CN108800761A - A kind of material moisture on-line measuring device and its control method, control system - Google Patents
A kind of material moisture on-line measuring device and its control method, control system Download PDFInfo
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- CN108800761A CN108800761A CN201810916304.0A CN201810916304A CN108800761A CN 108800761 A CN108800761 A CN 108800761A CN 201810916304 A CN201810916304 A CN 201810916304A CN 108800761 A CN108800761 A CN 108800761A
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- Prior art keywords
- cup
- control system
- weight
- signal
- charge
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F26—DRYING
- F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
- F26B3/00—Drying solid materials or objects by processes involving the application of heat
- F26B3/32—Drying solid materials or objects by processes involving the application of heat by development of heat within the materials or objects to be dried, e.g. by fermentation or other microbiological action
- F26B3/34—Drying solid materials or objects by processes involving the application of heat by development of heat within the materials or objects to be dried, e.g. by fermentation or other microbiological action by using electrical effects
- F26B3/347—Electromagnetic heating, e.g. induction heating or heating using microwave energy
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F26—DRYING
- F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
- F26B25/00—Details of general application not covered by group F26B21/00 or F26B23/00
- F26B25/22—Controlling the drying process in dependence on liquid content of solid materials or objects
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N5/00—Analysing materials by weighing, e.g. weighing small particles separated from a gas or liquid
- G01N5/04—Analysing materials by weighing, e.g. weighing small particles separated from a gas or liquid by removing a component, e.g. by evaporation, and weighing the remainder
- G01N5/045—Analysing materials by weighing, e.g. weighing small particles separated from a gas or liquid by removing a component, e.g. by evaporation, and weighing the remainder for determining moisture content
Abstract
The invention discloses a kind of material moisture on-line measuring device and its control method, control systems, and the interaction of control signal is carried out by material moisture control system and mechanical arm control system, and mechanical arm control system control machinery arm assembly is made to execute corresponding operating.Empty material cup and charge cup are successively moved to by initial station on the weighing tray in microwave drier by robot arm device according to control signal, and the drying initial weight of empty material cup weight and charge cup is obtained by weighing sensor.After microwave drying process, obtains the dry of charge cup and terminate weight.According to empty material cup weight, the drying initial weight of charge cup and dry end weight, the moisture of material to be measured is obtained using weight-loss method.Detection device and its control method provided in this embodiment, control system, can detect the moisture of material, that is, realize timely online water content detection in the drying process, and data are more accurate, improve working efficiency.
Description
Technical field
The present invention relates to material moisture detection technique field more particularly to a kind of material moisture on-line measuring device and its controls
Method processed, control system.
Background technology
In metallurgy industry, need that a certain amount of water is added in mixing process, to improve the binding force and adhesive force of material,
Conducive to subsequent forming operation.But since material itself can also contain certain moisture, add water to more accurately control
Amount so that material has best binding force and adhesive force, needs accurately to detect the moisture in material.Then according to water
Sorting measured value carrys out control material amount of water so that material moisture is maintained at during subsequent technique in a reasonable range.
As it can be seen that the real-time detection of material moisture is very big on the influence of the quality of final products, therefore, very must to the water content detection of material
It wants.
In existing metallurgy industry, common material moisture detection method includes infrared moisture meter, microwave moisture instrument and neutron
Moisture Meter, above-mentioned detection device belong to non-contact type measuring device.Although infrared moisture meter can be used for quickly detecting moisture, answer
It is wide with industry, but disadvantage is apparent, external influence factor is more, such as the light in environment, steam, day temperature and moisture, surface of material
Color, material component lead to that material surface moisture can only be detected.Although Neutron Moisture Meter detection speed is fast, and detection is not pollinated
The influence of the factors such as dirt, steam, material electric conductivity, granularity, but to be ray have radiological hazard to major defect, has danger to human body
Evil effect.Although microwave moisture instrument can be with on-line checking, detection speed is fast, can penetrate material and measure whole moisture, not by outer
The influences such as boundary's environment temperature, dust, light, material color, but major defect is the accuracy of measurement result by material component shadow
Sound is bigger.
As it can be seen that the method for material moisture detection can not timely and accurately be detected material moisture, be caused in the prior art
Working efficiency is low.
Invention content
It is existing to solve the present invention provides a kind of material moisture on-line measuring device and its control method, control system
Material moisture detection method, can not timely and accurately detect material moisture, lead to the problem that working efficiency is low.
In a first aspect, a kind of material moisture on-line measuring device provided in an embodiment of the present invention, including：Robot arm device,
Initial station, microwave drier, weighing device and anti-ash door, wherein
Initial station is between robot arm device and microwave drier, and the initial station is for placing material cup；Institute
Robot arm device is stated for gripping material cup, realizes the movement between initial station and microwave drier, and realize material
Feeding and batch turning action；
The microwave drier includes device box, and the drying feeding channel in device box side wall, Yi Jishe is arranged
Set the microwave cavity in device box；A part for the dry feeding channel stretches into microwave cavity, and another part is located at
Outside device box；The anti-ash door is set to dry feeding channel and is located at one end outside device box；The lower end of the microwave cavity
Equipped with placement cavity；
The weighing device includes pedestal, weighing sensor, supporting rod and weighing tray；
The pedestal is located in placed cavity body, and the weighing sensor is positioned on pedestal；One end of the supporting rod with
Weighing sensor connects, and the other end of the supporting rod is connect with weighing tray, and the supporting rod is mutually perpendicular to weighing tray；
The supporting rod makes weighing tray be located in microwave cavity through cavity and microwave cavity is placed.
Optionally, the microwave drier further includes：Microwave suppressor, it is logical that the microwave suppressor is set to dry pan feeding
On road.
Optionally, the microwave drier further includes：Infrared radiation thermometer；The infrared radiation thermometer is set to outside microwave cavity
Top, the material cup on the infrared probe position face weighing tray of infrared radiation thermometer；The infrared radiation thermometer is micro- for measuring
The temperature of material in material cup in wave cavity.
Second aspect, the present invention also provides a kind of control methods of material moisture on-line measuring device, including following step
Suddenly：
Transmission, which allows to weigh, places signal to mechanical arm control system, makes the mechanical arm control system according to allowing to weigh
Signal is placed, control machinery arm assembly claims empty material cup from the weighing tray that initial station is sent into microwave drier
Weight；And obtain the empty material cup weight that weighing sensor measures；
Transmission allows to weigh feeding signal to mechanical arm control system, makes the mechanical arm control system according to allowing to weigh
Empty material cup on weighing tray is taken out, is placed on initial station by feeding signal, control machinery arm assembly；
Sending allows feeding signal to mechanical arm control system, and the mechanical arm control system is made to be believed according to permission feeding
Number, control machinery arm assembly captures material to be measured from material sealing-tape machine, and the material to be measured is poured on initial station
Empty material cup in, obtain charge cup；
Transmission allows dry signal of placing to mechanical arm control system, makes the mechanical arm control system according to allowing drying
Signal is placed, control machinery arm assembly will carry out microwave drying on the weighing tray in charge cup feeding microwave drier；With
And obtain the drying initial weight for the charge cup that weighing sensor measures；
According to the weight change of the material to be measured in the charge cup, judge whether the material to be measured in the charge cup is done
It is dry to finish, if the dry materials to be measured in the charge cup finish, obtain the dry knot for the charge cup that weighing sensor measures
Shu Chongliang；
Terminate weight according to the empty material cup weight, the drying initial weight of charge cup and the dry of charge cup, determination waits for
Survey the moisture of material.
After completing a moisture detection process, the control method further includes：Sending allows batch turning signal extremely
Mechanical arm control system, by mechanical arm control system according to batch turning signal is allowed, control machinery arm assembly will be at weighing tray
Charge cup takes out, and the material in charge cup is poured at material belt conveyor.
In addition, mechanical arm control system writes the program of external input signal respective action step in advance.External input
Signal includes allowing to weigh place signal, the feeding signal that allows to weigh, allow dry place signal, allow batch turning signal, allow
Feeding signal.
Optionally, before the step of transmission allows to weigh placement signal to mechanical arm control system, further include：
Open signal is sent to anti-ash door, the control anti-ash door is opened；
It receives the unlatching that the anti-ash door returns and completes signal, transmission, which allows to weigh to place signal and control to mechanical arm, is
System.
Optionally, sending as steps described below allows feeding signal to mechanical arm control system：
The action completion status signal that the mechanical arm control system is sent is received, according to the action completion status signal
Judge whether the feeding action of weighing of the robot arm device is completed；
The feeding action if the robot arm device completion is weighed, sends shutdown signal to anti-ash door, controls anti-ash door and close
It closes；And send permission feeding signal to the mechanical arm control system.
Optionally, judged in charge cup according to the weight change of the material to be measured in the charge cup by the following method
Material to be measured whether dry and finish：
By the following method according to the weight change of the material to be measured in the charge cup, the determinand in charge cup is judged
Whether material, which is dried, finishes：
In default judgement period T1It is interior, obtain t1The initial weight and t of moment corresponding charge cup2Moment is corresponding
The termination weight of charge cup；Wherein, T1=t2-t1；
Calculate the t1The initial weight and t of moment corresponding charge cup2The weight of the termination weight of moment corresponding charge cup
Measure difference；
According to the default judgement period T1Corresponding weight difference judges whether to be less than or equal to preset weight difference threshold
Value；
If the weight difference is less than or equal to preset weight difference threshold value, determine that the dry materials to be measured in charge cup are complete
Finish.
Optionally, according to the following formula, according to the empty material cup weight, the drying of the drying initial weight and charge cup of charge cup
Terminate weight, determines the moisture of material to be measured：
In formula, MiFor the moisture of material to be measured, W0iFor empty material cup weight, W1iFor the drying initial weight of charge cup,
W2iDry for charge cup terminates weight.
Optionally, further include：
Obtain the current temperature of charge of the material to be measured in microwave drier；
Whether it is more than temperature of charge upper limit threshold described in judgement according to the current temperature of charge of the material to be measured；
If it exceeds temperature of charge upper limit threshold, sends and stops microwave heating signal to microwave drier, control microwave
Drying device stops carrying out microwave drying to material to be measured.
The third aspect, a kind of control system of material moisture on-line measuring device provided in an embodiment of the present invention, including：Object
Expect moisture control subsystem and mechanical arm control system；The mechanical arm control system is used to be sent according to material moisture control system
Control signal controlling machine tool arm assembly execute corresponding operating；The material moisture control system is configured as executing following programs
Step：
Transmission, which allows to weigh, places signal to mechanical arm control system, makes the mechanical arm control system according to allowing to weigh
Signal is placed, control machinery arm assembly claims empty material cup from the weighing tray that initial station is sent into microwave drier
Weight；And obtain the empty material cup weight that weighing sensor measures；
Transmission allows to weigh feeding signal to mechanical arm control system, makes the mechanical arm control system according to allowing to weigh
Empty material cup on weighing tray is taken out, is placed on initial station by feeding signal, control machinery arm assembly；
Sending allows feeding signal to mechanical arm control system, and the mechanical arm control system is made to be believed according to permission feeding
Number, control machinery arm assembly captures material to be measured from material sealing-tape machine, and the material to be measured is poured on initial station
Empty material cup in, obtain charge cup；
Transmission allows dry signal of placing to mechanical arm control system, makes the mechanical arm control system according to allowing drying
Signal is placed, control machinery arm assembly will carry out microwave drying on the weighing tray in charge cup feeding microwave drier；With
And obtain the drying initial weight for the charge cup that weighing sensor measures；
According to the weight change of the material to be measured in the charge cup, judge whether the material to be measured in the charge cup is done
It is dry to finish, if the dry materials to be measured in the charge cup finish, obtain the dry knot for the charge cup that weighing sensor measures
Shu Chongliang；
Terminate weight according to the empty material cup weight, the drying initial weight of charge cup and the dry of charge cup, determination waits for
Survey the moisture of material.
By above technical scheme it is found that material moisture on-line measuring device provided in an embodiment of the present invention and its controlling party
Method, control system are carried out the interaction of control signal by material moisture control system and mechanical arm control system, so that mechanical arm control
System control machine tool arm assembly processed executes corresponding operating.Robot arm device according to control signal successively by empty material cup and charge cup by
Initial station is moved on the weighing tray in microwave drier, and empty material cup weight and charge cup are obtained by weighing sensor
Dry initial weight.After microwave drying process, obtains the dry of charge cup and terminate weight.According to the empty material cup weight measured
Amount, the drying initial weight of charge cup and dry end weight, the moisture of material to be measured is obtained using weight-loss method, complete immediately
At a water content detection process；Meanwhile robot arm device can also execute the discharge action of the material after drying according to control signal.
Detection device and its control method provided in this embodiment, control system, can detect the moisture of material in the drying process
Content realizes timely online water content detection, data are more accurate, improves working efficiency.
Description of the drawings
In order to illustrate more clearly of technical scheme of the present invention, letter will be made to attached drawing needed in the embodiment below
Singly introduce, it should be apparent that, for those of ordinary skills, without having to pay creative labor,
Other drawings may also be obtained based on these drawings.
Fig. 1 is the structural schematic diagram of material moisture on-line measuring device provided in an embodiment of the present invention；
Fig. 2 is the side view of material moisture on-line measuring device provided in an embodiment of the present invention；
Fig. 3 is the vertical view of material moisture on-line measuring device provided in an embodiment of the present invention；
Fig. 4 is the structure diagram of the control system of material moisture on-line measuring device provided in an embodiment of the present invention；
Fig. 5 is the interactive structure figure of the control system of material moisture on-line measuring device provided in an embodiment of the present invention；
Fig. 6 is the flow chart of the control method of material moisture on-line measuring device provided in an embodiment of the present invention.
Specific implementation mode
Fig. 1 is the structural schematic diagram of material moisture on-line measuring device provided in an embodiment of the present invention；Fig. 2 is that the present invention is real
The side view of the material moisture on-line measuring device of example offer is provided；Fig. 3 is that material moisture provided in an embodiment of the present invention is examined online
Survey the vertical view of device.
Referring to Fig. 1, Fig. 2 and Fig. 3, a kind of material moisture on-line measuring device provided in an embodiment of the present invention, for passing through
Weight-loss method carries out material to be measured the on-line real-time measuremen of moisture, meanwhile, it can also be achieved the online rapid draing of material.The material water
Point on-line measuring device includes：Robot arm device 1, initial station 2, microwave drier 3, weighing device 4 and anti-ash door 5.
Wherein, robot arm device 1 is for realizing the mobile etc. of material sampling, charge cup feeding and discharge and charge cup
Function.Robot arm device 1 is mainly by components groups such as mechanical arm, fixture, fixture reversing arrangement, mechanical arm control cabinet and electric wires
At.Mechanical arm control system 100 is used to receive the control signal of the transmission of material moisture control system 200, with control machinery arm root
Corresponding displacement distance is made according to the corresponding specific action step of control signal, changes the operations such as direction of action.Fixture is for pressing from both sides
Take the vessel for installing material；Fixture reversing arrangement between the feeding component and two functions of material cup fixture of mechanical arm for cutting
It changes.
Mechanical arm control system 100 can pre-define 6 signal input points, that is, allow feeding signal, allow batch turning signal,
Allow to weigh and places signal, the feeding signal that allows to weigh, allows dry place signal, allow dry feeding signal.Meanwhile it defining
The initial position and end position of each execution action carry out Crush trigger arm according to thing by receiving external control signal
The path action first planned, or stop the action of mechanical arm.
Initial station 2 is between robot arm device 1 and microwave drier 3, and initial station 2 is for placing material cup 6；It is empty
Material cup and fill material to be measured material cup before being weighed or drying, be both placed on the initial station 2.Robot arm device 1
For gripping material cup 6, the movement between initial station 2 and microwave drier 3 is realized；Robot arm device 1 is believed according to control
Number the material cup 6 on initial station 2 is sent in microwave drier 3, it is dry terminate or weight after, then from microwave drying
It takes out and is placed on initial station 2 in device 3.
Microwave drier 3 includes device box 31, and the drying feeding channel 32 in 31 side wall of device box is arranged, and
The microwave cavity 33 being arranged in device box 31；A part for dry feeding channel 32 stretches into microwave cavity 33, another portion
Divide and is located at outside device box 31；When material cup 6 is sent into microwave drier 3 by robot arm device 1, dry feeding channel 32 need to be passed through
Afterwards, it enters back into microwave cavity 33.Microwave cavity 33 is for carrying out microwave drying operations, dry feeding channel 32 and microwave cavity
33 communicate, and the material cup 6 that robot arm device 1 is sent can be directly introduced in microwave cavity 33, to carry out microwave drying.
Anti- ash door 5 is set to dry feeding channel 32 and is located at one end outside device box 31；Anti- ash door 5 includes that limit up and down is opened
It closes, anti-ash door 5 can be covered the entrance of dry feeding channel 32, upper limit by door driving part and related accessories, lower position switch
Anti- ash door 5 can be moved to the entrance top of dry feeding channel 32 by switch, and door driving part is used to, according to control signal, execute
It opens anti-ash door 5 and closes the operation of anti-ash door 5.Anti- ash door 5 is for preventing external dust from entering in microwave drier 3
Portion.
Microwave drier 3 further includes：Microwave suppressor, microwave suppressor are set in dry feeding channel 32, microwave suppression
Device processed is used to carry out microwave drying, and when the opening of anti-ash door 5, the microwave in restraining device passes through dry feeding channel 32 and projects
To outside device, it is radiated site operation personnel；Also it can avoid influencing the microwave drying effect of device.Therefore, microwave is inhibited
Device setting is in dry feeding channel 32, to prevent microwave from leaking.
And the surface temperature of dried material is excessively high in order to prevent, influences the quality of material, needs to monitor microwave cavity in real time
The surface temperature of material to be measured in 33.For this purpose, microwave drier 3 further includes：Infrared radiation thermometer 203, microwave power adjust mould
Block 204, microwave switch power supply 205 and microwave magnetron 206；Infrared radiation thermometer 203 is set in microwave cavity 33, infrared radiation thermometer
203 for measuring temperature of charge in microwave cavity 33, on the infrared probe position face weighing tray 44 of infrared radiation thermometer 203
Material cup 6.
If infrared radiation thermometer 203 monitors that temperature of charge is more than temperature of charge threshold value, system is controlled by material moisture
200 setting microwave power of system is zero, and is transmitted to microwave power adjustment module 204 by communication bus, to pass through microwave power
Adjustment module 204 adjusts the output power of microwave switch power supply 205, and microwave switch power supply 205 is directly connected to microwave magnetron
206, to stop microwave drying, or microwave power is made to reduce, and then reduce the surface temperature of material.
The lower end of microwave cavity 33, which is equipped with, places cavity 34；Weighing device 4 is located in microwave drying babinet 31, specifically,
Weighing device 4 is located in the placement cavity 34 of microwave drier 3.Weighing device 4 includes pedestal 41, weighing sensor 42, branch
Strut 43 and weighing tray 44.
Pedestal 41 is located at the bottom for placing cavity 34, and weighing sensor 42 is positioned on pedestal 41；One end of supporting rod 43
It is connect with weighing sensor 42, the other end of supporting rod 43 is connect with weighing tray 44, and supporting rod 43 is mutual with weighing tray 44
Vertically；Supporting rod 43 makes weighing tray 44 be located in microwave cavity 33 through cavity 34 and microwave cavity 33 is placed.
For holding sky material cup, either the empty material cup of fully charged charge cup or the weight of charge cup can lead to weighing tray 44
It crosses supporting rod 43 and applies active force to weighing sensor 42, weighing sensor 42 senses sky material cup or Sheng by supporting rod 43
The weight of material cup, and corresponding millivolt voltage is exported to material moisture control system 200.Material moisture control system 200
According to the millivolt voltage received, corresponding weight data is calculated.
The material moisture control system 200 carries out information exchange with mechanical arm control system 100 by I/O port, can also
Data interaction is carried out by communication bus.Material moisture control system 200 according to material moisture on-line measuring device workflow,
Mechanical arm control system 100 is sent a control signal to, while robot arm device 1 executes corresponding behaviour according to the control signal of reception
Make.
Fig. 4 is the structure diagram of material moisture control system provided in an embodiment of the present invention；Fig. 5 carries for the embodiment of the present invention
The interactive structure figure of the control system of confession.
Referring to Fig. 4, material moisture control system 200 includes CPU control subsystems 201, touch screen 207,24V Switching Power Supplies
202, weighing sensor 42, weighting display instrument 208, microwave power adjustment module 204, microwave switch power supply 205 and infrared survey
Warm instrument 203.Infrared radiation thermometer 203, touch screen 207,24V Switching Power Supplies 202, microwave power adjustment module 204 and display of weighing
Instrument 208 is connect with CPU control subsystems 201 respectively；Microwave magnetron 206 passes through microwave switch power supply 205 and microwave power
Adjustment module 204 connects, and when detection device enters normal workflow, microwave power value is sent extremely by CPU control subsystems 201
Microwave power adjustment module 204, to start and adjust the output power of microwave switch power supply 205, to adjust microwave magnetron
206 power.It is zero when infrared radiation thermometer 203 monitors that temperature of charge is higher, then needs setting microwave power, at this point, microwave
Switching Power Supply output power is zero, stops microwave heating.
Weighing sensor 42 is connect with weighting display instrument 208, and the weight change that weighing sensor 42 monitors passes through title
Weight display instrument 208 shows that reconvert is transmitted to CPU control subsystems 201, CPU controls at weight data, by MODBUS-RTU
Subsystem 201 generates control signal according to weight data, is sent to mechanical arm control system 100 with control machinery arm assembly 1
Execute corresponding operating.In the present embodiment, for the precision of weighing sensor 42 in 0.05g or more, range is no more than 500g.
CPU control subsystems 201 include CPU module 211 (included IO inputs, output port), Analog input mModule 221
With analog output module 231；By 24V Switching Power Supplies 202 power supply is provided to each module in CPU control subsystems 201；Simulation
Amount input module 221 is connect with infrared radiation thermometer 203, the data monitored in real time for receiving infrared radiation thermometer 203, and is sent to
CPU module 211, CPU module 211 is according to the temperature data of infrared radiation thermometer height, to adjust microwave power；Meanwhile CPU module
211 receive the instruction of the data that weighing sensor 42 is sent and the transmission of touch screen 207, then generate control letter by CPU module 211
Number it is sent to mechanical arm control system 100；Pass through communication cable or communication bottom plate connection, material moisture control between each module
The control program of system 200 is stored in CPU module 211, realizes the entire control process of material moisture on-line measuring device.
Referring to Fig. 5, when carrying out moisture on-line detection, material moisture control system 200 first sends mechanical arm actuating signal
To mechanical arm control system 100, corresponding actions are executed with control machinery arm assembly 1.When robot arm device 1 has executed an operation
Afterwards, feedback signal is completed to material moisture control system 200, to notify the system by 100 sending action of mechanical arm control system
It can carry out next operating procedure.
Wherein, mechanical arm actuating signal includes allowing feeding signal, allowing batch turning signal, allow dry placement signal, permit
Permitted to weigh and places signal and allow feeding signal etc. of weighing.Feedback signal is completed in mechanical arm action, including feeding is completed signal, fallen
Material completes signal, signal is completed in dry placement, signal is completed in placement of weighing and feeding of weighing completes signal etc..
If robot arm device 1 occur it is faulty, by 100 output alarm signal of mechanical arm control system to material moisture
Control system 200, material moisture control system 200 receive the signal, then it is dynamic to execute the shutdown of material moisture on-line measuring device
Make.If material moisture control system 200 breaks down, by 200 output alarm signal of material moisture control system to machinery
Arm control system 100, mechanical arm control system 100 can 1 shutdown of robotically controlled arm being device.
By above technical scheme it is found that material moisture on-line measuring device provided in an embodiment of the present invention, empty material cup or Sheng
The charge cup of full material to be measured is placed on initial station 2, by robot arm device 1 according to control signal by empty material cup by initial work
Position 2 is moved in microwave drier, is placed on the weighing tray 44 in microwave cavity 33, sky is obtained by weighing sensor 42
The weight of material cup.It takes out after weighing, material to be measured is packed into empty material cup obtains charge cup and be again placed on weighing tray,
Obtain the drying initial weight of charge cup；At the same time, microwave drying process is carried out, obtains the drying of charge cup after drying
Terminate weight.Material to be measured is obtained according to the drying initial weight of the empty material cup weight, charge cup that measure and the dry weight that terminates
Moisture, immediately complete a water content detection process；Meanwhile robot arm device 1 can also execute drying according to control signal
The discharge of material afterwards acts.Detection device provided in this embodiment can detect that the moisture of material contains in the drying process
Amount, that is, realize timely online water content detection, and data are more accurate, improves working efficiency.
Due to material moisture on-line measuring device provided in an embodiment of the present invention, be by material moisture control system 200 with
Mechanical arm control system 100 is controlled, and water content detection of the detection device to material to be measured is realized by two control systems, with
Reach timely and accurate on-line checking purpose.For this purpose, the control of material moisture control system 200 and mechanical arm control system 100
Process processed is with reference to following method and step.
As shown in fig. 6, a kind of control method of material moisture on-line measuring device provided in an embodiment of the present invention, including with
Lower step：
S1, transmission, which allow to weigh, places signal to mechanical arm control system, makes the mechanical arm control system according to permission
It weighs and places signal, the weighing tray that empty material cup is sent into from initial station in microwave drier by control machinery arm assembly is enterprising
Row is weighed；And obtain the empty material cup weight that weighing sensor measures；
When carrying out water content detection, the placement signal that allows to weigh is sent by material moisture control system 200 and gives mechanical arm control
System 100 processed, it is by 100 control machinery arm assembly 1 of mechanical arm control system that the empty material cup being placed on initial station 2 feeding is micro-
On weighing tray 44 in wave drying device 3.
At a moment that placement finishes, weighing sensor 42 detects active force, can be obtained empty material after active force stabilization
Cup weight, with will the sky material cup weight be sent to material moisture control system 200.
And since the arrival end of the drying feeding channel 32 of microwave drier 3 is equipped with anti-ash door 5, in robot arm device 1
When empty material cup is moved in microwave drier 3, need in advance to open anti-ash door 5.
For this purpose, material moisture control system 200 needs elder generation before sending a control signal to mechanical arm control system 100
Open anti-ash door 5.Specifically, control method provided in this embodiment allows to weigh and places signal to mechanical arm control in transmission
Before the step of system 100, further include：
S01, open signal is sent to anti-ash door, the control anti-ash door is opened；
S02, the unlatching completion signal that the anti-ash door returns is received, sends placement signal to the mechanical arm that allows to weigh and controls
System.
Material moisture control system 200 first sends open signal to anti-ash door 5, and anti-ash door 5 is made to open.When anti-ash door 5 is opened
Qi Hou sends one and opens completion signal to material moisture control system 200 immediately.When material moisture control system 200 receives
After completing signal to the unlatching, then it will allow to weigh and place signal and be sent to mechanical arm control system 100.
When practical application, mechanical arm clamps sky material cup, the weighing tray 44 being sent to from initial station 2 in microwave cavity 33
Place, before mechanical arm is sent at pallet, material moisture control system 200 automatically opens the anti-ash door 5 of microwave drier 3.
Sky material cup of weighing (weighing for the first time) is denoted as W at this point, weighing sensor 42 weighs empty material cup weight0i。
S2, transmission allow to weigh feeding signal to mechanical arm control system, make the mechanical arm control system according to permission
Empty material cup on weighing tray is taken out, is placed on initial station by feeding of weighing signal, control machinery arm assembly；
After material moisture control system 200 receives the empty material cup weight of the transmission of weighing sensor 42, sends permit immediately
Permitted to weigh feeding signal to mechanical arm control system 100.The feeding signal that allows to weigh is the signal for carrying out weighing operation process,
Empty material cup is taken out according to the signal controlling machine tool arm assembly 1, and is placed on initial station 2, it is dry to carry out postorder microwave
Dry process.
S3, permission feeding signal is sent to mechanical arm control system, make the mechanical arm control system according to permission feeding
Signal, control machinery arm assembly capture material to be measured from material sealing-tape machine, and the material to be measured is poured into positioned at initial station
On empty material cup in, obtain charge cup；
Before process is dried, need that determinand material will be packed into empty material cup, therefore, to accurately determine when to sky
It is packed into determinand material in material cup, in the present embodiment, send allows feeding signal to mechanical arm control system by the following method：
S31, the action completion status signal that mechanical arm control system is sent is received, is judged according to action completion status signal
Whether the feeding action of weighing of the robot arm device is completed；
The feeding action if completion of S32, robot arm device is weighed, shutdown signal is sent to anti-ash door, is controlled anti-ash door and is closed
It closes；And send permission feeding signal to the mechanical arm control system.
Robot arm device 1 is placed on initial position using fixture taking-up out of microwave cavity 33 by empty material cup, acts
After being finished, transmission weighs feeding completion signal to material moisture control system 200.At this point, action completion status signal is
Feeding of weighing completes signal.Material moisture control system 200 judges whether robot arm device 1 completes feeding of weighing according to the signal
Action acts in next step convenient for executing.
The feeding action if completion of robot arm device 1 is weighed, i.e. material moisture control system 200 receive mechanical arm control
The feeding of weighing of the transmission of system 100 completes signal, sends shutdown signal immediately to anti-ash door 5, is closed in time with controlling anti-ash door 5
It closes, avoids extraneous dust etc. from entering in microwave drier 3, influence the microwave heating in weighing precision and microwave cavity 33
Effect.And the opportunity that mechanical arm control system 100 sends feeding completion signal of weighing is that robot arm device 1 puts the taking-up of empty material cup
It sets at the time of initial station 2.
After material moisture control system 200, which receives feeding of weighing, completes signal, system should be controlled to mechanical arm in time
System 100, which is sent, allows feeding signal, and material to be measured is packed into empty material cup with control machinery arm assembly 1.
Robot arm device 1, which receives, allows feeding signal, and fixture is converted to feeding component, the material taking hopper of control machinery arm
Material to be measured, such as belt conveyor of material sealing-tape machine 7 are captured from material sealing-tape machine 7, and material to be measured is poured into initial position
In empty material cup, charge cup is obtained, convenient for subsequently detecting moisture in the drying process.
S4, transmission allow dry signal of placing to mechanical arm control system, make the mechanical arm control system according to permission
Dry to place signal, control machinery arm assembly will carry out microwave on the weighing tray in charge cup feeding microwave drier and do
It is dry；And obtain the drying initial weight for the charge cup that weighing sensor measures；
After robot arm device 1 completes loading operation, feeding is sent by mechanical arm control system 100 and completes signal to material
Moisture control subsystem 200, after receiving signal, material moisture control system 200 sends open signal to anti-ash door 5, with control
Anti- ash door 5 is opened, and is returned to open immediately after unlatching and is completed signal to material moisture control system 200, makes material moisture control system
System 200 is sent immediately allows dry signal of placing to mechanical arm control system 100, and control machinery arm assembly 1 is by charge cup by first
Beginning station 2 is moved on the weighing tray 44 in microwave drier 3, carries out microwave drying process.
In mobile charge cup, the feeding component of robot arm device 1 need to be converted to chuck.When robot arm device 1
After charge cup is placed on weighing tray 44, it is retracted into immediately outside microwave drier 3；When robot arm device 1 puts down charge
Cup, when returning to slack outside microwave drier 3, mechanical arm control system 100 sends dry place and completes signal extremely
Material moisture control system 200, after receiving signal, the transmission shutdown signal of material moisture control system 200 to anti-ash door 5, with
Control the closing of anti-ash door 5.
Since microwave drier 3 remains drying regime, when charge cup is placed on one on weighing tray 44
It carves and proceeds by drying.Weighing sensor 42 senses is sent to material after stable active force by the weight amount monitored
Moisture control subsystem 200 obtains the drying initial weight of charge cup, is denoted as W immediately1i.At this point, the drying initial weight of charge cup
For empty material cup weight and weight of material to be measured weight and.
S5, according to the weight change of the material to be measured in charge cup, judge whether the material to be measured in charge cup has been dried
Finish, if the dry materials to be measured in charge cup finish, obtains the dry of the charge cup that weighing sensor measures and terminate weight；
In microwave drying process, weighing sensor 42 sends the gravimetric value that detects to material moisture control system in real time
200.Material moisture control system 200 judges whether current charge cup is dried according to the charge cup weight change value obtained in real time
It finishes, if it is judged that drying process has terminated, obtains the dry of charge cup immediately and terminate weight, be denoted as W2i.At this point, charge cup
It is dry terminate weight be empty material cup weight with it is dry after weight of material to be measured weight and.
In order to accurately judge whether drying process is over, in the present embodiment, by the following method according to charge
The weight change of material to be measured in cup, judges whether the material to be measured in charge cup is dried and finishes：
S51, judge period T default1It is interior, obtain t1The initial weight and t of moment corresponding charge cup2Moment pair
The termination weight for the charge cup answered；Wherein, T1=t2-t1；
S52, t is calculated1The initial weight and t of moment corresponding charge cup2The weight of the termination weight of moment corresponding charge cup
Measure difference；
S53, judge period T according to default1Corresponding weight difference judges whether to be less than or equal to preset weight difference threshold
Value；
If S54, weight difference are less than or equal to preset weight difference threshold value, determine that the dry materials to be measured in charge cup are complete
Finish.
The changing value of the front and back weight of material at real-time more a certain moment, by between former and later two time points at the moment when
Section is determined as default judgement period T1.Obtain the T1Period corresponding initial time t1The initial weight of corresponding charge cup, with
And obtain the T1Period corresponding end time t2The initial weight of corresponding charge cup.
According to T1Period corresponding two gravimetric values calculate the weight difference of material to be measured in charge cup.If the weight
Difference be less than or equal to preset weight difference threshold value, then illustrate the weight rate of material to be measured in current charge cup be gradually reduced or
It is constant, i.e., moisture is not present in material to be measured, it was demonstrated that material to be measured is dried completely, determines that the material to be measured in charge cup is dry
It is dry to finish.
If the weight difference is more than preset weight difference threshold value, illustrate that there is also moisture in material to be measured, not drying completely,
Therefore, microwave drying need to be continued.
S6, weight is terminated according to the dry of empty material cup weight, the drying initial weight of charge cup and charge cup, determined to be measured
The moisture of material.
After completing microwave drying, material moisture control system 200 has obtained three weight datas, respectively empty material cup weight
Amount, the drying initial weight of charge cup and the dry of charge cup terminate weight, are that can determine the water of determinand material according to weight-loss method
Divide content.
Specifically, according to the following formula, the moisture of material to be measured is determined：
In formula, MiFor the moisture of material to be measured, W0iFor empty material cup weight, W1iFor the drying initial weight of charge cup,
W2iDry for charge cup terminates weight.
After completing a water content detection, material moisture control system 200 sends open signal, controls anti-ash door 5 and opens
It opens, after unlatching, returns to open and complete signal to material moisture control system 200.Material moisture control system 200 receives signal
Afterwards, sending allows batch turning signal to mechanical arm control system 100, and control machinery arm assembly 1 takes out the complete charge cup of drying, and
Material to be measured in charge cup is poured into belt.Above procedure is the water content detection process of primary material to be measured, in the case where carrying out
When one material detection to be measured, executed since the first step, and carry out cyclic process.
By above technical scheme it is found that the control method of material moisture on-line measuring device provided in an embodiment of the present invention,
By carrying out the interaction of control signal between material moisture control system 200 and mechanical arm control system 100, make mechanical arm control system
100 control machinery arm assemblies 1 of uniting execute corresponding operating.Water content detection process is carried out in microwave drying process, utilizes mechanical arm
Device 1, microwave drier 3 and weighing device 4 carry out the acquisition of weight data, i.e., obtain empty material cup weight, charge cup respectively
Drying initial weight and the dry of charge cup terminate weight, be that can determine the moisture of determinand material using weight-loss method.This
The control method that embodiment provides enters next process, to carry out weight in time immediately after completing a control process
Detection, ensure the accuracy of data, realize moisture real-time online detection, working efficiency higher.
Since microwave drier 3 remains microwave drying state, the temperature in microwave cavity 33 can always compared with
The high or raised trend of appearance, and if the temperature in microwave cavity 33 is excessively high, the surface temperature for easily leading to material to be measured increases,
Material to be measured is easily set to react and influence the constituent of material to be measured, therefore, it is necessary to control the temperature in microwave cavity 33,
Ensure that the surface temperature of material to be measured maintains in safe range.
In other embodiments, the control method provided further includes：
S91, obtain microwave drier in material to be measured current temperature of charge；
S92, the current temperature of charge according to material to be measured judge whether to be more than temperature of charge upper limit threshold；
S93, if it exceeds temperature of charge upper limit threshold, send and stop microwave heating signal to microwave drier, control
Microwave drier stops carrying out microwave drying to material to be measured.
By the temperature change in infrared radiation thermometer 203 in real time monitoring microwave cavity 33, if material moisture control system 200
According to the real-time current temperature of charge that infrared radiation thermometer 203 is sent, judge that the current temperature of charge of material to be measured exceeds material
Temperature threshold.In the present embodiment, temperature of charge threshold value is arranged at 100 DEG C~120 DEG C.When detecting current temperature of charge higher than upper
When 120 DEG C of line threshold value, sends and stop heating signal to microwave drier 3, by the microwave power tune inside microwave drier 3
The power that module 204 adjusts microwave magnetron 206 is saved, microwave power is set as zero, to stop microwave drying；Alternatively, by micro-
The power of wave magnetron 206 is turned down, and temperature when microwave drying is reduced.
Referring to Fig. 4, a kind of control system of material moisture on-line measuring device provided in an embodiment of the present invention, for executing
Control method shown in fig. 6, the system include：Material moisture control system 200 and mechanical arm control system 100；The machinery
Arm control system 100 is used to be executed according to the control signal controlling machine tool arm assembly that material moisture control system 200 is sent corresponding
Operation；The material moisture control system 200 is configured as executing following program steps：
Transmission, which allows to weigh, places signal to mechanical arm control system, makes the mechanical arm control system according to allowing to weigh
Signal is placed, control machinery arm assembly claims empty material cup from the weighing tray that initial station is sent into microwave drier
Weight；And obtain the empty material cup weight that weighing sensor measures；
Transmission allows to weigh feeding signal to mechanical arm control system, makes the mechanical arm control system according to allowing to weigh
Empty material cup on weighing tray is taken out, is placed on initial station by feeding signal, control machinery arm assembly；
Sending allows feeding signal to mechanical arm control system, and the mechanical arm control system is made to be believed according to permission feeding
Number, control machinery arm assembly captures material to be measured from material sealing-tape machine, and the material to be measured is poured on initial station
Empty material cup in, obtain charge cup；
Transmission allows dry signal of placing to mechanical arm control system, makes the mechanical arm control system according to allowing drying
Signal is placed, control machinery arm assembly will carry out microwave drying on the weighing tray in charge cup feeding microwave drier；With
And obtain the drying initial weight for the charge cup that weighing sensor measures；
According to the weight change of the material to be measured in the charge cup, judge whether the material to be measured in the charge cup is done
It is dry to finish, if the dry materials to be measured in the charge cup finish, obtain the dry knot for the charge cup that weighing sensor measures
Shu Chongliang；
Terminate weight according to the empty material cup weight, the drying initial weight of charge cup and the dry of charge cup, determination waits for
Survey the moisture of material.
Optionally, the material moisture control system 200 is further configured to execute following program steps：
Open signal is sent to anti-ash door, the control anti-ash door is opened；
It receives the unlatching that the anti-ash door returns and completes signal, transmission, which allows to weigh to place signal and control to mechanical arm, is
System.
Optionally, the material moisture control system 200 is further configured to execute following program steps：
The action completion status signal that the mechanical arm control system is sent is received, according to the action completion status signal
Judge whether the feeding action of weighing of the robot arm device is completed；
The feeding action if the robot arm device completion is weighed, sends shutdown signal to anti-ash door, controls anti-ash door and close
It closes；And send permission feeding signal to the mechanical arm control system.
Optionally, the material moisture control system 200 is further configured to execute following program steps：
By the following method according to the weight change of the material to be measured in the charge cup, the determinand in charge cup is judged
Whether material, which is dried, finishes：
In default judgement period T1It is interior, obtain t1The initial weight and t of moment corresponding charge cup2Moment is corresponding
The termination weight of charge cup；Wherein, T1=t2-t1；
Calculate the t1The initial weight and t of moment corresponding charge cup2The weight of the termination weight of moment corresponding charge cup
Measure difference；
According to the default judgement period T1Corresponding weight difference judges whether to be less than or equal to preset weight difference threshold
Value；
If the weight difference is less than or equal to preset weight difference threshold value, determine that the dry materials to be measured in charge cup are complete
Finish.
Optionally, the material moisture control system 200 is further configured to execute following program steps：
According to the following formula, weight is terminated according to the empty material cup weight, the drying initial weight of charge cup and the dry of charge cup
Amount, determines the moisture of material to be measured：
In formula, MiFor the moisture of material to be measured, W0iFor empty material cup weight, W1iFor the drying initial weight of charge cup,
W2iDry for charge cup terminates weight.
Optionally, the material moisture control system 200 is further configured to execute following program steps：
Obtain the current temperature of charge of the material to be measured in microwave drier；
Whether it is more than temperature of charge upper limit threshold described in judgement according to the current temperature of charge of the material to be measured；
If it exceeds temperature of charge upper limit threshold, sends and stops microwave heating signal to microwave drier, control microwave
Drying device stops carrying out microwave drying to material to be measured.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to its of the present invention
Its embodiment.This application is intended to cover the present invention any variations, uses, or adaptations, these modifications, purposes or
Person's adaptive change follows the general principle of the present invention and includes undocumented common knowledge in the art of the invention
Or conventional techniques.The description and examples are only to be considered as illustrative, and true scope and spirit of the invention are by appended
Claim is pointed out.
It should be understood that the invention is not limited in the precision architectures for being described above and being shown in the accompanying drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present invention is limited only by the attached claims.
The same or similar parts between the embodiments can be referred to each other in this specification.Especially for material moisture
For the control system embodiment of on-line measuring device, since it is substantially similar to the method embodiment, so the comparison of description is simple
Single, related place is referring to the explanation in embodiment of the method.
Claims (10)
1. a kind of material moisture on-line measuring device, which is characterized in that including：Robot arm device (1), initial station (2), microwave
Drying device (3), weighing device (4) and anti-ash door (5), wherein
The initial station (2) is located between robot arm device (1) and microwave drier (3), and the initial station (2) is used for
Material cup (6) is placed, the robot arm device (1) is realized for gripping material cup (6) in initial station (2) and microwave drier
(3) movement between；
The microwave drier (3) includes device box (31), and the drying feeding channel in device box (31) side wall is arranged
(32), and microwave cavity (33) in device box (31) is set；A part for the dry feeding channel (32) stretches into
In microwave cavity (33), another part is located at device box (31) outside；The anti-ash door (5) is set to dry feeding channel (32) position
In the one end of device box (31) outside；The lower end of the microwave cavity (33), which is equipped with, places cavity (34)；
The weighing device (4) includes pedestal (41), weighing sensor (42), supporting rod (43) and weighing tray (44)；
The pedestal (41), which is located at, places in cavity (34), and the weighing sensor (42) is positioned on pedestal (41)；The branch
One end of strut (43) is connect with weighing sensor (42), and the other end of the supporting rod (43) is connect with weighing tray (44),
The supporting rod (43) is mutually perpendicular to weighing tray (44)；The supporting rod (43) is through placement cavity (34) and microwave cavity
(33), weighing tray (44) is made to be located in microwave cavity (33).
2. the apparatus according to claim 1, which is characterized in that the microwave drier (3) further includes：Microwave inhibits
Device, the microwave suppressor are set on dry feeding channel (32).
3. the apparatus according to claim 1, which is characterized in that the microwave drier (3) further includes：Infrared radiation thermometer
(203)；The infrared radiation thermometer (203) is set to the top of microwave cavity (33) outside, the infrared probe position of infrared radiation thermometer (203)
Set the material cup (6) on face weighing tray (44)；The infrared radiation thermometer (203) is used to measure the material cup in microwave cavity (33)
(6) temperature of material in.
4. a kind of control method of material moisture on-line measuring device, which is characterized in that include the following steps：
Transmission, which allows to weigh, places signal to mechanical arm control system, makes the mechanical arm control system according to allowing placement of weighing
Signal, control machinery arm assembly weigh empty material cup from the weighing tray that initial station is sent into microwave drier；
And obtain the empty material cup weight that weighing sensor measures；
Transmission allows to weigh feeding signal to mechanical arm control system, makes the mechanical arm control system according to allowing feeding of weighing
Empty material cup on weighing tray is taken out, is placed on initial station by signal, control machinery arm assembly；
Sending allows feeding signal to mechanical arm control system, makes the mechanical arm control system according to feeding signal is allowed, controls
Robot arm device processed captures material to be measured from material sealing-tape machine, and the material to be measured is poured into the empty material on initial station
In cup, charge cup is obtained；
Transmission allows dry signal of placing to mechanical arm control system, makes the mechanical arm control system according to allowing dry placement
Signal, control machinery arm assembly will carry out microwave drying on the weighing tray in charge cup feeding microwave drier；And it obtains
Take the drying initial weight of the charge cup of weighing sensor measurement；
According to the weight change of the material to be measured in the charge cup, judge whether the material to be measured in the charge cup has been dried
Finish, if the dry materials to be measured in the charge cup finish, obtains the dry of the charge cup that weighing sensor measures and terminate weight
Amount；
Terminate weight according to the empty material cup weight, the drying initial weight of charge cup and the dry of charge cup, determines determinand
The moisture of material.
5. according to the method described in claim 4, placing signal to mechanical arm control system it is characterized in that, allowing to weigh in transmission
Before the step of system, further include：
Open signal is sent to anti-ash door, the control anti-ash door is opened；
It receives the unlatching that the anti-ash door returns and completes signal, transmission, which allows to weigh, places signal to mechanical arm control system.
6. according to the method described in claim 4, it is characterized in that, send allows feeding signal to mechanical arm as steps described below
Control system：
The action completion status signal that the mechanical arm control system is sent is received, is judged according to the action completion status signal
Whether the feeding action of weighing of the robot arm device is completed；
The feeding action if the robot arm device completion is weighed, sends shutdown signal to anti-ash door, controls anti-ash door and close；With
And send permission feeding signal to the mechanical arm control system.
7. according to the method described in claim 4, it is characterized in that, by the following method according to the determinand in the charge cup
The weight change of material judges whether the material to be measured in charge cup is dried and finishes：
In default judgement period T1It is interior, obtain t1The initial weight and t of moment corresponding charge cup2Moment corresponding charge
The termination weight of cup；Wherein, T1=t2-t1；
Calculate the t1The initial weight and t of moment corresponding charge cup2The weight difference of the termination weight of moment corresponding charge cup
Value；
According to the default judgement period T1Corresponding weight difference judges whether to be less than or equal to preset weight difference threshold value；
If the weight difference is less than or equal to preset weight difference threshold value, determine that the dry materials to be measured in charge cup finish.
8. according to the method described in claim 4, it is characterized in that, according to the following formula, according to the empty material cup weight, charge cup
Dry initial weight and the dry of charge cup terminate weight, determine the moisture of material to be measured：
In formula, MiFor the moisture of material to be measured, W0iFor empty material cup weight, W1iFor the drying initial weight of charge cup, W2iFor
The dry of charge cup terminates weight.
9. according to the method described in claim 4, it is characterized in that, further including：
Obtain the current temperature of charge of the material to be measured in microwave drier；
Whether it is more than temperature of charge upper limit threshold described in judgement according to the current temperature of charge of the material to be measured；
If it exceeds temperature of charge upper limit threshold, sends and stops microwave heating signal to microwave drier, control microwave drying
Device stops carrying out microwave drying to material to be measured.
10. a kind of control system of material moisture on-line measuring device, which is characterized in that including：Material moisture control system and
Mechanical arm control system；The control signal controlling machine that the mechanical arm control system is used to be sent according to material moisture control system
Tool arm assembly executes corresponding operating；The material moisture control system is configured as executing following program steps：
Transmission, which allows to weigh, places signal to mechanical arm control system, makes the mechanical arm control system according to allowing placement of weighing
Signal, control machinery arm assembly weigh empty material cup from the weighing tray that initial station is sent into microwave drier；
And obtain the empty material cup weight that weighing sensor measures；
Transmission allows to weigh feeding signal to mechanical arm control system, makes the mechanical arm control system according to allowing feeding of weighing
Empty material cup on weighing tray is taken out, is placed on initial station by signal, control machinery arm assembly；
Sending allows feeding signal to mechanical arm control system, makes the mechanical arm control system according to feeding signal is allowed, controls
Robot arm device processed captures material to be measured from material sealing-tape machine, and the material to be measured is poured into the empty material on initial station
In cup, charge cup is obtained；
Transmission allows dry signal of placing to mechanical arm control system, makes the mechanical arm control system according to allowing dry placement
Signal, control machinery arm assembly will carry out microwave drying on the weighing tray in charge cup feeding microwave drier；And it obtains
Take the drying initial weight of the charge cup of weighing sensor measurement；
According to the weight change of the material to be measured in the charge cup, judge whether the material to be measured in the charge cup has been dried
Finish, if the dry materials to be measured in the charge cup finish, obtains the dry of the charge cup that weighing sensor measures and terminate weight
Amount；
Terminate weight according to the empty material cup weight, the drying initial weight of charge cup and the dry of charge cup, determines determinand
The moisture of material.
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