CN109318359B - Automatic pre-calibration method of concrete spreader based on photoelectric switch - Google Patents

Automatic pre-calibration method of concrete spreader based on photoelectric switch Download PDF

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Publication number
CN109318359B
CN109318359B CN201811219811.5A CN201811219811A CN109318359B CN 109318359 B CN109318359 B CN 109318359B CN 201811219811 A CN201811219811 A CN 201811219811A CN 109318359 B CN109318359 B CN 109318359B
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material distribution
photoelectric switch
axis
machine
trolley
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CN109318359A (en
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李冬
孙红
张珂
吴玉厚
邹德芳
李洋
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Shenyang Jianzhu University
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Shenyang Jianzhu University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B13/00—Feeding the unshaped material to moulds or apparatus for producing shaped articles; Discharging shaped articles from such moulds or apparatus
    • B28B13/02—Feeding the unshaped material to moulds or apparatus for producing shaped articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B17/00—Details of, or accessories for, apparatus for shaping the material; Auxiliary measures taken in connection with such shaping
    • B28B17/0063—Control arrangements
    • B28B17/0081—Process control

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Ceramic Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention provides an automatic pre-calibration method of a concrete spreader based on a photoelectric switch, and relates to the field of automatic control of the concrete spreader of prefabricated parts in building industrialization. The method comprises the following steps: installing a photoelectric switch, and determining an X axis and a Y axis simultaneously; the controller controls the material distribution cart and the trolley to drive the material distribution machine to reach an initial position outside a material distribution area, the magnetic side die is detected through the photoelectric switch, and a PLC (programmable logic controller) is used for recording a pre-calibration point of the photoelectric switch of the material distribution machine; the controller calculates the calibration point of the material distributing machine by combining the pre-calibration point of the photoelectric switch according to the distance between the mounting position of the photoelectric switch and the end point of the outer edge of the material distributing opening; and calculating the relative position of the material distributing machine, and controlling the material distributing machine to travel to a preset calibration point through a controller to prepare for material distribution production. The method has the advantages of small modification on the existing equipment and detection system, low modification cost, good compatibility with the existing distribution system, easy realization, automatic completion of pre-calibration of the distributor, and improvement on the accuracy and pre-calibration efficiency of the concrete distributor in determining the pre-calibration point.

Description

Automatic pre-calibration method of concrete spreader based on photoelectric switch
Technical Field
The invention relates to the technical field of automatic control of a concrete spreader of a prefabricated part in building industrialization, in particular to an automatic pre-calibration method of the concrete spreader based on a photoelectric switch.
Background
Most of concrete structural parts used in domestic buildings are produced in a cast-in-place mode, and the mode has the problems of large environmental pollution, low construction efficiency, unstable product quality and the like. With the acceleration of the industrialized process of China, the industrialized production of the concrete prefabricated part is an important trend of the industrialized development of buildings in China, wherein the concrete distribution is a key link of the industrialized production of the concrete prefabricated part, and the process is as follows: after the concrete spreader is loaded with concrete, the concrete spreader is driven by a spreading cart and a trolley to travel along a fixed track according to the system control requirement; in the walking process, the stirred concrete is pushed out and poured into the range of the assembled magnetic side forms on the bottom die tray by means of a screw rod assembled at the discharge port, and the pouring production of the prefabricated part is completed, wherein the material distribution process is as shown in figure 1, the material distribution trolley can drive the material distribution machine to move back and forth along the material distribution direction, and the material distribution trolley can drive the material distribution machine to move left and right.
The concrete spreader can carry out the cloth according to control system's requirement, and the most important prerequisite is initial position when can accurate location cloth operation, also confirms the position of the relative magnetism side forms of cloth machine promptly, and then guarantees that the cloth machine can carry out the cloth production according to setting for the requirement in the specified region, also can prevent that the cloth in-process concrete from spilling outside the magnetism side forms simultaneously.
A manual control mode is generally adopted in domestic distributing systems for producing concrete prefabricated parts, namely an operator observes the position of a distributing machine beside a distributing area, and the distributing machine is controlled to move to the initial position of the distributing machine through a remote controller. The problems of inaccurate positioning and low positioning efficiency of the material distributing machine exist in the pre-calibration of the manually operated material distributing machine, and more importantly, the development and the realization of a later-stage material distributing automatic control system are limited. Therefore, in order to improve the automatic control level of the distributing machine and improve the positioning accuracy and efficiency of the distributing machine, a pre-calibration technology for a concrete distributing machine is urgently needed in the industry.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an automatic pre-calibration method of a concrete spreader based on a photoelectric switch, which is characterized in that a magnetic side die is detected by the photoelectric switch additionally arranged below a material distribution port at one side edge of the concrete spreader, the detection of the position of the magnetic side die is realized by combining a controller in a control cabinet on a material distribution cart cross beam in an original spreader control system, a material distribution cart of the spreader and two encoders on a trolley driving motor, and then a pre-calibration point of the concrete spreader is determined by the controller of the original spreader system, so that the accuracy and the efficiency of determining the pre-calibration point by the concrete spreader are obviously improved, the positioning time is shortened, and the production efficiency is improved.
In order to achieve the purpose, the automatic pre-calibration method of the concrete spreader based on the photoelectric switch comprises the following steps:
step 1: a photoelectric switch is additionally arranged below a material distribution port at the edge of one side of the material distributor, and meanwhile, the direction parallel to the traveling route of a material distribution trolley of the material distributor is defined as an X axis, and the direction vertical to the X axis is defined as a Y axis, wherein the material distribution trolley travels back and forth along the X axis, and a material distribution cart travels back and forth along the Y axis;
step 2: the controller controls the material distribution cart and the trolley to drive the material distribution machine to reach an initial position outside a material distribution area, then the material distribution cart and the trolley travel into the material distribution area, the position of the magnetic side die relative to the material distribution machine is determined through the detection of the photoelectric switch on the magnetic side die, and a pre-calibration point (X) of the photoelectric switch of the material distribution machine is recorded by the controllerJ0，YJ0) The method comprises the following specific steps:
step 2.1: the controller controls the distributing trolley to drive the distributing machine to reach an initial position outside a distributing area, then the distributing trolley walks from the distributing area to the distributing area along the X axis, when the photoelectric switch below the distributing opening detects the magnetic side forms, the detection of the magnetic side forms which are perpendicular to the X axis and close to one side of the initial position is marked as AA side forms, and the detected outer edges of the AA side forms outside the distributing area are detected;
step 2.2: the controller controls the material distribution trolley to drive the material distribution machine to continue to walk in the material distribution area along the X axis, when the magnetic side die signal detected by the photoelectric switch below the material distribution opening disappears, the controller controls the material distribution trolley to stop, the detected inner edge of the AA magnetic side die at the side of the material distribution area is the inner edge, and the controller records the position X of the material distribution trolley in the X axis direction at the momentJ0；
Step 2.3: the controller controls the material distribution trolley to drive the material distribution machine to move reversely along the X axis and return to the initial position outside the material distribution area;
step 2.4: the controller controls the material distribution cart to drive the material distribution machine to move along one side of the Y-axis preset point until the outer edge of the magnetic side die, which is parallel to the X-axis, away from one side of the preset point along the Y-axis direction, where the material distribution machine is located exceeds the detection radius of the photoelectric switch, and then controls the material distribution cart to drive the material distribution machine to move along the X-axis direction to the outer side of the magnetic side die, which is parallel to the X-axis and close to one side of the preset point, and the outer side of the magnetic side die is marked as the outer side of;
step 2.5: the controller controls the material distribution cart to drive the material distribution machine to move along the Y axis from the material distribution areaWalking outside the area in the cloth area, when the photoelectric switch below the cloth opening detects the magnetic side forms, the detection indicates that the outer edges of the BB magnetic side forms are detected, the cloth cart is continuously controlled to walk in the original direction until the photoelectric switch detects that the magnetic side form signals disappear, the cloth cart stops, and the controller records the position Y of the cloth cart in the Y-axis direction at the momentJ0Thus, the pre-calibration point (X) of the photoelectric switch of the concrete spreader is obtainedJ0，YJ0)；
And step 3: the controller is used for controlling the distance (X) between the mounting position of the photoelectric switch and the outer edge end point of the material distribution openingJ，YJ) In combination with the pre-calibration point (X) of the photoelectric switch of the distributing machineJ0，YJ0) Calculating the corresponding pre-calibration point M (X) of the material distributor on the bottom die tray surface along the outer edge end point of the material distribution port of the material distributor0，Y0) Wherein X is0＝XJ0-XJ，Y0＝YJ0-YJ；
And 4, step 4: according to the pre-calibrated point of the distributing machine (X)0，Y0) And the current position (X) of the distributorcrt，Ycrt) Determining the material distributor and the pre-calibration point M (X)0，Y0) Relative position (X)rel，Yrel) And the controller controls the material distributor to travel to a preset calibration point M (X)0，Y0) And preparing for cloth production.
The invention has the beneficial effects that:
the invention provides a concrete spreader automatic pre-calibration method based on a photoelectric switch, which is characterized in that a photoelectric switch is only needed to be additionally arranged below a material distribution port of the existing concrete spreader, the pre-calibration point of the concrete spreader can be determined by detecting a magnetic side die through the photoelectric switch, the existing equipment and a detection system are slightly changed, the modification cost is low, the compatibility with the existing material distribution system is good, the realization is easy, meanwhile, the spreader pre-calibration can be automatically completed, the accuracy of determining the pre-calibration point and the pre-calibration efficiency of the concrete spreader are improved, in addition, the interference of steel bars and other external factors inside the magnetic side die to a calibration result in the pre-calibration process is fully considered, the calibration is carried out by utilizing the inner edge of the magnetic side die, and the practicability and the accuracy of the concrete spreader pre-calibration technology are improved.
Drawings
FIG. 1 is a schematic diagram of a material distributing process of a concrete distributor in the background art of the present invention;
FIG. 2 is a flow chart of an automatic pre-calibration method of a concrete spreader based on a photoelectric switch in the embodiment of the invention;
FIG. 3 is a schematic diagram of an automatic pre-calibration method of a concrete spreader based on a photoelectric switch in the embodiment of the invention;
fig. 4 is a schematic diagram of the mounting position of the photoelectric switch and the position of the endpoint a of the No. 1 cloth opening outer edge in the embodiment of the present invention.
In the figure, 1, a material distribution trolley; 2. a concrete spreader; 3. a helical reamer; 4. a No. 1 distributing opening of the distributing machine; 5. a cloth cart; 6. a bottom die tray; 7. magnetic side forms; 8. a guide rail; 9. a photoelectric switch; 10. a control cabinet.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments. The specific embodiments described herein are merely illustrative of the invention and are not intended to be limiting.
An automatic pre-calibration method for a concrete spreader based on a photoelectric switch is disclosed, wherein the flow is shown in fig. 2, the principle is shown in fig. 3, and the arrow in fig. 3 indicates the movement path of the spreader driven by a controller, and the specific method is as follows:
step 1: a photoelectric proximity switch is additionally arranged below a No. 1 material distribution opening of the material distributor, meanwhile, the direction parallel to the walking route of a material distribution trolley of the material distributor is defined as an X axis, the direction vertical to the X axis is defined as a Y axis, wherein the material distribution trolley walks back and forth along the X axis, and a material distribution cart walks back and forth along the Y axis.
Step 2: the controller controls the material distribution cart and the trolley to drive the material distribution machine to reach an initial position outside a material distribution area, then the material distribution cart and the trolley travel into the material distribution area, the position of the magnetic side die relative to the material distribution machine is determined through the detection of the photoelectric switch on the magnetic side die, and a pre-calibration point (X) of the photoelectric switch of the material distribution machine is recorded by the controllerJ0，YJ0) The method comprises the following specific steps:
step 2.1: the controller controls the distributing trolley to drive the distributing machine to reach an initial position outside a distributing area, then the distributing trolley walks from the outside of the distributing area to the inside of the distributing area along the X axis, when the photoelectric switch below the distributing opening detects the magnetic side forms, the magnetic side forms perpendicular to the X axis and close to one side of the initial position are detected and marked as AA side forms, and the detected outer edges of the AA side forms outside the distributing area are detected at the moment.
Step 2.2: the controller controls the material distribution trolley to drive the material distribution machine to continue to walk in the material distribution area along the X axis, when the magnetic side die signal detected by the photoelectric switch below the material distribution opening disappears, the controller controls the material distribution trolley to stop, the detected inner edge of the AA magnetic side die at the side of the material distribution area is the inner edge, and the controller records the position X of the material distribution trolley in the X axis direction at the momentJ0。
Step 2.3: the controller controls the material distribution trolley to drive the material distribution machine to move reversely along the X axis and return to the initial position outside the material distribution area.
Step 2.4: the controller controls the material distribution cart to drive the material distribution machine to move along one side of the Y-axis pre-calibration point until the outer edge of the magnetic side die, which is parallel to the X-axis, away from the one side of the pre-calibration point along the Y-axis direction exceeds the detection radius of the photoelectric switch, and then controls the material distribution cart to drive the material distribution machine to move along the X-axis direction to the outer side of the magnetic side die, which is parallel to the X-axis and close to the one side of the pre-calibration point, and the outer side of the magnetic side die is marked as the outer side of.
Step 2.5: the controller controls the cloth cart to drive the cloth machine to walk from the outside of the cloth area to the inside of the cloth area along the Y axis, when the photoelectric switch below the cloth opening detects the magnetic side forms, the detection result shows that the outer edges of the BB magnetic side forms are detected, the cloth cart continues to be controlled to walk along the original direction until the photoelectric switch detects that the magnetic side form signals disappear, the cloth cart stops, and the controller records the position Y of the cloth cart in the Y axis direction at the momentJ0Thus, obtaining the pre-calibration point (X) of the switch of the concrete spreaderJ0，YJ0)。
And step 3: the controller is used for controlling the distance between the mounting position of the photoelectric switch and the outer edge endpoint A of the material distribution opening according to the distance(XJ，YJ) As shown in fig. 4, in combination with the pre-calibrated point (X) of the photoelectric switch of the distributing machineJ0，YJ0) Calculating a pre-calibration point M (X) of the material distributor corresponding to the outer edge endpoint A of the material distribution port of the material distributor on the surface of the bottom die tray0，Y0) Wherein X is0＝XJ0-XJ，Y0＝YJ0-YJ。
And 4, step 4: according to the pre-calibrated point of the distributing machine (X)0，Y0) And the current position (X) of the distributorcrt，Ycrt) Determining the material distributor and the pre-calibration point M (X)0，Y0) Relative position (X)rel，Yrel) And the controller controls the material distributor to travel to a preset calibration point M (X)0，Y0) And preparing for cloth production.
The material distributing machine is controlled by the controller to travel to a pre-calibration point M (X)0，Y0) The control formula of (2) is as follows:
Xrel＝Xcrt-X0；
Yrel＝Ycrt-Y0；
Xcrt(t)＝Xcrt(t-1)±Vxtsc；
Ycrt(t)＝Ycrt(t-1)±VDtsc；
wherein, Xcrt(t) and Ycrt(t) the positions of the material distributor in the X-axis and the Y-axis of the coordinate system in the t-th period, VxThe running speed, V, of the distributing trolley is detected by an encoder on a driving motor of the distributing trolleyDThe running speed of the material distribution cart is detected by an encoder on a driving motor of the material distribution cart, when the material distribution cart or cart runs towards the direction of increasing the numerical value of an X axis or a Y axis, the symbol in the front of the speed in the formula is a plus sign, otherwise, the symbol is a minus sign, and t is a t signscFor a fixed period, different values are taken according to different controllers.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art; the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions as defined in the appended claims.

Claims (1)

1. An automatic pre-calibration method of a concrete spreader based on a photoelectric switch is characterized by comprising the following steps:
step 1: a photoelectric switch is additionally arranged below a material distribution port at the edge of one side of the material distributor, and meanwhile, the direction parallel to the traveling route of a material distribution trolley of the material distributor is defined as an X axis, and the direction vertical to the X axis is defined as a Y axis, wherein the material distribution trolley travels back and forth along the X axis, and a material distribution cart travels back and forth along the Y axis;
step 2: the controller controls the material distribution cart and the trolley to drive the material distribution machine to reach an initial position outside a material distribution area, then the material distribution cart and the trolley travel into the material distribution area, the position of the magnetic side die relative to the material distribution machine is determined through the detection of the photoelectric switch on the magnetic side die, and a pre-calibration point (X) of the photoelectric switch of the material distribution machine is recorded by the controllerJ0，YJ0) The method comprises the following specific steps:
step 2.1: the controller controls the distributing trolley to drive the distributing machine to reach an initial position outside a distributing area, then the distributing trolley walks from the distributing area to the distributing area along the X axis, when the photoelectric switch below the distributing opening detects the magnetic side forms, the detection of the magnetic side forms which are perpendicular to the X axis and close to one side of the initial position is marked as AA side forms, and the detected outer edges of the AA side forms outside the distributing area are detected;
step 2.2: the controller controls the material distribution trolley to drive the material distribution machine to continue to walk in the material distribution area along the X axis, when the magnetic side die signal detected by the photoelectric switch below the material distribution opening disappears, the controller controls the material distribution trolley to stop, the detected inner edge of the AA magnetic side die at the side of the material distribution area is the inner edge, and the controller records the position X of the material distribution trolley in the X axis direction at the momentJ0；
Step 2.3: the controller controls the material distribution trolley to drive the material distribution machine to move reversely along the X axis and return to the initial position outside the material distribution area;
step 2.4: the controller controls the material distribution cart to drive the material distribution machine to move along one side of the Y-axis preset point until the outer edge of the magnetic side die, which is parallel to the X-axis, away from one side of the preset point along the Y-axis direction, where the material distribution machine is located exceeds the detection radius of the photoelectric switch, and then controls the material distribution cart to drive the material distribution machine to move along the X-axis direction to the outer side of the magnetic side die, which is parallel to the X-axis and close to one side of the preset point, and the outer side of the magnetic side die is marked as the outer side of;
step 2.5: the controller controls the cloth cart to drive the cloth machine to walk from the outside of the cloth area to the inside of the cloth area along the Y axis, when the photoelectric switch below the cloth opening detects the magnetic side forms, the detection result shows that the outer edges of the BB magnetic side forms are detected, the cloth cart continues to be controlled to walk along the original direction until the photoelectric switch detects that the magnetic side form signals disappear, the cloth cart stops, and the controller records the position Y of the cloth cart in the Y axis direction at the momentJ0Thus, the pre-calibration point (X) of the photoelectric switch of the concrete spreader is obtainedJ0，YJ0)；
And step 3: the controller is used for controlling the distance (X) between the mounting position of the photoelectric switch and the outer edge end point of the material distribution openingJ，YJ) In combination with the pre-calibration point (X) of the photoelectric switch of the distributing machineJ0，YJ0) Calculating the corresponding pre-calibration point M (X) of the material distributor on the bottom die tray surface along the outer edge end point of the material distribution port of the material distributor0，Y0) Wherein X is0＝XJ0-XJ，Y0＝YJ0-YJ；
And 4, step 4: according to the pre-calibrated point of the distributing machine (X)0，Y0) And the current position (X) of the distributorcrt，Ycrt) Determining the material distributor and the pre-calibration point M (X)0，Y0) Relative position (X)rel，Yrel) And the controller controls the material distributor to travel to a preset calibration point M (X)0，Y0) And preparing for cloth production.
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Application publication date: 20190212

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