CN113916000B - Method for accelerating dosing speed of electromagnetic chuck - Google Patents
Method for accelerating dosing speed of electromagnetic chuck Download PDFInfo
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- CN113916000B CN113916000B CN202111126193.1A CN202111126193A CN113916000B CN 113916000 B CN113916000 B CN 113916000B CN 202111126193 A CN202111126193 A CN 202111126193A CN 113916000 B CN113916000 B CN 113916000B
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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]
Abstract
The method for accelerating the dosing speed of the electromagnetic chuck is characterized in that the quantity of raw materials sucked by the electromagnetic chuck is controlled and regulated by arranging a variable for controlling the sucking quantity of the raw materials of the last disc of the electromagnetic chuck in a control system of the electromagnetic chuck, wherein the variable of the sucking quantity comprises a dosing quantity, a tolerance quantity and a redundancy quantity; in order to better control the blanking of the last disc material of the electromagnetic chuck, four composite variables used for controlling blanking are formed among the batching amount, the tolerance amount and the redundancy amount through the following operation, wherein the composite variables are [ batching amount + tolerance amount + redundancy amount ], [ batching amount + tolerance amount ], [ batching amount ] and [ batching amount-tolerance amount ], and the weight of the sucked raw material can be directly positioned to the vicinity of the batching weight when the electromagnetic chuck sucks the last disc raw material through the technical scheme, and the weight required to be charged can be obtained after 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 dosing control applied to the casting industry.
Background
In the feeding process of a smelting factory in the casting industry, a travelling crane and electromagnetic chuck mode is often adopted to suck magnetic raw materials out of a material pit as required, and the magnetic raw materials are transported to a smelting furnace mouth or a furnace table transport vehicle corresponding to the smelting furnace mouth.
Taking the longest control loop time mode as an example, the switching time delay of a conventional electromagnetic chuck related electrical data PLC controller is < =15 ms; intermediate relay < = 25ms; other < = 60ms; i.e. within 100ms, the excitation will be established. When the residual weight of each adding material is larger than the disc capacity, the vehicle directly walks after absorbing materials in full load; otherwise, the last tray is considered, and the ingredients are prepared by a gradual material dropping method.
The smelting efficiency and the furnace burden components of the furnace are indirectly influenced by different factors such as the physical and chemical properties of pig iron, scrap steel, a feed back furnace and the like, the size and uniformity of the block size of the materials, the disc diameter of the electromagnetic chuck, electrical parameters, hysteresis curves and the like, and the efficiency and the accuracy of adding and proportioning of the last magnetic disc. For most smelting factories, the burden types and batches are various, the sizes of the blocks are different, the blocks are respectively arranged at different pits, and the pits can be reloaded irregularly, so that the control parameters of the original last feeding and proportioning are invalid, and the recalibration is time-consuming and labor-consuming.
For the last dish adding ingredients, common methods for accelerating speed are as follows:
1) Acceleration and deceleration batching method: full-disc sucking, namely controlling voltage, current or on-off time according to the difference between the current weight of the current magnetic disc and a batching target value and the difference value thereof through actual measurement data and experience of batching time, and dividing the actual measurement data and experience into a plurality of gears to accelerate or decelerate batching;
2) Self-learning intelligent algorithm: in the process of adding ingredients, according to the characteristics of materials in different pits, the actual measurement and evaluation are repeatedly carried out on site, an approximate compromise control value voltage, current or on-off time table is given, and in the subsequent operation process, the table is automatically fetched and updated through a PLC. The numerical refinement granularity in the table is insufficient, and an arithmetic or weighted average value between two adjacent points is calculated;
3) Static or dynamic wait methods: in the process of adding ingredients, whether the magnetic disk material is positioned in an allowed error range or not is judged, and firstly, the weighing value of the magnetic disk material needs to be judged. When a magnetic disk sucks materials and rises and stands still to a safe walking position and after each batching, the weighing value of the magnetic disk jumps up and down, generally stands still according to the measured value for delay (such as 3-5 seconds), and reads and judges when the weighing data is stable; or setting an offset value (such as 25 Kg) according to experience, and considering that the data is stable when the difference between the current data and the last data is not more than the set offset value, and then reading and judging.
The three methods are repeated if the disc ingredients fail, and the upper limit of the failure times is reached, and the alarm reminds of manual intervention.
The 1 st method, if the material is changed in the pit, namely the front and back specifications or the block sizes are inconsistent, the configuration data is basically invalid, and the time and the labor are wasted when the configuration data is rescaled;
2 nd method, if the material is changed in the pit, the data in the data table need to be measured again one by one; or after a period of operation, the batching parameters tend to be stable;
the 3 rd method, the invalid waiting time duty ratio is not easy to control.
Related patent retrieval case:
the utility model provides a method for adopting electromagnetic chuck ingredients, which is provided by sharing intelligent equipment limited company, the application number is CN201610696590.5, and comprises the following steps: the preparation stage, the first judgment, the initial discharging and the cyclic discharging. The invention aims to provide a method for proportioning by adopting an electromagnetic chuck, which can realize rapid and accurate proportioning of the electromagnetic chuck. Similar to the 1 st method described above.
The application number of the electromagnetic chuck control method and device and the electromagnetic chuck of the Zhuhai Geli electric apparatus Co., ltd is CN201810225207.7, and the electromagnetic chuck control method and device and the electromagnetic chuck are disclosed, and the method comprises the following steps: acquiring a current sucker combination mode of the electromagnetic sucker, and acquiring a current load suction force required by a current load; and determining 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 hazard 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 method 2 described above.
The patent application No. CN201810053005.9 discloses a casting batching traveling crane automation system which is used for traveling crane automatic driving and is connected with a batching control system, and the automatic position feeding, batching and discharging of the traveling crane are controlled according to the requirement of the batching control system. Therefore, the automatic batching full-automatic operation is realized, the system has the advantages of accurate positioning, strong interlocking, complete safety precaution arrangement, friendly man-machine interface, adoption of Siemens PLC control, ABB variable frequency speed adjustment, P+F coding, and extremely high automation degree and reliability. Similar to method 3 described above.
Disclosure of Invention
In view of the above problem that the electromagnetic chuck dosing control is inconvenient, it is necessary to provide a method for accelerating the electromagnetic chuck dosing speed, which avoids the problem of repeatedly attempting to feed for many times by changing the feeding mode of the last coil, improves the feeding efficiency and shortens the feeding time.
The method for accelerating the dosing speed of the electromagnetic chuck is characterized in that the quantity of raw materials sucked by the electromagnetic chuck is controlled and regulated by arranging a variable for controlling the sucking quantity of the raw materials of the last disc of the electromagnetic chuck in a control system of the electromagnetic chuck, wherein the variable of the sucking quantity comprises a dosing quantity, a tolerance quantity and a redundancy quantity; in order to better control the blanking of the last coil stock of the electromagnetic chuck, four composite variables used for controlling blanking are formed among the batching amount, the tolerance amount and the redundancy amount through the following operation, wherein the composite variables are [ batching amount + tolerance amount + redundancy amount ], [ batching amount + tolerance amount ], [ batching amount ] and [ batching amount-tolerance amount ].
Description 1: the batching amount is the last disc sucking action in one feeding operation of the electromagnetic chuck.
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 the set advanced determination point, namely the estimated floating change amount of the weight of the raw material, which is influenced by hysteresis curves and hysteresis of the weighing quantity.
The technical scheme of the invention has the beneficial effects that: through the technical scheme, the electromagnetic chuck can directly position the weight of the sucked raw material to the vicinity of the weight of the ingredients when the raw material of the last disc is sucked, the weight required to be fed can be obtained after the stability of two vibration periods, the invalid waiting time of the electromagnetic chuck when the accurate feeding amount of the raw material of the last disc is obtained is greatly shortened, and the feeding of the electromagnetic chuck can meet the requirement of compact feeding beat and rapidly switching different raw materials.
Drawings
FIG. 1 is a schematic illustration of a casting furnace batch flow;
FIG. 2 is a schematic illustration of the operation of a single point dispensing parameter setting in 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 solution of the present invention, it is obvious that the following description is a few exemplary embodiments of the present invention, and other solutions can be obtained according to these embodiments without inventive effort for a person skilled in the art.
The implementation of the technical scheme of the patent is described in detail by taking an example that an electromagnetic chuck adds metal raw materials into a casting furnace. The entire process of adding the metal raw material to the cast molten metal furnace can be divided into two sub-steps of batch parameter setting and batch execution. When the electromagnetic chuck feeds materials in the smelting furnace, the electromagnetic chuck feeds materials for a plurality of times, except for the last time, the electromagnetic chuck fully absorbs the metal raw materials by magnetic force, and the quantity of the metal raw materials absorbed by the magnetic force for the last time is the difference between the total weight of the materials and the sum of the quantities of the materials absorbed by the magnetic force before. In the prior art, since the last suction of the amount of raw material is not a full magnetic suction, it is necessary to release a part of the sucked raw material to reach the amount of raw material to be added. The release process can cause excessive release or needs a small amount of release for many times, and the efficiency of adding and proportioning the raw materials of the last disc of feeding by adopting the electromagnetic chuck is low and the accuracy is poor.
Method for determining exciting voltage and actual sucking quantity of electromagnetic chuck
By setting the batching parameters, a scattered point relation curve between the exciting voltage of the electromagnetic chuck and the weight of the raw materials actually sucked can be obtained, so that the relation between the exciting voltage and the weight of the raw materials can be judged, and when different raw materials are replaced each time, the functional relation between the exciting voltage and the actual sucking quantity is required to be determined again.
Taking a quincuncial five-point raw material collection mode as an example, after each disc of raw material is sucked, the electromagnetic chuck stops for 5 seconds to weigh the actually sucked raw material, so that the weight of the raw material required to be sucked is conveniently counted. For example, if the exciting voltage of the electromagnetic chuck is set to be reduced by 10V in a stepwise manner within a unit time interval, the exciting voltage of the electromagnetic chuck needs 23 times×5s=115s to be reduced from the maximum value 230V to 0V, that is, the batching related data of one point location can be obtained within 2 minutes, and the batching related data of five point locations can be obtained within 10 minutes. The quincuncial five-point raw material collection mode is that raw materials are respectively sucked at five positions of a material warehouse or the material warehouse in the material warehouse or the material warehouse, so that the raw materials of the material warehouse or the material warehouse are basically at the same height.
As shown in fig. 2, taking a quincuncial five-point raw material collection mode as an example, the method for determining the function relation between the exciting voltage of the electromagnetic chuck and the actual sucking amount is as follows:
1) Initializing: manually operating the electromagnetic chuck to absorb raw materials, weighing the absorbed principle when the electromagnetic chuck moves up and down to a weighing point, and defining exciting voltage VOLT Num and the absorption amount WEIGHT Num of the raw materials at the moment;
2) Starting: resetting the exciting voltage of the electromagnetic chuck and the sucking quantity corresponding to the exciting voltage, namely setting the values of the exciting voltage and the sucking quantity to be zero, wherein Num is 23;
3) And (3) circulating magnetic judgment: performing branch jump according to [ Num ], and if Num is less than or equal to 0, performing branch jump to a step of 'data record';
4) And (3) circulating data record: recording the value of exciting voltage VOLT [ Num ] and the value of material sucking amount WEIGHT [ Num ] in the current running environment;
5) Cyclic data update: the value of the exciting 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 be 5s, and each time the exciting voltage VOLT [ Num ] is decreased, the step of 'circulating magnetism-keeping judgment' is skipped;
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 the data so as to facilitate subsequent calling.
The operation method of the batching parameter setting of a plurality of raw materials is that the raw materials in a raw material storage area are respectively executed for 3-5 times according to the batching operation method of a single raw material, the singular points of the plurality of groups of recorded data are removed, then the average value is obtained, and curve regression is carried out, so that the quadratic function relation between the exciting voltage VOLT [ Num ] of the electromagnetic chuck and the actual material sucking quantity WEIGHT [ Num ] of the raw materials is obtained, and the batching operation method of a plurality of raw materials is obtained.
The functional relation between the exciting voltage and the actual material sucking amount is used for determining the material mixing amount, the tolerance amount and the redundancy amount of the material sucking amount of the control electromagnetic chuck, and the specific 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 material mixing amount-tolerance amount are different due to the fact that the density and the volume of each raw material are different, and the specific values of the variables are different.
Embodiment one:
as shown in fig. 1, the method for accelerating the dosing speed of the electromagnetic chuck comprises the following steps:
1) Full disk loading: according to the set batching parameters, the electromagnetic chuck moves to a raw material area, absorbs raw materials by full exciting voltage, and moves to a safe walking position;
2) And (3) proportioning and judging: if the suction amount of the raw material sucked by the current tray exceeds the residual weight and tolerance amount of the raw material, feeding into a final tray for batching, wherein the batching amount is the residual weight of the raw material, otherwise, feeding in a normal full tray;
3) And finally, batching on a disc: loading a variable for controlling the sucking quantity of the electromagnetic chuck, setting the state of the electromagnetic chuck as Busy (1) in a task, and controlling and adjusting the quantity of raw materials sucked by the electromagnetic chuck by using the variable of the sucking quantity of the electromagnetic chuck, wherein the variable for controlling the sucking quantity of the electromagnetic chuck comprises a batching quantity, a tolerance quantity and a redundancy quantity; in order to better control the blanking of the residual material quantity on the electromagnetic chuck, four composite variables used for controlling the material sucking quantity are formed among the material distributing quantity, the tolerance quantity and the redundancy quantity through the following calculation, the composite variables are the material distributing quantity + tolerance quantity + redundancy quantity, the material distributing quantity + tolerance quantity, the material distributing quantity and the material distributing quantity-tolerance quantity, and the quick and accurate blanking and weighing of the final disc raw material are realized through control output points corresponding to the four composite variables, so that quick material distribution is realized.
As a supplement to this embodiment, as shown in fig. 3, taking a quincuncial five-point raw material collection manner as an example, a specific dosing process of the last dish of the ingredients in the one-time dosing task performed by the electromagnetic chuck is as follows:
1) Dividing the magnetism-preserving batching stage into four sections according to different stages of a disc batching action, wherein the four sections are a magnetism-preserving batching stage I, a magnetism-preserving batching stage II, a magnetism-preserving batching stage III and a magnetism-preserving batching stage IV respectively; the same corresponds to a first remanence batching stage, a second remanence batching stage, a third remanence batching stage and a fourth remanence batching stage;
2) Magnetism-preserving batching stage one: setting a composite variable [ ingredient amount + tolerance amount + redundancy amount ] as a control output point I of the material sucking amount, wherein the control output point I has a magnetism keeping time of 100 ms;
3) Residual magnetism batching stage one: after the full exciting voltage is absorbed, carrying out first blanking under the control of the first control output point, weighing the weight of the absorbed residual raw materials in two vibration periods after the first blanking, and if the weight of the absorbed residual raw materials is within the upper limit and the lower limit of the tolerance amount, jumping to the tray for successful batching; if the weight of the sucked residual raw materials exceeds the upper limit of the tolerance amount, entering the next step; if the weight of the sucked residual raw materials is smaller than the lower limit of the tolerance, jumping to the tray for material preparation fails;
4) Magnetism-preserving batching stage II: setting a composite variable [ ingredient amount+tolerance amount ] as a control output point II of the material sucking amount, wherein the control output point II has a magnetism keeping time of 100 ms;
5) And a second residual magnetism batching stage: the second blanking is carried out under the control of the second control output point, the weight of the sucked residual raw materials is weighed in two vibration periods after the second 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 process of jumping to the tray is successful in batching; if the weight of the sucked residual raw materials exceeds the upper limit of the tolerance amount, entering the next step; if the weight of the sucked residual raw materials is smaller than the lower limit of the tolerance, jumping to the tray for material preparation fails;
6) And (3) a magnetism-preserving batching stage III: setting a composite variable [ batching amount ] as a control output point III of a material sucking amount, wherein the control output point III has a magnetism keeping time of 100 ms;
7) And a residual magnetism batching stage III: thirdly 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 if the weight of the sucked residual raw materials is within the upper limit and the lower limit of the tolerance amount, jumping to the tray for successful batching; if the weight of the sucked residual raw materials exceeds the upper limit of the tolerance amount, entering the next step; if the weight of the sucked residual raw materials is smaller than the lower limit of the tolerance, jumping to the tray for material preparation fails;
8) Magnetism-preserving batching stage IV: setting a composite variable [ batch quantity-tolerance quantity ] as a control output point IV of the material suction quantity, wherein the control output point IV has a magnetism retention time of 100 ms;
9) And a residual magnetism batching stage IV: the fourth blanking is carried out under the control of the fourth control output point, the weight of the residual raw materials absorbed is weighed in two vibration periods after the fourth blanking, and if the weight of the residual raw materials absorbed is within the upper limit and the lower limit of the tolerance amount, the batch is successfully mixed by jumping to the tray; if the weight of the residual raw materials absorbed exceeds the upper limit of the tolerance amount, continuously blanking and then weighing the weight of the raw materials absorbed again in two vibration periods until the weight of the residual raw materials absorbed by the electromagnetic chuck reaches the upper and lower limits of the tolerance amount; if the weight of the residual raw materials sucked by the electromagnetic chuck is smaller than the lower limit of the tolerance, jumping to the current chuck for material mixing fails;
10 The dish was successfully dosed: resetting the state of the electromagnetic chuck from the batching state Busy (1) of the electromagnetic chuck to the waiting state Busy (0) after the batching task is successful, setting the task frequency as Done (1), the batching failure frequency as Error (0) and the exciting voltage decrement frequency as Num (+1); the electromagnetic chuck walks to a raw material area;
11 The present dish ingredients failed: after the batching task fails, the batching state Busy (1) of the electromagnetic chuck is kept, the task frequency is set to be Done (0), the batching failure frequency is Error (1), and the exciting voltage decrementing frequency is Num (+1); if the number of the batch mixing times of one task is less than three, jumping to the first step of batch mixing of the last tray, if the number of the batch mixing times of one task is greater than or equal to three, the batch mixing of the tray fails, the electromagnetic chuck walks to a raw material area, and meanwhile, a control system of the electromagnetic chuck sends out a manual intervention warning.
As a supplementary explanation of this embodiment, the one-time dosing task is divided into full disc feeding and final disc allowance feeding, wherein the full disc feeding is the amount of material sucked under the full exciting voltage of the electromagnetic chuck; the last disc allowance feeding is to feed the sucked full disc material to the residual amount of the raw material needing to be mixed in a mode of magnetic breaking blanking or magnetic subtracting blanking.
As a supplementary explanation of this embodiment, the four stages of the remanence ingredient are a process of reducing the weight of the residual raw material corresponding to the compound variable by four exciting voltages, that is, a process of four blanking, and three conditions of blanking at the first control output point, the second control output point, the third control output point and the fourth control output point are respectively non-blanking, disposable blanking and intermittent multiple blanking, after blanking, the weighing data on the electromagnetic chuck can circularly change in a reducing-rising process, and the difference value between the weighing data becomes smaller and smaller, that is, the weighing data is closer to the actual weight of the raw material sucked on the electromagnetic chuck.
As a supplement to this embodiment, weighing data of the remaining raw material is obtained from the step of weighing the weight of the sucked remaining raw material in the two vibration periods, and the weighing data is communicated with the control system of the electromagnetic chuck in two modes of active uploading and passive inquiry. As in the present embodiment, the active uploading is that the weighing element arranged on the electromagnetic chuck transmits the weighing data to the 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 s-1 s; in another embodiment, the control system of the electromagnetic chuck reads the weight data 8-9 times per second.
In addition, in the passive query mode, in 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 next-minimum value and the next-maximum value in the weighing data, records the weighing data in the sequence of the minimum value, the next-maximum value and the maximum value, reads four times of data in the two vibration periods, namely forms four groups of the minimum value, the next-maximum value and the maximum value, and calculates arithmetic average values of the four groups of the minimum value, the next-maximum value and the maximum value, wherein the arithmetic average values are the weights of the raw materials remained on the electromagnetic chuck after blanking.
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 float, the next step is entered after a maximum delay of 2s in this case.
By implementing the technical scheme of the invention into the furnace batching system, the rapid batching of raw materials and the rapid switching between different raw materials are realized. Specifically, the invention realizes the quick blanking of the full tray material of the last tray to the residual material amount meeting the requirements by setting the compound variables of [ the compound material amount + the tolerance amount + the redundancy amount ], [ the compound material amount + the tolerance amount ], [ the compound material amount ] and [ the compound material amount-the tolerance amount ], and the scheme realizes the adding and the compounding of the last tray within 2 s; the weight of the last dish of ingredients is quickly locked to be close to the target weight, the efficiency of adding the ingredients is improved, and the problem of inaccurate ingredients caused by boring psychology of operators caused by repeated operations for many times is avoided; meanwhile, the weighing of the ingredients is shortened to two vibration periods, so that the ineffective time for stabilizing the vibration is shortened, and the last dish of ingredients is accelerated.
The above embodiment is only a description of a typical application of the technical scheme of the present invention, and can be reasonably expanded on the basis of reasonable design and no need of creative labor.
Claims (7)
1. The method for accelerating the dosing speed of the electromagnetic chuck is characterized in that the quantity of raw materials sucked by the electromagnetic chuck is controlled and regulated by arranging a variable for controlling the sucking quantity of the raw materials of the last disc of the electromagnetic chuck in a control system of the electromagnetic chuck, wherein the variable of the sucking quantity comprises a dosing quantity, a tolerance quantity and a redundancy quantity; the batching amount is the last disc sucking action in one-time feeding operation of sucking by the electromagnetic chuck; the tolerance amount is an error range of the weight of the raw material required to be added; the redundancy is the weight of the set advanced determination point, namely the estimated floating change amount of the weight of the raw material, which is influenced by hysteresis curves and hysteresis of the weighing quantity; the dose, tolerance and redundancy may form a composite variable [ dose + tolerance + redundancy ], [ dose + tolerance ], [ dose ] and [ dose-tolerance ]; characterized by comprising the following steps:
full disk loading: according to the set batching parameters, the electromagnetic chuck moves to a raw material area, absorbs raw materials by full exciting voltage, and moves to a safe walking position;
and (3) proportioning and judging: if the sucking quantity of the raw materials sucked by the current tray exceeds the residual weight and tolerance quantity of the raw materials, feeding the raw materials into a final tray for batching, otherwise, feeding the raw materials in a normal full tray;
and finally, batching on a disc: loading a variable for controlling the sucking quantity of the electromagnetic chuck, setting the state of the electromagnetic chuck as Busy (1) in a task, and controlling and regulating the quantity of raw materials sucked by the electromagnetic chuck by using the variable of the sucking quantity of the electromagnetic chuck; controlling blanking quantity and residual quantity on the electromagnetic chuck by adopting compound variables [ batching quantity + tolerance quantity + redundancy quantity ], [ batching quantity + tolerance quantity ], [ batching quantity ] and [ batching quantity-tolerance quantity ];
the method for determining the functional relation between the exciting voltage of the electromagnetic chuck and the actual sucking quantity comprises the following steps:
initializing: manually operating the electromagnetic chuck to absorb raw materials, and weighing the absorbed raw materials when the electromagnetic chuck moves up and down to a weighing point, and defining exciting voltage VOLT Num and the absorption amount WEIGHT Num of the raw materials at the moment;
starting: resetting the exciting voltage of the electromagnetic chuck and the sucking quantity corresponding to the exciting voltage, namely setting the values of the exciting voltage and the sucking quantity to be zero, wherein Num is 23;
and (3) circulating magnetic judgment: performing branch jump according to [ Num ], and if Num is less than or equal to 0, performing branch jump to a step of 'data record';
and (3) circulating data record: recording the value of exciting voltage VOLT [ Num ] and the value of material sucking amount WEIGHT [ Num ] in the current running environment;
cyclic data update: the value of the exciting 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 be 5s, and each time the exciting voltage VOLT [ Num ] is decreased, the step of 'circulating magnetism-keeping judgment' is skipped;
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 the data so as to facilitate subsequent calling.
2. The method for accelerating the dosing speed of an electromagnetic chuck according to claim 1, wherein the specific dosing process of the final chuck comprises:
dividing the magnetism-preserving batching stage into four sections according to different stages of a disc batching action, wherein the four sections are a magnetism-preserving batching stage I, a magnetism-preserving batching stage II, a magnetism-preserving batching stage III and a magnetism-preserving batching stage IV respectively; the same corresponds to a first remanence batching stage, a second remanence batching stage, a third remanence batching stage and a fourth remanence batching stage;
magnetism-preserving batching stage one: setting a composite variable [ ingredient amount + tolerance amount + redundancy amount ] as a control output point I of the material sucking amount, wherein the control output point I has a magnetism keeping time of 100 ms;
residual magnetism batching stage one: after the full exciting voltage is absorbed, carrying out first blanking under the control of the first control output point, weighing the weight of the absorbed residual raw materials in two vibration periods after the first blanking, and if the weight of the absorbed residual raw materials is within the upper limit and the lower limit of the tolerance amount, jumping to the tray for successful batching; if the weight of the sucked residual raw materials exceeds the upper limit of the tolerance amount, entering the next step; if the weight of the sucked residual raw materials is smaller than the lower limit of the tolerance, jumping to the tray for material preparation fails;
magnetism-preserving batching stage II: setting a composite variable [ ingredient amount+tolerance amount ] as a control output point II of the material sucking amount, wherein the control output point II has a magnetism keeping time of 100 ms;
and a second residual magnetism batching stage: the second blanking is carried out under the control of the second control output point, the weight of the sucked residual raw materials is weighed in two vibration periods after the second 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 process of jumping to the tray is successful in batching; if the weight of the sucked residual raw materials exceeds the upper limit of the tolerance amount, entering the next step; if the weight of the sucked residual raw materials is smaller than the lower limit of the tolerance, jumping to the tray for material preparation fails;
and (3) a magnetism-preserving batching stage III: setting a composite variable [ batching amount ] as a control output point III of a material sucking amount, wherein the control output point III has a magnetism keeping time of 100 ms;
and a residual magnetism batching stage III: thirdly 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 if the weight of the sucked residual raw materials is within the upper limit and the lower limit of the tolerance amount, jumping to the tray for successful batching; if the weight of the sucked residual raw materials exceeds the upper limit of the tolerance amount, entering the next step; if the weight of the sucked residual raw materials is smaller than the lower limit of the tolerance, jumping to the tray for material preparation fails;
magnetism-preserving batching stage IV: setting a composite variable [ batch quantity-tolerance quantity ] as a control output point IV of the material suction quantity, wherein the control output point IV has a magnetism retention time of 100 ms;
and a residual magnetism batching stage IV: the fourth blanking is carried out under the control of the fourth control output point, the weight of the residual raw materials absorbed is weighed in two vibration periods after the fourth blanking, and if the weight of the residual raw materials absorbed is within the upper limit and the lower limit of the tolerance amount, the batch is successfully mixed by jumping to the tray; if the weight of the residual raw materials absorbed exceeds the upper limit of the tolerance amount, continuously blanking and then weighing the weight of the raw materials absorbed again in two vibration periods until the weight of the residual raw materials absorbed by the electromagnetic chuck reaches the upper and lower limits of the tolerance amount; if the weight of the residual raw materials sucked by the electromagnetic chuck is smaller than the lower limit of the tolerance, jumping to the current chuck for material mixing fails;
the dish is successfully prepared: resetting the state of the electromagnetic chuck from the batching state Busy (1) of the electromagnetic chuck to the waiting state Busy (0) after the batching task is successful, setting the task frequency as Done (1), the batching failure frequency as Error (0) and the exciting voltage decrement frequency as Num (+1); the electromagnetic chuck walks to a raw material area;
the batch preparation of the tray fails: after the batching task fails, the batching state Busy (1) of the electromagnetic chuck is kept, the task frequency is set to be Done (0), the batching failure frequency is Error (1), and the exciting voltage decrementing frequency is Num (+1); if the number of the batch mixing times of one task is less than three, jumping to the first step of batch mixing of the last tray, if the number of the batch mixing times of one task is greater than or equal to three, the batch mixing of the tray fails, the electromagnetic chuck walks to a raw material area, and meanwhile, a control system of the electromagnetic chuck sends out a manual intervention warning.
3. The method for accelerating the dosing speed of the electromagnetic chuck according to claim 2, wherein the four phases of the residual magnetic dosing are four exciting voltage reduction processes according to the weight of the residual raw materials corresponding to the composite variable and four blanking processes, and blanking conditions respectively include blanking-free, disposable blanking and intermittent multiple blanking on four blanking nodes of the first control output point, the second control output point, the third control output point and the fourth control output point.
4. A method for accelerating the dosing speed of an electromagnetic chuck according to claim 2, wherein the weighing data of the remaining raw material is obtained from the step of weighing the weight of the remaining raw material sucked during said two vibration periods, said weighing data being transmitted in a manner including active uploading and passive querying.
5. The method for accelerating the dosing speed of an electromagnetic chuck according to claim 4, wherein 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 transmitted every 0.5 s-1 s.
6. The method of claim 4, wherein the passive query is that the electromagnetic chuck control system reads the weighing data from the weighing cell 8-9 times per second.
7. The method for accelerating the dosing speed of an electromagnetic chuck according to claim 6, wherein in the passive query 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 next minimum value and the next maximum value in the weighing data, records the weighing data in the order of the minimum value, the next maximum value and the maximum value, reads four data in the two vibration periods, namely, four groups of the minimum value, the next maximum value and the maximum value are formed, and the arithmetic average value is calculated for the four groups of the minimum value, the next maximum value and the maximum value, and the arithmetic average value is the weight of the residual raw materials on the electromagnetic chuck after blanking.
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