CN110697100A

CN110697100A - Controller of straight-falling type multi-component material blanking device

Info

Publication number: CN110697100A
Application number: CN201910845716.4A
Authority: CN
Inventors: 邹细勇; 徐伟; 陈亮
Original assignee: China University of Metrology
Current assignee: Hefei Minglong Electronic Technology Co ltd
Priority date: 2017-09-19
Filing date: 2017-09-19
Publication date: 2020-01-17
Anticipated expiration: 2037-09-19
Also published as: CN107572016A; CN110697100B; CN107572016B

Abstract

The invention discloses a controller of a straight-falling type multi-component material blanking device, which comprises an input module, a storage module, an output module and a processing module, wherein the processing module carries out iterative prediction control on blanking valves based on current and accumulated blanking errors, so that the blanking valves carry out alternate blanking, and materials are uniformly mixed in a material mixing hopper. The invention is based on the detection of the distance sensor and the weighing module, and the material accumulation in the blanking bin is adjusted through the stirrer to ensure the stable blanking form, thereby providing conditions for iterative prediction. Compared with the prior art, the blanking device has the advantages that blanking of the blanking device in the iterative learning process can be effectively utilized, waste of materials is prevented, and the blanking device can be applied to small-batch rapid batching.

Description

Controller of straight-falling type multi-component material blanking device

The application is a divisional application with the name of 'straight-falling multi-component material blanking device and controller thereof' on application number 201710895674.6, application date 2017, 09 and 19.

Technical Field

The invention relates to the field of quantitative blanking, in particular to a controller of a straight-falling type multi-component material blanking device.

Background

In industrial and agricultural manufacturing and commodity packaging, a large amount of powder materials, such as iron-making raw materials including iron ore concentrate, coal powder and the like, chemical raw materials including polypropylene, polystyrene, polyvinyl chloride, light methyl cellulose, polyacrylonitrile, epoxy resin powder coating and the like, building material raw materials including quartz sand, cement and the like, daily chemical products including washing powder and the like, grain and bean agricultural products including millet, soybean and the like, or agricultural production materials including powder, slag and granular processed food, feed, chemical fertilizer, pesticide and the like, and granular health care products, Chinese and western medicaments, seasonings and the like need to be automatically quantitatively packaged or prepared by batching.

At present, many enterprises in China still adopt manual quantitative batching or packaging, so that on one hand, the labor intensity is high, the speed is low, and the economic benefit is poor; on the other hand, manual quantification of food, medicine and the like often cannot meet the sanitary requirements, toxic and harmful materials are used, and manual quantification is easy to cause harm to human bodies. Therefore, for the manufacturing enterprises, it is urgently needed to provide a cheap multi-component automatic quantitative blanking device or device with higher speed and accuracy, so as to meet the requirements of quantitative packaging of a large amount of materials or manufacturing of ingredients.

At present, two common methods, namely a positive displacement type and a weighing type, are adopted for automatic quantitative powder material feeding devices at home and abroad. The volumetric quantification is used for metering filling or feeding according to the volume of the material, the quantitative feeding is rapid, but the quality of the quantified material is changed by the change of the density of the material. For example, in chinese patent No. 200920248298.2, the influence of the fall of the feed is reduced by a method of first speed and then slow speed in consideration of the difficulty in controlling the quantitative rate during fast blanking, but the final value of blanking is only close to a desired value, and the accuracy is not high.

The weighing type quantitative material feeding device is used for metering, filling or feeding according to the mass of a material, the material needs to be weighed continuously in the feeding process, the feeding amount is controlled in a feedback mode according to the weighing result, and due to the fact that the weighing is greatly influenced by feeding impact and air lag materials, the feeding speed and the feeding precision face a lot of difficulties. In order to compensate the interference of the materials in the air to the metering precision, a technology of closing a valve in advance is adopted in many schemes, for example, a Chinese patent with the application number of 201410230888.8 divides a material proportioning and weighing process into three stages, and an iterative learning control mode is adopted in the last stage to calculate the closing advanced control quantity, but the scheme can only improve the blanking precision after the learning is finished, and the accumulated blanking precision in the learning process cannot be guaranteed.

Disclosure of Invention

Because the blanking amount in the air in the blanking process is influenced by factors such as the closing speed of the conveying device, the fall between the blanking opening and the material surface of the scale bucket, the falling form flow rate of the material and the like, the time for closing the conveying device in advance is difficult to determine at one time through an off-line experiment. Therefore, the invention reduces the air fall and the form change of the material by improving the blanking bin and the measuring hopper of the blanking device, and simultaneously realizes high-precision continuous blanking by taking the accumulated error as the controlled quantity in iterative prediction, and can be suitable for small-batch rapid batching and blanking.

The technical scheme of the invention is that a direct-falling multi-component material blanking device with the following structure is provided, which comprises: the device comprises a rack, a blanking bin, a blanking valve, a measuring hopper, a weighing module, a blanking valve, a mixing hopper and a controller;

the blanking valve is positioned at the bottom opening of the blanking bin, the blanking bin and the blanking valve are 2-6 groups,

the weighing hopper is arranged below the blanking valve and is arranged on a weighing module fixed on the frame, and the bottom opening of the weighing hopper is controlled by the blanking valve; a distributor is arranged at the upper part of the metering hopper;

the mixing hopper is positioned below the blanking valve, and the bottom of the mixing hopper is provided with a push plate;

the controller respectively performs blanking calibration on the materials of all components by controlling the opening time of each blanking valve and reading the sensing data of the weighing module, and performs iterative prediction on blanking empty space; and adjusting the closing time of the blanking valve based on the comparison of the accumulated blanking amount and the formula data; the controller controls the blanking valves to act in sequence, after the blanking of one formula amount is finished, the blanking valves are opened, then the push plate is opened after the materials in the mixing hopper are detected to be accumulated to a set value, and the uniformly mixed materials are discharged.

Preferably, the device also comprises a storage bin and a feeding pump, wherein a material spray head is arranged at the outlet of the feeding pipe at the rear end of the feeding pump, the material spray head is in a spherical cap shape, and round small holes are distributed on the surface of the material spray head.

Preferably, the feeding pump adopts a screw conveyor.

Preferably, two distance sensors are installed on the side wall of the lower storage bin, and the two distance sensors respectively indicate a preset material level high point and a preset material level low point in the lower storage bin.

Preferably, the distributor is an hourglass-shaped distributor, the upper part of the distributor is a cone, the lower part of the distributor is a flattened cone structure, the upper part of the distributor is in an open shape, and the lower part of the distributor is only provided with slope-shaped nozzles at two ends in the length direction; staggered spherical crown-shaped bulges are distributed on the measuring hopper in the direction facing the nozzle; the diameter of the bulge is 0.2-0.6 mm or 2-3 times of the diameter of the fallen material.

Preferably, a stirrer is further installed on the side wall of the discharging bin, and the stirrer comprises a base, two support arms, a support arm rotating shaft, a claw rotating shaft and a claw which are connected in sequence.

Preferably, a material level sensor is further mounted on the side wall of the mixing hopper, and a mixer is further arranged in the mixing hopper, wherein the mixer is a spiral blade stirrer.

Preferably, a feed delivery pipe is arranged below the push plate.

Preferably, the controller predicts the blanking air space amount by using the following formula:

A_k+1＝A_k+(α·e_k+β·E_k)，

wherein A is_kAnd A_k+1Respectively, two successive predicted values of the amount of air space, e_kAnd E_kThe feeding error at the k-th time and the cumulative feeding error are respectively, and α and β are respectively coefficients of the section (0, 1) and have α + β equal to 1.

The invention provides a controller of a direct-falling multi-component material blanking device, which comprises an input module, a storage module, an output module and a processing module, wherein the processing module comprises a prediction module, a weight monitoring module, an error calculation module and a logic control module;

the input module receives the touch screen operation instruction and reads the sensing data of the weighing module,

the storage module is used for storing configuration data and processing procedure data,

the weight monitoring module compares the real-time weight value obtained by the input module with the target weight value compensated by the empty space predicted value, and closes a blanking valve at the bottom opening of the blanking bin through the output module when the two weight values are equal,

the error calculation module calculates and updates the blanking error and the accumulated blanking error,

the prediction module carries out iterative update on the predicted value of the air quantity according to the predicted value of the last air quantity, the feeding error and the accumulated feeding error,

and the logic control module controls the actions of each blanking valve, a blanking valve at the bottom of the measuring hopper and a stirrer in the blanking bin in a wheel flow mode, and blanking is carried out according to the formula.

Compared with the prior art, the scheme of the invention has the following advantages: the invention respectively adopts the distance sensor and the manipulator-shaped stirrer to detect and regulate the material accumulation form in the blanking bin, ensures the stable blanking form, reduces the change of the air fall and the impact quantity of the material by arranging the distributor in the metering hopper, and can accelerate the convergence speed of iterative prediction, thereby ensuring that the device can be applied to small-batch rapid batching, effectively utilizing the material in the iterative prediction process by controlling the accumulated error of the blanking, and preventing the waste of the material.

Drawings

FIG. 1 is a composition structure diagram of a straight-falling type multi-component material blanking device;

FIG. 2 is a structural diagram of the appearance of a straight-falling type multi-component material blanking device;

FIG. 3 is a schematic view of a material falling process;

FIG. 4 is a schematic view of a partial structure of a storage silo and a feed silo;

FIG. 5 is a schematic view of the structure of a stirrer in the blanking bin;

FIG. 6 is a schematic view of a laminar flow of the material in the blanking bin;

FIG. 7 is a schematic view of the side wall structure of the distributor and the weighing hopper;

FIG. 8 is a schematic view showing the distribution of a multicomponent material in a weighing hopper;

FIG. 9 is a graph showing the change in weighing during the falling of the material;

FIG. 10 is a statistical chart of errors in a material iterative prediction blanking process;

fig. 11 is a composition structure diagram of a controller of the straight-falling type multi-component material blanking device.

Wherein: 1. the device comprises a discharging bin 2, a discharging valve 3, a weighing hopper 4, a weighing module 5, a discharging valve 6, a mixing hopper 7, a push plate 8, a conveying pipe 9, a controller 10, a storage bin 11, a feeding pump 12, a stirrer 13, a mixer 14, a material level sensor 15, a feeding pipe 16, a material spray head 17, a small hole 18, a distance sensor 19, a material level surface 20, a distributor 21, a distributor nozzle 22, a protrusion

30. Rack

91. Input module 92, processing module 93, storage module 94, output module 95, weight monitoring module 96, logic control module 97, prediction module 98, error calculation module

121. Base 122, support arm 123, support arm rotating shaft 124, claw rotating shaft 125 and claw

Detailed Description

Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but the present invention is not limited to only these embodiments. The invention is intended to cover alternatives, modifications, equivalents and alternatives which may be included within the spirit and scope of the invention.

In the following description of the preferred embodiments of the present invention, specific details are set forth in order to provide a thorough understanding of the present invention, and it will be apparent to those skilled in the art that the present invention may be practiced without these specific details.

The invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. It should be noted that the drawings are in simplified form and are not to precise scale, which is only used for convenience and clarity to assist in describing the embodiments of the present invention.

As shown in fig. 1 and 2, the straight-falling type multi-component material blanking device comprises a blanking bin 1, a blanking valve 2, a metering hopper 3, a weighing module 4, a blanking valve 5, a mixing hopper 6 and a controller 9, wherein each component material comprises a group of blanking bins 1 corresponding to the blanking valve 2, the types of the commonly used components are 2-6, and the types of the components can be increased according to requirements. Preferably, the blanking bin 1 is of a bin-shaped structure consisting of a right trapezoid and a rectangle, the blanking valve 2 is a piston type pneumatic valve, and the valve action part is arranged at the bottom outlet of the blanking bin 1.

The housing 30 serves as a frame of the apparatus for fixing and supporting the other respective components. The weighing module 4 is fixed on the frame 30, the weighing hopper 3 is movably buckled and pressed on the weighing module 4, the bottom of the weighing hopper 3 is provided with an opening, and the opening and the closing of the opening are controlled by the blanking valve 5. The weighing hopper 4 is positioned at the lower part of the blanking bin 1, and the centers of the blanking valves 2 are distributed in a circular arc shape relative to the center of the weighing hopper 4.

As shown in fig. 1 and 11, the controller 9 includes an input module 91, a storage module 93, an output module 94, and a processing module 92, where the processing module 92 includes a prediction module 97, a weight monitoring module 95, an error calculation module 98, and a logic control module 96.

The input module 91 receives an operation instruction and reads sensing data of a weighing module, a distance sensor and the like through a touch screen, the storage module 93 is used for storing configuration data and processing process data, the weight monitoring module 95 compares a real-time weight value obtained by the input module 91 with a target weight value compensated by an empty quantity predicted value and closes the blanking valve 2 at the bottom opening of the blanking bin 1 through the output module 94 when the two weight values are equal, the error calculation module 98 calculates and updates the blanking error and the accumulated blanking error at this time, the prediction module 97 iteratively updates the empty quantity predicted value according to the last empty quantity predicted value, the blanking error and the accumulated blanking error, the logic control module 98 controls the blanking valves 2, the blanking valve at the bottom of the metering hopper and other action parts including action operations of a stirrer in the blanking bin, a push plate in the mixing hopper, a feeding pump and the like in turn, and (5) blanking according to the formula.

The controller 9 adopts a touch type operation mode, a human-computer interface is arranged on a touch screen of the controller for setting the formula of the multi-component material and other parameters, and the formula comprises the total weight of one-time blanking and the percentage of each component in the weight. The controller 9 dynamically reads the current reading of the weighing module 4, and the blanking according to the formula is realized by controlling the action of each valve.

The mixing hopper 6 is located below the blanking valve 5 and has a push plate 7 at its bottom, below which a feed pipe 8 is connected, which feeds the multicomponent mixture to a packaging bag or a production facility.

Preferably, a level sensor 14 is arranged on the side wall of the mixing hopper 6, and a mixer 13 is arranged inside the level sensor, wherein the mixer 13 adopts a spiral blade stirrer. The capacity of the mixing hopper 6 is 15 times of that of the weighing hopper 3, after a plurality of one-time baiting is completed, the controller 9 reads the state of the material level sensor 14, if the material level is detected to exceed a set threshold value, the mixer is controlled to rotate and stir, after a plurality of materials are uniformly mixed, under the control of the controller 9, the push plate 7 is opened, and the mixed materials are output from the material conveying pipe 8.

FIG. 3 is a diagram illustrating the change of impact of level drop and falling speed on a weighing hopper during the falling of a material at an initial speed v₀Falls from the blanking valve 2, the distance between the outlet of the blanking valve 2 and the bottom of the measuring hopper 3 is H, and the blanking position is along with the material level H in the measuring hopper₂Increase of (2), air drop h₁It will be smaller.

The mass equivalent change of the material in the hopper can be represented by the following formula:

wherein at the time t, dm is the blanking mass (g/s) per unit time at the outlet of the blanking valve 2, v₀The initial velocity of the material as it falls, the velocity of the material at Δ m as it falls into the weighing hopper, is determined from the velocity v over the time Δ t₁Becomes 0.

As can be seen from the formula (1)Head of falling in the air h₁The impact of the material on the weighing hopper also changes, so that the weight change of the weighing hopper changes with time.

On the other hand, the blanking mass equivalent per unit time in the formula (1) is also influenced by the shape distribution of the materials in the blanking bin 1.

The granular materials flow out of the feed bin under the action of gravity mainly in two types of bulk flow and central flow. The whole particle layer in the overall flow type middle storage bin can flow out approximately uniformly, and basically every particle moves; while some particles in the flow pattern of the core stream are stationary, there is a flow channel boundary between the flowing and stationary particles. The integral blanking rate of the integral flow is larger than that of the central flow, the fluctuation of the blanking rate is small, and the flow is stable.

In the actual production process, the materials in the bin are difficult to completely meet the integral flow condition, the interior of the bin is often provided with blocks which have certain viscosity and contain certain moisture besides uniform granular components, the effects of the bulk coupling effect, the compaction effect, static electricity and internal friction force of the materials under the condition can become very obvious, and the central flow pattern of the materials in the bin is easy to appear, so that the materials are firm and plate-formed under the compaction stress effect generated by bin pressure when the material port begins to unload the materials.

Therefore, as shown in the combination of 4, 5 and 6, the invention adopts the distance sensor and the manipulator-shaped stirrer to detect and regulate the material accumulation form in the blanking bin, so that the dynamic material arch is alternately formed and collapsed above the blanking opening, the blanking form is ensured to be a stable integral flow type, and the fluctuation of the blanking flow rate of the blanking bin is greatly reduced.

As shown in FIG. 4, the discharging bin 1 continuously discharges materials, and when the material level in the bin is reduced to a certain value, the materials need to be supplemented. For this purpose, a storage bin 10 is arranged above the lower bin 1, and the material in the storage bin 10 is fed into the lower bin 1 through a feed pump 11 and a feed pipe 15. In order to uniformly feed material particles, a material spray nozzle 16 is arranged at an outlet at the tail end of the feeding pipe 15, the surface of the material spray nozzle 16 is in a spherical shape, round small holes 17 are distributed on the surface of the material spray nozzle, and the aperture of each small hole is optimized according to the granularity of the material.

Preferably, the feed pump 11 is a screw conveyor, and the operation thereof is controlled by a controller.

The material level in the lower storage bin 1 is detected by two small-cone-angle distance sensors 18 mounted on the side walls of the lower storage bin, and as the center D of the material spray head 16 and the feed opening B of the lower storage bin 1 are generally not on a vertical line, the two distance sensors 18 are arranged eccentrically, and the two high and low distance sensors P, Q respectively indicate a preset material level high point C and a preset material level low point A in the lower storage bin, wherein C, A and D, B are respectively on the same vertical line. In the blanking process of the blanking bin 1, along with the reduction of the material level 19, when the distance detected by the distance sensor Q is greater than the distance corresponding to QA, the controller commands the feeding pump 11 to act to start feeding to the blanking bin 1; then, the level is raised, and when the distance detected by the distance sensor P is smaller than the distance corresponding to the PC, the controller commands the feed pump 11 to act, and stops feeding to the lower silo 1.

Preferably, bases capable of adjusting the vertical inclination angle can be additionally arranged on the two distance sensors, so that the material layer distribution in the blanking bin can be detected with higher resolution.

Preferably, when two distance sensors are not enough to detect all material hardening due to the difference of the size and the shape of different blanking silos 1, the number of the distance sensors can be increased and the distance sensors can be pointed to different material layer heights.

As shown in fig. 5, the present invention improves the distribution of the materials by installing a stirrer 12 on the sidewall of the lower silo 1. The mixer 12 includes a base 121, two arms 122, an arm rotating shaft 123 connecting the two arms, a claw rotating shaft 124, and a claw 125, which are connected in sequence, wherein the base 121 also includes a rotating shaft.

In the blanking process, the distribution of the materials in the blanking bin is judged by respectively detecting the distance sensor and tracking the blanking rate in unit time, so that the material surface in the blanking bin keeps an approximate parabolic shape. As shown in fig. 4 and 5, the arrangement of the distance sensors is optimized so that when the materials are uniformly distributed, the distances between the materials detected by the distance sensors P and Q are within a certain proportion range. When the materials are locally hardened or stably arched, the reading of the distance sensor exceeds the range, and if the materials are detected in a certain distance, P and Q are not detected, the local abnormity occurs. Meanwhile, the feeding speed of each feeding bin is tracked in real time through the weighing module. When the distance sensor detects the abnormal state or finds that the fluctuation of the blanking amount per unit time exceeds a set threshold value, such as 5 percent, the controller commands the stirrer to act, and the claw of the stirrer starts to spirally turn over from the starting point to the low point region of the material level from the high point region of the material level through the rotation of the rotating shaft, so that hardening or material arch which is occasionally formed is broken, the material returns to flow, and the laminar flow state of the whole flow is maintained.

As shown in figure 6, the invention greatly weakens the compaction force action generated by charging impact and the like through the detection and action coordination of the distance sensor and the stirrer, effectively prevents the granularity segregation of the materials in the bin, activates the materials in the lower bin and improves the flow of the materials. During the continuous feeding and discharging process, all the particles flow orderly, and the particle group presents a laminar flow state of the whole flow along with the outflow of the particles in the bin.

Referring to FIGS. 3 and 7, it can be seen from the formula (1) that the material falls in the air h₁The impact of the material on the weighing hopper is changed, so that the weight increase value of the weighing module in unit time is changed. As shown in FIG. 7, in order to reduce the influence of the change of the air fall, the invention arranges a distributor 20 on the upper part of the weighing hopper 3, and the distributor 20 is an hourglass-shaped distributor with the upper part being a cone and the lower part being a flattened cone structure; wherein the upper part is in an opening shape and receives the materials in the blanking bin; the lower part is symmetrically provided with slope-shaped nozzles 21 only at both ends in the length direction. The measuring hopper 3 is distributed with staggered spherical crown-shaped bulges 22 in the direction facing the nozzle 21, and the diameter of the bulges is preferably 0.2-0.6 mm or 2-3 times of the diameter of the fallen materials.

Through the action of the distributor, the falling of the materials is divided into two stages, the first stage is that the materials fall to the distributor from a discharging valve port at the bottom opening of the discharging bin, and the second stage is that the materials are stacked from a nozzle of the distributor to the weighing hopper. In the second stage, due to the action of the staggered and distributed bulges on the distributor and the measuring hopper wall, the speed of the material particles impacting the material surface in the measuring hopper is greatly reduced, and the impact force difference from the distributor nozzle to the material pile surfaces with different heights in the measuring hopper is very small, so that conditions are provided for iterative prediction of the controller.

The controller of the invention adopts the following steps to control the blanking:

(1) determining the primary blanking amount Ws of each component according to the primary amount and the proportion of each formula, and assigning an initial value 0 to the accumulated blanking error E of each component; setting the current component as a first component;

(2) feeding the current components, reading the sensing value of the weighing module by the controller, recording the initial weight G0 of the weighing hopper, and controlling the feeding valve to start feeding;

(3) when the weight of the measuring hopper is detected to reach (G0+ Ws-Wa), closing the blanking valve;

(4) waiting for the materials to completely fall to the weighing hopper, reading a sensing value of the weighing module, obtaining the current actual blanking amount Wr, and calculating the blanking error e to be Wr-Ws;

(5) updating the accumulated blanking error E ' ═ E + E, and calculating an empty space predicted value Wa ' ═ Wa + (alpha E + beta E '), wherein alpha and beta are respectively iteration coefficients of an interval (0, 1) and alpha + beta is 1;

(6) iteration, namely E is equal to E ', Wa is equal to Wa', and preparation is carried out for next blanking;

(7) replacing the blanking components, if the blanking of all the components is finished, turning to the next step, otherwise, turning to the step 2;

(8) opening a blanking valve to enable the materials with the primary formula amount consisting of the multi-component materials to fall into a mixing hopper, reading the state of a material level sensor, controlling a mixer to rotate and stir if the detected material level exceeds a set threshold value, opening a push plate after uniformly mixing the multi-component materials, and outputting the mixed materials from a material conveying pipe;

(9) if the preset blanking batch is finished, finishing blanking; otherwise, the component is set as the first component, and step 2 is carried out.

During the blanking period, the controller also carries out real-time detection on the material pile shape in the blanking bin through calculation and analysis of signals of the distance sensor and the weighing module, and if abnormal blanking is found, the controller commands the mechanical hand-shaped stirrer to act in time to ensure the flow state of the whole flow layer during the blanking.

Before continuous blanking, the following operations are carried out:

(i) calibrating the weighing module and the distance sensor through an off-line experiment;

(ii) setting parameters including a time length Tb and the repetition times of calibration of a batch value, a formula table, a batch value, a blanking rate and a stable weighing delay Ts through a touch screen of a controller;

(iii) carrying out blanking calibration on the components: opening the blanking valve for a certain time Tb from the time 0, and respectively reading and recording the weight values Wcb and Wdb of the weighing module at the time of closing the blanking valve Tb and the time of Tb + Ts after weighing is stable; after repeated for many times, the feeding rate PD of the component is AVG (Wdb/Tb), and the initial value Wa of the empty space amount is AVG (Wdb-Wcb).

The device is used for blanking, and the blanking result is shown in figures 8-10. Fig. 8 is a schematic view showing distribution of materials in the hopper when discharging 4 components. Fig. 9 is a graph showing the change of the reading of the weighing module during the falling of a material in a time of 2500ms, wherein the abscissa is the delay time after closing the discharge valve. It can be seen that due to the impact force, the weighing reading will overshoot, and then return to the actual weight; and, the material in the air only falls into the weighing hopper completely after the blanking valve is closed for about 800ms, and the reading of the weighing module tends to be stable.

Fig. 10 is a statistic of the blanking errors of the single-component materials in the blanking process of the device, and it can be seen from the figure that not only the blanking error can approach 0, but also the accumulated error is already converged after multiple times of blanking because the factors of the accumulated error are considered in the iterative prediction. Therefore, compared with other iterative learning, the device does not need to discard materials in the iterative learning process, but can be directly applied to subsequent production, so that the device is suitable for small-batch quick batching and blanking.

The above-described embodiments do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the above-described embodiments should be included in the protection scope of the technical solution.

Claims

1. The controller of the straight-falling type multi-component material blanking device comprises an input module, a storage module, an output module and a processing module, wherein the processing module comprises a prediction module, a weight monitoring module, an error calculation module and a logic control module;

the logic control module controls the actions of the blanking valves in turn.

2. The controller for a direct-falling multi-component material blanking device according to claim 1, wherein the logic control module opens a blanking valve at the bottom of the weighing hopper after completing one-time formula blanking.

3. The controller for the direct-falling type multi-component material blanking device according to claim 1, wherein the logic control module opens the push plate after detecting that the materials in the material mixing hopper are accumulated to a set value, and discharges the uniformly mixed materials.

4. The controller for a direct-falling multi-component material discharging device according to claim 1, wherein the logic control module commands the stirrer to operate after the fluctuation of the discharge amount per unit time exceeds a set threshold value.

5. The control device of claim 1, wherein the logic control module commands the agitator to operate after the distance sensor reading is outside a range.

6. The controller for a direct-falling multi-component material blanking device according to claim 1, wherein after a plurality of blanking operations are completed, the controller further controls the mixer to rotate and stir if the material level of the mixing hopper is detected to exceed a set threshold value.

7. The controller for the straight-falling type multi-component material blanking device according to claim 6, wherein after the plurality of materials are uniformly mixed, the controller also controls the push plate to be opened to output the mixed materials.