CN112549275B - Control system of pre-stressed long-line-platform concrete prefabricated part distributing machine - Google Patents
Control system of pre-stressed long-line-platform concrete prefabricated part distributing machine Download PDFInfo
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- CN112549275B CN112549275B CN202011387022.XA CN202011387022A CN112549275B CN 112549275 B CN112549275 B CN 112549275B CN 202011387022 A CN202011387022 A CN 202011387022A CN 112549275 B CN112549275 B CN 112549275B
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- 239000000463 material Substances 0.000 claims abstract description 144
- 238000009826 distribution Methods 0.000 claims abstract description 108
- 239000004744 fabric Substances 0.000 claims abstract description 38
- 238000004519 manufacturing process Methods 0.000 claims abstract description 29
- 238000000034 method Methods 0.000 claims abstract description 19
- 239000002184 metal Substances 0.000 claims description 22
- 229910052751 metal Inorganic materials 0.000 claims description 22
- 230000006698 induction Effects 0.000 claims description 18
- 230000005674 electromagnetic induction Effects 0.000 claims description 10
- 230000001939 inductive effect Effects 0.000 claims description 2
- 239000011178 precast concrete Substances 0.000 claims 1
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009415 formwork Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 239000002002 slurry Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B13/00—Feeding the unshaped material to moulds or apparatus for producing shaped articles; Discharging shaped articles from such moulds or apparatus
- B28B13/02—Feeding the unshaped material to moulds or apparatus for producing shaped articles
- B28B13/0215—Feeding the moulding material in measured quantities from a container or silo
- B28B13/026—Feeding the moulding material in measured quantities from a container or silo by using a movable hopper transferring the moulding material to the moulding cavities
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B17/00—Details of, or accessories for, apparatus for shaping the material; Auxiliary measures taken in connection with such shaping
- B28B17/0063—Control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B17/00—Details of, or accessories for, apparatus for shaping the material; Auxiliary measures taken in connection with such shaping
- B28B17/0063—Control arrangements
- B28B17/0081—Process control
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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Abstract
The invention discloses a control system of a pre-stressed long-line platform concrete prefabricated part distributing machine, which mainly relates to the technical field of production control of concrete prefabricated parts, wherein a mould and a distribution forbidding area in the mould are set, full-automatic control can be carried out in the distributing process, a production line to be distributed is automatically searched after the mould is started, and the mould size is automatically identified for automatic distribution; the cloth in-process is through PID closed loop contrast unloading weight and theoretical standard value, and automatic control walking speed reaches the purpose of even cloth, and when the ground paste was not enough, the automatic material that returns connects the material point to connect the material, connects to return automatically after the material is accomplished and originally produces the line and continues the cloth, and the cloth is accomplished the back automatic shutdown.
Description
Technical Field
The invention mainly relates to the technical field of production control of concrete prefabricated parts, in particular to a control system of a pre-stressed long-line-platform concrete prefabricated part distributing machine.
Background
The assembly type buildings grow rapidly, account for more and more in the building industry, greatly reduce construction cost on the basis of ensuring the building quality and contribute to shortening the construction period.
Currently, most concrete precast slabs are produced in a production line mode through a production system in a factory; the common concrete precast slab production system mainly comprises a concrete mixing station, a concrete distribution system, a mould platform, a driving system thereof, an auxiliary mechanism and the like, wherein the concrete distribution system mainly comprises a distributing machine, a cart mechanism and a trolley mechanism; the concrete conveying equipment conveys the concrete to the spreader, which pours the concrete on the formwork table, usually a concrete distribution system is provided in this way: in a factory building, a track is usually arranged, a cart mechanism is movably arranged on the track, and a trolley mechanism is arranged on the cart mechanism; the cart mechanism is also provided with a track, the track on the cart mechanism is mutually vertical to the track in the plant, the trolley mechanism is movably arranged on the track of the cart mechanism, the moving direction of the cart mechanism is parallel to the assembly line during operation, and the moving direction of the trolley mechanism is vertical to the assembly line; the material distributing machine is arranged on the trolley mechanism and can move up and down relative to the trolley mechanism. When the concrete distribution system distributes materials, an operator on site controls the distribution speed and position by controlling the actions of the cart mechanism, the trolley mechanism and the distributor in real time, the operation efficiency and quality of the operation mode usually depend on the experience of the operator, which puts higher requirements on the professional experience of the operator and cannot fundamentally ensure the operation efficiency and quality, especially a prestressed long-line platform production line: the production line is long, the number of dies is large, the span is large, the manual operation is inconvenient, and the cloth is uneven.
Disclosure of Invention
In view of the shortcomings and drawbacks of the prior art, an object of the present invention is to provide a control system for a prestressed long concrete preform distributor.
In order to solve the technical problems, the invention adopts the following technical scheme: the utility model provides a long line platform concrete prefabricated part cloth machine control system of prestressing force which characterized in that: comprises the following steps of (a) preparing a solution,
(1) setting a walking X axis of the gantry crane, setting a metal induction point every 10 meters from the position X to the right by the gantry crane by taking the position X at the left end of the production line as a zero point, totaling 13 metal induction points, inducing the current metal induction point by an electromagnetic induction switch in the walking process of the gantry crane, enabling the absolute value of the current position value X to the fixed position X of a crane encoder to be less than 200 millimeters, re-assigning the fixed position X to the encoder position X through a controller, enabling the error to return to zero, and ensuring the accurate walking;
(2) setting a trolley walking Y axis, wherein the trolley takes a material receiving position as a zero point of a position Y, a metal induction point is arranged on the side edge of each production line, a fixed position Y1, a fixed position Y2, a fixed position Y3 and a fixed position Y4 are set and serve as assigned points of the position Y of the trolley, an electromagnetic induction switch senses the current metal induction point in the trolley walking process, the absolute value of the current position value Y-fixed position Y1 of a trolley encoder is less than 200 mm, and the fixed position Y1 is assigned to the encoder position Y again through a controller, so that the error is zeroed;
(3) setting a mould and a cloth forbidding area in the mould, wherein the distance from the lower edge of the mould to the side edge of the long line table is uniformly H, the distance from the mould table is uniformly L, and the length, the width and the weight of each mould correspond to Xi, Yi and ti; the sizes Ai, Bi, Li and Hi of the distribution forbidden regions in the die; storing the formula in a formula form, and writing the formula into a controller, wherein the value range of i is 1 to 100, the formula is input in unit millimeter, and at most 100 mold parameters can be input;
(4) the length and width Xi and Yi of each mould are input in an upper level mode, the controller calculates the absolute coordinate X, Y of each mould on the production line, the ending coordinate of the last mould is judged according to the input length Xi of the formula mould, and the gantry cart stops when the real-time position exceeds the last mould by +2000 mm;
(5) the gantry cart advances for material distribution, and current die parameters Xi, Yi and ti are judged according to the current position X measured and calculated by the encoder; ai. Bi, Li, Hi; judging the absolute coordinates 'X start' of the initial edge of the current die and 'X end' of the final edge of the current die;
(6) the material distribution width of the trolley is determined by a current mold Yi, and the length Xi and the width Yi of the current mold are judged by the current position X of the gantry cart;
(7) according to the comparison between the width Yi and the width of the door of the material distributing machine, judging whether doors from No. 1 to No. 10 are opened, and taking No. 1 as a reference, wherein the width of single-door material distribution is 225 mm; starting secondary material distribution when the width of the die exceeds 2300 mm, wherein the width of the secondary material distribution is Yi-2250 mm;
(8) in the material distribution process, Ai, Bi, Li and Hi are judged according to the current X coordinate of the gantry crane, the No. 1 is taken as a reference, the absolute coordinate Y door of 1 to 10 doors is calculated and calculated by 225 mm of the width of single-door material distribution, the material distribution door in the area from the coordinate Bi to the coordinate Bi is automatically closed, the single-door material distribution enters the material distribution allowing area through the area, and the material distribution door is opened;
(9) the cart walks to the current die end point coordinate 'X end', 'the material distribution doors are allowed to be opened', the cart is closed, and all the material distribution doors are fully closed;
(10) according to the maximum cloth width 2250 mm, the current die width Yi <2250 mm: the weight of the standard cloth in unit length is called Ti/Xi for short, and the Ti/Xi is Ti/Xi, and the ratio of the weight to the length of the die at the position of the cart;
(11) current die width Yi > -2250 mm primary distribution area: region where Yi <2250 mm, Ti/Xi (2250/Yi), region where Yi >2250 mm, Ti/Xi (Yi-2250)/Yi (Ti/Xi)
(12) Real-time blanking speed comparison, hereinafter referred to as real-time Ti/xi, wherein the real-time Ti/xi is (initial t-real-time t) ("current position X" - "X start") and the controller judges the comparison value between the standard "Ti/xi" and the real-time Ti/xi "in real time in the automatic material distribution process of the gantry cart, and the traveling speed of the gantry cart is controlled in a PID closed loop manner to realize uniform material distribution; the real-time Ti/xi < 'standard Ti/xi' controller of the cloth weight can automatically reduce the walking frequency of the gantry crane; when the cloth is overweight, the real-time Ti/xi >;
(13) when the total blanking weight of the current die exceeds a set weight ti plus an overweight range, the blanking overweight alarm is given, and the material distribution is suspended;
(14) the 'Xi' is the length of the current die and is used as a return value of the current gantry cart for secondary material distribution, after the gantry cart finishes primary material distribution, the gantry cart retreats for the 'Xi' distance, and meanwhile, the trolley advances for the 'Yi' distance, and secondary material distribution is implemented after the gantry cart and the trolley are both in place; opening a corresponding material distribution door according to the width of Y-2250; after the cart advances to the stop position of the mold, all the material distribution doors are closed, and secondary material distribution is completed;
(15) after the secondary distribution is finished, the trolley retreats to the metal induction point position on the side edge of the production line; the cart continues to move forward, a next material distribution area is judged according to the current position X of the gantry cart, and automatic material distribution is continuously implemented;
(16) judging the die parameters of the next material distribution area according to the current position X of the gantry crane, comparing the die weight with the excess material weight of the material distributor, and outputting an excess material shortage signal when the excess material weight of the material distributor is less than the set weight and the reset weight of the next die;
(17) the controller outputs a 'excess material shortage' signal, the gantry cart stops walking, the trolley automatically retreats to the material receiving position for receiving materials, and the material receiving completion material conveying vehicle sends a 'completion signal' to the material distributing machine; the trolley automatically moves forward to the original material distribution production line, automatic material distribution is continued, the last die finishes material distribution, the gantry cart continuously moves forward for 2m, and the gantry cart automatically stops.
Compared with the prior art, the invention has the beneficial effects that: the invention can carry out full-automatic control in the material distribution process. After the start-up: automatically searching a production line to be distributed, and automatically identifying the size of a mould to automatically distribute; the cloth in-process passes through PID closed loop contrast unloading weight and theoretical standard value, and automatic control walking speed reaches the purpose of even cloth, and when the ground paste was not enough, the automatic material point that returns connects the material, connects to return automatically to former production line after the material is accomplished and continue the cloth, automatic stop after the cloth was accomplished.
Drawings
The invention is further described with reference to the accompanying drawings in which:
FIG. 1 is a schematic structural view of the present invention;
in the figure: 1, production line; 2, a gantry cart; 3, a trolley; 4, a cart origin; 5 big car position; 6, receiving a material position; 7 trolley position.
Detailed Description
In order to make the technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to specific embodiments.
The invention is a device which is applied to the full-automatic material distribution of the pre-stressed long-line platform prefabricated member from the practical aspect; the application production field has four production lines 1#, 2#, 3#, and 4#, and each production line is 120 meters in length; 1 slurry receiving position; the span of the gantry cart is 22 meters; the width of the trolley is 2.5 meters, 10 material distribution doors are arranged side by side, the width of a single-door material distribution door is 225 millimeters, and the width of a single-door maximum material distribution door is 2250 millimeter; the gantry cart travels on an X axis, and the trolley travels on a Y axis; the method comprises the following steps that 1 cart incremental encoder is provided, one positioning electromagnetic induction switch is provided, and 13 metal induction points are provided in total at a cart origin, a cart position 1, a cart position 2,... the cart position 12; the number of the trolley incremental encoders is 1, one positioning electromagnetic induction switch is provided, and five metal induction points are provided in total, namely a material receiving position, a trolley position 1, a trolley position 2, a trolley position 3 and a trolley position 4; the gantry crane travels on a fixed steel structure beam supporting the gantry, and the trolley travels on the beam of the gantry crane; the cart positioning electromagnetic induction switch is arranged on a gantry cart frame, and the metal induction points are arranged on a fixed steel structure beam for supporting a gantry; the trolley positioning electromagnetic induction switch is installed on a trolley, and the metal induction points are installed on a beam of the gantry crane.
The automatic cloth function is as follows:
the left end of the production line is used as a zero point of a position X by the gantry crane, the gantry crane needs to go to the zero point to reset the position X before starting and after finishing material distribution, and accurate walking is ensured; setting a metal sensing point every 10 meters from the zero point to the right, wherein each metal sensing point is respectively set to be 10000 millimeters and 20000 millimeters in fixed position, 120000 millimeters, an electromagnetic induction switch senses the current sensing point in the walking process of the gantry crane, the absolute value of (the current position value X of a crane encoder to the fixed position X) is less than 200 millimeters, and the fixed position X is assigned to the encoder position X again through a PLC (programmable logic controller) so that the error returns to zero;
the trolley receiving position is used as a position Y zero point, a metal sensing point is arranged on the side edge of each production line, and a fixed position Y1, a fixed position Y2, a fixed position Y3 and a fixed position Y4 are set and used as assigned points of the position Y of the trolley; the trolley returns to zero at the material receiving position and moves to the position No. 1, an electromagnetic induction switch on the trolley senses that the absolute value of a metal point at the position No. 1 (the absolute value of a current position value Y minus a fixed position Y1 of a trolley encoder) is less than 200 mm, and the fixed position Y1 is assigned to the position Y of the encoder again through a PLC (programmable logic controller) so that the error returns to zero;
the red frame represents a mold, and the rectangular frame in the red frame represents a cloth forbidden area such as a window, a door and the like;
the distance between the lower edge of each mold and the side edge of the long linear table is uniformly H, the distance between the mold tables is uniformly L, and the length, the width and the weight of each mold correspond to Xi, Yi and ti; the sizes Ai, Bi, Li and Hi of the regions where the material distribution is forbidden in the die are unified into millimeters;
relevant parameters Xi, Yi and ti of the die are measured on the touch screen; the sizes Ai, Bi, Li and Hi of the distribution forbidden regions in the die are stored in a formula form, and a plurality of formulas can be stored;
selecting and issuing a formula: loading the formula according to the serial number or name, writing the current formula value into the PLC, comparing the written value with the current formula set value, and starting automatic material distribution
The remote controller selects one line, and the trolley automatically walks to the metal induction point of the 1# line induced by the 1# line and stops;
pressing the automatic material distribution for 3 seconds, and starting automatic material distribution;
take line # 1 as an example: xi represents the mold length, Yi represents the mold width (i ranges from 1 to-100)
The formula is input in unit millimeter, and at most 100 mold parameters can be input;
x1, X2- - -X100 represents the length of the mould;
advance door closing amount (advance door closing distance of mold end coordinate xi);
l represents a mold spacing (equal spacing);
Y1-Y2-Y100 represents the mold width;
t1- -T100 die cloth weight, unit Kg;
the Ai prohibits the cloth area from being millimeter in length;
the Bi forbidden cloth area is millimeter in width;
the distance from the Li distribution forbidding area to the left side of the mold is millimeter;
the distance between the Hi cloth forbidding area and the bottom edge of the mold is millimeter;
judging the ending coordinate of the last mold according to the input length Xi of the formula mold, and stopping the gantry crane at a position exceeding the last mold by +2000 mm;
the length and width Xi and Yi of each mould are input from the upper level, and the PLC calculates the absolute coordinates X, Y of each mould on the production line;
the gantry cart advances for material distribution, and current die parameters Xi, Yi and ti are judged according to the current position X measured and calculated by the encoder; ai. Bi, Li, Hi; judging the absolute coordinates of the initial edge of the current mold, namely 'starting X', and ending the absolute coordinates of the edge, namely 'ending X';
the cart outputs a 'trolley door opening permission' signal in the interval of 'starting from X' and 'ending from X'; the number of doors of the distributing machine is judged according to Yi, Ai, Bi, Li and Hi;
the width of the trolley cloth is as follows: determined by the current mold Yi;
judging the length Xi and the width Yi of the current die by the current position X of the gantry cart;
according to the comparison between the width Yi and the width of the door of the material distributing machine, judging that doors from No. 1 to No. 10 are opened, and taking No. 1 as a reference, wherein the width of single-door material distribution is 225 millimeters; starting secondary material distribution when the width of the die exceeds 2300 mm, wherein the width of the secondary material distribution is Yi-2250 mm;
in the material distribution process, Ai, Bi, Li and Hi (regions where material distribution is forbidden) are judged according to the current X coordinate of the gantry crane, and the material distribution door of the coordinate (Bi terminal and Bi starting) region of the absolute coordinate 'Y door' of 1 to 10 doors is automatically closed by measuring and calculating the width of single-door material distribution by 225 millimeters based on the number 1; the cloth door is opened when the cloth door enters the cloth allowing area through the area;
the cart walks to the current die end point coordinate 'X end', 'the material distribution doors are allowed to be opened', the cart is closed, and all the material distribution doors are fully closed;
the material distribution process achieves uniform material distribution through the closed-loop PID control of the PLC;
according to the maximum cloth width 2250 mm:
current die width Yi <2250 mm: the weight of the standard cloth in unit length (hereinafter referred to as Ti/Xi), and the Ti/Xi is Ti/Xi (the ratio of the weight to the length of the die at the position of the cart);
current die width Yi > -2250 mm:
a primary cloth area: yi <2250 mm region ═ Ti/Xi (2250/Yi) (Ti/Xi)
Yi >2250 mm area ═ Ti/Xi ═ (Yi-2250)/Yi (Ti/Xi)
Real-time blanking speed comparison (hereinafter referred to as real-time ti/xi),
"real-time ti/xi" ═(start t-real-time t) ("current position X" - "X plays")
Starting t: the weight of the distributing machine when the front mould starts to distribute materials;
real-time t is the real-time weight of the material distributor;
starting X-axis coordinates of the side edges of the initial material distribution of the current mold;
the PLC judges the contrast value of the standard Ti/xi and the real-time Ti/xi in real time in the automatic material distribution process of the gantry cart, and the traveling speed of the gantry cart is controlled in a PID closed loop mode, so that uniform material distribution is realized.
The real-time Ti/xi < 'standard Ti/xi' PLC of the weight of the cloth can automatically reduce the walking frequency of the gantry crane; when the cloth is overweight, the real-time Ti/xi >;
when the total weight of the current die blanking exceeds the preset weight ti plus the overweight range, the blanking overweight alarm is given, and the material distribution is suspended;
the 'Xi' is the length of the current die and is used as a return value of the current gantry cart for secondary material distribution, after the gantry cart finishes primary material distribution, the gantry cart retreats for the 'Xi' distance, and meanwhile, the trolley advances for the 'Yi' distance, and secondary material distribution is implemented after the gantry cart and the trolley are both in place; opening a corresponding material distribution door according to the width of Y-2250; after the cart advances to reach the stop position of the die, all the material distribution doors are closed, and secondary material distribution is completed;
after the secondary distribution is finished, the trolley retreats to the metal induction point position on the side edge of the production line; the cart continues to move forward, a next material distribution area is judged according to the current position X of the gantry cart, and automatic material distribution is continuously carried out;
judging the die parameters of the next material distribution area according to the current position X of the gantry crane, comparing the die weight with the excess material weight of the material distributor, wherein the excess material weight of the material distributor is less than that of the next die (the set weight and the reset weight), and outputting an excess material shortage signal;
the PLC outputs a 'excess material shortage' signal, the gantry cart stops walking, the trolley automatically retreats to the material receiving position to receive materials, and the material receiving completion material conveying vehicle sends a 'completion signal' to the material distributing machine; the trolley automatically advances to the original cloth production line to continue automatic cloth.
The last mould finishes material distribution, the gantry cart continues to move for 2m, and the gantry cart automatically stops;
in the material distribution process, the 'automatic material distribution' button is pressed for a short time to stop automatic material distribution;
in the running process, all actions can be stopped by pressing the 'emergency stop button', and the automatic material distribution program is quitted;
the big car and the small car are protected by front and rear limit positions, so that the big car and the small car can be prevented from exceeding the track stroke;
the automatic material distribution is that the parameters and coordinates of the current die are judged according to the current position X and the X-axis coordinates of the gantry crane, and the gantry crane can be started and stopped at any position.
It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are given by way of illustration only, since various other embodiments will become apparent to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein.
Claims (1)
1. The utility model provides a long line platform precast concrete cloth machine control system of prestressing force which characterized in that: comprises the following steps of (a) carrying out,
(1) setting a walking X axis of the gantry crane, setting a metal induction point every 10 meters from the position X to the right by the gantry crane by taking the position X at the left end of the production line as a zero point, totaling 13 metal induction points, inducing the current metal induction point by an electromagnetic induction switch in the walking process of the gantry crane, enabling the absolute value of the current position value X to the fixed position X of a crane encoder to be less than 200 millimeters, re-assigning the fixed position X to the encoder position X through a controller, enabling the error to return to zero, and ensuring the accurate walking;
(2) setting a trolley walking Y axis, wherein the trolley takes a material receiving position as a zero point of a position Y, a metal induction point is arranged on the side edge of each production line, a fixed position Y1, a fixed position Y2, a fixed position Y3 and a fixed position Y4 are set as assigned points of the position Y of the trolley, an electromagnetic induction switch senses the current metal induction point in the trolley walking process, the absolute value of the current position value Y-fixed position Y1 of a trolley encoder is less than 200 mm, and the fixed position Y1 is assigned to the position Y of the encoder again through a controller to enable an error to return to zero;
(3) setting a mold and a cloth forbidding area in the mold, wherein the distances from the lower edge of the mold to the side edge of the long line table are unified as H, the distances from the mold tables are unified as L, and the length, the width and the weight of each mold correspond to Xi, Yi and ti; the sizes Ai, Bi, Li and Hi of the cloth distribution forbidden areas in the die; storing the formula in a formula form, and writing the formula into a controller, wherein the value range of i is 1 to 100, the formula is input in unit millimeter, and at most 100 mold parameters can be input;
(4) the length and width Xi and Yi of each mould are input in an upper level mode, the controller calculates the absolute coordinate X, Y of each mould on the production line, the ending coordinate of the last mould is judged according to the input length Xi of the formula mould, and the gantry cart stops when the real-time position exceeds the last mould by +2000 mm;
(5) the gantry cart advances for material distribution, and current die parameters Xi, Yi and ti are judged according to the current position X measured and calculated by the encoder; ai. Bi, Li, Hi; judging the absolute coordinates 'X start' of the initial edge of the current die and 'X end' of the final edge of the current die;
(6) the material distribution width of the trolley is determined by a current mold Yi, and the length Xi and the width Yi of the current mold are judged by the current position X of the gantry cart;
(7) according to the comparison between the width Yi and the width of the door of the material distributing machine, judging whether doors from No. 1 to No. 10 are opened, and taking No. 1 as a reference, wherein the width of single-door material distribution is 225 mm; starting secondary material distribution when the width of the die exceeds 2300 mm, wherein the width of the secondary material distribution is Yi-2250 mm;
(8) in the material distribution process, Ai, Bi, Li and Hi are judged according to the current X coordinate of the gantry crane, the No. 1 is taken as a reference, the absolute coordinate Y door of 1 to 10 doors is calculated and calculated by 225 mm of the width of single-door material distribution, the material distribution door in the area from the coordinate Bi to the coordinate Bi is automatically closed, the single-door material distribution enters the material distribution allowing area through the area, and the material distribution door is opened;
(9) the cart walks to the current die end point coordinate 'X end', 'the material distribution doors are allowed to be opened', the cart is closed, and all the material distribution doors are fully closed;
(10) according to the maximum cloth width 2250 mm, the current die width Yi <2250 mm: the weight of the standard cloth in unit length is called Ti/Xi for short, and the Ti/Xi is Ti/Xi, and the ratio of the weight to the length of the die at the position of the cart;
(11) the current die width Yi > -2250 mm primary distribution area: yi <2250 mm region (Ti/Xi) ═ (2250/Yi) (Ti/Xi), Yi >2250 mm region (Ti/Xi) ═ (Yi-2250)/Yi (Ti/Xi)
(12) Real-time blanking speed comparison, hereinafter referred to as real-time Ti/xi, wherein the real-time Ti/xi is (initial t-real-time t) ("current position X" - "X start") and the controller judges the comparison value between the standard "Ti/xi" and the real-time Ti/xi "in real time in the automatic material distribution process of the gantry cart, and the traveling speed of the gantry cart is controlled in a PID closed loop manner to realize uniform material distribution; the real-time Ti/xi < 'standard Ti/xi' controller of the weight of the cloth can automatically reduce the walking frequency of the gantry crane; when the cloth is overweight, the real-time Ti/xi >;
(13) when the total blanking weight of the current die exceeds a set weight ti plus an overweight range, the blanking overweight alarm is given, and the material distribution is suspended;
(14) the 'Xi' is the length of the current die and is used as a return value of the secondary material distribution of the current gantry cart, after the primary material distribution of the gantry cart is finished, the gantry cart retreats by the 'Xi' distance, meanwhile, the trolley advances by the 'Yi' distance, and the secondary material distribution is implemented after the two carts are in place; opening a corresponding material distribution door according to the width of Y-2250; after the cart advances to reach the stop position of the die, all the material distribution doors are closed, and secondary material distribution is completed;
(15) after the secondary distribution is finished, the trolley retreats to the metal induction point position on the side edge of the production line; the cart continues to move forward, a next material distribution area is judged according to the current position X of the gantry cart, and automatic material distribution is continuously implemented;
(16) judging the die parameters of the next material distribution area according to the current position X of the gantry crane, comparing the die weight with the excess material weight of the material distributor, and outputting an excess material shortage signal when the excess material weight of the material distributor is less than the set weight and the reset weight of the next die;
(17) the controller outputs a 'excess material shortage' signal, the gantry cart stops walking, the trolley automatically retreats to the material receiving position for receiving materials, and the material receiving completion material conveying vehicle sends a 'completion signal' to the material distributing machine; the trolley automatically moves forward to the original material distribution production line, automatic material distribution is continued, the last mould finishes material distribution, and the gantry cart continues to move forward for 2m and stops automatically.
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| CH665382A5 (en) * | 1983-12-22 | 1988-05-13 | Emil Metzger | Continuous prodn. line for forming moulded structural elements - has conveyor which transports moulds under charging chute |
| JPH11212644A (en) * | 1998-01-28 | 1999-08-06 | Sumitomo Metal Mining Co Ltd | Collision prevention system for automatic conveyer or the like |
| US9205587B2 (en) * | 2012-08-08 | 2015-12-08 | Synventive Molding Solutions, Inc. | Flow control apparatus and method |
| US9551115B2 (en) * | 2014-12-19 | 2017-01-24 | Wirtgen Gmbh | Transition on the fly |
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