CN108800761B - Material moisture online detection device and control method and control system thereof - Google Patents

Material moisture online detection device and control method and control system thereof Download PDF

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Publication number
CN108800761B
CN108800761B CN201810916304.0A CN201810916304A CN108800761B CN 108800761 B CN108800761 B CN 108800761B CN 201810916304 A CN201810916304 A CN 201810916304A CN 108800761 B CN108800761 B CN 108800761B
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mechanical arm
control system
cup
weight
weighing
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CN108800761A (en
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曾小信
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Zhongye Changtian International Engineering Co Ltd
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Zhongye Changtian International Engineering Co Ltd
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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
    • 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
    • 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 material moisture online detection device and a control method and a control system thereof. The mechanical arm device moves the empty material cup and the material containing cup from the initial station to a weighing tray in the microwave drying device according to the control signal, and the weight of the empty material cup and the initial drying weight of the material containing cup are obtained by a weighing sensor. And when the microwave drying process is finished, obtaining the drying finished weight of the material containing cup. And obtaining the moisture content of the material to be measured by utilizing a weight loss method according to the weight of the empty material cup, the initial drying weight of the material containing cup and the final drying weight. The detection device, the control method and the control system provided by the embodiment can detect the moisture content of the material in the drying process, namely, timely online moisture detection is realized, the data is more accurate, and the working efficiency is improved.

Description

Material moisture online detection device and control method and control system thereof
Technical Field
The invention relates to the technical field of material moisture detection, in particular to a material moisture online detection device and a control method and a control system thereof.
Background
In the metallurgical industry, a certain amount of water is required to be added in the material mixing process so as to improve the binding force and the adhesive force of materials and facilitate the subsequent forming operation. However, since the material itself contains a certain amount of moisture, in order to control the amount of water added more accurately, the material has the best binding force and adhesion force, and the moisture in the material needs to be detected accurately. And then controlling the water adding amount of the material according to the water content detection value, so that the water content of the material is kept in a reasonable range in the subsequent process. Therefore, the real-time detection of the moisture of the material has great influence on the quality of the final product, and therefore, the moisture detection of the material is necessary.
In the existing metallurgical industry, the commonly used material moisture detection method comprises an infrared moisture meter, a microwave moisture meter and a neutron moisture meter, and the detection equipment belongs to non-contact measurement equipment. Although infrared moisture meter can carry out short-term test moisture, and the application trade is wide, but the shortcoming is obvious, and external influence factor is many, like light in the environment, steam, weather humiture, material surface color, material composition, lead to detecting material surface moisture only. Although the neutron moisture meter has high detection speed and is not influenced by factors such as dust, water vapor, material conductivity, granularity and the like, the neutron moisture meter has the main defect that rays have radioactive hazards and have a harmful effect on a human body. Although the microwave moisture meter can perform online detection, has high detection speed, can penetrate through a material to measure all moisture, and is not influenced by external environment temperature, dust, light, material color and the like, the microwave moisture meter has the main defect that the accuracy of a measurement result is greatly influenced by material components.
Therefore, the method for detecting the moisture of the material in the prior art cannot timely and accurately detect the moisture of the material, so that the working efficiency is low.
Disclosure of Invention
The invention provides a material moisture online detection device and a control method and a control system thereof, which aim to solve the problem of low working efficiency caused by the fact that the material moisture cannot be timely and accurately detected by the existing material moisture detection method.
In a first aspect, an embodiment of the present invention provides an online material moisture detection device, including: a mechanical arm device, an initial station, a microwave drying device, a weighing device and an ash-proof door, wherein,
the initial station is positioned between the mechanical arm device and the microwave drying device and used for placing the material cup; the mechanical arm device is used for clamping the material cup, realizing the movement between an initial station and the microwave drying device and realizing the material taking and pouring actions of the material;
the microwave drying device comprises a device box body, a drying feeding channel and a microwave cavity, wherein the drying feeding channel is arranged on the side wall of the device box body; one part of the drying feeding channel extends into the microwave cavity, and the other part of the drying feeding channel is positioned outside the device box body; the ash prevention door is arranged at one end of the drying feeding channel, which is positioned outside the device box body; a placing cavity is arranged at the lower end of the microwave cavity;
the weighing device comprises a base, a weighing sensor, a supporting rod and a weighing tray;
the base is positioned in the placing cavity, and the weighing sensor is placed on the base; one end of the supporting rod is connected with the weighing sensor, the other end of the supporting rod is connected with the weighing tray, and the supporting rod is perpendicular to the weighing tray; the supporting rod penetrates through the placing cavity and the microwave cavity, so that the weighing tray is located in the microwave cavity.
Optionally, the microwave drying device further comprises: and the microwave suppressor is arranged on the drying feeding channel.
Optionally, the microwave drying device further comprises: an infrared thermometer; the infrared thermometer is arranged at the top outside the microwave cavity, and the position of an infrared probe of the infrared thermometer is over against the material cup on the weighing tray; the infrared thermometer is used for measuring the temperature of the materials in the material cup in the microwave cavity.
In a second aspect, the invention further provides a control method of the material moisture online detection device, which comprises the following steps:
sending a weighing placement allowing signal to a mechanical arm control system, and enabling the mechanical arm control system to control a mechanical arm device to send the empty material cup to a weighing tray in the microwave drying device from an initial station for weighing according to the weighing placement allowing signal; acquiring the weight of the empty material cup measured by the weighing sensor;
sending a weighing and material taking allowing signal to a mechanical arm control system, and enabling the mechanical arm control system to control a mechanical arm device to take out an empty material cup on a weighing tray according to the weighing and material taking allowing signal and place the empty material cup on an initial station;
sending a material taking permission signal to a mechanical arm control system, enabling the mechanical arm control system to control a mechanical arm device to grab a material to be detected from a material adhesive tape machine according to the material taking permission signal, and pouring the material to be detected into an empty material cup positioned on an initial station to obtain a material containing cup;
sending a drying placement permission signal to a mechanical arm control system, and enabling the mechanical arm control system to control a mechanical arm device to send the material containing cup to a weighing tray in a microwave drying device for microwave drying according to the drying placement permission signal; acquiring the dry initial weight of the material containing cup measured by the weighing sensor;
judging whether the material to be detected in the material containing cup is dried or not according to the weight change of the material to be detected in the material containing cup, and if the material to be detected in the material containing cup is dried, acquiring the drying finished weight of the material containing cup measured by a weighing sensor;
and determining the moisture content of the material to be detected according to the weight of the empty material cup, the initial drying weight of the material containing cup and the final drying weight of the material containing cup.
After completing the moisture content detection process once, the control method further includes: and sending a material pouring permission signal to the mechanical arm control system, controlling the mechanical arm device to take out the material containing cup at the weighing tray according to the material pouring permission signal by the mechanical arm control system, and pouring the material in the material containing cup into the material conveying belt.
In addition, the mechanical arm control system writes a program of action steps corresponding to external input signals in advance. The external input signals comprise a weighing allowing placement signal, a weighing allowing taking signal, a drying allowing placement signal, a material pouring allowing signal and a material taking allowing signal.
Optionally, before the step of sending a signal allowing weighing placement to the robot arm control system, the method further comprises:
sending an opening signal to the dustproof door to control the dustproof door to open;
and receiving an opening completion signal returned by the dustproof door, and sending a signal allowing weighing and placing to a mechanical arm control system.
Optionally, the material taking permission signal is sent to the robot arm control system according to the following steps:
receiving an action completion state signal sent by the mechanical arm control system, and judging whether the weighing and taking actions of the mechanical arm device are completed or not according to the action completion state signal;
if the mechanical arm device finishes the weighing and material taking actions, a closing signal is sent to the dustproof door to control the dustproof door to be closed; and sending a material taking permission signal to the mechanical arm control system.
Optionally, whether the material to be measured in the material containing cup is dried is judged according to the weight change of the material to be measured in the material containing cup according to the following method:
judging whether the material to be detected in the material containing cup is dried or not according to the weight change of the material to be detected in the material containing cup by the following method:
at a preset determination time period T1In, get t1Initial weight of the filling cup corresponding to the moment, and t2The termination weight of the material containing cup corresponding to the moment; wherein, T1＝t2-t1；
Calculating the t1Initial weight and t of material containing cup corresponding to moment2The weight difference of the termination weight of the corresponding material containing cup at any moment;
according to the preset judgment time period T1Judging whether the corresponding weight difference value is less than or equal to a preset weight difference threshold value or not;
and if the weight difference value is smaller than or equal to a preset weight difference threshold value, determining that the material to be detected in the material containing cup is completely dried.
Optionally, determining the moisture content of the material to be measured according to the weight of the empty material cup, the initial drying weight of the material containing cup and the final drying weight of the material containing cup according to the following formula:
Figure BDA0001763108120000031
in the formula, MiIs the moisture content of the material to be measured, W0iIs the weight of the empty material cup, W1iIs the dry initial weight of the material-holding cup, W2iIs the weight of the material containing cup after drying.
Optionally, the method further comprises:
acquiring the current material temperature of a material to be detected in a microwave drying device;
judging whether the current material temperature of the material to be detected exceeds a material temperature upper limit threshold value or not;
and if the temperature exceeds the upper limit threshold of the material temperature, sending a microwave heating stopping signal to the microwave drying device, and controlling the microwave drying device to stop performing microwave drying on the material to be detected.
In a third aspect, a control system of a material moisture online detection device provided in an embodiment of the present invention includes: a material moisture control system and a mechanical arm control system; the mechanical arm control system is used for controlling the mechanical arm device to execute corresponding operation according to a control signal sent by the material moisture control system; the material moisture control system is configured to perform the following procedural steps:
sending a weighing placement allowing signal to a mechanical arm control system, and enabling the mechanical arm control system to control a mechanical arm device to send the empty material cup to a weighing tray in the microwave drying device from an initial station for weighing according to the weighing placement allowing signal; acquiring the weight of the empty material cup measured by the weighing sensor;
sending a weighing and material taking allowing signal to a mechanical arm control system, and enabling the mechanical arm control system to control a mechanical arm device to take out an empty material cup on a weighing tray according to the weighing and material taking allowing signal and place the empty material cup on an initial station;
sending a material taking permission signal to a mechanical arm control system, enabling the mechanical arm control system to control a mechanical arm device to grab a material to be detected from a material adhesive tape machine according to the material taking permission signal, and pouring the material to be detected into an empty material cup positioned on an initial station to obtain a material containing cup;
sending a drying placement permission signal to a mechanical arm control system, and enabling the mechanical arm control system to control a mechanical arm device to send the material containing cup to a weighing tray in a microwave drying device for microwave drying according to the drying placement permission signal; acquiring the dry initial weight of the material containing cup measured by the weighing sensor;
judging whether the material to be detected in the material containing cup is dried or not according to the weight change of the material to be detected in the material containing cup, and if the material to be detected in the material containing cup is dried, acquiring the drying finished weight of the material containing cup measured by a weighing sensor;
and determining the moisture content of the material to be detected according to the weight of the empty material cup, the initial drying weight of the material containing cup and the final drying weight of the material containing cup.
According to the technical scheme, the material moisture online detection device, the control method and the control system provided by the embodiment of the invention have the advantages that the material moisture control system and the mechanical arm control system carry out control signal interaction, so that the mechanical arm control system controls the mechanical arm device to execute corresponding operations. The mechanical arm device moves the empty material cup and the material containing cup from the initial station to a weighing tray in the microwave drying device according to the control signal, and the weight of the empty material cup and the initial drying weight of the material containing cup are obtained by a weighing sensor. And when the microwave drying process is finished, obtaining the drying finished weight of the material containing cup. Obtaining the moisture content of the material to be detected by a weight loss method according to the measured weight of the empty material cup, the initial drying weight of the material containing cup and the final drying weight, and then completing a moisture detection process; meanwhile, the mechanical arm device can execute the discharging action of the dried material according to the control signal. The detection device, the control method and the control system provided by the embodiment can detect the moisture content of the material in the drying process, namely, timely online moisture detection is realized, the data is more accurate, and the working efficiency is improved.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without any inventive exercise.
FIG. 1 is a schematic structural diagram of an online material moisture detection device according to an embodiment of the present invention;
FIG. 2 is a side view of an online moisture detection device for materials according to an embodiment of the present invention;
FIG. 3 is a top view of an on-line material moisture detection device provided in an embodiment of the present invention;
fig. 4 is a block diagram of a control system of the online material moisture detection device according to an embodiment of the present invention;
FIG. 5 is an interaction structure diagram of a control system of the online material moisture detection device according to an embodiment of the present invention;
fig. 6 is a flowchart of a control method of the online material moisture detection device according to an embodiment of the present invention.
Detailed Description
FIG. 1 is a schematic structural diagram of an online material moisture detection device according to an embodiment of the present invention; FIG. 2 is a side view of an online moisture detection device for materials according to an embodiment of the present invention; fig. 3 is a top view of the online material moisture detection device according to the embodiment of the present invention.
Referring to fig. 1, fig. 2 and fig. 3, the device for detecting moisture of a material on line provided by the embodiment of the invention is used for detecting moisture of the material to be detected on line in real time by a weight loss method, and simultaneously, can realize rapid drying of the material on line. This material moisture on-line measuring device includes: the device comprises a mechanical arm device 1, an initial station 2, a microwave drying device 3, a weighing device 4 and an ash prevention door 5.
The mechanical arm device 1 is used for achieving the functions of material sampling, material taking and discharging of the material containing cup, moving of the material containing cup and the like. The mechanical arm device 1 mainly comprises a mechanical arm, a clamp reversing device, a mechanical arm control box, wires and cables and the like. The robot arm control system 100 is configured to receive a control signal sent by the material moisture control system 200, so as to control the robot arm to perform operations such as moving a corresponding distance and changing an action direction according to a specific action step corresponding to the control signal. The clamp is used for clamping a vessel for holding materials; the clamp reversing device is used for switching between two functions of a material taking part and a material cup clamp of the mechanical arm.
The robot arm control system 100 may predefine 6 signal input points, i.e., allow take signal, allow dump signal, allow weigh put signal, allow weigh take signal, allow dry put signal, allow dry take signal. Meanwhile, an initial position and an end position of each execution action are defined, and the mechanical arm is triggered to act according to a path planned in advance or stop acting of the mechanical arm by receiving an external control signal.
The initial station 2 is positioned between the mechanical arm device 1 and the microwave drying device 3, and the initial station 2 is used for placing a material cup 6; both empty cups and the cups filled with the material to be measured are placed on this initial station 2 before being weighed or dried. The mechanical arm device 1 is used for clamping a material cup 6 and realizing the movement between the initial station 2 and the microwave drying device 3; the mechanical arm device 1 sends the material cup 6 on the initial station 2 into the microwave drying device 3 according to the control signal, and after the drying or weighing is finished, the material cup is taken out from the microwave drying device 3 and placed on the initial station 2.
The microwave drying device 3 comprises a device box body 31, a drying feeding channel 32 arranged on the side wall of the device box body 31, and a microwave cavity 33 arranged in the device box body 31; one part of the drying feeding channel 32 extends into the microwave cavity 33, and the other part is positioned outside the device box body 31; when the mechanical arm device 1 sends the material cup 6 into the microwave drying device 3, the material cup needs to pass through the drying feeding channel 32 and then enters the microwave cavity 33. The microwave cavity 33 is used for performing microwave drying operation, the drying feeding channel 32 is communicated with the microwave cavity 33, and the material cup 6 sent by the mechanical arm device 1 can be directly placed into the microwave cavity 33 for performing microwave drying.
The ash prevention door 5 is arranged at one end of the drying feeding channel 32 outside the device box body 31; the ash-proof door 5 comprises an upper limit switch, a lower limit switch, a door driving part and related accessories, wherein the lower limit switch can cover the ash-proof door 5 on the inlet of the dry feeding channel 32, the upper limit switch can move the ash-proof door 5 to the upper part of the inlet of the dry feeding channel 32, and the door driving part is used for opening the ash-proof door 5 and closing the ash-proof door 5 according to a control signal. The dustproof door 5 is used to prevent external dust from entering the inside of the microwave drying apparatus 3.
The microwave drying device 3 further includes: the microwave suppressor is arranged on the drying feeding channel 32 and used for suppressing the microwaves in the device from being projected to the outside of the device through the drying feeding channel 32 when the microwave drying is carried out and the dustproof door 5 is opened and radiating the microwaves to field operators; the microwave drying effect of the device can be avoided. Therefore, a microwave suppressor is provided on the dry feeding path 32 to prevent the microwave from leaking out.
In order to prevent the surface temperature of the drying material from being too high and affecting the quality of the material, the surface temperature of the material to be measured in the microwave cavity 33 needs to be monitored in real time. For this purpose, the microwave drying device 3 further comprises: the microwave oven comprises an infrared thermometer 203, a microwave power adjusting module 204, a microwave switch power supply 205 and a microwave magnetron 206; the infrared thermometer 203 is arranged in the microwave cavity 33, the infrared thermometer 203 is used for measuring the temperature of the materials in the microwave cavity 33, and the position of an infrared probe of the infrared thermometer 203 is over against the material cup 6 on the weighing tray 44.
If the infrared thermometer 203 monitors that the material temperature exceeds the material temperature threshold, the material moisture control system 200 sets the microwave power to zero, and transmits the microwave power to the microwave power adjusting module 204 through the communication bus, so as to adjust the output power of the microwave switch power supply 205 through the microwave power adjusting module 204, and the microwave switch power supply 205 is directly connected to the microwave magnetron 206, thereby stopping microwave drying, or reducing the microwave power, and further reducing the surface temperature of the material.
The lower end of the microwave cavity 33 is provided with a placing cavity 34; the weighing device 4 is located in the microwave drying cabinet 31, and specifically, the weighing device 4 is located in the placing cavity 34 of the microwave drying device 3. The weighing device 4 comprises a base 41, a load cell 42, a support bar 43 and a weighing tray 44.
The base 41 is positioned at the bottom of the placing cavity 34, and the weighing sensor 42 is placed on the base 41; one end of the supporting rod 43 is connected with the weighing sensor 42, the other end of the supporting rod 43 is connected with the weighing tray 44, and the supporting rod 43 is vertical to the weighing tray 44; a support rod 43 extends through the placement chamber 34 and the microwave chamber 33 such that the weighing tray 44 is located within the microwave chamber 33.
The weighing tray 44 is used for containing empty material cups or full material containing cups, the weight of the empty material cups or the full material containing cups exerts acting force on the weighing sensor 42 through the supporting rod 43, the weighing sensor 42 senses the weight of the empty material cups or the full material containing cups through the supporting rod 43, and corresponding millivolt voltage is output to the material moisture control system 200. The material moisture control system 200 calculates the corresponding weight data based on the received millivolt voltage.
The material moisture control system 200 and the mechanical arm control system 100 exchange information through an IO port, and may also perform data interaction through a communication bus. The material moisture control system 200 sends a control signal to the robot control system 100 according to the work flow of the material moisture on-line detection device, and the robot device 1 executes corresponding operations according to the received control signal.
FIG. 4 is a block diagram of a material moisture control system according to an embodiment of the present invention; fig. 5 is an interaction structure diagram of a control system according to an embodiment of the present invention.
Referring to fig. 4, the material moisture control system 200 includes a CPU control subsystem 201, a touch screen 207, a 24V switching power supply 202, a load cell 42, a load display instrument 208, a microwave power regulation module 204, a microwave switching power supply 205, and an infrared thermometer 203. The infrared thermometer 203, the touch screen 207, the 24V switching power supply 202, the microwave power adjusting module 204 and the weighing display instrument 208 are respectively connected with the CPU control subsystem 201; the microwave magnetron 206 is connected to the microwave power adjusting module 204 through the microwave switching power supply 205, and when the detection apparatus enters a normal working process, the CPU control subsystem 201 sends a microwave power value to the microwave power adjusting module 204 to start and adjust the output power of the microwave switching power supply 205, thereby adjusting the power of the microwave magnetron 206. When the infrared thermometer 203 monitors that the material temperature is too high, the microwave power needs to be set to zero, and at the moment, the output power of the microwave switch power supply is zero, and the microwave heating is stopped.
The weighing sensor 42 is connected with the weighing display instrument 208, the weight change monitored by the weighing sensor 42 is displayed by the weighing display instrument 208, then the weight change is converted into weight data, the weight data is transmitted to the CPU control subsystem 201 through the MODBUS-RTU, the CPU control subsystem 201 generates a control signal according to the weight data, and the control signal is sent to the mechanical arm control system 100 to control the mechanical arm device 1 to execute corresponding operation. In this embodiment, the accuracy of the load cell 42 is above 0.05g, and the range is no more than 500 g.
The CPU control subsystem 201 includes a CPU module 211 (with IO input and output ports), an analog input module 221, and an analog output module 231; the 24V switch power supply 202 supplies power to each module in the CPU control subsystem 201; the analog input module 221 is connected with the infrared thermometer 203, and is used for receiving data monitored by the infrared thermometer 203 in real time and sending the data to the CPU module 211, and the CPU module 211 adjusts the microwave power according to the temperature data of the infrared thermometer; meanwhile, the CPU module 211 receives data sent by the weighing sensor 42 and an instruction sent by the touch screen 207, and then the CPU module 211 generates a control signal and sends the control signal to the robot arm control system 100; the modules are connected through a communication cable or a communication bottom plate, and a control program of the material moisture control system 200 is stored in the CPU module 211, so that the whole control process of the material moisture online detection device is realized.
Referring to fig. 5, when performing online moisture detection, the material moisture control system 200 first sends a robot arm action signal to the robot arm control system 100 to control the robot arm device 1 to perform corresponding actions. After the robot apparatus 1 performs one operation, the robot control system 100 sends an operation completion feedback signal to the material moisture control system 200 to notify the system that the next operation step can be performed.
The mechanical arm action signal comprises a material taking allowing signal, a material pouring allowing signal, a drying allowing signal, a weighing allowing signal, a material taking allowing signal and the like. The mechanical arm action completion feedback signals comprise material taking completion signals, material pouring completion signals, drying placement completion signals, weighing material taking completion signals and the like.
If the mechanical arm device 1 has a fault, the mechanical arm control system 100 outputs an alarm signal to the material moisture control system 200, and the material moisture control system 200 receives the alarm signal and executes the shutdown action of the material moisture online detection device. If the material moisture control system 200 fails, the material moisture control system 200 outputs an alarm signal to the robot arm control system 100, and the robot arm control system 100 automatically controls the robot arm device 1 to stop.
According to the above technical scheme, in the material moisture online detection device provided by the embodiment of the invention, the empty material cup or the material containing cup filled with the material to be detected is placed on the initial station 2, the empty material cup is moved into the microwave drying device from the initial station 2 by the mechanical arm device 1 according to the control signal, the empty material cup is placed on the weighing tray 44 in the microwave cavity 33, and the weight of the empty material cup is obtained by the weighing sensor 42. Weighing, taking out, filling materials to be measured into the empty material cup to obtain a material containing cup, and placing the material containing cup on the weighing tray again to obtain the dry initial weight of the material containing cup; meanwhile, a microwave drying process is carried out, and the drying finished weight of the material containing cup is obtained after the drying is finished. Obtaining the moisture content of the material to be detected according to the measured weight of the empty material cup, the initial drying weight of the material containing cup and the final drying weight, and immediately finishing a moisture detection process; meanwhile, the mechanical arm device 1 can also execute the discharging action of the dried material according to the control signal. The detection device that this embodiment provided can detect the moisture content of material in drying process, realizes timely online moisture detection promptly, and data is more accurate, improves work efficiency.
The material moisture online detection device provided by the embodiment of the invention is controlled by the material moisture control system 200 and the mechanical arm control system 100, and the moisture detection of the material to be detected by the detection device is realized through the two control systems, so that the purpose of timely and accurate online detection is achieved. For this purpose, the control process of the material moisture control system 200 and the robot arm control system 100 refers to the following method steps.
As shown in fig. 6, a control method of a device for online detection of moisture in a material provided by an embodiment of the present invention includes the following steps:
s1, sending a weighing placement permission signal to a mechanical arm control system, and enabling the mechanical arm control system to control a mechanical arm device to convey empty material cups from an initial station to a weighing tray in the microwave drying device for weighing according to the weighing placement permission signal; acquiring the weight of the empty material cup measured by the weighing sensor;
when moisture detection is performed, the material moisture control system 200 sends a signal for allowing weighing placement to the robot control system 100, and the robot control system 100 controls the robot device 1 to feed the empty cup placed at the initial station 2 to the weighing tray 44 in the microwave drying device 3.
At the moment of placing, the load cell 42 detects the acting force, and after the acting force is stabilized, the weight of the empty material cup can be obtained, and then the weight of the empty material cup is sent to the material moisture control system 200.
And because the inlet end of the drying feeding channel 32 of the microwave drying device 3 is provided with the dustproof door 5, when the mechanical arm device 1 moves the empty material cup into the microwave drying device 3, the dustproof door 5 needs to be opened in advance.
For this reason, the material moisture control system 200 needs to open the ash door 5 before sending the control signal to the robot arm control system 100. Specifically, the control method provided in this embodiment further includes, before the step of sending the signal allowing weighing placement to the robot arm control system 100:
s01, sending an opening signal to the dustproof door, and controlling the dustproof door to open;
and S02, receiving an opening completion signal returned by the dustproof door, and sending a signal allowing weighing and placing to a mechanical arm control system.
The material moisture control system 200 firstly sends an opening signal to the dustproof door 5, so that the dustproof door 5 is opened. When the dustproof door 5 is opened, an opening completion signal is immediately sent to the material moisture control system 200. When the material moisture control system 200 receives the start completion signal, a signal for allowing weighing and placing is sent to the robot arm control system 100.
In practical application, the mechanical arm clamps an empty material cup, the empty material cup is sent to the weighing tray 44 in the microwave cavity 33 from the initial station 2, and before the mechanical arm is sent to the weighing tray, the material moisture control system 200 automatically opens the dustproof door 5 of the microwave drying device 3. Empty cup is weighed (first weighing), at which time the load cell 42 weighs the empty cup and marks as W0i。
S2, sending a weighing and material taking allowing signal to a mechanical arm control system, and enabling the mechanical arm control system to control a mechanical arm device to take out an empty material cup on a weighing tray according to the weighing and material taking allowing signal and place the empty material cup on an initial station;
when the material moisture control system 200 receives the weight of the empty material cup sent by the weighing sensor 42, it immediately sends a signal to the robot arm control system 100 to allow weighing and material taking. The signal allowing weighing and material taking is a signal for performing the weighing operation process, and the mechanical arm device 1 is controlled to take out the empty material cup according to the signal and place the empty material cup on the initial station 2 for performing the subsequent microwave drying process.
S3, sending a material taking permission signal to a mechanical arm control system, enabling the mechanical arm control system to control a mechanical arm device to grab the material to be detected from a material adhesive tape machine according to the material taking permission signal, and pouring the material to be detected into an empty material cup located on an initial station to obtain a material containing cup;
before the drying process is performed, the empty material cup needs to be filled with the material to be measured, so in order to accurately determine when the material to be measured is filled into the empty material cup, in this embodiment, a material-taking permission signal is sent to the mechanical arm control system according to the following method:
s31, receiving an action completion state signal sent by a mechanical arm control system, and judging whether the weighing and taking action of the mechanical arm device is completed or not according to the action completion state signal;
s32, if the mechanical arm device finishes the weighing and material taking actions, sending a closing signal to the dustproof door to control the dustproof door to close; and sending a material taking permission signal to the mechanical arm control system.
The arm device 1 takes out the empty cup from the microwave cavity 33 by using the clamp, places the empty cup at an initial position, and sends a weighing and material taking completion signal to the material moisture control system 200 after the action is completed. At this time, the action completion state signal is a weighing and material taking completion signal. The material moisture control system 200 determines whether the arm device 1 finishes the weighing and material taking actions according to the signal, so as to facilitate the execution of the next action.
If the mechanical arm device 1 finishes the action of weighing and taking materials, namely the material moisture control system 200 receives a weighing and taking material completion signal sent by the mechanical arm control system 100, immediately sends a closing signal to the dustproof door 5 to control the dustproof door 5 to be closed in time, so that external dust and the like are prevented from entering the microwave drying device 3 and affecting the weighing precision and the microwave heating effect in the microwave cavity 33. And the time when the robot arm control system 100 sends the weighing and material taking completion signal is the time when the robot arm device 1 takes out the empty cup and places the empty cup at the initial station 2.
When the material moisture control system 200 receives the weighing and material taking completion signal, a material taking permission signal is timely sent to the mechanical arm control system 100 to control the mechanical arm device 1 to load the material to be measured into the empty material cup.
The mechanical arm device 1 receives the material taking permission signal, converts the clamp into a material taking part, controls a material taking hopper of the mechanical arm to grab the material to be detected from the material adhesive tape machine 7, and controls the material adhesive tape machine 7 to be a conveying belt and pour the material to be detected into an empty material cup at an initial position to obtain a material containing cup, so that the moisture content can be detected in the drying process.
S4, sending a drying placement permission signal to a mechanical arm control system, and enabling the mechanical arm control system to control a mechanical arm device to convey the material containing cup to a weighing tray in a microwave drying device for microwave drying according to the drying placement permission signal; acquiring the dry initial weight of the material containing cup measured by the weighing sensor;
after the mechanical arm device 1 finishes the loading operation, the mechanical arm control system 100 sends a material taking completion signal to the material moisture control system 200, after receiving the signal, the material moisture control system 200 sends an opening signal to the ash prevention door 5 to control the ash prevention door 5 to be opened, and then returns an opening completion signal to the material moisture control system 200 after being opened, so that the material moisture control system 200 immediately sends a signal for allowing drying and placing to the mechanical arm control system 100, and controls the mechanical arm device 1 to move the material containing cup from the initial station 2 to the weighing tray 44 in the microwave drying device 3, and the microwave drying process is carried out.
When the material containing cup is moved, the material taking part of the arm device 1 needs to be switched to the clamp mode. When the mechanical arm device 1 places the material containing cup on the weighing tray 44, the material containing cup immediately returns to the outside of the microwave drying device 3; when the mechanical arm device 1 puts down the material containing cup and returns to the microwave drying device 3 to stop moving, the mechanical arm control system 100 sends a drying placement completion signal to the material moisture control system 200, and after receiving the signal, the material moisture control system 200 sends a closing signal to the dustproof door 5 to control the dustproof door 5 to be closed.
Since the microwave drying device 3 startsThe drying is maintained all the time, so that drying begins as soon as the serving cup is placed on the weighing tray 44. After the weighing sensor 42 senses the stable acting force, the monitored weight value is sent to the material moisture control system 200, and the dry initial weight of the material containing cup is obtained immediately and recorded as W1i. At the moment, the initial dry weight of the material containing cup is the sum of the weight of the empty material cup and the weight of the material to be measured.
S5, judging whether the material to be detected in the material containing cup is dried or not according to the weight change of the material to be detected in the material containing cup, and if the material to be detected in the material containing cup is dried, acquiring the drying finished weight of the material containing cup measured by the weighing sensor;
in the microwave drying process, the load cell 42 sends the detected weight value to the material moisture control system 200 in real time. The material moisture control system 200 judges whether the current material containing cup is completely dried according to the weight change value of the material containing cup obtained in real time, and immediately obtains the weight of the material containing cup after the drying process is finished and marks the weight as W2i. At the moment, the drying ending weight of the material containing cup is the sum of the weight of the empty material cup and the weight of the dried material to be measured.
In order to accurately determine whether the drying process is finished, in this embodiment, whether the material to be measured in the material containing cup is dried is determined according to the weight change of the material to be measured in the material containing cup by the following method:
s51, in the preset judgment time period T1In, get t1Initial weight of the filling cup corresponding to the moment, and t2The termination weight of the material containing cup corresponding to the moment; wherein, T1＝t2-t1；
S52, calculating t1Initial weight and t of material containing cup corresponding to moment2The weight difference of the termination weight of the corresponding material containing cup at any moment;
s53, judging the time period T according to the preset value1Judging whether the corresponding weight difference value is less than or equal to a preset weight difference threshold value or not;
and S54, if the weight difference value is smaller than or equal to the preset weight difference threshold value, determining that the material to be detected in the material containing cup is completely dried.
Comparing the change values of the weight of the materials before and after a certain moment in real time, and determining the time interval between two time points before and after the moment as a preset judgment time interval T1. Obtain the T1Initial time t corresponding to time interval1Initial weight of corresponding material cup, and obtaining the T1End time t corresponding to time interval2The initial weight of the corresponding fill cup.
According to T1And calculating the weight difference value of the material to be detected in the material containing cup by using the two weight values corresponding to the time intervals. If the weight difference value is smaller than or equal to the preset weight difference threshold value, the weight change rate of the material to be detected in the current material containing cup is gradually reduced or unchanged, namely the material to be detected does not contain moisture, the material to be detected is proved to be completely dried, and the material to be detected in the material containing cup is determined to be completely dried.
If the weight difference value is larger than the preset weight difference threshold value, the situation that the material to be detected still contains moisture and is not completely dried is indicated, and therefore microwave drying needs to be carried out continuously.
And S6, determining the moisture content of the material to be detected according to the weight of the empty material cup, the initial drying weight of the material containing cup and the final drying weight of the material containing cup.
After the microwave drying is completed, the material moisture control system 200 obtains three weight data, namely the weight of the empty material cup, the initial drying weight of the material containing cup and the final drying weight of the material containing cup, and the moisture content of the material to be detected can be determined according to a weight loss method.
Specifically, the moisture content of the material to be detected is determined according to the following formula:
Figure BDA0001763108120000101
in the formula, MiIs the moisture content of the material to be measured, W0iIs the weight of the empty material cup, W1iIs the dry initial weight of the material-holding cup, W2iIs the weight of the material containing cup after drying.
After the primary moisture detection is completed, the material moisture control system 200 sends an opening signal to control the ash-proof door 5 to be opened, and after the opening, an opening completion signal is returned to the material moisture control system 200. After receiving the signal, the material moisture control system 200 sends a signal for allowing material pouring to the mechanical arm control system 100, controls the mechanical arm device 1 to take out the dried material containing cup, and pours the material to be measured in the material containing cup into the belt. The above process is a moisture detection process of the material to be detected, and when the next material to be detected is detected, the process is executed from the first step, and a circulation process is performed.
As can be seen from the above technical solutions, in the control method of the material moisture online detection device provided in the embodiment of the present invention, the material moisture control system 200 and the robot arm control system 100 interact with each other through control signals, so that the robot arm control system 100 controls the robot arm device 1 to perform corresponding operations. And in the process of moisture detection in the microwave drying process, acquiring weight data by using the mechanical arm device 1, the microwave drying device 3 and the weighing device 4, namely respectively obtaining the weight of an empty material cup, the initial drying weight of a material containing cup and the final drying weight of the material containing cup, and determining the moisture content of the material to be detected by using a weightlessness method. The control method provided by the embodiment can enter the next process immediately after completing one control process, and can detect the weight in time, so that the accuracy of data is ensured, the real-time online detection of the moisture content is realized, and the working efficiency is higher.
Because the microwave drying device 3 is always kept in the microwave drying state, the temperature in the microwave cavity 33 is always high or tends to rise, and if the temperature in the microwave cavity 33 is too high, the surface temperature of the material to be measured is easily raised, and the material to be measured is easily reacted to affect the composition of the material to be measured, so the temperature in the microwave cavity 33 needs to be controlled, and the surface temperature of the material to be measured is ensured to be maintained in a safe range.
In other embodiments, the control method provided further comprises:
s91, acquiring the current material temperature of the material to be detected in the microwave drying device;
s92, judging whether the current material temperature of the material to be detected exceeds the upper limit threshold of the material temperature;
and S93, if the temperature exceeds the upper limit threshold of the material temperature, sending a microwave heating stopping signal to the microwave drying device, and controlling the microwave drying device to stop performing microwave drying on the material to be detected.
The infrared thermometer 203 monitors the temperature change in the microwave cavity 33 in real time, and if the material moisture control system 200 judges that the current material temperature of the material to be detected exceeds the material temperature threshold according to the real-time current material temperature sent by the infrared thermometer 203. In this embodiment, the material temperature threshold is set at 100-120 ℃. When the temperature of the current material is detected to be higher than the upper threshold value of 120 ℃, a heating stop signal is sent to the microwave drying device 3, the microwave power adjusting module 204 in the microwave drying device 3 adjusts the power of the microwave magnetron 206, and the microwave power is set to be zero to stop microwave drying; alternatively, the power of the microwave magnetron 206 is reduced to lower the temperature during microwave drying.
Referring to fig. 4, a control system of a material moisture online detection device according to an embodiment of the present invention is configured to execute the control method shown in fig. 6, where the system includes: a material moisture control system 200 and a robotic arm control system 100; the mechanical arm control system 100 is used for controlling the mechanical arm device to execute corresponding operations according to the control signal sent by the material moisture control system 200; the material moisture control system 200 is configured to perform the following procedural steps:
sending a weighing placement allowing signal to a mechanical arm control system, and enabling the mechanical arm control system to control a mechanical arm device to send the empty material cup to a weighing tray in the microwave drying device from an initial station for weighing according to the weighing placement allowing signal; acquiring the weight of the empty material cup measured by the weighing sensor;
sending a weighing and material taking allowing signal to a mechanical arm control system, and enabling the mechanical arm control system to control a mechanical arm device to take out an empty material cup on a weighing tray according to the weighing and material taking allowing signal and place the empty material cup on an initial station;
sending a material taking permission signal to a mechanical arm control system, enabling the mechanical arm control system to control a mechanical arm device to grab a material to be detected from a material adhesive tape machine according to the material taking permission signal, and pouring the material to be detected into an empty material cup positioned on an initial station to obtain a material containing cup;
sending a drying placement permission signal to a mechanical arm control system, and enabling the mechanical arm control system to control a mechanical arm device to send the material containing cup to a weighing tray in a microwave drying device for microwave drying according to the drying placement permission signal; acquiring the dry initial weight of the material containing cup measured by the weighing sensor;
judging whether the material to be detected in the material containing cup is dried or not according to the weight change of the material to be detected in the material containing cup, and if the material to be detected in the material containing cup is dried, acquiring the drying finished weight of the material containing cup measured by a weighing sensor;
and determining the moisture content of the material to be detected according to the weight of the empty material cup, the initial drying weight of the material containing cup and the final drying weight of the material containing cup.
Optionally, the material moisture control system 200 is further configured to perform the following program steps:
sending an opening signal to the dustproof door to control the dustproof door to open;
and receiving an opening completion signal returned by the dustproof door, and sending a signal allowing weighing and placing to a mechanical arm control system.
Optionally, the material moisture control system 200 is further configured to perform the following program steps:
receiving an action completion state signal sent by the mechanical arm control system, and judging whether the weighing and taking actions of the mechanical arm device are completed or not according to the action completion state signal;
if the mechanical arm device finishes the weighing and material taking actions, a closing signal is sent to the dustproof door to control the dustproof door to be closed; and sending a material taking permission signal to the mechanical arm control system.
Optionally, the material moisture control system 200 is further configured to perform the following program steps:
judging whether the material to be detected in the material containing cup is dried or not according to the weight change of the material to be detected in the material containing cup by the following method:
at a preset determination time period T1In, get t1Initial weight of the filling cup corresponding to the moment, and t2The termination weight of the material containing cup corresponding to the moment; wherein, T1＝t2-t1；
Calculating the t1Initial weight and t of material containing cup corresponding to moment2The weight difference of the termination weight of the corresponding material containing cup at any moment;
according to the preset judgment time period T1Judging whether the corresponding weight difference value is less than or equal to a preset weight difference threshold value or not;
and if the weight difference value is smaller than or equal to a preset weight difference threshold value, determining that the material to be detected in the material containing cup is completely dried.
Optionally, the material moisture control system 200 is further configured to perform the following program steps:
according to the following formula, determining the moisture content of the material to be detected according to the weight of the empty material cup, the initial drying weight of the material containing cup and the final drying weight of the material containing cup:
Figure BDA0001763108120000121
in the formula, MiIs the moisture content of the material to be measured, W0iIs the weight of the empty material cup, W1iIs the dry initial weight of the material-holding cup, W2iIs the weight of the material containing cup after drying.
Optionally, the material moisture control system 200 is further configured to perform the following program steps:
acquiring the current material temperature of a material to be detected in a microwave drying device;
judging whether the current material temperature of the material to be detected exceeds a material temperature upper limit threshold value or not;
and if the temperature exceeds the upper limit threshold of the material temperature, sending a microwave heating stopping signal to the microwave drying device, and controlling the microwave drying device to stop performing microwave drying on the material to be detected.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
The same and similar parts in the various embodiments in this specification may be referred to each other. Particularly, for the control system embodiment of the material moisture online detection device, since it is basically similar to the method embodiment, the description is simple, and the relevant points can be referred to the description in the method embodiment.

Claims (10)

1. The utility model provides a material moisture on-line measuring device which characterized in that includes: a mechanical arm device (1), an initial station (2), a microwave drying device (3), a weighing device (4) and an ash-proof door (5), wherein,
the initial station (2) is positioned between the mechanical arm device (1) and the microwave drying device (3), the initial station (2) is used for placing the material cup (6), and the mechanical arm device (1) is used for clamping the material cup (6) to realize movement between the initial station (2) and the microwave drying device (3);
the microwave drying device (3) comprises a device box body (31), a drying feeding channel (32) arranged on the side wall of the device box body (31), and a microwave cavity (33) arranged in the device box body (31); one part of the drying feeding channel (32) extends into the microwave cavity (33), and the other part of the drying feeding channel is positioned outside the device box body (31); the ash prevention door (5) is arranged at one end of the drying feeding channel (32) which is positioned outside the device box body (31); a placing cavity (34) is arranged at the lower end of the microwave cavity (33);
the weighing device (4) comprises a base (41), a weighing sensor (42), a supporting rod (43) and a weighing tray (44);
the base (41) is positioned in the placing cavity (34), and the weighing sensor (42) is placed on the base (41); one end of the supporting rod (43) is connected with the weighing sensor (42), the other end of the supporting rod (43) is connected with the weighing tray (44), and the supporting rod (43) is vertical to the weighing tray (44); the supporting rod (43) penetrates through the placing cavity (34) and the microwave cavity (33), so that the weighing tray (44) is positioned in the microwave cavity (33); the material moisture online detection device is controlled by a material moisture control system and a mechanical arm control system, and the adopted control method comprises the following steps:
the material moisture control system sends a weighing placement permission signal to the mechanical arm control system, so that the mechanical arm control system controls the mechanical arm device to send the empty material cup from an initial station to a weighing tray in the microwave drying device for weighing according to the weighing placement permission signal; acquiring the weight of the empty material cup measured by the weighing sensor; the initial station is positioned between the mechanical arm device and the microwave drying device, the mechanical arm control system is in communication connection with the material moisture control system, and the mechanical arm control system is configured on the mechanical arm device;
sending a weighing and material taking allowing signal to a mechanical arm control system, and enabling the mechanical arm control system to control a mechanical arm device to take out an empty material cup on a weighing tray according to the weighing and material taking allowing signal and place the empty material cup on an initial station;
sending a material taking permission signal to a mechanical arm control system, enabling the mechanical arm control system to control a mechanical arm device to grab a material to be detected from a material adhesive tape machine according to the material taking permission signal, and pouring the material to be detected into an empty material cup positioned on an initial station to obtain a material containing cup;
sending a drying placement permission signal to a mechanical arm control system, and enabling the mechanical arm control system to control a mechanical arm device to send the material containing cup to a weighing tray in a microwave drying device for microwave drying according to the drying placement permission signal; acquiring the dry initial weight of the material containing cup measured by the weighing sensor;
judging whether the material to be detected in the material containing cup is dried or not according to the weight change of the material to be detected in the material containing cup, and if the material to be detected in the material containing cup is dried, acquiring the drying finished weight of the material containing cup measured by a weighing sensor;
and determining the moisture content of the material to be detected according to the weight of the empty material cup, the initial drying weight of the material containing cup and the final drying weight of the material containing cup.
2. The device according to claim 1, characterized in that said microwave drying means (3) further comprise: the microwave suppressor is arranged on the drying feeding channel (32).
3. The device according to claim 1, characterized in that said microwave drying means (3) further comprise: an infrared thermometer (203); the infrared thermometer (203) is arranged at the top outside the microwave cavity (33), and the position of an infrared probe of the infrared thermometer (203) is over against the material cup (6) on the weighing tray (44); the infrared thermometer (203) is used for measuring the temperature of the materials in the material cup (6) in the microwave cavity (33).
4. A control method of a material moisture online detection device is characterized by comprising the following steps:
sending a weighing placement allowing signal to a mechanical arm control system, and enabling the mechanical arm control system to control a mechanical arm device to send the empty material cup to a weighing tray in the microwave drying device from an initial station for weighing according to the weighing placement allowing signal; acquiring the weight of the empty material cup measured by the weighing sensor; the initial station is positioned between the mechanical arm device and the microwave drying device, the mechanical arm control system is in communication connection with the material moisture control system, and the mechanical arm control system is configured on the mechanical arm device;
sending a weighing and material taking allowing signal to a mechanical arm control system, and enabling the mechanical arm control system to control a mechanical arm device to take out an empty material cup on a weighing tray according to the weighing and material taking allowing signal and place the empty material cup on an initial station;
sending a material taking permission signal to a mechanical arm control system, enabling the mechanical arm control system to control a mechanical arm device to grab a material to be detected from a material adhesive tape machine according to the material taking permission signal, and pouring the material to be detected into an empty material cup positioned on an initial station to obtain a material containing cup;
sending a drying placement permission signal to a mechanical arm control system, and enabling the mechanical arm control system to control a mechanical arm device to send the material containing cup to a weighing tray in a microwave drying device for microwave drying according to the drying placement permission signal; acquiring the dry initial weight of the material containing cup measured by the weighing sensor;
judging whether the material to be detected in the material containing cup is dried or not according to the weight change of the material to be detected in the material containing cup, and if the material to be detected in the material containing cup is dried, acquiring the drying finished weight of the material containing cup measured by a weighing sensor;
and determining the moisture content of the material to be detected according to the weight of the empty material cup, the initial drying weight of the material containing cup and the final drying weight of the material containing cup.
5. The method of claim 4, further comprising, prior to the step of sending a weight placement enable signal to a robot arm control system:
sending an opening signal to the dustproof door to control the dustproof door to open;
and receiving an opening completion signal returned by the dustproof door, and sending a signal allowing weighing and placing to a mechanical arm control system.
6. The method of claim 4, wherein the allow-to-retrieve signal is sent to a robotic arm control system according to the following steps:
receiving an action completion state signal sent by the mechanical arm control system, and judging whether the weighing and taking actions of the mechanical arm device are completed or not according to the action completion state signal;
if the mechanical arm device finishes the weighing and material taking actions, a closing signal is sent to the dustproof door to control the dustproof door to be closed; and sending a material taking permission signal to the mechanical arm control system.
7. The method as claimed in claim 4, wherein whether the material to be measured in the material cup is dried is judged according to the weight change of the material to be measured in the material cup according to the following method:
at a preset determination time period T1In, get t1Initial weight of the filling cup corresponding to the moment, and t2The termination weight of the material containing cup corresponding to the moment; wherein, T1＝t2-t1；
Calculating the t1Initial weight and t of material containing cup corresponding to moment2The weight difference of the termination weight of the corresponding material containing cup at any moment;
according to the preset judgment time period T1Judging whether the corresponding weight difference value is less than or equal to a preset weight difference threshold value or not;
and if the weight difference value is smaller than or equal to a preset weight difference threshold value, determining that the material to be detected in the material containing cup is completely dried.
8. The method of claim 4, wherein the moisture content of the material to be measured is determined based on the weight of the empty material cup, the initial weight of the material containing cup after drying, and the end weight of the material containing cup after drying according to the following formula:
Figure FDA0002411099670000031
in the formula, MiIs the moisture content of the material to be measured, W0iIs the weight of the empty material cup, W1iIs the dry initial weight of the material-holding cup, W2iIs the weight of the material containing cup after drying.
9. The method of claim 4, further comprising:
acquiring the current material temperature of a material to be detected in a microwave drying device;
judging whether the current material temperature of the material to be detected exceeds a material temperature upper limit threshold or not according to the current material temperature of the material to be detected;
and if the temperature exceeds the upper limit threshold of the material temperature, sending a microwave heating stopping signal to the microwave drying device, and controlling the microwave drying device to stop performing microwave drying on the material to be detected.
10. The utility model provides a control system of material moisture on-line measuring device which characterized in that includes: a material moisture control system and a mechanical arm control system; the mechanical arm control system is used for controlling the mechanical arm device to execute corresponding operation according to a control signal sent by the material moisture control system; the material moisture control system is configured to perform the following procedural steps:
sending a weighing placement allowing signal to a mechanical arm control system, and enabling the mechanical arm control system to control a mechanical arm device to send the empty material cup to a weighing tray in the microwave drying device from an initial station for weighing according to the weighing placement allowing signal; acquiring the weight of the empty material cup measured by the weighing sensor; the initial station is positioned between the mechanical arm device and the microwave drying device, the mechanical arm control system is in communication connection with the material moisture control system, and the mechanical arm control system is configured on the mechanical arm device;
sending a weighing and material taking allowing signal to a mechanical arm control system, and enabling the mechanical arm control system to control a mechanical arm device to take out an empty material cup on a weighing tray according to the weighing and material taking allowing signal and place the empty material cup on an initial station;
sending a material taking permission signal to a mechanical arm control system, enabling the mechanical arm control system to control a mechanical arm device to grab a material to be detected from a material adhesive tape machine according to the material taking permission signal, and pouring the material to be detected into an empty material cup positioned on an initial station to obtain a material containing cup;
sending a drying placement permission signal to a mechanical arm control system, and enabling the mechanical arm control system to control a mechanical arm device to send the material containing cup to a weighing tray in a microwave drying device for microwave drying according to the drying placement permission signal; acquiring the dry initial weight of the material containing cup measured by the weighing sensor;
judging whether the material to be detected in the material containing cup is dried or not according to the weight change of the material to be detected in the material containing cup, and if the material to be detected in the material containing cup is dried, acquiring the drying finished weight of the material containing cup measured by a weighing sensor;
and determining the moisture content of the material to be detected according to the weight of the empty material cup, the initial drying weight of the material containing cup and the final drying weight of the material containing cup.
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