CN110334420A - Eccentric wheel origin discrimination method, system, equipment and computer readable storage medium - Google Patents
Eccentric wheel origin discrimination method, system, equipment and computer readable storage medium Download PDFInfo
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Abstract
The embodiment of the invention discloses a kind of eccentric wheel origin discrimination method, system, equipment and computer readable storage mediums, are related to brick machine technical field.Wherein method include: choose vibrating bin in any eccentric wheel as benchmark eccentric wheel, control benchmark eccentric wheel, which is in, naturally droops position, its current angular is recorded as the origin position of benchmark eccentric wheel, the initial angle position of other interior eccentric wheels of record current vibration case；Each eccentric wheel in vibrating bin is controlled to rotate predetermined amount with the same direction, same rotational speed simultaneously, and obtain the corresponding driver current feedback profile of each eccentric wheel in real time in each eccentric wheel rotary course；According to the corresponding driver current feedback profile of each eccentric wheel, the angle difference between the origin position of other eccentric wheels and the origin position of benchmark eccentric wheel is obtained；It is calculated according to the initial angle position of the angle difference and other eccentric wheels and records the origin position of other eccentric wheels.The embodiment of the present invention can accurately, efficiently detect the origin of eccentric wheel.
Description
Technical field
The present embodiments relate to brick machine technical field, in particular to a kind of eccentric wheel origin discrimination method, system, equipment
And computer readable storage medium.
Background technique
On brickmaking machine equipment, vibrating bin is to determine the pressure molding core component of brick.Vibrating bin passes through vertical direction high frequency
The exciting force of vibration, by the brick producing materials compression moulding such as concrete.In general, having two or four eccentric wheel synchronous in vibrating bin
Rotation, during eccentric wheel high-speed rotation, the inertia force of horizontal direction offsets each other, and the inertia force of vertical direction is mutually stacked
Adduction is transmitted on mold motherboard, forms exciting force.To realize optimal synchronous effect, several eccentric wheels is initial in vibrating bin
Angle has to be consistent, and is in origin position, can guarantee the symmetrical control of angle after starting, just in this way so as to complete
The exciting force in full offset by the level of direction, generates optimal vibrating effect.
As shown in Figure 1, the every two eccentric wheel 12 in vibrating bin forms one group of exciting force unit, and same group of exciting force list
Two 12 opposite direction rotatings of eccentric wheel in member.When the rotation angle symmetrical of two eccentric wheels 12 in same group of exciting force unit
When, it can be completely counterbalanced by the inertia force of horizontal direction, and be superimposed on the inertia force to mold motherboard 11 of vertical direction.In conjunction with Fig. 2,
For eccentric wheel 12 different angle gravity decomposition diagram, wherein O point be eccentric wheel 12 axis, O ' point be eccentric wheel 12
Center of gravity, O point and O ' point distance be eccentric wheel 12 eccentricity, G be eccentric wheel 12 gravity, F1 be eccentricity on gravity
Component, θ are the angle of eccentricity and vertical direction, and F2 is the weight component on the direction of rotation of eccentric wheel 12, in which:
F1=G × cos θ (1)
F2=G × sin θ (2)
By above formula (1), (2) it is found that when θ is 0, F2 0.It i.e. in the ideal situation, if can be by two eccentric wheels 12
It is adjusted to the position naturally drooped, so that it may guarantee that two wheel initial angles are identical, and be in origin position.However, by
In transmission mechanism, there are certain frictional force B, cause eccentric wheel 12 in its natural state can not be completely sagging.
Currently, to be completely counterbalanced by the exciting force of horizontal direction, in the prior art generally installing close to by way of switch
Come realize eccentric wheel origin identify, i.e., first installation close to switch arrive several eccentric wheels, then finely tune motor shaft, according to close to switch
Registration signal judge whether several eccentric wheels are in origin position, there are following defects for this mode: to close to switch
Installation accuracy require it is very high, when installation accuracy is undesirable, will affect origin accuracy of identification；In addition, this mode is wanted
An origin alignment adjustment will be carried out after asking equipment to power on every time, cumbersome, efficiency is lower, and works as shake table long-time work
It is easy to shake loose dynamic close to switch after work, influences subsequent origin accuracy of identification.
Summary of the invention
In view of this, the embodiment of the present invention be designed to provide a kind of eccentric wheel origin discrimination method, system, equipment and
Computer readable storage medium is opened above by the close switch progress origin knowledge of installation is existing otherwise close with solution
The installation accuracy requirement of pass is very high, when installation accuracy is undesirable, will affect origin accuracy of identification；And, it is desirable that equipment
An origin alignment adjustment will be carried out after powering on every time, operation is comparatively laborious, and being easy after shake table works long hours will
Dynamic, the problem of influencing subsequent origin accuracy of identification is shaken loose close to switch.
It is as follows that the embodiment of the present invention solves technical solution used by above-mentioned technical problem:
According to an aspect of an embodiment of the present invention, a kind of eccentric wheel origin discrimination method is provided, comprising:
It chooses any eccentric wheel in vibrating bin and is used as benchmark eccentric wheel, control the benchmark eccentric wheel in naturally drooping position
It sets, the current angular of the benchmark eccentric wheel is recorded as to the origin position of the benchmark eccentric wheel, while recording presently described
The initial angle position of other eccentric wheels in vibrating bin；
It controls each eccentric wheel in vibrating bin and predetermined amount is rotated with the same direction, same rotational speed simultaneously, and in each eccentric wheel
The corresponding driver current feedback profile of each eccentric wheel is obtained in rotary course in real time；
According to the corresponding driver current feedback profile of each eccentric wheel, origin position and the institute of other eccentric wheels are obtained
State the angle difference between the origin position of benchmark eccentric wheel；
According to the angle difference between the origin position of other eccentric wheels and the origin position of the benchmark eccentric wheel
And the origin position of other eccentric wheels is calculated in the initial angle position of other eccentric wheels, other are inclined described in record
The origin position of heart wheel.
Preferably, described according to the corresponding driver current feedback profile of each eccentric wheel, obtain other eccentric wheels
Angle difference between origin position and the origin position of the benchmark eccentric wheel includes:
According to the corresponding driver current feedback profile of each eccentric wheel, the corresponding driving of other described eccentric wheels is obtained
The current feedback time to peak of device driver corresponding with the benchmark eccentric wheel is poor；
According to the current feedback time to peak, poor, eccentric wheel revolving speed and encoder resolution are according to following formula meter
Calculation obtains the angle difference between other eccentric wheels and the origin position of benchmark eccentric wheel:
Wherein,For the angle difference between other described eccentric wheels and the origin position of benchmark eccentric wheel, v is bias
The revolving speed of wheel, Δ t are that the current feedback time to peak is poor, and A is encoder resolution.
Preferably, according to the corresponding driver current feedback profile of each eccentric wheel, other described eccentric wheels pair are obtained
The current feedback time to peak difference of the driver answered driver corresponding with the benchmark eccentric wheel includes:
It obtains in the corresponding driver current feedback profile of other eccentric wheels corresponding to multiple wave crests or multiple troughs
Multiple first time points；
It obtains in the corresponding driver current feedback profile of the benchmark eccentric wheel corresponding to multiple wave crests or multiple troughs
Multiple second time points；
The multiple first time point is clicked through with the second time corresponding in the multiple second time point respectively
Row compares, and multiple time differences are calculated, and is averaging to the multiple time difference, obtains the current feedback time to peak
Difference.
Preferably, the control benchmark eccentric wheel, which is in, naturally droops position, by the current of the benchmark eccentric wheel
Angle recordings are that the origin position of the benchmark eccentric wheel includes:
It controls the benchmark eccentric wheel to rotate to predeterminated position, read when the benchmark eccentric wheel is rotated to predeterminated position pair
Encoder individual pen position, is recorded as the origin position of the benchmark eccentric wheel by the encoder individual pen position answered；Wherein, institute
Stating label on benchmark eccentric wheel has origin to identify axis markers, and label has origin to identify axis mark on brick machine equipment
Note illustrates that the benchmark is eccentric when first origin identification axis markers are overlapped with second origin identification axis markers
Wheel has rotated to the predeterminated position.
Preferably, between the origin position of other eccentric wheels according to and the origin position of the benchmark eccentric wheel
Angle difference and the initial angle positions of other eccentric wheels the origin positions of other eccentric wheels, record is calculated
After the origin position of other eccentric wheels further include:
According to the control of the origin position of the origin position of the benchmark eccentric wheel of record and other eccentric wheels
Benchmark eccentric wheel and other described wobbler actions are to respective origin position.
Other side according to an embodiment of the present invention provides a kind of eccentric wheel origin identification system, comprising:
Initial position acquiring unit controls the base as benchmark eccentric wheel for choosing any eccentric wheel in vibrating bin
Quasi- eccentric wheel is in and naturally droops position, and the current angular of the benchmark eccentric wheel is recorded as to the origin of the benchmark eccentric wheel
Position, while recording the initial angle position of other eccentric wheels presently described vibrating bin Nei；
Current feedback curve acquisition unit, for controlling in vibrating bin each eccentric wheel simultaneously with the same direction, same rotational speed
Predetermined amount is rotated, and obtains the corresponding driver current feedback profile of each eccentric wheel in real time in each eccentric wheel rotary course；
Angle difference acquiring unit, for according to the corresponding driver current feedback profile of each eccentric wheel, obtain it is described its
Angle difference between the origin position of his eccentric wheel and the origin position of the benchmark eccentric wheel；
Origin position computing unit, for according to the origin position of other eccentric wheels and the original of the benchmark eccentric wheel
The original of other eccentric wheels is calculated in the initial angle position of angle difference and other eccentric wheels between point position
Point position records the origin position of other eccentric wheels.
Preferably, the angle difference acquiring unit includes:
Time difference calculating unit, for according to the corresponding driver current feedback profile of each eccentric wheel, described in acquisition
The current feedback time to peak of the corresponding driver of other eccentric wheels driver corresponding with the benchmark eccentric wheel is poor；
Angle difference computing unit, for revolving speed poor, eccentric wheel according to the current feedback time to peak and coding
The angle difference between other eccentric wheels and the origin position of benchmark eccentric wheel is calculated according to following formula for device resolution ratio:
Wherein,For the angle difference between other described eccentric wheels and the origin position of benchmark eccentric wheel, v is bias
The revolving speed of wheel, Δ t are that the current feedback time to peak is poor, and A is encoder resolution.
Preferably, the time difference calculating unit is specifically used for:
It obtains in the corresponding driver current feedback profile of other eccentric wheels corresponding to multiple wave crests or multiple troughs
Multiple first time points；
It obtains in the corresponding driver current feedback profile of the benchmark eccentric wheel corresponding to multiple wave crests or multiple troughs
Multiple second time points；
The multiple first time point is clicked through with the second time corresponding in the multiple second time point respectively
Row compares, and multiple time differences are calculated, and is averaging to the multiple time difference, obtains the current feedback time to peak
Difference.
Another aspect according to an embodiment of the present invention provides a kind of eccentric wheel origin identification apparatus, including memory, place
It manages device and is stored in the computer program that can be run on the memory and on the processor, the computer program quilt
When the processor executes, the step of realizing eccentric wheel origin discrimination method as described in any one of the above embodiments.
Another aspect according to an embodiment of the present invention provides a kind of computer readable storage medium, and the computer can
It reads to be stored with computer program on storage medium, when the computer program is executed by processor, realize such as any of the above-described institute
The step of eccentric wheel origin discrimination method stated.
Eccentric wheel origin discrimination method, system, equipment and computer readable storage medium provided in an embodiment of the present invention, by
It is used as benchmark eccentric wheel in choosing any eccentric wheel in vibrating bin first, controls the benchmark eccentric wheel in naturally drooping position
It sets, the current angular of the benchmark eccentric wheel is recorded as to the origin position of the benchmark eccentric wheel, while recording presently described
The initial angle position of other eccentric wheels in vibrating bin；Then each eccentric wheel is controlled in vibrating bin simultaneously with the same direction, identical
Revolving speed rotates predetermined amount, and obtains the corresponding driver current feedback song of each eccentric wheel in real time in each eccentric wheel rotary course
Line；According to the corresponding driver current feedback profile of each eccentric wheel, the origin position and the base of other eccentric wheels are obtained
Angle difference between the origin position of quasi- eccentric wheel；Finally, according to the origin position of other eccentric wheels and the benchmark
The initial angle position of angle difference and other eccentric wheels between the origin position of eccentric wheel be calculated it is described other
The origin position of eccentric wheel, and record the origin position of other eccentric wheels, so as to realize by software algorithm according to
Driving current feedback phase is poor, starting origin that is accurate, efficiently detecting eccentric wheel, close without installing on eccentric wheel
Switch simplifies user's operation, and avoid when vibrating director without all carrying out an origin calibration after powering on every time manually
Between work after be easy that dynamic, the problem of influencing subsequent origin accuracy of identification will be shaken loose close to switch.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 be in the prior art in existing brick machine equipment in same group of exciting force unit the operation of two eccentric wheels signal
Figure；
Fig. 2 is the schematic diagram of eccentric wheel stress during rotation；
Fig. 3 is the structural block diagram of brick machine equipment in the embodiment of the present invention；
Fig. 4 is the specific implementation flow schematic diagram of eccentric wheel origin discrimination method provided in an embodiment of the present invention；
Fig. 5 is that eccentric wheel origin discrimination method provided in an embodiment of the present invention is applied and collected when on four axis brick machine equipments
The corresponding four driver current feedback profiles of four eccentric wheels waveform diagram；
Fig. 6 is that eccentric wheel origin discrimination method provided in an embodiment of the present invention is applied and calculates two when on two axis brick machine equipments
The schematic illustration of the corresponding driver current peak value feedback time difference of a eccentric wheel；
Fig. 7 is the structural schematic diagram of eccentric wheel origin identification system provided in an embodiment of the present invention；
Fig. 8 is the structural schematic diagram of eccentric wheel origin identification apparatus provided in an embodiment of the present invention.
Specific embodiment
In order to be clearer and more clear technical problems, technical solutions and advantages to be solved, tie below
Drawings and examples are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
To explain the present invention, it is not intended to limit the present invention.
Fig. 3 is the structural block diagram of brick machine equipment in the embodiment of the present invention.It illustrate only and this implementation for ease of description
The relevant part of example.
Shown in Figure 3, the brick machine equipment in the embodiment of the present invention includes vibrating bin, multiple bias in vibrating bin
Wheel, the multiple motors being electrically connected respectively with multiple eccentric wheels, respectively the driver that is connect with multiple motors and with multiple drives
Eccentric wheel origin identification system/equipment of dynamic device connection.Wherein, an encoder is arranged on the motor shaft of each motor
(not shown).It should be noted that the structural block diagram of brick machine equipment shown in Fig. 3 is only that one enumerated of the invention is preferably real
Existing example, is not intended to restrict the invention, such as: it can also only include two eccentric wheels in vibrating bin in specific implementation.?
When specific implementation, the eccentric wheel origin identification system or the eccentric wheel identification apparatus be can be independently of the multiple driving
The system or equipment of device is also possible to the system or equipment being integrated in the multiple driver.
Based on above system structure, following embodiment of the invention is proposed.
Embodiment one
Fig. 4 is the specific implementation flow chart of eccentric wheel origin discrimination method provided in an embodiment of the present invention.This method is held
Row main body is eccentric wheel origin identification system/equipment in brick machine equipment shown in Fig. 3.It is shown in Figure 4, it is provided in this embodiment
Eccentric wheel origin discrimination method the following steps are included:
Step S401 chooses any eccentric wheel in vibrating bin and controls the benchmark eccentric wheel as benchmark eccentric wheel and be in
Position is naturally drooped, the current angular of the benchmark eccentric wheel is recorded as to the origin position of the benchmark eccentric wheel, is remembered simultaneously
Record the initial angle position of other eccentric wheels presently described vibrating bin Nei.
Wherein, the current angular of the benchmark eccentric wheel is referred into the corresponding encoder individual pen of presently described benchmark eccentric wheel
Position；The initial angle position of other eccentric wheels refers to presently described other eccentric wheels corresponding encoder individual pen position.
Wherein, the control benchmark eccentric wheel, which is in, naturally droops position, and the benchmark eccentric wheel is worked as anterior angle
Degree is recorded as the origin position of the benchmark eccentric wheel
It controls the benchmark eccentric wheel to rotate to predeterminated position, read when the benchmark eccentric wheel is rotated to predeterminated position pair
Encoder individual pen position, is recorded as the origin position of the benchmark eccentric wheel by the encoder individual pen position answered；Wherein, institute
Stating label on benchmark eccentric wheel has origin to identify axis markers, and label has origin to identify axis mark on brick machine equipment
Note illustrates that the benchmark is eccentric when first origin identification axis markers are overlapped with second origin identification axis markers
Wheel has rotated to the predeterminated position.
Preferably, in the present embodiment, the benchmark eccentric wheel is being controlled in position is naturally drooped, get the base
After the origin position of quasi- eccentric wheel, it can be recorded as described inclined directly by the angle position of other eccentric wheels in current vibration case
The initial angle position of heart wheel；It can also be with by the initial angle zero setting of other eccentric wheels, then other are eccentric described in control
Wheel moves at the position that its corresponding encoder individual pen positional value is 0, and the initial angle of other eccentric wheels is denoted as
0。
Step S402, control vibrating bin in each eccentric wheel simultaneously with the same direction, same rotational speed rotate predetermined amount, and
The corresponding driver current feedback profile of each eccentric wheel is obtained in each eccentric wheel rotary course in real time.
In the present embodiment, for each eccentric wheel in rotary course, corresponding driver current feedback profile is sine
Wave profile, when eccentric wheel is in and naturally droops position, driver current value of feedback is in the wave crest and trough of sine wave curve
Point position；When eccentric wheel is in and is parallel to ground location, crest location or trough of the driver current value of feedback in sinusoidal line
Position.When each eccentric wheel simultaneously with the same direction, same rotational speed rotation when, can correspond to that generate multiple amplitudes, frequency identical, but
The different sine-wave drive current feedback curve of phase, wherein the sine wave of a cycle is generated for each revolution, as Fig. 5 shows
The schematic diagram of driver current feedback profile corresponding to four eccentric wheels in vibrating bin in a specific implementation example is gone out.Its
In, direction of rotation, rotation speed and predetermined amount can voluntarily be configured as needed by user.Preferably, in the present embodiment, it controls
Make each eccentric wheel simultaneously, it is positive, with ten circle of revolving speed v=30rpm rotation.
Step S403 obtains the original of other eccentric wheels according to the corresponding driver current feedback profile of each eccentric wheel
Angle difference between point position and the origin position of the benchmark eccentric wheel.
In the present embodiment, step S403 is specifically included:
According to the corresponding driver current feedback profile of each eccentric wheel, the corresponding driving of other described eccentric wheels is obtained
The current feedback time to peak of device driver corresponding with the benchmark eccentric wheel is poor；
According to the current feedback time to peak, poor, eccentric wheel revolving speed and encoder resolution are according to following formula meter
Calculation obtains the angle difference between other eccentric wheels and the origin position of benchmark eccentric wheel:
Wherein,For the angle difference between other described eccentric wheels and the origin position of benchmark eccentric wheel, v is bias
The revolving speed of wheel, Δ t are that the current feedback time to peak is poor, and A is encoder resolution.
Wherein, according to the corresponding driver current feedback profile of each eccentric wheel, it is corresponding that other described eccentric wheels are obtained
The current feedback time to peak difference of driver driver corresponding with the benchmark eccentric wheel include:
It obtains in the corresponding driver current feedback profile of other eccentric wheels corresponding to multiple wave crests or multiple troughs
Multiple first time points；
It obtains in the corresponding driver current feedback profile of the benchmark eccentric wheel corresponding to multiple wave crests or multiple troughs
Multiple second time points；
The multiple first time point is clicked through with the second time corresponding in the multiple second time point respectively
Row compares, and multiple time differences are calculated, and is averaging to the multiple time difference, obtains the current feedback time to peak
Difference.
For example, including the first eccentric wheel, the second eccentric wheel in vibrating bin in two axis brick machine equipments, wherein first is eccentric
Wheel is benchmark eccentric wheel.Shown in Figure 6 is that the first eccentric wheel and the corresponding two driver currents feedback of the second eccentric wheel are bent
Line.Wherein, there is n wave crest in the corresponding driver current feedback profile of the first eccentric wheel, each wave crest corresponding time point point
It Wei not t1, t2, t3... ..., tn；There are n wave crest, each wave crest pair in the corresponding driver current feedback profile of second eccentric wheel
The time point answered is respectively t '1', t '2', t '3' ... ..., t ' 'n；So have:
Similarly, in four axis brick machine equipments, other three eccentric wheels and benchmark can also be acquired according to above-mentioned calculation
The current feedback time to peak of driver corresponding to eccentric wheel is poor, and which is not described herein again.
Since other eccentric wheels and benchmark eccentric wheel are rotated simultaneously with same rotational speed, the same direction, acquire
It, can be according to formula after the current feedback time to peak difference of other eccentric wheels driver corresponding with benchmark eccentric wheel:The angle difference between other eccentric wheels and the origin position of benchmark eccentric wheel is calculated, then
It is subsequent can angle difference between other eccentric wheels and the origin position of benchmark eccentric wheel and other eccentric wheels just
Acquire the origin position of other eccentric wheels in beginning angle position.
Step S404, according between the origin position of other eccentric wheels and the origin position of the benchmark eccentric wheel
The origin position of other eccentric wheels is calculated in the initial angle position of angle difference and other eccentric wheels, records institute
State the origin position of other eccentric wheels.
In the present embodiment, due to being recorded after the origin position for getting eccentric wheel to it, opened in this way convenient for next time
Before dynamic brick machine equipment, the origin position of each eccentric wheel identified before calling directly carries out starting origin school to each eccentric wheel
Standard identifies the origin of each eccentric wheel without repetition.
For example, including the first eccentric wheel, the second eccentric wheel in vibrating bin in two axis brick machine equipments, wherein first is eccentric
Wheel is benchmark eccentric wheel.The angle difference between the origin position of the first eccentric wheel and the origin position of the second eccentric wheel is enabled to be
The initial angle position of second eccentric wheel isThe origin position of second eccentric wheel isSo have:
Similarly, in four axis brick machine equipments, the origin of other three eccentric wheels can also be acquired according to above-mentioned calculation
Position, details are not described herein.
It further, can also include: the benchmark eccentric wheel according to record after step S404 in the present embodiment
Origin position and the origin positions of other eccentric wheels control the benchmark eccentric wheel and other described wobbler actions extremely
Respective origin position.
In the present embodiment, it after the origin position for getting each eccentric wheel, controls each eccentric wheel and rotates to respective
Origin position both may make the initial angle of each eccentric wheel to be consistent, and has been in the state of naturally drooping in this way.
Above as can be seen that eccentric wheel origin discrimination method provided in this embodiment is due to being first in benchmark eccentric wheel
Position is naturally drooped, its corresponding encoder individual pen positional value is recorded, then as benchmark, in the same direction, at the same speed according to each motor
Rotation, obtains driver corresponding to other each eccentric wheels relative to base as the corresponding driver current feedback profile of each eccentric wheel
The current feedback time to peak of driver corresponding to quasi- eccentric wheel is poor, then determines other bias further according to motor rotation speed
The origin position of wheel connects so as to realize accurate, the efficient origin for detecting eccentric wheel without installing on eccentric wheel
Nearly switch simplifies user's operation, and avoid as vibration director without all carrying out an origin calibration after powering on every time manually
It is easy that dynamic, the problem of influencing subsequent origin accuracy of identification will be shaken loose close to switch after time service.
Embodiment two
Fig. 7 is the structural schematic diagram of eccentric wheel origin identification system provided in an embodiment of the present invention.For ease of description only
Only the parts related to this embodiment are shown.
Shown in Figure 7, eccentric wheel origin identification system 7 provided in this embodiment includes:
Initial position acquiring unit 71, for choosing in vibrating bin any eccentric wheel as benchmark eccentric wheel, described in control
Benchmark eccentric wheel is in and naturally droops position, and the current angular of the benchmark eccentric wheel is recorded as to the original of the benchmark eccentric wheel
Point position, while recording the initial angle position of other eccentric wheels presently described vibrating bin Nei；
Current feedback curve acquisition unit 72, for controlling in vibrating bin each eccentric wheel simultaneously with the same direction, identical turn
Speed rotation predetermined amount, and obtain the corresponding driver current feedback song of each eccentric wheel in real time in each eccentric wheel rotary course
Line；
Angle difference acquiring unit 73, for according to the corresponding driver current feedback profile of each eccentric wheel, described in acquisition
Angle difference between the origin position of other eccentric wheels and the origin position of the benchmark eccentric wheel；
Origin position computing unit 74, for the origin position and the benchmark eccentric wheel according to other eccentric wheels
Other eccentric wheels are calculated in the initial angle position of angle difference and other eccentric wheels between origin position
Origin position records the origin position of other eccentric wheels.
Optionally, the angle difference acquiring unit 73 includes:
Time difference calculating unit 731, for obtaining institute according to the corresponding driver current feedback profile of each eccentric wheel
The current feedback time to peak for stating the corresponding driver of other eccentric wheels driver corresponding with the benchmark eccentric wheel is poor；
Angle difference computing unit 732, for revolving speed poor, eccentric wheel according to the current feedback time to peak and volume
The angle difference between other eccentric wheels and the origin position of benchmark eccentric wheel is calculated according to following formula for code device resolution ratio:
Wherein,For the angle difference between other described eccentric wheels and the origin position of benchmark eccentric wheel, v is bias
The revolving speed of wheel, Δ t are that the current feedback time to peak is poor, and A is encoder resolution.
Optionally, the time difference calculating unit 731 is specifically used for:
It obtains in the corresponding driver current feedback profile of other eccentric wheels corresponding to multiple wave crests or multiple troughs
Multiple first time points；
It obtains in the corresponding driver current feedback profile of the benchmark eccentric wheel corresponding to multiple wave crests or multiple troughs
Multiple second time points；
The multiple first time point is clicked through with the second time corresponding in the multiple second time point respectively
Row compares, and multiple time differences are calculated, and is averaging to the multiple time difference, obtains the current feedback time to peak
Difference.
It should be noted that the eccentric wheel origin discrimination method that the system of the present embodiment is provided with above-described embodiment one belongs to
Same design, specific implementation process are shown in embodiment of the method in detail, and the technical characteristic in embodiment of the method is implemented in this equipment
Corresponding in example to be applicable in, which is not described herein again.
It will appreciated by the skilled person that whole or certain steps in the present embodiment disclosed method, can be with
It is implemented as software, firmware, hardware and its combination appropriate.
Embodiment three
Fig. 8 is the structural representation of eccentric wheel origin identification apparatus provided in an embodiment of the present invention.For ease of description only
Show part related to the present embodiment.
It is shown in Figure 8, eccentric wheel origin identification apparatus 8 provided in this embodiment include memory 81, processor 82 and
It is stored in the computer program 83 that can be run on the memory 81 and on the processor 82, the computer program 83
When being executed by the processor 82, the step of realizing eccentric wheel origin discrimination method as described in above-described embodiment one.
It should be noted that the eccentric wheel origin discrimination method that the equipment of the present embodiment is provided with above-described embodiment one belongs to
Same design, specific implementation process are shown in embodiment of the method in detail, and the technical characteristic in embodiment of the method is implemented in this equipment
Corresponding in example to be applicable in, which is not described herein again.
It will appreciated by the skilled person that whole or certain steps in the present embodiment disclosed method, can be with
It is implemented as software, firmware, hardware and its combination appropriate.
Example IV
The embodiment of the present invention also provides a kind of computer readable storage medium, stores on the computer readable storage medium
There is computer program, when the computer program is executed by processor, realizes the eccentric wheel origin as described in above-described embodiment one
The step of discrimination method.
It should be noted that the eccentric wheel that the computer readable storage medium of the present embodiment and above-described embodiment one provide is former
Point discrimination method belongs to same design, and specific implementation process is shown in embodiment of the method in detail, and the technology in embodiment of the method is special
Sign is corresponding in this apparatus embodiments to be applicable in, and which is not described herein again.
It will appreciated by the skilled person that whole or certain steps in the present embodiment disclosed method, can be with
It is implemented as software, firmware, hardware and its combination appropriate.
In hardware embodiment, the division between functional module/unit referred in the above description is not necessarily corresponded to
In the division of physical assemblies；If for example, a physical assemblies can have multiple functions or a function or step can be by
Dry physical assemblies cooperation executes.Certain physical assemblies or all physical assemblies may be implemented as by processor, such as central processing
The software that device, digital signal processor or microprocessor execute, is perhaps implemented as hardware or is implemented as integrated circuit,
Such as specific integrated circuit.Such software can be distributed on a computer-readable medium, and computer-readable medium may include meter
Calculation machine storage medium (or non-transitory medium) and communication media (or fugitive medium).As known in those of ordinary skill in the art
, term computer storage medium is included in for storing information (such as computer readable instructions, data structure, program module
Or other data) any method or technique in implement volatile and non-volatile, removable and nonremovable medium.It calculates
Machine storage medium includes but is not limited to RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc
(DVD) or other optical disc storages, magnetic holder, tape, disk storage or other magnetic memory apparatus or can be used for storing desired
Information and any other medium that can be accessed by a computer.In addition, known to a person of ordinary skill in the art be, communication
Medium generally comprises computer readable instructions, data structure, program module or such as carrier wave or other transmission mechanisms etc
Other data in modulated data signal, and may include any information delivery media.
Preferred embodiments of the present invention have been described above with reference to the accompanying drawings, not thereby limiting the scope of the invention.This
Field technical staff without departing from the scope and spirit of the invention in made by any modifications, equivalent replacements, and improvements, should all this
Within the interest field of invention.
Claims (10)
1. a kind of eccentric wheel origin discrimination method characterized by comprising
It chooses any eccentric wheel in vibrating bin and is used as benchmark eccentric wheel, control the benchmark eccentric wheel in naturally drooping position,
The current angular of the benchmark eccentric wheel is recorded as to the origin position of the benchmark eccentric wheel, while recording presently described vibration
The initial angle position of other eccentric wheels in case；
It controls each eccentric wheel in vibrating bin and predetermined amount is rotated with the same direction, same rotational speed simultaneously, and rotated in each eccentric wheel
Obtain the corresponding driver current feedback profile of each eccentric wheel in real time in the process；
According to the corresponding driver current feedback profile of each eccentric wheel, the origin position and the base of other eccentric wheels are obtained
Angle difference between the origin position of quasi- eccentric wheel；
According between the origin position of other eccentric wheels and the origin position of the benchmark eccentric wheel angle difference and institute
The origin position of other eccentric wheels is calculated in the initial angle position for stating other eccentric wheels, records other described eccentric wheels
Origin position.
2. eccentric wheel origin discrimination method as described in claim 1, which is characterized in that described according to the corresponding drive of each eccentric wheel
Dynamic device current feedback curve obtains between the origin position of other eccentric wheels and the origin position of the benchmark eccentric wheel
Angle difference includes:
According to the corresponding driver current feedback profile of each eccentric wheel, obtain the corresponding driver of other eccentric wheels with
The current feedback time to peak of the corresponding driver of the benchmark eccentric wheel is poor；
According to the current feedback time to peak, poor, eccentric wheel revolving speed and encoder resolution are calculated according to following formula
Angle difference between other eccentric wheels and the origin position of benchmark eccentric wheel:
Wherein,For the angle difference between other described eccentric wheels and the origin position of benchmark eccentric wheel, v is eccentric wheel
Revolving speed, Δ t are that the current feedback time to peak is poor, and A is encoder resolution.
3. eccentric wheel origin discrimination method as claimed in claim 2, which is characterized in that according to the corresponding drive of each eccentric wheel
Dynamic device current feedback curve obtains the corresponding driver of other eccentric wheels driver corresponding with the benchmark eccentric wheel
Current feedback time to peak difference includes:
It obtains in the corresponding driver current feedback profile of other eccentric wheels more corresponding to multiple wave crests or multiple troughs
A first time point；
It obtains in the corresponding driver current feedback profile of the benchmark eccentric wheel more corresponding to multiple wave crests or multiple troughs
A second time point；
The multiple first time point is compared with the second time point corresponding in the multiple second time point respectively
Compared with, multiple time differences are calculated, to the multiple time difference be averaging, it is poor to obtain the current feedback time to peak.
4. eccentric wheel origin discrimination method as described in claim 1, which is characterized in that at the control benchmark eccentric wheel
In naturally drooping position, include: by the origin position that the current angular of the benchmark eccentric wheel is recorded as the benchmark eccentric wheel
It controls the benchmark eccentric wheel to rotate to predeterminated position, read corresponding when the benchmark eccentric wheel is rotated to predeterminated position
Encoder individual pen position is recorded as the origin position of the benchmark eccentric wheel by encoder individual pen position；Wherein, the base
Label has origin to identify axis markers on quasi- eccentric wheel, and label has origin to identify axis markers on brick machine equipment, when
The first origin identification axis markers illustrate that the benchmark eccentric wheel revolves when being overlapped with second origin identification axis markers
The predeterminated position is gone to.
5. eccentric wheel origin discrimination method as described in claim 1, which is characterized in that other eccentric wheels according to
The initial angle position of angle difference and other eccentric wheels between origin position and the origin position of the benchmark eccentric wheel
The origin position that other eccentric wheels are calculated is set, after the origin position for recording other eccentric wheels further include:
The benchmark is controlled according to the origin position of the origin position of the benchmark eccentric wheel of record and other eccentric wheels
Eccentric wheel and other described wobbler actions are to respective origin position.
6. a kind of eccentric wheel origin identification system characterized by comprising
It is inclined to control the benchmark as benchmark eccentric wheel for choosing any eccentric wheel in vibrating bin for initial position acquiring unit
Heart wheel is in and naturally droops position, and the current angular of the benchmark eccentric wheel is recorded as to the origin position of the benchmark eccentric wheel
It sets, while recording the initial angle position of other eccentric wheels presently described vibrating bin Nei；
Current feedback curve acquisition unit is rotated simultaneously with the same direction, same rotational speed for controlling each eccentric wheel in vibrating bin
Predetermined amount, and obtain the corresponding driver current feedback profile of each eccentric wheel in real time in each eccentric wheel rotary course；
Angle difference acquiring unit, for according to the corresponding driver current feedback profile of each eccentric wheel, obtain it is described other partially
Angle difference between the origin position of heart wheel and the origin position of the benchmark eccentric wheel；
Origin position computing unit, for according to the origin position of other eccentric wheels and the origin position of the benchmark eccentric wheel
The origin position of other eccentric wheels is calculated in the initial angle position of angle difference and other eccentric wheels between setting
It sets, records the origin position of other eccentric wheels.
7. eccentric wheel origin identification system as claimed in claim 6, which is characterized in that the angle difference acquiring unit packet
It includes:
Time difference calculating unit, for according to the corresponding driver current feedback profile of each eccentric wheel, obtain it is described other
The current feedback time to peak of the corresponding driver of eccentric wheel driver corresponding with the benchmark eccentric wheel is poor；
Angle difference computing unit, for revolving speed poor, eccentric wheel according to the current feedback time to peak and encoder point
The angle difference between other eccentric wheels and the origin position of benchmark eccentric wheel is calculated according to following formula for resolution:
Wherein,For the angle difference between other described eccentric wheels and the origin position of benchmark eccentric wheel, v is eccentric wheel
Revolving speed, Δ t are that the current feedback time to peak is poor, and A is encoder resolution.
8. eccentric wheel origin identification system as claimed in claim 7, which is characterized in that the time difference calculating unit is specifically used
In:
It obtains in the corresponding driver current feedback profile of other eccentric wheels more corresponding to multiple wave crests or multiple troughs
A first time point；
It obtains in the corresponding driver current feedback profile of the benchmark eccentric wheel more corresponding to multiple wave crests or multiple troughs
A second time point；
The multiple first time point is compared with the second time point corresponding in the multiple second time point respectively
Compared with, multiple time differences are calculated, to the multiple time difference be averaging, it is poor to obtain the current feedback time to peak.
9. a kind of eccentric wheel origin identification apparatus, which is characterized in that including memory, processor and be stored on the memory
And the computer program that can be run on the processor, when which is executed by the processor, realize such as
Described in any one of claims 1 to 5 the step of eccentric wheel origin discrimination method.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program when the computer program is executed by processor, realizes the eccentric wheel origin as described in any one of claims 1 to 5
The step of discrimination method.
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