CN112875212A - Stable control device of rail type liquid conveying system - Google Patents
Stable control device of rail type liquid conveying system Download PDFInfo
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- CN112875212A CN112875212A CN202110293316.4A CN202110293316A CN112875212A CN 112875212 A CN112875212 A CN 112875212A CN 202110293316 A CN202110293316 A CN 202110293316A CN 112875212 A CN112875212 A CN 112875212A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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Abstract
The invention relates to a stable control device of a rail type liquid conveying system, the rail type liquid conveying system comprises a rail and a plurality of conveying devices, the conveying devices comprise containers for containing liquid and drivers, and the stable control device comprises: the ultrasonic probe detection devices are matched with the conveying devices in number, are respectively arranged on the container and are provided with more than two ultrasonic probes; the ultrasonic probe detection device is respectively in signal connection with the input end of the controller circuit, and the controller circuit is used for processing and analyzing information according to the liquid level height information; and the output end of the controller circuit is respectively in signal connection with the conveying device and is used for sending driving regulation and control information to a driver in the conveying device. Through the arrangement, the problems of poor transportation stability and poor reliability caused by the fact that liquid is easy to shake and splash in the conventional rail type liquid conveying system can be solved.
Description
Technical Field
The invention relates to the technical field of liquid conveying systems, in particular to a stable control device of a rail type liquid conveying system.
Background
At present, rail-type conveying systems are commonly used in food, chemical, pharmaceutical and other industries to transport liquid substances, such as beverages, medicaments and the like, contained in open containers.
The existing track motion system generally adopts an open-loop control mode with a preset track, and when liquid or flexible substances are rapidly conveyed, phenomena such as shaking, splashing, residual vibration and the like are easy to occur, so that the conveying stability, reliability and quality are greatly reduced.
In order to avoid the adverse effect, it is generally necessary to reduce the transportation speed of the rail, and wait for a period of time after the liquid is transported to a specified place to stabilize the liquid surface, so as to eliminate impurities such as bubbles and turbidity caused by shaking. That is, the conventional orbital motion system lacks the capability of detecting the liquid shaking state on line in real time, and the control mode of the open-loop predetermined trajectory also makes it impossible to adjust the control strategy in real time according to the liquid shaking condition to suppress or eliminate the shaking.
In order to solve the problems, in the conventional rail-type conveying system, a conservative motion track is adopted, the speed of the track is reduced, and liquid is prevented from shaking as much as possible, but the transmission speed is greatly reduced, so that the production efficiency is influenced; and the acceleration performance of the orbiting system is not fully utilized, resulting in wasted performance.
Therefore, there is a need to improve the current stability control technology to effectively control the rail-type liquid delivery system so as to stably and efficiently transport liquid.
Disclosure of Invention
In order to solve the above technical problems, an object of the present invention is to provide a stable control device for a rail-mounted liquid conveying system, which is used to solve the problems of poor transportation stability and poor reliability caused by the fact that liquid is easy to shake and splash in the conventional rail-mounted liquid conveying system.
In order to achieve one of the above objects, an embodiment of the present invention provides a stable control device for a rail-type liquid delivery system, the rail-type liquid delivery system including a rail and a plurality of delivery devices, the delivery devices including containers for containing liquids and drivers, the stable control device including:
the number of the ultrasonic probe detection devices is matched with that of the conveying devices, and the ultrasonic probe detection devices are respectively arranged on the container; the ultrasonic probe detection device is provided with more than two ultrasonic probes and is used for detecting the height information of the liquid level in the container;
the ultrasonic probe detection device is respectively in signal connection with the input end of the controller circuit, and the controller circuit is used for processing and analyzing information according to the liquid level height information; and the output end of the controller circuit is respectively in signal connection with the conveying device and is used for sending driving regulation and control information to a driver in the conveying device.
As a further improvement of an embodiment of the present invention, the controller circuit includes a main controller circuit and a plurality of microcontroller circuits, and the number of the microcontroller circuits matches with the number of the conveying devices; the main controller circuit is used for processing and analyzing information and generating driving regulation and control information;
of said microcontroller circuit
The first end is in signal connection with the corresponding ultrasonic probe detection device and is used for controlling the ultrasonic probe detection device to work;
the second end is in signal connection with the main controller circuit and is used for sending the liquid level state information to the main controller circuit;
the third end is in signal connection with the corresponding conveying device and is used for sending driving regulation and control information to the drivers in the conveying devices.
As a further improvement of an embodiment of the present invention, the stability control device further includes a liquid level image shooting device, and the liquid level image shooting device is disposed above all the conveying devices, is in signal connection with the main controller circuit, and is configured to shoot liquid level image information and send the liquid level image information to the main controller circuit.
As a further improvement of an embodiment of the present invention, the conveying device further includes a sliding seat disposed on the rail for placing the container; the driver is connected with the sliding seat and used for driving the sliding seat to drive the container to move along the track.
As a further improvement of an embodiment of the present invention, the microcontroller circuit is connected to a corresponding driver for signal connection, and is configured to measure a voltage signal and a current signal of the corresponding driver in real time; the stable control device further comprises a state observer, wherein the microcontroller circuit is in signal connection with the state observer and is used for reconstructing external load information borne by the corresponding driver through the state observer and extracting load change information of the driver.
As a further improvement of an embodiment of the present invention, the ultrasonic probes are each provided at the bottom of the container for emitting an ultrasonic wave upward from the bottom of the container and receiving a reflected wave.
As a further improvement of one embodiment of the invention, the ultrasonic probe is embedded in the sliding seat, and the top of the ultrasonic probe is flush with the upper surface of the sliding seat.
As a further improvement of an embodiment of the present invention, the liquid surface image capturing device is a camera.
As a further improvement of an embodiment of the present invention, the orbit is an elliptical closed loop orbit.
Compared with the prior art, the invention has the beneficial effects that: designing a stable control device for the rail type liquid conveying system, arranging ultrasonic probe detection devices in the stable control device, wherein each ultrasonic probe detection device comprises at least two ultrasonic probes, and the ultrasonic probes are arranged on a container for containing liquid and used for detecting liquid level height information and monitoring the liquid level height state in real time; meanwhile, a controller circuit is arranged, the input end of the controller circuit is in signal connection with the ultrasonic probe detection device, and the output end of the controller circuit is in signal connection with each conveying device respectively, so that the controller circuit can acquire liquid level height information firstly for processing and analyzing, and drive regulation and control information to be sent to the corresponding conveying device after calculation and compensation are carried out on liquid shaking conditions, and therefore the motion state of the conveying device is regulated and controlled, and the liquid shaking conditions and the liquid are restrained from being efficiently conveyed.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the embodiments or the description of the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a block diagram of a rail-mounted liquid delivery system and a stability control device according to an embodiment of the present invention;
fig. 2 is a schematic control flow diagram of a stability control device according to an embodiment of the present invention.
Wherein the reference numbers referred to in the figures are as follows:
the system comprises a track 1, a conveying device 2, a sliding seat 21, a driver 22, a container 23, an ultrasonic probe 3, a main controller circuit 41, a microcontroller circuit 42 and a liquid level image shooting device 5.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail and completely with reference to the following detailed description of the invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
As shown in fig. 1, an embodiment of the present invention provides a stability control device for a track-type liquid delivery system, where the track-type liquid delivery system includes a track 1 and a plurality of delivery devices 2, each delivery device 2 includes a container 23 for containing liquid and a driver 22, and the stability control device includes:
the number of the ultrasonic probe detection devices is matched with that of the conveying devices 2, and the ultrasonic probe detection devices are respectively arranged on the container 23; the ultrasonic probe detection device is provided with more than two ultrasonic probes 3 for detecting the height information of the liquid level in the container 23;
the ultrasonic probe detection device is respectively in signal connection with the input end of the controller circuit, and the controller circuit is used for processing and analyzing information according to the liquid level height information; and the output ends of the controller circuits are respectively in signal connection with the conveying device 2 and are used for sending driving regulation information to the driver 22 in the conveying device 2.
Specifically, a stable control device is designed for the rail type liquid conveying system, ultrasonic probe detection devices are arranged in the stable control device, each ultrasonic probe detection device comprises at least two ultrasonic probes 3, and the ultrasonic probes 3 are arranged on a container 23 for containing liquid and used for detecting liquid level height information and monitoring the liquid level height state in real time; meanwhile, a controller circuit is arranged, the input end of the controller circuit is in signal connection with the ultrasonic probe detection device, and the output end of the controller circuit is in signal connection with each conveying device 2, so that the controller circuit can acquire liquid level height information firstly for processing and analyzing, and drive regulation and control information is sent to the corresponding conveying devices 2 after calculation and compensation are carried out on liquid shaking conditions, and therefore the motion state of the conveying devices 2 is regulated and controlled, and the liquid shaking conditions and the liquid are restrained from being transported efficiently.
Further, the controller circuit comprises a main controller circuit 41 and a plurality of microcontroller circuits 42, and the number of the microcontroller circuits 42 matches with the number of the conveying devices 2; the main controller circuit 41 is used for processing and analyzing information and generating driving regulation and control information;
of said microcontroller circuit 42
The first end is in signal connection with the corresponding ultrasonic probe detection device and is used for controlling the ultrasonic probe detection device to work;
the second end is in signal connection with the main controller circuit 41 and is used for sending the liquid level state information to the main controller circuit 41;
the third terminal is in signal connection with the corresponding delivery device 2 and is used for sending driving regulation information to the driver 22 in each delivery device 2.
In practical use, the controller circuit is composed of the main controller circuit 41 and the microcontroller circuit 42, so that the whole controller circuit can realize layered control, detection, analysis and regulation are carried out firstly, and the control effect is obvious.
Further, the stability control device further comprises a liquid level image shooting device 5, wherein the liquid level image shooting device 5 is arranged above all the conveying devices 2, is in signal connection with the main controller circuit 41, and is used for shooting liquid level image information and sending the liquid level image information to the main controller circuit 41.
Further, the liquid level image capturing device 5 is a camera.
In actual use, the liquid level image shooting device 5 such as a camera can be used for shooting liquid level images in real time and transmitting the images to the main controller circuit 41, so that the liquid level height state is synchronously monitored, and the monitoring accuracy is improved.
Further, the conveying device 2 further comprises a sliding seat 21, which is arranged on the track 1 and used for placing the container 23; the driver 22 is connected to the slide carriage 21, and is configured to drive the slide carriage 21 to move the container 23 along the track 1.
Thus, the conveying device 2 conveys liquid through sliding movement, and conveying stability can be improved.
Further, the microcontroller circuit 42 is in signal connection with the corresponding driver 22, and is used for measuring the voltage signal and the current signal of the corresponding driver 22 in real time; the stability control device further comprises a state observer, and the microcontroller circuit 42 is in signal connection with the state observer and is configured to reconstruct external load information borne by the corresponding driver 22 through the state observer and extract load change information of the driver 22.
In practical use, the microcontroller circuit 42 also measures the voltage and current signals of the driver 22 in real time, reconstructs external load information borne by the driver 22 through a method such as a state observer, extracts parameters such as amplitude, frequency and phase of load change from the external load information, and transmits the parameters to the main controller circuit 41.
Further, the ultrasonic probes 3 are each provided at the bottom of the tank 23 for emitting ultrasonic waves upward from the bottom of the tank 23 and receiving reflected waves.
Thus, the ultrasonic probe 3 emits ultrasonic waves upwards from the bottom of the container 23, reflected wave signals are generated after the ultrasonic waves meet the liquid level, and the reflected waves are received by the ultrasonic probe 3, so that the height information of the liquid level can be intuitively and accurately acquired.
Further, the ultrasonic probe 3 is embedded in the sliding seat 21, and the top of the ultrasonic probe is flush with the upper surface of the sliding seat 21.
Thus, the ultrasonic probe 3 can be conveniently installed, and the container 23 can also be moved and placed without being blocked, so that the conveying device 2 is convenient to use.
Further, the track 1 is an elliptical closed-loop track.
In practical use, the elliptical closed-loop track can circularly transport liquid, and the conveying device 2 can fully utilize the acceleration performance of the track 1 to improve the transportation efficiency.
As shown in fig. 1-2, in a specific embodiment, the stability control device includes an ultrasound probe 3, a camera, a microcontroller circuit 42, a main controller circuit 41, as well as the basic rail 1, the slide 21, and the open container 23.
The carriage 21 is driven by a driver 22 such as a motor and is movable along the rail 1.
The ultrasonic probes 3 are arranged in the sliding seat 21, ultrasonic waves are emitted upwards from the bottom of the open container 23 under the control of the microcontroller circuit 42, reflected wave signals are generated after the ultrasonic probes meet the liquid level, the reflected waves are received by the ultrasonic probes 3 and then are subjected to signal processing and analysis by the microcontroller circuit 42, liquid level height signals are extracted, and the plurality of ultrasonic probes 3 can be used for extracting state parameters such as wave forms, frequency and the like of liquid level shaking in real time and sending the state parameters to the main controller circuit 41.
The microcontroller circuit 42 also measures the voltage and current signals of the driver 22 in real time, reconstructs external load information borne by the driver 22 through a method such as a state observer, extracts parameters such as amplitude, frequency and phase of load change from the external load information, and sends the parameters to the main controller circuit 41.
The image of the liquid surface is captured in real time by the camera, transmitted to the main controller circuit 41, processed by an algorithm such as deep learning, and features such as liquid surface fluctuation information are extracted.
The main controller circuit 41 receives the ultrasonic signal parameters and the driver 22 load parameters from the microcontroller circuit 42, and fuses the ultrasonic signal parameters and the driver 22 load parameters with the liquid level shaking information acquired by the camera by using a fusion method such as kalman filtering and the like to obtain more accurate and reliable liquid shaking state information, and uses the liquid shaking state information as a feedback signal for shaking suppression control.
The main controller circuit 41 runs a shake suppression control algorithm program, adjusts the voltage and current to be loaded to the driver 22 through the received shake state feedback signal, and sends the voltage and current to the microcontroller circuit 42 to generate a driving signal and load the driving signal to the driver 22, thereby adjusting the motion state of the slide base 21 and suppressing the liquid level shake.
In summary, the stable control device of the rail-mounted liquid delivery system provided by the present invention detects the liquid shaking according to the electric signal of the rail system driver 22, the ultrasonic sensor, and the camera image, and uses the automatic control program to suppress the liquid shaking, and the liquid material is stably and high-speed transferred through the rail motion system, so that the transfer efficiency and quality can be significantly improved.
Compared with the prior art, the invention has the following advantages:
1. the liquid shaking state can be detected on line in real time, and the liquid is prevented from being splashed by controlling and inhibiting the shaking in a feedback way, so that the stability, reliability and quality of the conveyed liquid are improved;
2. the device can realize high-speed conveying and simultaneously inhibit shaking, avoids bubbles, turbidity and the like, does not need waiting after conveying, and greatly improves the production efficiency;
3. the acceleration performance of the track motion system is fully utilized, and the performance waste is avoided;
4. the system adopts a layered structure, the expandability is strong, and the number of the sliding seats is convenient to expand.
It should be understood that although the present description refers to embodiments, not every embodiment contains only a single technical solution, and such description is for clarity only, and those skilled in the art should make the description as a whole, and the technical solutions in the embodiments can also be combined appropriately to form other embodiments understood by those skilled in the art.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention and is not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention are included in the scope of the present invention.
Claims (10)
1. The utility model provides a rail mounted liquid delivery system's steady controlling means, rail mounted liquid delivery system includes track and a plurality of conveyor, conveyor is including container and the driver that is used for holding liquid, its characterized in that, steady controlling means includes:
the number of the ultrasonic probe detection devices is matched with that of the conveying devices, and the ultrasonic probe detection devices are respectively arranged on the container; the ultrasonic probe detection device is provided with more than two ultrasonic probes and is used for detecting the height information of the liquid level in the container;
the ultrasonic probe detection device is respectively in signal connection with the input end of the controller circuit, and the controller circuit is used for processing and analyzing information according to the liquid level height information; and the output end of the controller circuit is respectively in signal connection with the conveying device and is used for sending driving regulation and control information to a driver in the conveying device.
2. The stability control device of a track-type liquid delivery system according to claim 1, wherein the controller circuit comprises a main controller circuit and a number of microcontroller circuits, the number of microcontroller circuits matching the number of delivery devices; the main controller circuit is used for processing and analyzing information and generating driving regulation and control information;
of said microcontroller circuit
The first end is in signal connection with the corresponding ultrasonic probe detection device and is used for controlling the ultrasonic probe detection device to work;
the second end is in signal connection with the main controller circuit and is used for sending the liquid level state information to the main controller circuit;
the third end is in signal connection with the corresponding conveying device and is used for sending driving regulation and control information to the drivers in the conveying devices.
3. The stability control device of the rail-type liquid conveying system according to claim 2, further comprising a liquid level image shooting device, wherein the liquid level image shooting device is arranged above all the conveying devices, is in signal connection with the main controller circuit, and is used for shooting liquid level image information and sending the information to the main controller circuit.
4. The stability control device of an orbital fluid delivery system of claim 3 wherein said delivery device further comprises a slide positioned on said track for receiving said container; the driver is connected with the sliding seat and used for driving the sliding seat to drive the container to move along the track.
5. The stability control device of the track-type liquid conveying system according to claim 4, wherein the microcontroller circuit is in signal connection with the corresponding driver and is used for measuring a voltage signal and a current signal of the corresponding driver in real time; the stable control device further comprises a state observer, wherein the microcontroller circuit is in signal connection with the state observer and is used for reconstructing external load information borne by the corresponding driver through the state observer and extracting load change information of the driver.
6. The stability control device of an orbital liquid delivery system of claim 5 wherein the ultrasonic probes are each disposed at the bottom of the container for emitting ultrasonic waves upwardly from the bottom of the container and receiving reflected waves.
7. The stability control device of an orbital liquid delivery system of claim 6 wherein the ultrasonic probe is embedded in the carriage with a top flush with the upper surface of the carriage.
8. The stability control device of the rail-type liquid conveying system according to claim 5 or 7, wherein the liquid level image shooting device is a camera.
9. The stability control device of an orbital liquid delivery system of claim 8 wherein the track is an elliptical closed-loop track.
10. The stability control device of an orbital liquid delivery system of claim 9 wherein the drive is a motor.
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| CN202110293316.4A CN112875212A (en) | 2021-03-18 | 2021-03-18 | Stable control device of rail type liquid conveying system |
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| CN202110293316.4A CN112875212A (en) | 2021-03-18 | 2021-03-18 | Stable control device of rail type liquid conveying system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113307023A (en) * | 2021-07-08 | 2021-08-27 | 苏州市华创力自动化科技有限公司 | Liquid anti-shaking robot and control method thereof |
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2021
- 2021-03-18 CN CN202110293316.4A patent/CN112875212A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113307023A (en) * | 2021-07-08 | 2021-08-27 | 苏州市华创力自动化科技有限公司 | Liquid anti-shaking robot and control method thereof |
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