaft of servo motor 101 and 103 concentricity of longitudinal screw bar makes requirement；Screw thread is slided
Block 104 coordinates with longitudinal screw bar 103, it is preferred that the accurate thread axis on reply thread slider 104 and its end face squareness
Make requirement；Big mounting hole 10573 is matched with 111 non-threaded section of horizontal thread bar on obstacle avoidance sensor 105, small mounting hole
10572 coordinate with thin pedestal 106, and holding screw is matched with axial restraint threaded hole 10574 merges insertion transverse direction accurate thread bar 111
On fixing groove in axial restraint is served to obstacle avoidance sensor 105；Thin pedestal 106 and thread slider 104, slide bar sliding block 110
It is fixedly connected, preferred reply correlation geometric tolerance makes requirement, and the axis for specially requiring thin pedestal 106 should be with surveyed rubber rollers
Axis it is parallel, while axis determine space plane should be parallel with horizontal plane；Spiral shell in the sensor shell 1075 of master reference 107
Line sleeve 10754 coordinates with horizontal thread bar 111, and quill 10752 coordinates with thin pedestal 106, preferably copes with its correlation and matches
The geometric tolerance of conjunction makes requirement；Longitudinal slide bar 109 is set in rack, it is preferred that and its setting direction should be parallel with horizontal plane,
And it is vertical with the rubber rollers axial space of measurement；Lateral servo motor 108 should be set in rack and can be relative to rack edge
111 axis direction of horizontal thread bar moves horizontally；Lateral servo motor 108 (208) passes through shaft coupling 102 and horizontal thread bar
111 connections, it is preferred that the concentricity for coping with the two makes requirement；The non-threaded section at 111 both ends of horizontal thread bar and slide bar sliding block
110, it mounting hole cooperation and axial restraint and can be freely rotated relative to two sliding blocks on thread slider 104, it is preferred that reply correlation
Geometric tolerance makes requirement；The wheel hub of idler wheel 1071 coordinates with quill 10752, and axle sleeve end cap 10751 plays it axial solid
It is set for using, it is preferred that the central point of idler wheel 1071 is respectively with fixed rubber rollers 3,4 center of motion compensation rubber rollers in one
On horizontal line, to ensure the accuracy measured；Measuring electrode 1072 should pass through insulation shell 10753 and be fixed on sensor shell
1075, while to ensure that measuring electrode 1072 winds 1074 liang of end in contact with squirrel-cage, arcuate permanent magnetic iron 1073 is fixed on sensing
Inside device shell 1075 so that squirrel-cage winding 1074 is in its magnetic field；Squirrel-cage winding 1074 and the wheel hub of idler wheel 1071 are solid
It is fixed, make squirrel-cage winding 1074 that can be freely rotated with idler wheel 1071；Insulation shell 10753 is set in sensor shell 1075；It is anti-
Striker arm frame 1051 by swing arm pivot pin 10577 fix and it is rotatable；Anticollision induction electrode 1052 passes through insulation fixing sleeve 10512 to fix
In on anticollision suspension 10513；Anticollision induction mouse cage winding 1053 and the wheel hub of collision avoiding caster 1054 are fixed；Collision avoiding caster 1054
Wheel hub coordinates with anticollision wheel shaft 10511；Anticollision arc-shaped permanent magnet 1055 is set to 10513 inner wall of anticollision suspension；Buffering torsion bullet
Spring 1056 is fixed by fixed pivot pin 10575, and buffering torsionspring 1056 pushes down 1051 edge of anticollision arm support on one side, and another side resists
Spring follow block 10571, it is preferred that ensure that anticollision swing arm frame forward extends out certain angle, make to prevent when sensor approaches rubber rollers
Idler wheel 1071 of the idler wheel 1054 prior to master reference is hit, to ensure to realize collision prevention function；Limit follow block 10576 resists anticollision arm support
1051 other ends, play the role of angle limit；Connecting rod 72 is fixed with fixed mobile bearing bracket stand 71 and first movement bearing bracket stand 73,
Play fixed function；Movable stand thread slider is set to 73 lower end of first movement bearing bracket stand, movable stand thread slider 73 and movement
Threaded screw rod 74 coordinates；Shift servo motor 75 is coupled by shaft coupling with mobile threaded screw rod 74, it is preferred that both replies are same
Axis degree claims, and shift servo motor 75 is set in rack；Mobile slide bar 76 and second moves the precision of bearing bracket stand one end
Sliding block coordinates, and mobile slide bar 76 is set in rack, it is preferred that its axis installation direction is parallel with horizontal plane, and perpendicular to rubber
Rubber roller axis；Mobile 74 other end of threaded screw rod is set in rack, it is preferred that its axis installation direction and 76 axis of mobile slide bar
Line is parallel；Limit switch 77 is fixed on the mobile sliding block of 71 one end of the second movement bearing bracket stand, and ensures that limit switch 77 can be with
Limit switch 77 contacts.
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 that Fig. 6 shows.Input single measurement rubber roller busbar acquisition points N, time of measuring interval △ T, rubber
Roller bus length m, initial value：Fixed rubber rollers initial radium R1C1, motion compensation rubber rollers initial radium R2C1, initial level
Centre-to-centre spacing LC1, fixed rubber rollers initial speed r1C1, motion compensation rubber rollers initial radium r2C1, measured as first time first
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
Illustratively, and non-exclusive, and it is also not necessarily limited to disclosed each embodiment.Without departing from illustrated each embodiment
In the case of scope and spirit, many modifications and changes are all apparent for those skilled in the art
's.
Claims (10)
1. a kind of measurement sensor, which is characterized in that the measurement sensor includes：
Master reference and obstacle avoidance sensor, the master reference and obstacle avoidance sensor are set up in parallel；
Wherein, the 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, the anticollision arm support are arranged in institute
It states at the top of anticollision mounting plate, the anticollision suspension is arranged on the anticollision arm support, and the insulation fixing sleeve is set in described anti-
It hits on suspension, anticollision wheel shaft one end is connected to the anticollision suspension, and the other end is connected to the wheel hub of the collision avoiding caster, institute
It states anticollision induction mouse cage winding and the anticollision arc-shaped permanent magnet is sequentially sleeved on the anticollision wheel shaft, the anticollision induced electricity
Pole is set to anticollision induction mouse cage winding both sides, and one end passes through the anticollision suspension and the insulation fixing sleeve.
2. measurement sensor according to claim 1, which is characterized in that the master reference includes sensor housing, rolling
Wheel, measuring electrode, arcuate permanent magnetic iron, squirrel-cage winding, screw shell, quill, the roller housing are set to the quill
One end, the squirrel-cage winding are set in the wheel hub that one end in quill is connected to idler wheel, and the sensor housing is set in institute
It is external to state squirrel-cage winding, the measuring electrode is connected to squirrel-cage winding both ends, passes through the sensor housing, described
For the setting of arcuate permanent magnetic iron between squirrel-cage winding and the sensor housing, the screw shell is fixed on the sensing
Device housing bottom.
3. measurement sensor according to claim 2, which is characterized in that further include insulation shell, the insulation shell set
It is located at outside the sensor housing, the measuring electrode passes through the sensor housing and the insulation shell set.
4. 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；
Mobile bearing pedestal, the motion compensation rubber rollers are arranged on the mobile bearing pedestal；
First measurement module and the second measurement module, first measurement module and second measurement module respectively include transverse direction
Threaded rod, longitudinal slide bar, thread slider, slide bar sliding block, approaches servo motor, lateral servo motor and right at longitudinal screw bar
It is required that the measurement sensor described in 1-3, longitudinal screw bar one end passes through the thread slider, the other end to be connected to approach and watch
Motor is taken, described longitudinal direction slide bar one end passes through the slide bar sliding block, horizontal thread bar one end to be connected to the thread slider,
The other end is connected to the lateral servo motor across the slide bar sliding block, and the measurement sensor is arranged in the horizontal thread
On bar；
Wherein, longitudinal screw bar one end of first measurement module is connected to the fixed rubber rollers across the thread slider
One end, longitudinal slide bar one end of first measurement module is connected to the another of the fixed rubber rollers across the slide bar sliding block
One end；
Wherein, longitudinal screw bar one end of second measurement module is connected to the motion compensation rubber across the thread slider
Longitudinal slide bar one end of one end of rubber roller, second measurement module is connected to the motion compensation rubber across the slide bar sliding block
The other end of rubber roller；
On the first measurement module, the horizontal distance between the obstacle avoidance sensor and the fixed rubber rollers is less than the main biography
The distance between sensor and the fixed rubber rollers；
On the second measurement module, the horizontal distance between the obstacle avoidance sensor and the motion compensation rubber rollers is less than described
The distance between master reference and the motion compensation rubber rollers
Processing module, the processing module be communicatively coupled to the measurement sensor, it is described approach servo motor, the transverse direction is watched
Take motor and the mobile bearing pedestal.
5. self feed back automation compensation hulling machine according to claim 4, which is characterized in that the mobile bearing pedestal
Including：First movement bearing bracket stand, the second movement bearing bracket stand, connecting rod, movable stand thread slider, mobile threaded screw rod, movement are watched
Motor, mobile sliding block, mobile slide bar, postive stop baffle and limit switch, the both ends of the motion compensation rubber rollers are taken to be separately connected
At the top of the first movement bearing bracket stand and the second movement bearing bracket stand, the connecting rod connects the first movement bearing bracket stand
And the second movement bearing bracket stand, the movable stand thread slider are arranged in first movement bearing bracket stand bottom, the movement
Threaded screw rod is arranged in the movable stand thread slider, and the output shaft of the shift servo motor is connected to the mobile screw thread
Lead screw, the shift servo communications are connected to the processing module, and the mobile sliding block is arranged in second shifting axle
Bolster bottom, the mobile slide bar are arranged in the mobile sliding block, and the postive stop baffle is set to the mobile slide bar both ends,
The limit switch is arranged on the mobile sliding block.
6. self feed back automation compensation hulling machine according to claim 4, which is characterized in that further include rack, it is described vertical
The slide bar sliding block, the other end is passed through to be connected to the rack to slide bar one end.
7. self feed back automation compensation hulling machine according to claim 4, which is characterized in that further include thin pedestal, it is described
Thin pedestal is set at the top of the horizontal thread bar, and one end is connected to the thread slider, and the other end is connected to the slide bar and slides
Block, the thin pedestal pass through the quill, the measurement sensor to be slidably installed on the thin pedestal and the horizontal thread bar.
8. self feed back automation compensation hulling machine according to claim 4, which is characterized in that further include shaft coupling, it is described
Shaft coupling setting approaches between servo motor and the longitudinal screw bar and the horizontal thread bar is watched with the transverse direction described
It takes between motor.
9. self feed back automation compensation hulling machine according to claim 4, which is characterized in that fixed rubber rollers stepper motor
And motion compensation rubber rollers stepper motor, the fixed rubber rollers stepper motor can drive the fixed rubber rollers rotation, institute
Stating motion compensation rubber rollers stepper motor can drive the motion compensation rubber rollers to rotate, the fixed rubber rollers stepper motor
And the motion compensation rubber rollers stepper motor is communicatively coupled to the processing module.
10. self feed back automation compensation hulling machine according to claim 1, which is characterized in that institute's longitudinal screw bar
It is arranged in parallel with longitudinal slide bar, the horizontal thread bar is described perpendicular to the longitudinal screw bar and longitudinal slide bar
The busbar of fixed rubber rollers, the busbar of the motion compensation rubber rollers and the horizontal thread bar are mutually parallel.
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| CN201810343567.7A CN108722534B (en) | 2018-04-17 | 2018-04-17 | Measurement sensor and self-feedback automatic compensation rice huller |
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| CN201810343567.7A CN108722534B (en) | 2018-04-17 | 2018-04-17 | Measurement sensor and self-feedback automatic compensation rice huller |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112044497A (en) * | 2020-08-26 | 2020-12-08 | 杭州揽廉科技有限公司 | Rice mill capable of improving rice milling rate and avoiding over-grinding |
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