CN113771207A - Material receiving control system and material receiving control method of material transferring and distributing machine - Google Patents
Material receiving control system and material receiving control method of material transferring and distributing machine Download PDFInfo
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- CN113771207A CN113771207A CN202111122216.1A CN202111122216A CN113771207A CN 113771207 A CN113771207 A CN 113771207A CN 202111122216 A CN202111122216 A CN 202111122216A CN 113771207 A CN113771207 A CN 113771207A
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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
- 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
- B28B13/027—Feeding the moulding material in measured quantities from a container or silo by using a removable belt or conveyor 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
- B28B17/0081—Process control
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Chemical & Material Sciences (AREA)
- Ceramic Engineering (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manufacturing & Machinery (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a material receiving control system and a material receiving control method for a transfer material distributor. The control method comprises the following steps: s1, calculating the distance S between the torpedo ladle and the transferring and distributing machine to be A + B; s2, calculating the moving time T as S/(Va + Vb); s3, calculating an optimal material receiving point P, wherein P is B-Vb T, and controlling the torpedo tank and the traveling cart to reach the point P respectively; s4, unloading the torpedo cars; and S5, performing subsequent material distribution operation. The material receiving control system and method of the material transferring and distributing machine can calculate the optimal material receiving point position, and the degree of automation and intelligence is high.
Description
Technical Field
The invention belongs to the technical field of prefabricated part production, and particularly relates to a material receiving control system and a material receiving control method of a material transferring and distributing machine.
Background
In the field of assembly type building engineering and in the production process of components, the main working procedures related to concrete comprise material distribution. The concrete cloth of the component for fixing the bench formwork or the long-line bench formwork has various methods at present. One is that a driving and hopper mode, a torpedo tank and a chute are adopted; the other is a transferring and distributing machine and a torpedo tank. In the two modes, manual participation is needed during concrete material receiving, and the automation degree is not high.
When utilizing torpedo jar and cloth machine to carry out the concrete cloth to the component, concrete torpedo jar mainly used is transported at the concrete in the fixed area, for example inside the PC mill, transports the concrete to the cloth machine from the mixing plant through the torpedo jar. The concrete is conveyed to the distributing machine at the station through the torpedo tank, the distributing machine distributes the concrete through walking, and the concrete is conveyed to the platform die of the member to be poured through the discharge port.
At present, there is a need to develop a material receiving control system and a material receiving control method for a material transferring and distributing machine, so as to solve the problems that material receiving manual operation is needed, material scattering is easy to occur during material receiving in the prior art, and the automation degree of the whole operation process is not high.
The invention content is as follows:
the invention aims to provide a material receiving control system and a material receiving control method of a material transferring and distributing machine, which aim to solve the technical problems in the prior art, thereby shortening the material receiving time, reducing the labor intensity and improving the automation and intelligence level of equipment.
In order to achieve the purpose, the invention adopts the following technical scheme:
a material receiving control system of a material distributing machine comprises a torpedo tank and a material distributing machine, wherein the torpedo tank is movably arranged on a torpedo tank track, the material distributing machine comprises a material distributing machine trolley and a traveling cart, the traveling cart is movably arranged on the material distributing track, the material distributing machine trolley is movably arranged on the traveling cart, the height of the torpedo tank is between the height of the traveling cart and the height of a material receiving hopper of the material distributing machine trolley, a first encoder is arranged on the torpedo tank, a second encoder is arranged on the traveling cart, a third encoder is arranged on the material distributing machine trolley, the first encoder is used for detecting the position of the torpedo tank in real time and controlling the operation of the torpedo tank, the second encoder is used for detecting the position of the traveling cart in real time and controlling the operation of the traveling cart, the third encoder is used for detecting the position of the distributing machine trolley in real time and controlling the running of the distributing machine trolley, and the first encoder, the second encoder and the third encoder are all in communication connection with one another.
On the basis of the scheme, in another improved scheme, a camera in communication connection with the third encoder is further arranged on the material distributor trolley, the camera is arranged right above a material receiving port of the material distributor trolley and is used for photographing the torpedo tank and transmitting the photographed image to the third encoder, the third encoder prestores the standard image before discharging of the torpedo tank, and the third encoder receives the image photographed by the camera and then compares and judges the image with the prestored standard image.
On the basis of the scheme, in another improved scheme, the camera is a 3D camera.
The invention also provides a material receiving control method of the material transferring and distributing machine, which adopts the material receiving control system of the material transferring and distributing machine, sets the appointed intersection point of the torpedo tank track and the material distributing track in the horizontal direction as an appointed zero point, and sets the distance between the torpedo tank track and the appointed zero point as positive when the moving direction of the traveling cart faces the appointed zero point; when the moving direction of the torpedo tank and the walking cart is far away from the designated zero point, the distance between the torpedo tank and the designated zero point is negative; the method comprises the following steps:
s1, a first encoder automatically detects the position A of the torpedo tank, a second encoder automatically detects the position B of the traveling cart, the first encoder and the second encoder exchange data in real time, and the distance S between the torpedo tank and the material transferring and distributing machine is calculated;
s2, the first encoder or the second encoder calculates the moving time T of the torpedo tank and the traveling cart to be S/(Va + Vb), wherein Va is the preset running average speed of the torpedo tank, and Vb is the preset running average speed of the traveling cart;
s3, calculating the distance between the position of the optimal material receiving point where the torpedo tank and the transfer distributor are butted and an appointed zero point by the first encoder or the second encoder, and recording the distance as P, wherein P is Sb-Vb T, and Sb is the distance between the travelling crane cart and the appointed zero point; data are exchanged among the first encoder, the second encoder and the third encoder in real time, the first encoder and the second encoder respectively indicate the torpedo tank and the traveling cart to move towards the optimal material receiving point, and the third encoder controls the material distributing machine trolley to move towards the end part of the traveling cart; when the first encoder and the second encoder respectively detect that the torpedo tank and the traveling cart reach the optimal material receiving point, the torpedo tank and the traveling cart are respectively controlled to stop running, and when the third encoder detects that the distributing machine trolley moves to the end part of the traveling cart, namely under the torpedo tank, the distributing machine trolley is controlled to stop running;
s4, adjusting the angle of the torpedo tank to enable the discharge opening of the torpedo tank to be aligned with the material receiving opening of the distributing machine trolley, and executing a torpedo tank discharging program;
s5, the material distributing trolley finishes material receiving, and the second encoder controls the traveling trolley to move to a material distributing operation point to perform subsequent material distributing operation.
On the basis of the above scheme, in another improved scheme, in the step S1, the torpedo ladle rail is L-shaped, the material distribution rail is linear, a rail segment where the torpedo ladle rail and the material distribution rail are parallel to each other is set as a Y segment, a rail segment where the torpedo ladle rail and the material distribution rail are perpendicular to each other is set as an X segment, and a crossing of the X segment and the Y segment is a designated zero point; before step S1, the method further includes a debugging step before operation of the torpedo tank and the transfer distributor: the torpedo ladle moves on the torpedo ladle track and records the designated zero point position, and the transfer material distributor moves on the material distribution track and records the designated zero point position.
On the basis of the above scheme, in another improved scheme, in the step S1, when the torpedo tank is located at the section X, the distance from the torpedo tank to the designated zero point is Sax, and the distance from the travelling cart to the designated zero point is Sb; in step S2, the travel time Tx of the torpedo car and the traveling cart is (Sax + Sb)/(Va + Vb); in step S3, the distance P between the position of the optimal material receiving point and the designated zero point is Sb-Vb × Tx.
On the basis of the above scheme, in another modified scheme, in the step S1, when the torpedo tank is located at the Y section, the distance from the torpedo tank to the designated zero point is Say, and the distance from the travelling cart to the designated zero point is Sb; in step S2, the travel time Ty of the torpedo car and the traveling cart is (Sb-Say)/(Va + Vb); in step S3, the distance P between the position of the optimal material receiving point and the designated zero point is Sb-Vb Ty.
On the basis of the above scheme, in another modified scheme, in the step S4, the angle of the torpedo is adjusted through the following steps: and the third encoder controls the camera to photograph the torpedo tank, compares the photographed image with a pre-stored image, calculates a deviation value of the current position of the torpedo tank and a preset position, starts a torpedo tank unloading program if the deviation value accords with a preset range value, adjusts the position of the torpedo tank and photographs again if the deviation value does not accord with the preset range value, and performs a new round of image contrast calculation until the position of the torpedo tank accords with the preset position.
In addition to the above, in another modified embodiment, in step S1, when the moving directions of the torpedo car and the traveling cart both move toward the specified zero point, the torpedo car and the traveling cart are located on both sides of the specified zero point, and S is Sa + Sb; when one of the moving directions of the torpedo tank and the walking cart moves towards the designated zero point and the other moves away from the designated zero point, S is | Sb-Sa |; wherein Sa is the distance between the point A and the designated zero point, and Sb is the distance between the point B and the designated zero point.
On the basis of the above scheme, in another improved scheme, in the step S3, the material distributor trolley, the traveling trolley and the torpedo tank are operated simultaneously, and when the traveling trolley and the torpedo tank reach the optimal material receiving point, the material distributor trolley travels to the end of the traveling trolley, that is, below the torpedo tank.
On the basis of the scheme, in another improved scheme, the distance between the current position of the distributing machine trolley before running and the end part of the traveling cart obtained by the third encoder is H, V0Is the running speed of the trolley of the distributing machine, V0H/T, where T is S/(Va + Vb).
In addition to the above, in another modified embodiment, in step S3, a limit position sensor is disposed at the designated zero point position, and when the traveling cart moves to the designated zero point position, the limit position sensor sends a signal to a second encoder, and the second encoder controls the traveling cart to stop running, at which time, the optimal material receiving point is the designated zero point, and P is 0.
The technical scheme of the invention at least has the following beneficial effects:
according to the material receiving control method and the material receiving control method of the transfer material distributing machine, the transfer material distributing machine and a torpedo car are communicated, respective real-time positions can be detected in real time, real-time position signals are transmitted to the transfer material distributing machine by the torpedo car, when material receiving is needed, an operator only needs to press a material receiving button, a walking cart of the transfer material distributing machine and the torpedo car automatically communicate with each other and calculate the optimal material receiving point position, then the materials are close to each other and travel in a linkage mode, whether the optimal material receiving point position is reached or not can be automatically judged according to the traveling distance of the torpedo car and the transfer material distributing machine, and the walking cart and the torpedo car automatically stop running after the optimal material receiving point position is reached; the camera is used for photographing and comparing whether the discharge opening of the torpedo tank is aligned with the material receiving opening of the material distributing machine trolley or not, the position relation between the torpedo tank and the material distributing machine trolley is automatically and intelligently adjusted, debugging is not needed to be carried out by means of manual operation, time is greatly saved, and the technical problems that in the prior art, the time consumption is long when the torpedo tank is fixed in position and the material distributing machine trolley waits for the material receiving of the material distributing machine trolley to come, debugging is complex, positioning is not accurate and the like are solved.
Drawings
Fig. 1 is a side view of a material transfer and distribution machine and a torpedo tank of a material receiving control system of the material transfer and distribution machine;
FIG. 2 is a top view of FIG. 1;
fig. 3 is an example of the operation of the material transfer and distribution machine and the torpedo tank in the material receiving control system of the material transfer and distribution machine.
The attached drawings are marked as follows:
1-torpedo tank, 2-torpedo tank rail, 3-distributor trolley, 4-walking cart, 5-distributing rail, 6-first encoder, 7-second encoder, 8-third encoder, 9-camera, 10-calibration zero clearing position, 12-designated zero point, 13-concrete mixing station, 14-distributing operation point and 15-optimal material receiving point.
Detailed Description
The following preferred embodiments of the present invention are provided to aid in a further understanding of the invention. It should be understood by those skilled in the art that the description of the embodiments of the present invention is by way of example only, and not by way of limitation.
Referring to the schematic drawings of fig. 1 to fig. 2, the material receiving control system of the transfer distributor of the embodiment, a concrete is transported and is connect material process for in the prefabricated component production process, the setting is in the top of prefabricated component production line, including torpedo jar 1 and transportation cloth machine, 1 movably settings of torpedo jar are on torpedo jar track 2, it includes cloth machine dolly 3 and walking cart 4 to transport the cloth machine, 4 movably settings of walking cart are on cloth track 5, 3 movably settings are on walking cart 4 for cloth machine dolly, the height that highly lies in walking cart 4 of torpedo jar 1 is between the height of the hopper that connects of cloth machine dolly 3, be provided with first encoder 6 on the torpedo jar 1, be provided with second encoder 7 on the walking cart 4, be provided with third encoder 8 on the cloth machine dolly 3, first encoder 6, intercommunication is connected between second encoder 7 and the third encoder 8 is all. On the production line of prefabricated parts, the cloth track 5 stridees across the station top that needs the cloth, transports cloth machine along cloth track 5 round trip movement, connects the material at torpedo 1 position department concrete, then moves to cloth operation point 14 and carries out the concrete cloth. Through be provided with first encoder 6 on torpedo jar 1, be provided with second encoder 7 on walking cart 4, be provided with third encoder 8 on cloth machine dolly 3, first encoder 6 is used for the position of real-time detection torpedo jar 1 and controls the operation of torpedo jar 1, second encoder 7 is used for the position of real-time detection walking cart and controls the operation of walking cart 4, the function of third encoder 8 is used for the position of real-time detection cloth machine dolly 3 and controls the operation of cloth machine dolly 3, first encoder, all intercommunication is connected between second encoder and the third encoder, and first encoder, second encoder and third encoder all preset the calculation flow of best material receiving point. When transporting the cloth machine and need carry out the concrete and connect the material, compare in prior art torpedo jar motionless, only transport the mode that the cloth machine removed, this scheme can realize torpedo jar and walking cart simultaneously move to best material receiving point in opposite directions, save time, raise the efficiency.
On the basis of the above embodiment, in another improved embodiment, the distributing machine trolley 3 is further provided with a camera 9 in communication connection with the third encoder 8, and the camera 9 is arranged right above the material receiving port of the distributing machine trolley 3. The camera 9 is used for taking a picture of the torpedo ladle 1 and transmitting the taken image to the third encoder 8, the third encoder 8 prestores a pre-unloading standard image of the torpedo ladle 1, and the third encoder 8 compares and judges the image taken by the camera 9 with the prestored standard image.
On the basis of the above-described embodiment, in another improved embodiment, the camera 9 is a 3D camera, and the 3D camera transmits the photographed image to the third encoder 8. The position of the distributing machine trolley 3 can be detected in real time through the third encoder 8, and the movement of the distributing machine trolley 3 is controlled. Can shoot the position of torpedo ladle 1 through the 3D camera, judge whether the angle of torpedo ladle 1 targets in place through the position photo of third encoder 8 contrast torpedo ladle 1, reduce artificial intervention, improve the efficiency of adjustment.
Referring to the schematic of fig. 3, the torpedo car track 2 is L-shaped, the distribution track 5 is vertically distributed and linear, the horizontal direction is set to be the X direction, and the vertical direction is set to be the Y direction. Wherein the distributing rails 5 are only distributed in the Y direction, and the transferring and distributing machine moves back and forth along the distributing rails 5; the lowermost Y-direction in fig. 3 is the distribution point 14 where the transfer distributor performs the concrete distribution operation. Wherein torpedo ladle 1 moves along torpedo ladle track 2, is provided with concrete mixing plant 13 at the terminal of torpedo ladle track 2 removal X side, and concrete mixing plant 13 position also is the zero clearing position 10 of calibration of torpedo ladle 1, carries out position calibration and receives the concrete process when torpedo ladle 1 reachs here.
In the material receiving control method of the transfer material distributing machine of the embodiment, by adopting the material receiving control system of the transfer material distributing machine, the designated intersection point of the torpedo tank track and the material distributing track in the horizontal direction is set as the designated zero point, and when the moving direction of the torpedo tank and the traveling cart is set to face the designated zero point, the distance between the torpedo tank and the designated zero point is positive; when the moving direction of the torpedo tank and the walking cart is far away from the designated zero point, the distance between the torpedo tank and the designated zero point is negative; the method comprises the following steps:
s1, setting the designated zero point 12 at the designated intersection point of the torpedo tank track 2 and the material distribution track 5 in the horizontal direction, automatically detecting the position A of the torpedo tank by a first encoder, automatically detecting the position B of the traveling cart by a second encoder, exchanging data in real time between the first encoder and the second encoder and calculating the distance S between the torpedo tank and the material transferring and distributing machine; under the common working condition, the transferring and distributing machine stays at the distributing working point after the distributing working point finishes distributing work, so the point B is usually the distributing working point;
s2, the first encoder 6 or the second encoder 7 calculates the moving time T of the torpedo car 1 and the traveling cart 4 as S/(Va + Vb), where Va is the preset average speed of the torpedo car 1 and Vb is the preset average speed of the traveling cart 4; (in actual work, the whole moving process of the torpedo ladle 1 and the walking cart 4 cannot be uniform in motion, acceleration and deceleration can occur during starting and stopping, and the average speed of the torpedo ladle 1 and the walking cart 4 in the whole moving process is calculated in a unified manner for convenience of calculation due to the fact that the whole running distance is short and the acceleration and deceleration processes are short);
s3, calculating the distance between the position of the optimal material receiving point 15, which is butted by the torpedo tank 1 and the transferring and distributing machine, and the specified zero point by the first encoder 6 or the second encoder 7, and recording the distance as P, wherein P is Sb-Vb T, and Sb is the distance between the travelling crane cart 4 and the specified zero point; data are exchanged among the first encoder 6, the second encoder 7 and the third encoder 8 in real time, the first encoder 6 and the second encoder 7 respectively indicate the torpedo tank 1 and the traveling cart 4 to move towards the optimal material receiving point 15, and the third encoder 8 controls the material distributing machine trolley 3 to move towards the end part of the traveling cart; when the first encoder 6 and the second encoder 7 respectively detect that the torpedo tank 1 and the traveling cart 4 reach the optimal material receiving point, the torpedo tank and the traveling cart are respectively controlled to stop running, and when the third encoder detects that the material distributing trolley 3 moves to the end part of the traveling cart 4, namely under the torpedo tank 1, the material distributing trolley 3 is controlled to stop running; because the first encoder 6 and the second encoder 7 exchange data in real time and detect the positions and the traveling distances of the torpedo tank 1 and the traveling cart 4 in real time, the first encoder 6 and the second encoder 7 can automatically control the torpedo tank 1 and the traveling cart 4 to be ready to reach the optimal material receiving point 15;
s4, adjusting the angle of the torpedo tank to enable the discharge opening of the torpedo tank to be aligned with the material receiving opening of the distributing machine trolley, and executing a torpedo tank discharging program;
s5, the distributing machine trolley 3 finishes receiving materials, and the third encoder 8 controls the transferring distributing machine to move to the distributing operation point 14 for subsequent distributing operation.
In another improved scheme, in step S4, the second encoder 7 sends current position information to the third encoder 8, the third encoder 8 receives the current position information and controls the material distributor trolley 3 to move to the end of the traveling trolley 4, that is, the material distributor trolley 3 moves to the position below the torpedo tank 1 along the traveling trolley 4, the camera 9 of the material distributor trolley 3 photographs the torpedo tank 1 and compares the photographed image with a pre-stored image to calculate a deviation value between the torpedo tank 1 and a preset position, if the deviation value meets the preset range value, the unloading program of the torpedo tank 1 is started, if the deviation value does not meet the preset range value, the position of the torpedo tank 1 is adjusted and photographed again, and a new round of image comparison calculation is performed until the position of the torpedo tank 1 meets the preset position and the unloading program is completed.
On the basis of the above embodiment, in another modified embodiment, in step S1, the torpedo car track 2 is L-shaped, the distribution track 5 is linear, the track section where the torpedo car track 2 and the distribution track 5 are parallel to each other is set as Y-section, the track section where the torpedo car track 2 and the distribution track 5 are perpendicular to each other is set as X-section, and the intersection of the X-section and the Y-section is the designated zero point 12; before step S1, the method further includes a debugging step before operation of the torpedo tank 1 and the transfer distributor: the torpedo car 1 moves on the torpedo car track 2 and records the designated zero point 12 position, the transfer material distributor moves on the material distribution track 5 and records the designated zero point 12 position, the moving directions of the torpedo car 1 and the traveling cart 4 are set to be negative towards the designated zero point 12, and the directions of the torpedo car 1 and the traveling cart 4 far away from the designated zero point 12 are positive.
On the basis of the above embodiment, in another modified embodiment, in step S1, when the torpedo car 1 is located at the X-stage, the distance from the torpedo car 1 to the designated zero point 12 is Sax, and the distance from the cart 4 to the designated zero point 12 is Sb; in step S2, the travel time Tx of the torpedo car 1 and the traveling cart 4 is (Sax + Sb)/(Va + Vb); in step S3, the distance P between the position of the optimal material receiving point 15 and the designated zero point 12 is Sb — Vb × Tx.
On the basis of the above embodiment, in another modified embodiment, in step S1, when the torpedo car 1 is located at the Y-stage, the distance from the torpedo car 1 to the designated zero point 12 is Say, and the distance from the cart 4 to the designated zero point 12 is Sb; in step S2, the travel time Ty of the torpedo car 1 and the traveling cart 4 is (Sb-Say)/(Va + Vb); in step S3, the distance P between the position of the optimal material receiving point 15 and the designated zero point 12 is Sb — Vb Ty.
On the basis of the above embodiment, in another modified embodiment, the angle of the torpedo tank is adjusted in step S4 by: the third encoder controls the camera to shoot the torpedo tank, the shot images are compared with prestored images, a deviation value of the current position of the torpedo tank and the preset position is calculated, if the deviation value accords with the preset range value, an unloading program of the torpedo tank is started, if the deviation value does not accord with the preset range value, the torpedo tank is adjusted and shot again, and a new round of image comparison calculation is carried out until the torpedo tank position accords with the preset position.
On the basis of the above embodiment, in another modified embodiment, in step S1, when the moving directions of the torpedo car and the traveling cart are both moving toward the specified zero point, and the torpedo car and the traveling cart are located on both sides of the specified zero point, S is Sa + Sb; when one of the moving directions of the torpedo tank and the walking cart moves towards the designated zero point and the other moves away from the designated zero point, S is | Sb-Sa |; wherein Sa is the distance between the point A and the designated zero point, and Sb is the distance between the point B and the designated zero point.
On the basis of the above embodiment, in another modified embodiment, in step S3, the material distributor trolley, the traveling trolley and the torpedo tank are operated simultaneously, and when the traveling trolley and the torpedo tank reach the optimal material receiving point, the material distributor trolley travels to the end of the traveling trolley, that is, below the torpedo tank.
On the basis of the embodiment, in another improved embodiment, the third encoder obtains the distance H, V between the current position of the distributing machine trolley before running and the end part of the traveling cart0Is the running speed of the trolley of the distributing machine, V0H/T, where T is S/(Va + Vb).
On the basis of the above embodiment, in another modified embodiment, in step S3, a limit position sensor is disposed at the designated zero point position, when the traveling cart moves to the designated zero point position, the limit position sensor sends a signal to a second encoder, the second encoder controls the traveling cart to stop running, at this time, the optimal material receiving point is the designated zero point, and P is 0.
According to the material receiving control method and the material receiving control method of the transfer material distributing machine, the transfer material distributing machine and the torpedo tank are communicated, respective real-time positions can be detected in real time, the torpedo tank transmits real-time position signals to the transfer material distributing machine, when material receiving is needed, an operator only needs to press a material receiving button, a walking cart of the transfer material distributing machine and the torpedo tank automatically communicate with each other and calculate the optimal material receiving point position, then the materials are close to each other and travel in a linkage mode, whether the optimal material receiving point position is reached or not can be automatically judged according to the traveling distance of the torpedo tank 1 and the transfer material distributing machine, and the walking cart and the torpedo tank automatically stop running after the optimal material receiving point position is reached; the camera is used for photographing and comparing whether the discharge opening of the torpedo tank is aligned with the material receiving opening of the material distributing machine trolley or not, the position relation between the torpedo tank and the material distributing machine trolley is automatically and intelligently adjusted, debugging is not needed to be carried out by means of manual operation, time is greatly saved, and the technical problems that in the prior art, the time consumption is long when the torpedo tank is fixed in position and the material distributing machine trolley waits for the material receiving of the material distributing machine trolley to come, debugging is complex, positioning is not accurate and the like are solved.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present application and not for limiting the protection scope thereof, and although the present application is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: numerous variations, modifications, and equivalents will occur to those skilled in the art upon reading the present application and are within the scope of the claims as issued or as granted.
Claims (10)
1. A material receiving control system of a material distributing machine is characterized by comprising a torpedo tank and a material distributing machine, wherein the torpedo tank is movably arranged on a torpedo tank track, the material distributing machine comprises a material distributing machine trolley and a traveling trolley, the traveling trolley is movably arranged on the material distributing track, the material distributing machine trolley is movably arranged on the traveling trolley, the height of the torpedo tank is between the height of the traveling trolley and the height of a material receiving hopper of the material distributing machine trolley, a first encoder is arranged on the torpedo tank, a second encoder is arranged on the traveling trolley, a third encoder is arranged on the material distributing machine trolley, the first encoder is used for detecting the position of the torpedo tank in real time and controlling the operation of the torpedo tank, the second encoder is used for detecting the position of the traveling trolley in real time and controlling the operation of the traveling trolley, the third encoder is used for detecting the position of the distributing machine trolley in real time and controlling the running of the distributing machine trolley, and the first encoder, the second encoder and the third encoder are all in communication connection with one another.
2. The material receiving control system for the transfer distributor according to claim 1, wherein a camera in communication connection with the third encoder is further arranged on the distributor trolley, the camera is arranged right above the material receiving port of the distributor trolley, the camera is used for taking pictures of the torpedo tank and transmitting the taken pictures to the third encoder, the third encoder pre-stores standard images before unloading of the torpedo tank, and the third encoder receives the pictures taken by the camera and compares and judges the pictures with the pre-stored standard images.
3. The material receiving control system of a material transfer and distribution machine as claimed in claim 2, wherein said camera is a 3D camera.
4. A material receiving control method of a transferring and distributing machine, characterized in that a material receiving control system of the transferring and distributing machine according to claim 2 or 3 is adopted, an appointed zero point is set at an appointed intersection point of a torpedo tank track and a distributing track in the horizontal direction, and when the moving direction of the torpedo tank and a traveling cart is set to the appointed zero point, the distance between the torpedo tank and the appointed zero point is positive; when the moving direction of the torpedo tank and the walking cart is far away from the designated zero point, the distance between the torpedo tank and the designated zero point is negative; the method comprises the following steps:
s1, a first encoder automatically detects the position A of the torpedo tank, a second encoder automatically detects the position B of the traveling cart, the first encoder and the second encoder exchange data in real time, and the distance S between the torpedo tank and the material transferring and distributing machine is calculated;
s2, the first encoder or the second encoder calculates the moving time T of the torpedo tank and the traveling cart to be S/(Va + Vb), wherein Va is the preset running average speed of the torpedo tank, and Vb is the preset running average speed of the traveling cart;
s3, calculating the distance between the position of the optimal material receiving point where the torpedo tank and the transfer distributor are butted and an appointed zero point by the first encoder or the second encoder, and recording the distance as P, wherein P is Sb-Vb T, and Sb is the distance between the travelling crane cart and the appointed zero point; data are exchanged among the first encoder, the second encoder and the third encoder in real time, the first encoder and the second encoder respectively indicate the torpedo tank and the traveling cart to move towards the optimal material receiving point, and the third encoder controls the material distributing machine trolley to move towards the end part of the traveling cart; when the first encoder and the second encoder respectively detect that the torpedo tank and the traveling cart reach the optimal material receiving point, the torpedo tank and the traveling cart are respectively controlled to stop running, and when the third encoder detects that the distributing machine trolley moves to the end part of the traveling cart, namely under the torpedo tank, the distributing machine trolley is controlled to stop running;
s4, adjusting the angle of the torpedo tank to enable the discharge opening of the torpedo tank to be aligned with the material receiving opening of the distributing machine trolley, and executing a torpedo tank discharging program;
s5, the material distributing trolley finishes material receiving, and the second encoder controls the traveling trolley to move to a material distributing operation point to perform subsequent material distributing operation.
5. The material receiving control method for the transfer distributing machine according to claim 4, wherein in step S1, the torpedo car track is L-shaped, the distribution track is linear, the track section where the torpedo car track and the distribution track are parallel to each other is set as a Y section, the track section where the torpedo car track and the distribution track are perpendicular to each other is set as an X section, and the intersection of the X section and the Y section is a designated zero point; before step S1, the method further includes a debugging step before operation of the torpedo tank and the transfer distributor: the torpedo ladle moves on the torpedo ladle track and records the designated zero point position, and the transfer material distributor moves on the material distribution track and records the designated zero point position.
6. The material receiving control method of a material transfer and distribution machine as claimed in claim 5, wherein in said step S1, when the torpedo tank is located at the X section, the distance from the torpedo tank to the designated zero point is Sax, and the distance from the traveling cart to the designated zero point is Sb; in step S2, the travel time Tx of the torpedo car and the traveling cart is (Sax + Sb)/(Va + Vb); in step S3, the distance P between the position of the optimal material receiving point and the designated zero point is Sb-Vb × Tx.
7. The material receiving control method of a material transfer and distribution machine as claimed in claim 5, wherein in said step S1, when the torpedo tank is located at the Y-section, the distance from the torpedo tank to the designated zero point is Say, and the distance from the traveling cart to the designated zero point is Say, Sb; in step S2, the travel time Ty of the torpedo car and the traveling cart is (Sb-Say)/(Va + Vb); in step S3, the distance P between the position of the optimal material receiving point and the designated zero point is Sb-Vb Ty.
8. The material receiving control method of a material transfer distributor according to claim 6, wherein in step S4, the angle of the torpedo tank is adjusted by the following steps: and the third encoder controls the camera to photograph the torpedo tank, compares the photographed image with a pre-stored image, calculates a deviation value of the current position of the torpedo tank and a preset position, starts a torpedo tank unloading program if the deviation value accords with a preset range value, adjusts the position of the torpedo tank and photographs again if the deviation value does not accord with the preset range value, and performs a new round of image contrast calculation until the position of the torpedo tank accords with the preset position.
9. A material receiving control method for a material transporting and distributing machine as claimed in any one of claims 4 to 8, wherein in step S3, the material distributing machine trolley, the traveling cart and the torpedo tank are operated simultaneously, and when the traveling cart and the torpedo tank reach the optimum material receiving point, the material distributing machine trolley travels to the end of the traveling cart, that is, below the torpedo tank.
10. The material receiving control method for the material transporting and distributing machine as claimed in claim 9, wherein the distance between the current position of the trolley of the distributing machine before operation and the end of the traveling cart obtained by the third encoder is H, V0Is the running speed of the trolley of the distributing machine, V0H/T, where T is S/(Va + Vb).
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