CN113916000A - Method for accelerating feeding and batching speed of electromagnetic chuck - Google Patents
Method for accelerating feeding and batching speed of electromagnetic chuck Download PDFInfo
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- CN113916000A CN113916000A CN202111126193.1A CN202111126193A CN113916000A CN 113916000 A CN113916000 A CN 113916000A CN 202111126193 A CN202111126193 A CN 202111126193A CN 113916000 A CN113916000 A CN 113916000A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27B—FURNACES, KILNS, OVENS, OR RETORTS IN GENERAL; OPEN SINTERING OR LIKE APPARATUS
- F27B14/00—Crucible or pot furnaces
- F27B14/08—Details peculiar to crucible or pot furnaces
- F27B14/0806—Charging or discharging devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27B—FURNACES, KILNS, OVENS, OR RETORTS IN GENERAL; OPEN SINTERING OR LIKE APPARATUS
- F27B14/00—Crucible or pot furnaces
- F27B14/08—Details peculiar to crucible or pot furnaces
- F27B14/20—Arrangement of controlling, monitoring, alarm or like devices
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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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Abstract
A method for accelerating the material adding and mixing speed of an electromagnetic chuck is characterized in that a variable used for controlling the material suction amount of the electromagnetic chuck for configuring the last raw material is arranged in a control system of the electromagnetic chuck to control and adjust the quantity of the raw materials sucked by the electromagnetic chuck, wherein the variable of the material suction amount comprises the material mixing amount, the tolerance amount and the redundancy amount; in order to better control the blanking of the last plate of the electromagnetic chuck, four composite variables for controlling the blanking are formed among the proportioning quantity, the tolerance quantity and the redundancy quantity through the following operation, and the composite variables are [ proportioning quantity + tolerance quantity + redundancy quantity ], [ proportioning quantity + tolerance quantity ], [ proportioning quantity ] and [ proportioning quantity-tolerance quantity ], so that the electromagnetic chuck can directly position the weight of the sucked raw material to the vicinity of the proportioning weight when sucking the last plate of the raw material, and the weight needing to be fed can be obtained through the stability of two vibration periods.
Description
Technical Field
The invention relates to the technical field of electrical control, in particular to the technical field of material adding control applied to the casting industry.
Background
In the feeding procedure of a smelting factory in the casting industry, a travelling crane and electromagnetic chuck mode is usually adopted to suck out magnetic raw materials from a material pit according to needs and transfer the magnetic raw materials to a smelting furnace mouth or a furnace platform transfer trolley corresponding to the smelting furnace mouth.
Taking the longest time mode of a control loop as an example, the switching time delay of a PLC (programmable logic controller) for the related electrical data of the conventional electromagnetic chuck is less than 15 ms; the intermediate relay is less than 25 ms; others are less than 60 ms; i.e. within 100ms, the excitation is established. When the residual weight of each added ingredient is larger than the capacity of the plate, the walking is directly carried out after full load material suction; otherwise, regarding the plate as the last plate, and batching the materials by a gradual material dropping method.
The method is influenced by different physical and chemical properties of pig iron, scrap steel, a material returning furnace and the like, different lumpiness and uniformity of materials, different factors such as the disc diameter of an electromagnetic chuck, electrical parameters, a hysteresis curve and the like, and the efficiency and accuracy of adding ingredients to the last magnetic disc indirectly influence the smelting efficiency and the furnace burden components of the furnace. For most smelting plants, in order to save cost, furnace materials are various in types and batches and different in block size and are respectively placed at different material pits, and material change of the material pits can be carried out irregularly, so that the original last plate adding and batching control parameters are invalid, and time and labor are wasted in recalibration.
For the last batch of ingredients, the common speed-up methods are:
1) an acceleration and deceleration burdening method: full-disk material suction, wherein according to the difference between the current weight of the current disk and the batching target value and the difference value thereof, the batching time is controlled through the actual measurement data and experience of the batching time, such as voltage, current or power on-off time is controlled, and the batching time is divided into a plurality of gears to accelerate or decelerate the batching;
2) self-learning intelligent algorithm: in the batching process of adding the batching, according to the material characteristics in different material pits, the actual measurement and evaluation are repeated on site, an approximate compromise control value voltage, current or power on-off time table is given, and in the subsequent operation process, the table is automatically called and updated through a PLC (programmable logic controller). When the granularity of the numerical value in the table is insufficient, the arithmetic or weighted average value between two adjacent points is solved;
3) static or dynamic waiting method: in the process of dosing, to determine whether the magnetic disc material is within the allowable error range, the weighing value of the magnetic disc material needs to be determined. When a magnetic disc sucks materials to rise and stand still to a safe walking position and after each time of batching, a weighing value of the magnetic disc jumps up and down, and generally, the weighing value is read and judged when weighing data are stable according to the static delay (such as 3-5 seconds) of an actual measurement value; or setting a deviation value (such as 25Kg) according to experience, and when the difference between the current data and the next data is not greater than the set deviation value, considering that the data is stable, and then reading and judging.
According to the three methods, if the batching is failed, the batching is repeated, and the upper limit of failure times is reached, an alarm is given to remind of manual intervention.
In the method 1, if the material is changed in the material pit, namely the sizes of the front and rear specifications or the block sizes are not consistent, the configuration data basically fails, and time and labor are wasted when the calibration is carried out again;
in the 2 nd method, if the material is changed in the material pit, the data in the data table needs to be measured one by one; or after the operation for a period of time, the batching parameters tend to be stable;
in method 3, the dead time is less controllable.
Relevant patent retrieval situations:
the shared intelligent equipment company Limited, "method for dosing by using electromagnetic chuck", with application number CN201610696590.5, provides a method for dosing by using electromagnetic chuck, comprising the following steps: the method comprises a preparation stage, first judgment, initial discharge and circulating discharge. The invention aims to provide a method for dosing by adopting an electromagnetic chuck, which can realize quick and accurate dosing of the electromagnetic chuck. Similar to the method 1 described above.
"a control method, device and electromagnetic chuck of electromagnetic chuck", application number CN201810225207.7, of zhhai ge li electric appliances limited company, discloses a control method, device and electromagnetic chuck of electromagnetic chuck, the method includes: acquiring a current sucker combination mode of the electromagnetic sucker and acquiring a current load suction force required by a current load; and determining the current magnetizing and demagnetizing parameters required for magnetizing and demagnetizing the electromagnetic chuck according to the current chuck combination mode and the current load suction force. The defects of low working efficiency, poor magnetizing and demagnetizing effects, large potential safety hazards and the like in the prior art are overcome, and the beneficial effects of high working efficiency, good magnetizing and demagnetizing effects and good safety are realized. Similar to the method 2 described above.
Qingdao beno magnetoelectric technology limited "a casting batching driving automation system", application number is CN201810053005.9, discloses a casting batching driving automation system for driving autopilot is connected with batching control system, according to batching control system demand, and the control is driven a vehicle and is walked the position automatically and inhale material, batching, unload. Therefore, the system realizes the full-automatic operation of automatic batching, has accurate positioning, strong interlocking property, complete safety precaution arrangement and friendly human-computer interface, adopts Siemens PLC control, ABB frequency conversion speed regulation and P + F coding, and has extremely high automation degree and reliability. Similar to method 3 above.
Disclosure of Invention
In view of the above problem that the material adding and mixing control of the electromagnetic chuck is inconvenient, there is a need to provide a method for increasing the material adding and mixing speed of the electromagnetic chuck, and the method avoids the problem of repeated material feeding attempts by changing the feeding mode of the last material, improves the feeding efficiency, and shortens the feeding time.
A method for accelerating the material adding and mixing speed of an electromagnetic chuck is characterized in that a variable used for controlling the material suction amount of the electromagnetic chuck for configuring the last raw material is arranged in a control system of the electromagnetic chuck to control and adjust the quantity of the raw materials sucked by the electromagnetic chuck, wherein the variable of the material suction amount comprises the material mixing amount, the tolerance amount and the redundancy amount; in order to better control the blanking of the last material coil of the electromagnetic chuck, four composite variables for controlling the blanking are formed among the proportioning quantity, the tolerance quantity and the redundancy quantity through the following operations, wherein the composite variables are [ proportioning quantity + tolerance quantity + redundancy quantity ], [ proportioning quantity + tolerance quantity ], [ proportioning quantity ] and [ proportioning quantity-tolerance quantity ].
Description 1: the ingredient amount is the last disc suction action in the electromagnetic chuck suction one-time feeding operation.
Description 2: the tolerance amount is an error range of the weight of the raw material required to be added.
Description 3: the redundancy is the weight of a set advanced decision point, namely the estimated floating variation of the weight of the raw material, so as to be influenced by the hysteresis curve and the delay of the weighing quantity.
The technical scheme of the invention has the beneficial effects that: make electromagnet directly to fix a position near batching weight with the raw and other materials weight that absorbs when absorbing last dish raw and other materials through above technical scheme, can obtain the weight that needs feed in raw and other materials through the stability of two vibration cycles, shortened the invalid latency of electromagnet when obtaining the accurate addition of last dish raw and other materials by a wide margin for electromagnet feeds in raw and other materials that can satisfy the compactness with the batching beat and the fast switch-over difference.
Drawings
FIG. 1 is a schematic view of a foundry furnace batch process;
FIG. 2 is an operational schematic of a single point dosing parameter setting for an electromagnetic chuck;
fig. 3 is a schematic flow chart of the electromagnetic chuck for completing one dosing task.
Detailed Description
In order to more clearly illustrate the technical solutions of the present invention, the technical solutions of the present invention are described in detail with reference to the accompanying drawings, and it is obvious that the following descriptions are some exemplary embodiments of the present invention, and it is obvious for those skilled in the art that other solutions can be obtained according to the embodiments without creative efforts.
Now, the implementation of the technical solution of the present patent will be described in detail by taking an example of adding a metal material into a furnace for casting by an electromagnetic chuck. The whole process of adding the metal raw material into the molten metal casting furnace can be divided into two sub-steps of material proportioning parameter setting and material proportioning execution. When the electromagnetic chuck feeds materials in a smelting furnace, a plurality of times of feeding actions executed by each time of material proportioning are all full magnetic force to absorb metal raw materials except for the last time, and the quantity of the metal raw materials absorbed in the last time is the difference between the total feeding weight and the sum of the previous full magnetic force absorbing material quantity. In the prior art, since this last time the amount of raw material sucked is not the full magnetic force suction, it is necessary to release a part of the sucked raw material to reach the amount of raw material to be added. In addition, the release process causes excessive release or needs a small amount of release for many times, so that the efficiency of adding and proportioning raw materials of the last disc by using the electromagnetic chuck is low and the accuracy is poor.
Method for determining excitation voltage and actual material suction quantity of electromagnetic chuck
Through the setting of batching parameter, can obtain the scattered point relation curve between the weight of the exciting voltage of electromagnet and the raw and other materials of actual absorption to can judge the relation between the two, when changing different raw and other materials each time, need confirm the functional relation of exciting voltage and actual material absorption volume again promptly.
Taking the quincunx five-point type raw material collection mode as an example, after each disk of raw material is set to be sucked, the electromagnetic chuck stops for 5s to weigh the weight of the actually sucked raw material, so that the weight of the raw material to be sucked can be conveniently counted. For example, if the exciting voltage of the electromagnetic chuck is not decreased by 10V in a stepwise manner within a unit time interval, it takes 23 times × 5s to 115s to decrease the exciting voltage of the electromagnetic chuck from 230V to 0V, that is, the dosing related data of one point location can be obtained within 2mins, and the dosing related data of five point locations can be obtained within 10 mins. The quincunx five-point type raw material collecting mode is that the raw materials are respectively sucked at five positions of a material storehouse or a material storehouse in the material pit or the material storehouse, so that the raw materials of the material pit or the material storehouse are basically positioned at one height.
As shown in fig. 2, taking the quincunx five-point raw material collection manner as an example, the method for determining the functional relationship between the excitation voltage of the electromagnetic chuck and the actual material suction amount is as follows:
1) initialization: manually operating an electromagnetic chuck to absorb raw materials, weighing the raw materials according to the principle that the electromagnetic chuck moves up and down to a weighing point pair for absorption, and defining the excitation voltage VOLT [ Num ] and the absorption quantity WEIGHT [ Num ] of the raw materials at the moment;
2) starting: resetting the excitation voltage of the electromagnetic chuck and the material suction amount corresponding to the excitation voltage, namely setting the values of two variables of the excitation voltage and the material suction amount to be zero, wherein Num at the moment is 23;
3) and (3) following environmental protection magnetic judgment: performing branch jumping according to [ Num ], and if Num is less than or equal to 0, performing branch jumping to a step of 'data recording';
4) cycle data recording: recording the value of an excitation voltage VOLT [ Num ] and the value of a material suction quantity WEIGHT [ Num ] in the current operating environment;
5) and (3) cyclic data updating: the value of the excitation voltage VOLT [ Num ] is decreased according to the operation logic of VOLT [ Num-1] ═ VOLT [ Num ] -10V, the time interval of each decrease is set to 5s, and the step of 'cyclic magnetism keeping judgment' is skipped to when the excitation voltage VOLT [ Num ] is decreased once;
6) and (3) data recording: and feeding back the steps and data in the whole single-point operation process to the control system of the electromagnetic chuck, and recording and storing the steps and data so as to facilitate subsequent calling.
The operation method for setting the batching parameters of a plurality of raw materials is to execute 3-5 times on the raw materials in a raw material storage area according to the batching operation method of a single raw material respectively, eliminate singular points from the plurality of groups of recorded data, obtain an average value and perform curve regression so as to obtain a quadratic function relation between the excitation voltage VOLT [ Num ] of the electromagnetic chuck and the actual material sucking quantity WEIGHT [ Num ] of the raw materials, and further obtain the batching operation method of the raw materials.
The function relation of the excitation voltage and the actual material suction amount is used for determining the specific numerical values of the material mixing amount, the tolerance amount and the redundancy amount for controlling the material suction amount of the electromagnetic chuck, and the specific numerical values of the material mixing amount, the tolerance amount, the redundancy amount, the material mixing amount, the tolerance amount, the material mixing amount and the tolerance amount are different because the density and the volume of each raw material are different.
The first embodiment is as follows:
as shown in fig. 1, the method for increasing the material adding speed of the electromagnetic chuck comprises the following steps:
1) and (3) full disc loading: according to the set batching parameters, the electromagnetic chuck walks to a raw material area, full excitation voltage absorbs raw materials, and the raw materials are parallelly moved to a safe walking position;
2) and (3) ingredient judgment: if the material suction amount of the raw materials sucked by the current tray exceeds the residual weight and tolerance amount of the raw materials, entering the final tray for material mixing, wherein the material mixing amount is the residual weight of the raw materials, otherwise, normally filling the tray for material mixing;
3) and finally, batching: loading a variable for controlling the material suction amount of the electromagnetic chuck, setting the state of the electromagnetic chuck as Busy (1) in a task, and controlling and adjusting the quantity of the raw materials sucked by the electromagnetic chuck by using the variable of the material suction amount of the electromagnetic chuck, wherein the variable for controlling the material suction amount of the electromagnetic chuck comprises a material mixing amount, a tolerance amount and a redundancy amount; and for the blanking control of the surplus material quantity on the electromagnetic chuck that can be better, form four composite variables that are used for controlling the material suction quantity through following the operation between batching volume, tolerance quantity and the redundant quantity, composite variable is batching volume + tolerance quantity + redundant quantity, batching volume + tolerance quantity, batching volume and batching volume-tolerance quantity, realizes the quick accurate blanking and the weighing of last dish raw and other materials through the control output point that corresponds with above-mentioned four composite variables to realize quick batching.
As a supplement to this embodiment, as shown in fig. 3, taking the quincunx five-point raw material collection manner as an example, the specific batching process of the last batch of batching in one batching task performed by the electromagnetic chuck is as follows:
1) according to different stages of a disc batching action, a magnetism-protecting batching stage is divided into four sections, namely a magnetism-protecting batching stage I, a magnetism-protecting batching stage II, a magnetism-protecting batching stage III and a magnetism-protecting batching stage IV; the same corresponds to a remanence batching stage I, a remanence batching stage II, a remanence batching stage III and a remanence batching stage IV;
2) a magnetism-protecting and material-preparing stage I: setting a composite variable [ ingredient amount + tolerance amount + redundancy amount ] as a first control output point of the ingredient absorption amount, wherein the first control output point has the magnetic retention time of 100 ms;
3) a first remanence burdening stage: after full excitation voltage material suction, performing first blanking under the control of the first control output point, weighing the weight of the sucked residual raw materials in two vibration periods after the first blanking, and skipping to the disc for successful material mixing if the weight of the sucked residual raw materials is within the upper limit and the lower limit of the tolerance amount; if the weight of the absorbed residual raw materials exceeds the upper limit of the tolerance amount, entering the next step; if the weight of the absorbed residual raw materials is less than the lower limit of the tolerance amount, skipping to the disc for batching fails;
4) and a magnetism-protecting and material-preparing stage II: setting a composite variable [ ingredient amount + tolerance amount ] as a second control output point of the ingredient absorption amount, wherein the second control output point has the magnetic retention time of 100 ms;
5) and a second residual magnetism batching stage: performing secondary blanking under the control of the control output point II, weighing the weight of the sucked residual raw materials in two vibration periods after the secondary blanking, and jumping to the disc for successful proportioning if the weight of the sucked raw residual materials is within the upper limit and the lower limit of the tolerance amount; if the weight of the absorbed residual raw materials exceeds the upper limit of the tolerance amount, entering the next step; if the weight of the absorbed residual raw materials is less than the lower limit of the tolerance amount, skipping to the disc for batching fails;
6) a magnetism-protecting and material-preparing stage III: setting a composite variable [ ingredient amount ] as a third control output point of the material suction amount, wherein the third control output point has the magnetism retention time of 100 ms;
7) a remanence burdening stage III: carrying out third blanking under the control of the third control output point, weighing the weight of the sucked residual raw materials in two vibration periods after the third blanking, and jumping to the disc for successful proportioning if the weight of the sucked residual raw materials is within the upper limit and the lower limit of the tolerance amount; if the weight of the absorbed residual raw materials exceeds the upper limit of the tolerance amount, entering the next step; if the weight of the absorbed residual raw materials is less than the lower limit of the tolerance amount, skipping to the disc for batching fails;
8) and a magnetism keeping and batching stage four: setting a composite variable [ ingredient amount-tolerance amount ] as a fourth control output point of the ingredient absorption amount, wherein the fourth control output point has the magnetism retention time of 100 ms;
9) and a remanence burdening stage four: fourth blanking is carried out under the control of the control output point four, the weight of the sucked residual raw materials is weighed in two vibration periods after the fourth blanking, and if the weight of the sucked residual raw materials is within the upper limit and the lower limit of the tolerance amount, the operation is skipped to the disc for successful proportioning; if the weight of the residual raw materials absorbed exceeds the upper limit of the tolerance amount, the weight of the absorbed raw materials is weighed again in two vibration periods after the materials are continuously dropped until the weight of the residual raw materials absorbed on the electromagnetic chuck reaches the upper limit and the lower limit of the tolerance amount; if the weight of the residual raw materials sucked by the electromagnetic chuck is less than the lower limit of the tolerance amount, skipping to the current chuck for batching fails;
10) the batch preparation of the plate is successful: after the batching task is successful, the state of the electromagnetic chuck is reset from the batching state Busy (1) of the disk to a waiting state Busy (0), the task frequency is set to Done (1), the batching failure frequency is Error (0), and the excitation voltage decrement frequency is Num (+ 1); the electromagnetic chuck travels to the raw material area;
11) the batching of this dish fails: after the material mixing task fails, keeping the material mixing state Busy (1) of the disc of the electromagnetic chuck, setting the task frequency as Done (0), the material mixing failure frequency as Error (1) and the excitation voltage decrement frequency as Num (+ 1); if the batching frequency of one task is less than three times, skipping to the first step of batching in the last plate, if the batching frequency of one task is more than or equal to three times, the batching of the plate fails, the electromagnetic chuck walks to the raw material area, and meanwhile, the control system of the electromagnetic chuck sends out manual intervention warning.
As a supplementary explanation of this embodiment, the one-time dosing task is divided into full-pan feeding and the last-pan surplus feeding, where the full-pan feeding is a material suction amount sucked under a full excitation voltage of the electromagnetic chuck; and the last plate of residual material is the residual quantity of the raw materials which need to be proportioned and are fed from the full sucked plate in a magnetic interruption blanking or magnetic reduction blanking mode.
As a supplementary explanation of this embodiment, the four stages of the residual magnetic batching are four times of processes of reducing the weight of the remaining raw material corresponding to the excitation voltage according to the complex variable, that is, four times of blanking processes, three situations of blanking on the control output point one, the control output point two, the control output point three and the control output point four are respectively a non-blanking process, a one-time blanking process and an intermittent multiple blanking process, after blanking, the weighing data on the electromagnetic chuck changes cyclically in the reduction-rise process, and the difference between the weighing data becomes smaller and smaller, that is, the weighing data approaches the actual weight of the raw material sucked on the electromagnetic chuck.
As a complement to this embodiment, the step of weighing the extracted remaining raw material weight during said two vibration cycles obtains weighing data of the remaining raw material, said weighing data communicating with the control system of the electromagnetic chuck in both an active upload and a passive query. In the embodiment, the active uploading is that a weighing element arranged on the electromagnetic chuck transmits the weighing data to a control system of the electromagnetic chuck, and the weighing data is actively uploaded to the control system of the electromagnetic chuck at intervals of 0.5-1 s; in another embodiment, the control system of the electromagnetic chuck reads the weighing data 8-9 times per second.
As another supplement to this embodiment, in the passive polling mode, during the fast weighing process in two vibration periods after blanking, the control system of the electromagnetic chuck reads the minimum value, the maximum value, the second minimum value, and the second maximum value in the weighing data, records the weighing data in the order of the minimum value, the second maximum value, and the maximum value, reads four times of data in two vibration periods, that is, forms four sets of the minimum value, the second maximum value, and the maximum value, and calculates an arithmetic average value for the four sets of the minimum value, the second maximum value, and the maximum value, where the arithmetic average value is the weight of the raw material remaining on the electromagnetic chuck after blanking this time.
As another supplement to this embodiment, when there is no blanking condition at a certain control output point, i.e. there is no vibration period with large floating, in this case, the maximum delay is 2s before proceeding to the next step.
By applying the technical scheme of the invention to the furnace batching system, the quick batching of raw materials and the quick switching among different raw materials are realized. Specifically, the invention realizes that the last tray is full of material and quickly falls to the residual material amount meeting the requirement by setting composite variables of [ ingredient amount + tolerance amount + redundancy amount ], [ ingredient amount + tolerance amount ], [ ingredient amount ] and [ ingredient amount-tolerance amount ], and the scheme realizes the addition and batching of the last tray within 2 s; the weight of the last batch of ingredients is quickly locked to be close to the target weight, the ingredient adding efficiency is improved, and the problem of inaccurate ingredient caused by the boring psychology due to repeated operation of an operator is solved; and meanwhile, the weighing of the ingredients is shortened to a mode of two vibration periods, so that the ineffective time of vibration stabilization is shortened, and the last batch of ingredients is accelerated.
The above embodiment is only a description of a typical application of the technical solution of the present invention, and may be reasonably expanded without creative efforts.
Claims (10)
1. The method for accelerating the material adding and proportioning speed of the electromagnetic chuck is characterized in that the quantity of raw materials sucked by the electromagnetic chuck is controlled and adjusted by setting a variable for controlling the material sucking quantity of the last raw material matched by the electromagnetic chuck in a control system of the electromagnetic chuck, wherein the variable for the material sucking quantity comprises the proportioning quantity, the tolerance quantity and the redundancy quantity.
2. The method as claimed in claim 1, wherein the amount of material, the amount of tolerance, and the amount of redundancy form a composite variable [ amount of material + amount of tolerance + amount of redundancy ], [ amount of material + amount of tolerance ], [ amount of material ] and [ amount of material-amount tolerance ] for controlling the blanking of the last tray of material.
3. The method for accelerating the dosing speed of the electromagnetic chuck as claimed in claim 2, comprising:
and (3) full disc loading: according to the set batching parameters, the electromagnetic chuck walks to a raw material area, full excitation voltage absorbs raw materials, and the raw materials are parallelly moved to a safe walking position;
and (3) ingredient judgment: if the suction amount of the raw materials sucked by the current tray exceeds the residual weight and tolerance amount of the raw materials, feeding the last tray for batching, otherwise, normally feeding the raw materials in a full tray;
and finally, batching: loading a variable for controlling the material suction amount of the electromagnetic chuck, setting the state of the electromagnetic chuck as Busy (1) in a task, and controlling and adjusting the quantity of the raw materials sucked by the electromagnetic chuck by using the variable of the material suction amount of the electromagnetic chuck; and (3) controlling the blanking amount and the residual amount on the electromagnetic chuck by adopting composite variables [ ingredient amount + tolerance amount + redundancy amount ], [ ingredient amount + tolerance amount ], [ ingredient amount ] and [ ingredient amount-tolerance amount ].
4. The method for accelerating the dosing speed of the electromagnetic chuck as claimed in claim 3, wherein the specific dosing process of the last dosing tray comprises:
according to different stages of a disc batching action, a magnetism-protecting batching stage is divided into four sections, namely a magnetism-protecting batching stage I, a magnetism-protecting batching stage II, a magnetism-protecting batching stage III and a magnetism-protecting batching stage IV; the same corresponds to a remanence batching stage I, a remanence batching stage II, a remanence batching stage III and a remanence batching stage IV;
a magnetism-protecting and material-preparing stage I: setting a composite variable [ ingredient amount + tolerance amount + redundancy amount ] as a first control output point of the ingredient absorption amount, wherein the first control output point has the magnetic retention time of 100 ms;
a first remanence burdening stage: after full excitation voltage material suction, performing first blanking under the control of the first control output point, weighing the weight of the sucked residual raw materials in two vibration periods after the first blanking, and skipping to the disc for successful material mixing if the weight of the sucked residual raw materials is within the upper limit and the lower limit of the tolerance amount; if the weight of the absorbed residual raw materials exceeds the upper limit of the tolerance amount, entering the next step; if the weight of the absorbed residual raw materials is less than the lower limit of the tolerance amount, skipping to the disc for batching fails;
and a magnetism-protecting and material-preparing stage II: setting a composite variable [ ingredient amount + tolerance amount ] as a second control output point of the ingredient absorption amount, wherein the second control output point has the magnetic retention time of 100 ms;
and a second residual magnetism batching stage: performing secondary blanking under the control of the control output point II, weighing the weight of the sucked residual raw materials in two vibration periods after the secondary blanking, and jumping to the disc for successful proportioning if the weight of the sucked raw residual materials is within the upper limit and the lower limit of the tolerance amount; if the weight of the absorbed residual raw materials exceeds the upper limit of the tolerance amount, entering the next step; if the weight of the absorbed residual raw materials is less than the lower limit of the tolerance amount, skipping to the disc for batching fails;
a magnetism-protecting and material-preparing stage III: setting a composite variable [ ingredient amount ] as a third control output point of the material suction amount, wherein the third control output point has the magnetism retention time of 100 ms;
a remanence burdening stage III: carrying out third blanking under the control of the third control output point, weighing the weight of the sucked residual raw materials in two vibration periods after the third blanking, and jumping to the disc for successful proportioning if the weight of the sucked residual raw materials is within the upper limit and the lower limit of the tolerance amount; if the weight of the absorbed residual raw materials exceeds the upper limit of the tolerance amount, entering the next step; if the weight of the absorbed residual raw materials is less than the lower limit of the tolerance amount, skipping to the disc for batching fails;
and a magnetism keeping and batching stage four: setting a composite variable [ ingredient amount-tolerance amount ] as a fourth control output point of the ingredient absorption amount, wherein the fourth control output point has the magnetism retention time of 100 ms;
and a remanence burdening stage four: fourth blanking is carried out under the control of the control output point four, the weight of the sucked residual raw materials is weighed in two vibration periods after the fourth blanking, and if the weight of the sucked residual raw materials is within the upper limit and the lower limit of the tolerance amount, the operation is skipped to the disc for successful proportioning; if the weight of the residual raw materials absorbed exceeds the upper limit of the tolerance amount, the weight of the absorbed raw materials is weighed again in two vibration periods after the materials are continuously dropped until the weight of the residual raw materials absorbed on the electromagnetic chuck reaches the upper limit and the lower limit of the tolerance amount; if the weight of the residual raw materials sucked by the electromagnetic chuck is less than the lower limit of the tolerance amount, skipping to the current chuck for batching fails;
the batch preparation of the plate is successful: after the batching task is successful, the state of the electromagnetic chuck is reset from the batching state Busy (1) of the disk to a waiting state Busy (0), the task frequency is set to Done (1), the batching failure frequency is Error (0), and the excitation voltage decrement frequency is Num (+ 1); the electromagnetic chuck travels to the raw material area;
the batching of this dish fails: after the material mixing task fails, keeping the material mixing state Busy (1) of the disc of the electromagnetic chuck, setting the task frequency as Done (0), the material mixing failure frequency as Error (1) and the excitation voltage decrement frequency as Num (+ 1); if the batching frequency of one task is less than three times, skipping to the first step of batching in the last plate, if the batching frequency of one task is more than or equal to three times, the batching of the plate fails, the electromagnetic chuck walks to the raw material area, and meanwhile, the control system of the electromagnetic chuck sends out manual intervention warning.
5. The method for accelerating the feeding and mixing speed of the electromagnetic chuck as claimed in claim 4, wherein the four stages of the residual magnetic mixing are four times of the process of reducing the residual raw material weight corresponding to the composite variable by the excitation voltage and four times of the process of blanking, and the blanking conditions include no blanking, one-time blanking and intermittent multiple blanking on four blanking nodes of the control output point I, the control output point II, the control output point III and the control output point IV.
6. The method for accelerating the dosing speed of an electromagnetic chuck according to claim 4, wherein the step of weighing the sucked remaining raw material in two vibration cycles obtains the weighing data of the remaining raw material, and the transmission mode of the weighing data comprises active uploading and passive inquiry.
7. The method according to claim 6, wherein the active upload is a transmission of the weighing data from a weighing cell mounted on the electromagnetic chuck to the control system of the electromagnetic chuck every 0.5s to 1 s.
8. The method of claim 6, wherein said passive polling is the reading of said weighing data from the weighing cell by the control system of the chuck from 8 to 9 times per second.
9. The method for accelerating the dosing speed of the electromagnetic chuck as claimed in claim 8, wherein in the passive polling mode, during the fast weighing process in two vibration cycles after the blanking, the control system of the electromagnetic chuck reads the minimum value, the maximum value, the next smaller value and the next larger value in the weighing data, records the weighing data in the order of the minimum value, the next smaller value, the next larger value and the maximum value, reads the data four times in two vibration cycles, i.e. forms four groups of the minimum value, the next smaller value, the next larger value and the maximum value, and calculates the arithmetic mean value of the four groups of the minimum value, the next smaller value, the next larger value and the maximum value, wherein the arithmetic mean value is the weight of the raw material left on the electromagnetic chuck after the current blanking.
10. A method of accelerating the dosing speed of an electromagnetic chuck according to any of claims 1 to 9, wherein the electromagnetic chuck excitation voltage as a function of the actual amount of material sucked is determined by:
initialization: manually operating an electromagnetic chuck to absorb raw materials, weighing the raw materials according to the principle that the electromagnetic chuck moves up and down to a weighing point pair for absorption, and defining the excitation voltage VOLT [ Num ] and the absorption quantity WEIGHT [ Num ] of the raw materials at the moment;
starting: resetting the excitation voltage of the electromagnetic chuck and the material suction amount corresponding to the excitation voltage, namely setting the values of two variables of the excitation voltage and the material suction amount to be zero, wherein Num at the moment is 23;
and (3) following environmental protection magnetic judgment: performing branch jumping according to [ Num ], and if Num is less than or equal to 0, performing branch jumping to a step of 'data recording';
cycle data recording: recording the value of an excitation voltage VOLT [ Num ] and the value of a material suction quantity WEIGHT [ Num ] in the current operating environment;
and (3) cyclic data updating: the value of the excitation voltage VOLT [ Num ] is decreased according to the operation logic of VOLT [ Num-1] ═ VOLT [ Num ] -10V, the time interval of each decrease is set to 5s, and the step of 'cyclic magnetism keeping judgment' is skipped to when the excitation voltage VOLT [ Num ] is decreased once;
and (3) data recording: and feeding back the steps and data in the whole single-point operation process to the control system of the electromagnetic chuck, and recording and storing the steps and data so as to facilitate subsequent calling.
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