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

Abstract

The invention provides an automatic pre-calibration method for a concrete placing machine based on a photoelectric switch, and relates to the field of automatic control of a prefabricated component concrete placing machine in construction industrialization. Including: install the photoelectric switch, and determine the X axis and Y axis at the same time; the controller controls the cloth cart and trolley to drive the cloth machine to the initial position outside the cloth area, detects the magnetic side mold through the photoelectric switch, and uses the PLC controller to record the cloth machine photoelectric switch pre-calibration point; the controller calculates the calibration point of the distribution machine according to the distance between the installation position of the photoelectric switch and the end point of the outer edge of the cloth mouth, and combines the pre-calibration point of the photoelectric switch to calculate the calibration point of the distribution machine; , ready for fabric production. The method has little modification to the existing equipment and detection system, low cost of transformation, good compatibility with the existing distribution system, easy to implement, and can automatically complete the pre-calibration of the placing machine, improving the accuracy and pre-calibration of the concrete placing machine for determining the pre-calibration point. Calibration efficiency.

Description

An automatic pre-calibration method of concrete placing machine based on photoelectric switch

technical field

The invention relates to the technical field of automatic control of prefabricated concrete placing machines in construction industrialization, in particular to an automatic pre-calibration method for concrete placing machines based on photoelectric switches.

Background technique

At present, most of the concrete components used in domestic buildings are produced by cast-in-place method, which has problems such as large environmental pollution, low construction efficiency and unstable product quality. With the acceleration of my country's industrialization process, the factory production of concrete prefabricated components will be an important trend in the development of my country's construction industrialization. Concrete distribution is the key link in the factory production of concrete prefabricated components. The process is: After the concrete placing machine is loaded with concrete , According to the system control requirements, driven by the distribution cart and trolley, it walks along the fixed track; during the walking process, the mixed concrete is pushed out and poured on the bottom mold tray with the help of the screw installed at the discharge port. Within the scope of the magnetic side mold, the casting production of prefabricated components is completed. The distribution process is shown in Figure 1. The distribution trolley can move forward and backward along the distribution direction with the distribution machine, and the distribution cart can move left and right with the distribution machine.

The most important premise of the concrete placing machine is to accurately locate the initial position during the placing operation, that is, to determine the position of the placing machine relative to the magnetic side mold, so as to ensure that the placing machine can operate within the specified area according to the set requirements. For cloth production, it can also prevent concrete from being scattered outside the magnetic side mold during the cloth process.

The distribution system used in the production of prefabricated concrete components in China generally adopts the manual control method, that is, the operator observes the position of the distributor next to the distribution area, and controls the distributor to move to the initial position of the distributor through the remote control. The problems of this manual pre-calibration of the placing machine are that the positioning of the placing machine is inaccurate and the positioning efficiency is low, and more importantly, it limits the development and implementation of the automatic control system for the later stage. Therefore, in order to improve the automatic control level of the placing machine and improve its positioning accuracy and efficiency, a pre-calibration technology for the concrete placing machine is urgently needed in the industry.

SUMMARY OF THE INVENTION

In view of the existing problems in the prior art, the present invention provides an automatic pre-calibration method for a concrete placing machine based on a photoelectric switch. In the control system of the placing machine, the controller in the control cabinet on the beam of the placing cart, and the two encoders on the drive motor of the placing cart and the trolley of the placing machine can detect the position of the magnetic side mold, and then pass the controller of the original placing system. Determining the pre-calibration point of the concrete placing machine obviously improves the accuracy and efficiency of determining the pre-calibration point of the concrete placing machine, thereby reducing the positioning time and improving the production efficiency.

In order to achieve the above purpose, an automatic pre-calibration method for a concrete placing machine based on a photoelectric switch, comprising the following steps:

Step 1: Add a photoelectric switch under the cloth opening on one side of the cloth machine. At the same time, the direction parallel to the cloth trolley of the cloth machine is the X axis, and the direction perpendicular to the X axis is the Y axis. The X-axis travels back and forth, and the cloth cart travels back and forth along the Y-axis;

Step 2: The controller controls the cloth cart and the trolley to drive the cloth machine to the initial position outside the cloth area, and then walks into the cloth area. The magnetic side mold is detected by the photoelectric switch to determine the position of the magnetic side mold relative to the cloth machine. Use the controller to record the pre-calibration point (X _J0 , Y _J0 ) of the photoelectric switch of the placing machine, the specific steps are as follows:

Step 2.1: The controller controls the cloth trolley to drive the cloth machine to the initial position outside the cloth area, and then walks along the X axis from the outside of the cloth area to the inside of the cloth area. The magnetic side mold on the side of the X-axis perpendicular to the initial position is recorded as the AA side mold. At this time, the outer edge of the AA side mold on the outside of the cloth area is detected;

Step 2.2: The controller controls the cloth trolley to drive the cloth machine to continue walking in the cloth area along the X axis. When the magnetic side mold signal detected by the photoelectric switch below the cloth port disappears, the controller controls the cloth trolley to stop. The AA magnetic side mold is on the inner edge of the cloth area side, and the controller records the position X _J0 of the cloth trolley in the X-axis direction at this time;

Step 2.3: The controller controls the cloth trolley to drive the cloth machine to move in the reverse direction along the X axis and return to the initial position outside the cloth area;

Step 2.4: The controller controls the cloth cart to drive the cloth machine to move along the Y axis to the side of the pre-calibration point, until along the Y-axis direction, the position of the cloth machine is far from the outer edge of the magnetic side mold parallel to the X axis on the side of the pre-calibration point. The detection radius of the photoelectric switch, the controller then controls the cloth trolley to drive the cloth machine to move along the X-axis to the outer side of the magnetic side mold on the side of the pre-calibration point parallel to the X-axis, marked as the outer side of the BB magnetic side mold;

Step 2.5: The controller controls the cloth cart to drive the cloth machine to walk along the Y axis from the outside of the cloth area to the inside of the cloth area. When the photoelectric switch under the cloth mouth detects the magnetic side mold, it indicates that the outer edge of the BB magnetic side mold is detected, and continue Control the distribution cart to walk in the original direction until the photoelectric switch _detects that the magnetic side mold signal disappears and the distribution cart stops. Pre-calibration point (X _J0 , Y _J0 );

Step 3: According to the distance (X _J , Y _J ) between the installation position of the photoelectric switch and the end point of the outer edge of the cloth mouth, the controller combines the pre-calibration points (X _J0 , Y _J0 ) of the photoelectric switch of the cloth machine to calculate the end point of the outer edge of the cloth mouth of the cloth machine The pre-calibration point M(X ₀ , Y ₀ ) of the distribution machine corresponding to the surface of the bottom mold tray, wherein, X ₀ =X _J0 -X _J , Y ₀ =Y _J0 -Y _J ;

_Step 4 _{: Determine} the _{relative position (} X _rel , Y _rel ), and the controller controls the placing machine to walk to the pre-calibrated point M (X ₀ , Y ₀ ), ready for cloth production.

Beneficial effects of the present invention:

The invention proposes an automatic pre-calibration method for a concrete placing machine based on a photoelectric switch. It only needs to add a photoelectric switch below the distribution opening of the existing concrete placing machine, and the detection of the magnetic side mold by the photoelectric switch can determine the concrete placing machine. The pre-calibration point is small, the modification cost is low to the existing equipment and detection system, and the compatibility with the existing distribution system is good and easy to implement. At the same time, the pre-calibration of the placing machine can be automatically completed, which improves the accuracy of the pre-calibration point for the concrete placing machine. In addition, the present invention fully considers the interference of the internal steel bars of the magnetic side mold and other external factors on the calibration result during the pre-calibration process, and uses the inner edge of the magnetic side mold for calibration, which improves the practicality of the pre-calibration technology of the concrete placing machine. sex and accuracy.

Description of drawings

1 is a schematic diagram of the distribution process of a concrete placing machine in the background of the present invention;

2 is a flowchart of an automatic pre-calibration method for a concrete placing machine based on a photoelectric switch in an embodiment of the present invention;

3 is a schematic diagram of an automatic pre-calibration method for a concrete placing machine based on a photoelectric switch in an embodiment of the present invention;

FIG. 4 is a schematic diagram of the position of the installation position of the photoelectric switch and the position A of the outer edge of the No. 1 cloth opening in the embodiment of the present invention.

In the figure, 1. the distribution trolley; 2. the concrete placing machine; 3. the screw reamer; 4. the No. 1 distribution port of the placing machine; 5. the distribution cart; 6. the bottom mold tray; 7. the magnetic side mold; 8. Guide rail; 9. Photoelectric switch; 10. Control cabinet.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The specific embodiments described herein are only used to explain the present invention, and are not intended to limit the present invention.

An automatic pre-calibration method for a concrete placing machine based on a photoelectric switch. The process is shown in Figure 2, and the principle is shown in Figure 3. The arrow in Figure 3 shows the movement route of the controller driven by the placing machine. The specific method is as follows:

Step 1: Add a photoelectric proximity switch below the No. 1 cloth opening of the cloth machine. At the same time, the direction parallel to the travel route of the cloth trolley of the cloth machine is the X axis, and the direction perpendicular to the X axis is the Y axis. Among them, the cloth trolley moves along the X axis. The axis travels back and forth, and the cloth cart travels back and forth along the Y axis.

Step 2: The controller controls the cloth cart and the trolley to drive the cloth machine to the initial position outside the cloth area, and then walks into the cloth area. The magnetic side mold is detected by the photoelectric switch to determine the position of the magnetic side mold relative to the cloth machine. Use the controller to record the pre-calibration point (X _J0, Y _J0 ) of the photoelectric switch of the placing machine. The specific steps are as follows:

Step 2.1: The controller controls the cloth trolley to drive the cloth machine to the initial position outside the cloth area, and then walks along the X axis from the outside of the cloth area to the inside of the cloth area. The magnetic side mold on the side of the vertical X axis close to the initial position is recorded as the AA side mold. At this time, the outer edge of the AA side mold outside the cloth area is detected.

Step 2.2: The controller controls the cloth trolley to drive the cloth machine to continue walking in the cloth area along the X axis. When the magnetic side mold signal detected by the photoelectric switch below the cloth port disappears, the controller controls the cloth trolley to stop. The AA magnetic side mold is on the inner edge of the cloth area, and the controller records the position X _J0 of the cloth trolley in the X-axis direction at this time.

Step 2.3: The controller controls the cloth trolley to drive the cloth machine to move in the opposite direction along the X axis and return to the initial position outside the cloth area.

Step 2.4: The controller controls the cloth cart to drive the cloth machine to move along the Y axis to the side of the pre-calibration point, until along the Y-axis direction, the position of the cloth machine is far from the outer edge of the magnetic side mold parallel to the X axis on the side of the pre-calibration point. The detection radius of the photoelectric switch, the controller then controls the cloth trolley to drive the cloth machine to move along the X-axis to the outside of the magnetic side mold on the side of the pre-calibration point parallel to the X-axis, marked as the outside of the BB magnetic side mold.

Step 2.5: The controller controls the cloth cart to drive the cloth machine to walk along the Y axis from the outside of the cloth area to the inside of the cloth area. When the photoelectric switch under the cloth mouth detects the magnetic side mold, it indicates that the outer edge of the BB magnetic side mold is detected, and continue Control the distribution cart to walk in the original direction until the photoelectric switch _detects that the magnetic side mold signal disappears and the distribution cart stops. Calibration point (X _J0, Y _J0 ).

Step 3: The controller calculates the distance (X _J , Y _J ) between the installation position of the photoelectric switch and the end A of the outer edge of the cloth mouth, as shown in Figure 4, combined with the pre-calibration points (X _J0, Y _J0 ) of the photoelectric switch of the cloth machine The pre-calibration point M(X ₀ , Y ₀ ) of the distribution machine corresponding to the end point A of the outer edge of the distribution opening of the distribution machine on the surface of the bottom mold tray, where X ₀ =X _J0 -X _J , Y ₀ =Y _J0 -Y _J .

_Step 4 _{: Determine} the _{relative position (} X _rel , Y _rel ), and the controller controls the placing machine to walk to the pre-calibrated point M (X ₀ , Y ₀ ), ready for cloth production.

The control formula for the distribution machine to control the distribution machine to walk to the pre-calibration point M (X ₀ , Y ₀ ) through the controller is as follows:

X _rel =X _crt -X ₀ ;

Y _rel =Y _crt -Y ₀ ;

X _crt (t)=X _crt (t-1)±V _x t _sc ;

Y _crt (t)=Y _crt (t-1)±V _D t _sc ;

Among them, X _crt (t) and Y _crt (t) are the positions of the placing machine on the X-axis and Y-axis of the coordinate system in the t-th cycle, respectively, and V _x is the cloth trolley detected by the encoder on the cloth trolley drive motor. Traveling speed, V _D is the traveling speed of the cloth cart detected by the encoder on the cloth cart drive motor. When the cloth cart or cart moves in the direction of increasing the value of the X-axis or Y-axis, the symbol in front of the speed in the formula is taken as "+" sign, otherwise take "-" sign, t _sc is a fixed period, and takes different values according to different controllers.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand; The technical solutions described in the foregoing embodiments are modified, or some or all of the technical features thereof are equivalently replaced; therefore, these modifications or replacements do not make the essence of the corresponding technical solutions depart from the scope defined by the claims of the present invention.

Claims (1)

1. an automatic pre-calibration method for a concrete placing machine based on a photoelectric switch, is characterized in that, comprises the following steps: Step 1: Add a photoelectric switch below the cloth opening on one side of the cloth machine. At the same time, the direction parallel to the travel route of the cloth trolley of the cloth machine is the X axis, and the direction perpendicular to the X axis is the Y axis. Among them, the cloth trolley Travel back and forth along the X axis, and the cloth cart travels back and forth along the Y axis; Step 2: The controller controls the cloth cart and the trolley to drive the cloth machine to the initial position outside the cloth area, and then walks into the cloth area. The magnetic side mold is detected by the photoelectric switch to determine the position of the magnetic side mold relative to the cloth machine. Use the controller to record the pre-calibration points (X _J0 , Y _J0 ) of the photoelectric switch of the placing machine, the specific steps are as follows: Step 2.1: The controller controls the cloth trolley to drive the cloth machine to the initial position outside the cloth area, and then walks along the X axis from the outside of the cloth area to the inside of the cloth area. The magnetic side mold on the side of the X-axis perpendicular to the initial position is recorded as the AA side mold. At this time, the outer edge of the AA side mold on the outside of the cloth area is detected; Step 2.2: The controller controls the cloth trolley to drive the cloth machine to continue walking in the cloth area along the X axis. When the magnetic side mold signal detected by the photoelectric switch below the cloth port disappears, the controller controls the cloth trolley to stop. The AA magnetic side mold is on the inner edge of the cloth area side, and the controller records the position X _J0 of the cloth trolley in the X-axis direction at this time; Step 2.3: The controller controls the cloth trolley to drive the cloth machine to move in the reverse direction along the X axis and return to the initial position outside the cloth area; Step 2.4: The controller controls the cloth cart to drive the cloth machine to move along the Y axis to the side of the pre-calibration point, until along the Y-axis direction, the position of the cloth machine is far from the outer edge of the magnetic side mold parallel to the X axis on the side of the pre-calibration point. The detection radius of the photoelectric switch, the controller then controls the cloth trolley to drive the cloth machine to move along the X-axis to the outer side of the magnetic side mold on the side of the pre-calibration point parallel to the X-axis, marked as the outer side of the BB magnetic side mold; Step 2.5: The controller controls the cloth cart to drive the cloth machine to walk along the Y axis from the outside of the cloth area to the inside of the cloth area. When the photoelectric switch under the cloth mouth detects the magnetic side mold, it indicates that the outer edge of the BB magnetic side mold is detected, and continue Control the distribution cart to walk in the original direction until the photoelectric switch _detects that the magnetic side mold signal disappears and the distribution cart stops. Pre-calibration point (X _J0 , Y _J0 ); Step 3: According to the distance (X _J , Y _J ) between the installation position of the photoelectric switch and the end point of the outer edge of the cloth mouth, the controller combines the pre-calibration points (X _J0 , Y _J0 ) of the photoelectric switch of the cloth machine to calculate the end point of the outer edge of the cloth mouth of the cloth machine The pre-calibration point M(X ₀ , Y ₀ ) of the distribution machine corresponding to the surface of the bottom mold tray, wherein, X ₀ =X _J0 -X _J , Y ₀ =Y _J0 -Y _J ; Step 4: Determine the relative position of the placing machine and the pre-calibration point M (X ₀ , Y ₀ ) according to the pre-calibration point (X ₀ , Y ₀ ) of the placing machine and the current position and position (X _crt , Y _crt ) of the placing machine (X _rel , Y _rel ), and the controller controls the placing machine to walk to the pre-calibrated point M (X ₀ , Y ₀ ), ready for cloth production.

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