CN112696920A - Freeze dryer feeding and discharging positioning method and system - Google Patents
Freeze dryer feeding and discharging positioning method and system Download PDFInfo
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- CN112696920A CN112696920A CN202011624773.9A CN202011624773A CN112696920A CN 112696920 A CN112696920 A CN 112696920A CN 202011624773 A CN202011624773 A CN 202011624773A CN 112696920 A CN112696920 A CN 112696920A
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- feeding
- discharging
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F26—DRYING
- F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
- F26B25/00—Details of general application not covered by group F26B21/00 or F26B23/00
- F26B25/001—Handling, e.g. loading or unloading arrangements
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F26—DRYING
- F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
- F26B5/00—Drying solid materials or objects by processes not involving the application of heat
- F26B5/04—Drying solid materials or objects by processes not involving the application of heat by evaporation or sublimation of moisture under reduced pressure, e.g. in a vacuum
- F26B5/06—Drying solid materials or objects by processes not involving the application of heat by evaporation or sublimation of moisture under reduced pressure, e.g. in a vacuum the process involving freezing
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Molecular Biology (AREA)
- Coating Apparatus (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
Abstract
The invention discloses a freeze dryer feeding and discharging positioning method, which comprises the following steps: s1, setting the reference feeding and discharging height of the feeding and discharging component, the reference position of each slab and the reference visual position of each slab; s2, moving the feeding and discharging component to a reference feeding and discharging height; s3, acquiring the actual visual position of the plate layer to be fed and discharged through camera shooting, and calculating a visual position error value m between the actual visual position and the reference visual position; s4, the height of the feeding and discharging component is finely adjusted according to the visual position error value m of the plate layer to be fed and discharged, and the positioning error of the plate layer to be fed and discharged is eliminated. A feeding and discharging positioning system for the feeding and discharging method of the freeze dryer comprises a feeding and discharging component, a camera for shooting and acquiring the visual position of a plate layer and a position detection component for detecting the actual position of the plate layer. The invention has the advantages of convenient operation, being beneficial to improving the positioning accuracy and safety of feeding and discharging, and the like.
Description
Technical Field
The invention relates to a freeze dryer, in particular to a method and a system for positioning feeding and discharging of the freeze dryer.
Background
Taking the discharge of RGV (Rail Guided Vehicle) as an example, the height of the gun on the RGV is a fixed value, that is, the guns are all raised to the same height when the layers of the freeze dryer are discharged. Considering the positioning error of freeze dryer sheet layer to and the mechanical error that leads to after equipment long-time operation, the deviation of each sheet layer actual position can certain degree set position, if the spray gun is received with fixed height all the time, the sheet layer can be worn down, even collide with the sheet layer, influence the normal use of equipment.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a freeze dryer feeding and discharging positioning method which is convenient to operate and is beneficial to improving the positioning accuracy and safety of feeding and discharging.
The invention further provides a system for the discharging positioning method of the freeze dryer.
In order to solve the technical problems, the invention adopts the following technical scheme:
a freeze dryer feeding and discharging positioning method comprises the following steps:
s1, initial setting: setting the reference feeding and discharging height of the feeding and discharging component and the reference position of each plate layer, and shooting by a camera to obtain the reference visual position of each plate layer;
s2, moving the feeding and discharging component to a reference feeding and discharging height;
s3, selecting a plate layer to be fed and discharged and calculating a visual position error: acquiring the actual visual position of a plate layer to be fed and discharged through camera shooting, and calculating a visual position error value m between the actual visual position and a reference visual position;
s4, the feeding and discharging component eliminates the positioning error of the plate layer to be fed and discharged according to the visual position error value m of the plate layer to be fed and discharged;
s5, after the feeding and discharging of the current board layer to be fed and discharged are completed, returning to the step S2 until the feeding and discharging of all board layers are completed.
As a further improvement of the above technical solution:
in step S3 or S4, converting the visual position difference value M into an actual positioning error value M of the ply includes the steps of:
a. predetermining a proportional relationship K between the visual position error value and the actual positioning error value:
a1, when the plate layer is at the first position, the actual position value detected by the position detection component is M1, and the visual position obtained by camera shooting is M1;
a2, when the board layer moves to the second position, the actual position value detected by the position detection component is M2, and the visual position obtained by camera shooting is M2;
a3、K＝(M1-M2)/(m1-m2)；
b、M＝K×m。
and if the actual positioning error value M is more than or equal to 5mm in the step S3 or S4, alarming and stopping the feeding and discharging component.
m1 and m2 are the visual positions of the same position selected by the upper edge of the same board layer; alternatively, m1 and m2 are the same visual positions taken at the lower edge of the same ply.
The specific steps of step S1 include:
s1.1, setting the reference feeding and discharging height of a feeding and discharging component, adjusting the reference position of each plate layer according to the reference feeding and discharging height of the feeding and discharging component, and keeping each plate layer horizontal;
or setting the reference position of each slab layer, keeping each slab layer horizontal, and then setting the reference feeding and discharging height of the feeding and discharging component according to the reference position of each slab layer;
s1.2, shooting by a camera to obtain the reference visual position of each plate layer.
A feeding and discharging positioning system for the freeze dryer feeding and discharging positioning method comprises a feeding and discharging component, a camera for shooting and acquiring the visual position of a plate layer and a position detection component for detecting the actual position of the plate layer.
As a further improvement of the above technical solution:
the position detection component is a position encoder of the plate layer lifting oil cylinder.
The feeding and discharging component comprises a material gun arranged on the RGV.
Compared with the prior art, the invention has the advantages that: according to the method for positioning the feeding and discharging of the freeze dryer, the actual visual position of each plate layer is obtained through real-time shooting by a camera, the visual position error value is calculated according to the actual visual position and the reference visual position, the height of the feeding and discharging component is finely adjusted according to the positioning error in a targeted manner, the positioning error is leveled, the positioning accuracy of the feeding and discharging component is improved, and the risk that the feeding and discharging component wears the plate layers and collides with the plate layers is greatly reduced; the reference position, the reference visual position of each board layer and the reference feeding and discharging height of the feeding and discharging component are set simply and conveniently, and the board can be debugged only once before production.
The feeding and discharging positioning system disclosed by the invention is provided with the camera for acquiring the visual position of the plate layer and the position detection component for detecting the actual position of the plate layer, so that the actual positioning error of each plate layer can be determined, the height of the feeding and discharging component can be finely adjusted according to the actual positioning error of the plate layer, the actual positioning error is eliminated, the positioning accuracy of the feeding and discharging component is increased, and the risk that the feeding and discharging component abrades the plate layer and collides with the plate layer is greatly reduced.
Drawings
Fig. 1 is a schematic flow chart of the freeze dryer feeding and discharging positioning method.
Fig. 2 is a schematic structural diagram of a freeze dryer feed and discharge positioning system of the present invention.
The reference numerals in the figures denote: 1. a camera; 2. a ply layer; 21. a plate layer lifting oil cylinder; 3. a feeding and discharging part; 31. RGV; 32. a material gun; 4. a position detecting section.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples of the specification.
Fig. 1 shows an embodiment of the method for positioning the feeding and discharging of the freeze dryer of the present invention, and the method for positioning the feeding and discharging of the freeze dryer of the present embodiment includes the following steps:
s1, initial setting: setting a reference feeding and discharging height of the feeding and discharging component 3 and a reference position of each slab layer 2, and shooting through the camera 1 to obtain a reference visual position of each slab layer 2;
s2, moving the feeding and discharging component 3 to a reference feeding and discharging height;
s3, selecting a plate layer 2 to be fed and discharged, and calculating a visual position error: shooting by a camera 1 to obtain the actual visual position of a plate layer 2 to be fed and discharged, and calculating a visual position error value m between the actual visual position and a reference visual position;
s4, the height of the feeding and discharging component 3 is finely adjusted according to the visual position error value m of the plate layer 2 to be fed and discharged, and the positioning error of the plate layer 2 to be fed and discharged is eliminated;
s5, after the feeding and discharging of the plate layer 2 to be fed and discharged are finished, returning to the step S2 until the feeding and discharging of all the plate layers 2 are finished.
According to the freeze dryer feeding and discharging positioning method, the actual visual position of each plate layer 2 is obtained through real-time shooting by the camera 1, the visual position error value is calculated according to the actual visual position and the reference visual position, the height of the feeding and discharging component 3 is finely adjusted according to the positioning error in a targeted manner, so that the plate layer positioning error is eliminated, the positioning accuracy of the feeding and discharging component 3 is increased, and the risk that the feeding and discharging component 3 wears the plate layers 2 and collides with the plate layers 2 is greatly reduced; the reference position and the reference visual position of each plate layer 2 and the reference feeding and discharging height of the feeding and discharging component 3 are simply and conveniently set, and the adjustment is only needed once before production. Specifically, the reference feeding and discharging height of the feeding and discharging component 3 can be set, then the reference position of each slab 2 can be adjusted according to the reference feeding and discharging height of the feeding and discharging component 3, and each slab 2 can be kept horizontal, so that errors caused by inclination are avoided; or, the reference position of each slab layer 2 is set firstly, each slab layer 2 is kept horizontal, and then the reference feeding and discharging height of the feeding and discharging component 3 is set according to the reference position of each slab layer 2; and finally, shooting by the camera 1 to acquire the reference visual position of each slab layer 2.
Further, in this embodiment, in step S3, the visual position difference value M is converted into an actual positioning error value M of the slab 2, and in step S4, the height of the feeding and discharging component 3 is finely adjusted according to the actual positioning error value M, including the steps of:
a. predetermining a proportional relationship K between the visual position error value and the actual positioning error value:
a1, when the slab 2 is in the first position, the actual position value detected by the position detection component 4 is M1, and the visual position obtained by shooting by the camera 1 is M1;
a2, when the slab 2 moves to the second position, the actual position value detected by the position detection component 4 is M2, and the visual position obtained by shooting by the camera 1 is M2;
a3、K＝(M1-M2)/(m1-m2)；
b. m ═ K × M. Of course, in other embodiments, the conversion between the visual position error and the actual positioning error may be performed in step S4.
The visual position shot and obtained by the camera 1 is usually a group of ASSIC values, the unit is a 'pixel point', the unit of the actual position detected by the position detection part 4 (such as various position sensors and the like) is mm, the two measurement rules are not the same measurement rule, the actual position change and the visual position change are obtained by the up-and-down movement of the plate layer 2, the proportional conversion relation between the two measurement rules can be obtained, then the visual position error value is rapidly converted into the actual positioning error value, the operation is convenient and rapid, and the conversion accuracy is high.
Furthermore, if the actual positioning error value M is greater than or equal to 5mm in step S3 or S4, an alarm is issued and the feeding and discharging component 3 stops operating. The height of the feeding and discharging component 3 is usually fine-tuned, if the detected actual positioning error value exceeds 5mm, the explanation deviation is large, and the alarm and shutdown are required to be timely given and the confirmation processing is manually carried out.
As a preferred technical solution, m1 and m2 are the visual positions of the same position selected from the upper edge of the same slab 2; alternatively, m1 and m2 are the same visual positions taken at the lower edge of the same ply 2. The visual position of the slab layer 2 is determined by selecting a certain position of the upper edge or the lower edge of the slab layer 2, which is beneficial to clearly and accurately judging the visual position of the slab layer 2.
The feeding and discharging positioning system for the freeze dryer feeding and discharging positioning method comprises a feeding and discharging component 3, a camera 1 for shooting and acquiring the visual position of the plate layer 2, and a position detection component 4 for detecting the actual position of the plate layer 2.
This business turn over material positioning system is provided with camera 1 that is used for obtaining the visual position of sheet layer 2 and is used for detecting 2 actual position's on the sheet layer position detection part 4, thereby can confirm the actual positioning error of each sheet layer 2, business turn over material part 3 can be pertinence ground according to 2 actual positioning error fine setting height on the sheet layer, thereby eliminate actual positioning error, the accuracy of 2 location of business turn over material part has been increased, 3 wearing and tearing sheet layers 2 of business turn over material part, the risk of colliding with 2 on the sheet layer greatly reduced.
As a preferable technical solution, in the present embodiment, the position detecting member 4 is a position encoder of the slab lift cylinder 21. Of course, in other embodiments, other components may be used, and the actual position of the ply 2 may be detected.
In the preferred embodiment, the feeding and discharging component 3 includes a gun 32 disposed on the RGV 31. In other embodiments, the material inlet and outlet component 3 may also have other structures according to different materials, so that the materials can be fed and discharged.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make numerous possible variations and modifications to the present invention, or modify equivalent embodiments to equivalent variations, without departing from the scope of the invention, using the teachings disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention should fall within the protection scope of the technical scheme of the present invention, unless the technical spirit of the present invention departs from the content of the technical scheme of the present invention.
Claims (8)
1. A freeze dryer feeding and discharging positioning method is characterized in that: the method comprises the following steps:
s1, initial setting: setting the reference feeding and discharging height of the feeding and discharging component (3) and the reference position of each slab layer (2), and shooting through the camera (1) to obtain the reference visual position of each slab layer (2);
s2, moving the feeding and discharging component (3) to a reference feeding and discharging height;
s3, selecting a plate layer (2) to be fed and discharged, and calculating a visual position error: shooting through a camera (1) to obtain the actual visual position of a plate layer (2) to be fed and discharged, and calculating a visual position error value m between the actual visual position and a reference visual position;
s4, the height of the feeding and discharging component (3) is finely adjusted according to the visual position error value m of the plate layer (2) to be fed and discharged, and the positioning error of the plate layer (2) to be fed and discharged is eliminated;
s5, after the feeding and discharging of the plate layer (2) to be fed and discharged are finished, returning to the step S2 until the feeding and discharging of all the plate layers (2) are finished.
2. The method for positioning the feeding and discharging of the freeze dryer according to claim 1, characterized in that: in step S3 or S4, the visual position difference M is converted into an actual positioning error value M of the slab (2), and in step S4, the height of the feeding and discharging component (3) is finely adjusted according to the actual positioning error value M of the slab (2) to be fed and discharged, including the steps of:
a. predetermining a proportional relationship K between the visual position error value and the actual positioning error value:
a1, when the slab (2) is in a first position, the actual position value detected by the position detection component (4) is M1, and the visual position obtained by shooting by the camera (1) is M1;
a2, when the slab (2) moves to the second position, the actual position value detected by the position detection component (4) is M2, and the visual position obtained by shooting by the camera (1) is M2;
a3、K＝(M1-M2)/(m1-m2)；
b、M＝K×m。
3. the method for positioning the feeding and discharging of the freeze dryer according to claim 2, characterized in that: if the actual positioning error value M is larger than or equal to 5mm in the step S3 or S4, an alarm is given and the feeding and discharging component (3) stops operating.
4. The method for positioning the feeding and discharging of the freeze dryer according to claim 2, characterized in that: m1 and m2 are visual positions of the same position selected by the upper edge of the same slab (2); or m1 and m2 are the visual positions of the same position selected by the lower edge of the same slab (2).
5. The method for positioning the feeding and discharging of the freeze dryer according to claim 1, characterized in that: the specific steps of step S1 include:
s1.1, setting the reference feeding and discharging height of the feeding and discharging component (3), then adjusting the reference position of each plate layer (2) according to the reference feeding and discharging height of the feeding and discharging component (3), and keeping each plate layer (2) horizontal;
or setting the reference position of each slab layer (2), keeping each slab layer (2) horizontal, and then setting the reference feeding and discharging height of the feeding and discharging component (3) according to the reference position of each slab layer (2);
s1.2, shooting by a camera (1) to acquire the reference visual position of each slab layer (2).
6. A feed and discharge positioning system for a freeze dryer feed and discharge positioning method according to any one of claims 1 to 5, comprising a feed and discharge member (3), characterized in that: the device also comprises a camera (1) for shooting and acquiring the visual position of the slab (2) and a position detection component (4) for detecting the actual position of the slab (2).
7. The feed and discharge positioning system of claim 6, wherein: the position detection component (4) is a position encoder of the slab lifting oil cylinder (21).
8. The feed and discharge positioning system of claim 6, wherein: the feeding and discharging component (3) comprises a material gun (32) arranged on the RGV (31).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011624773.9A CN112696920A (en) | 2020-12-30 | 2020-12-30 | Freeze dryer feeding and discharging positioning method and system |
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| CN202011624773.9A CN112696920A (en) | 2020-12-30 | 2020-12-30 | Freeze dryer feeding and discharging positioning method and system |
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| CN112696920A true CN112696920A (en) | 2021-04-23 |
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| CN202011624773.9A Pending CN112696920A (en) | 2020-12-30 | 2020-12-30 | Freeze dryer feeding and discharging positioning method and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113959183A (en) * | 2021-11-17 | 2022-01-21 | 楚天科技股份有限公司 | Freeze dryer plate position control method and system |
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