CN115183922A - Motor torque testing device for intelligent clothes hanger and implementation method thereof - Google Patents

Abstract

The application discloses motor torque testing device for intelligent clothes hanger and implementation method thereof, which belongs to the technical field of torque measurement, and comprises a production line and a control system of the production line, wherein the production line comprises a feeding mechanism, a discharging structure and a testing mechanism, the control system of the production line comprises a main power module, a relay control module, a PLC module and a motor driving module, the device can realize self-adaptive butt joint between a testing motor output shaft and the testing device, and can distinguish qualified from unqualified from the feeding, discharging and testing motors of the testing motors to form a complete production line, and also has power-off protection when the testing motors are stuck or the torque is too large, and the reliability and the practicability are high.

Description

A kind of motor torque testing device for intelligent clothes drying rack and its realization method

technical field

The invention relates to a motor torque testing device for an intelligent clothes drying rack and a realization method thereof, belonging to the technical field of torque measurement.

Background technique

The motor is an important component in the application of the motor. In order to ensure the quality of the product, it is generally necessary to test the output torque of the motor during the production of the product to see if the motor meets the performance parameters of the product. In reality, when testing the motor torque of the motor used for the smart clothes drying rack, it is necessary to connect the torque test device to the output shaft of the motor, and then connect the power supply, power on the motor for testing, manually install it, and install it in the motor. When the output shaft is connected and installed, it takes a long time, and the continuity is low, and a complete assembly line cannot be formed. Some test equipment does not have a protection device when the motor is energized and does not rotate. Therefore, a test device for automatic detection of motor torque was invented. is necessary.

For example, on November 23, 2021, a UAV motor torque testing device with publication number CN214843731U was disclosed. A motor locking device is installed on the working platform, and a torque testing device is installed on one side of the motor locking device. The torque test device includes a base plate, a transmission rod and a detection switch. The base plate is installed on the working platform, and the base plate is provided with a fixing plate 1. A locking mechanism is installed on the fixing plate 1. The locking mechanism is provided with a connecting head, and one end of the transmission rod penetrates through The first fixed plate is connected with one end of the connecting head, the transmission rod is fixed with a connecting rod, the end of the connecting rod extends away from the transmission rod, the detection switch is located under the side of the connecting rod, and the detection switch is installed on the bottom plate through the second fixed plate, When the torque of the motor is greater than the locking force of the locking mechanism on the connector, the connector drives the transmission rod to rotate. At this time, the transmission rod rotates to make the end of the connecting rod move downward. The detection switch senses that there is an object blocking and sends a signal, and the indicator light is on. The marking torque meets the requirements, and the invention has a simple structure, is convenient and practical, and although the above-mentioned device can realize the motor torque test, it still has the following disadvantages:

1. The test motor needs to be manually loaded during the test. When the output shaft of the test motor and the test device are manually connected, a lot of time is wasted, and there is no distinction between qualified and unqualified products after the test of the motor.

2. The above device cannot form a continuous production line, the production speed is slow and the efficiency is low.

3. The above device does not have a protection device when the test motor does not rotate after being powered on. When the test motor is stuck or the torque is too large, it cannot provide power-off protection for the test motor.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide a motor torque test device for an intelligent clothes drying rack and a realization method thereof. The device does not require operators to manually load the test motor when testing the motor torque, and can realize the automatic filling and operation of the test motor. The self-adaptive docking between the output shaft and the testing device, the device is also equipped with a feeding mechanism and a feeding mechanism, the feeding mechanism can continuously transport the test motor to the testing place of the test motor, and the feeding mechanism can carry out the test after the test is completed. The motors are classified, and the qualified products and unqualified products are classified and transported. The test motor testing institution is equipped with a test motor dynamic torque sensor, which can realize the dynamic data recording between the test motor revolutions and torque. This device can also realize When the number of revolutions of the test motor is zero or over-torque, the test motor is automatically powered off, thereby realizing the protection of the test motor.

In order to solve the above technical problems, the present invention adopts the following technical solutions:

A motor torque testing device for an intelligent clothes drying rack, comprising a production line and a control system of the production line;

The production line includes a feeding mechanism, a feeding mechanism and a testing mechanism;

The feeding mechanism is used to transport the test motor to the test mechanism in an orderly manner to test the performance parameters of the test motor;

The test mechanism is used to fix and position the test motor, and then power on to test and record the torque and revolution of the test motor; The test motor is placed on the corresponding conveyor belt, and the next step is to test the motor;

The feeding mechanism includes a motor compartment, a motor track is arranged at the bottom end of the motor compartment, a 1# proximity switch and a 2# proximity switch are arranged on the motor track, a vibrator is arranged on one side outer wall of the motor compartment, and the There is a feeding conveyor belt under the motor track. Vertical protrusions are evenly distributed on the feeding conveyor belt. , the skateboard is tilted.

Further, the test mechanism includes a motor slot, a photoelectric switch is arranged above the motor slot, one end of the motor slot is connected with a motor cylinder, the other end of the motor slot is connected with one end of a rotating shaft, and a section of the rotating shaft close to the motor slot is hollow, and the rotating shaft is hollow. There is a fixed pin inserted above the position, the fixed pin is connected with a fixed pin cylinder, a spring is provided between the fixed pin and the fixed pin cylinder as a buffer, and the fixed pin cylinder is provided with a 6# limit switch and a 5# limit switch, so The end of the motor cylinder is provided with an electromagnet push plate, and the motor cylinder is provided with a 1# limit switch and a 2# limit switch;

The other end of the rotating shaft is connected with a dynamic torque sensor, the other end of the dynamic torque sensor is connected with a rolling wheel, and the rolling wheel is telescopically connected with a resistance spring through one end.

Further, the feeding mechanism includes a threaded track, the threaded track is located above the motor slot, a grab cylinder is provided on the threaded rail, and a 4# limit switch and a 3# limit switch are provided on the grab cylinder. A gripper is arranged at the end of the grabbing cylinder, a 7# limit switch and an 8# limit switch are also arranged on the threaded track, and a qualified conveyor belt and an unqualified conveyor belt are also arranged below the threaded track.

Further, the control system of the production line includes a main power module, a relay control module, a PLC module and a motor drive module. The main power module is used to provide power for the control system, and the PLC module is connected to the relay control module and the motor drive module.

Further, the main power module includes a three-phase power line, one end of the three-phase power line is connected with a circuit breaker, the other end of the circuit breaker is connected with one end of a contactor, the other end of the contactor is connected with one end of a thermal relay, and the other end of the thermal relay is connected with There is a motor, the motor is used to drive the action of the qualified conveyor belt and the unqualified conveyor belt, the other end of the contactor is also connected with a motor, which is used to drive the action of the vibrator, and the other end of the circuit breaker is also connected with an intermediate relay contact and a switching power supply. One end, the other end of the intermediate relay contact is connected to one end of the electromagnet and the test motor, which is used to provide power to the electromagnet and the test motor, the other end of the switching power supply is connected to the touch screen and one end of the PLC, and the switching power supply is used to convert AC 380 into 24 DC, used to provide DC power supply to touch screen and PLC.

Further, the relay control module includes a normally open contact of an intermediate relay, one end of the normally open contact of the intermediate relay is connected with a contactor, and the other end of the contactor is connected with a 0V line, and the relay realizes the qualified conveyor belt and the unqualified conveyance by controlling the contactor. One end of the intermediate relay is also connected to a solenoid valve, and the other end of the solenoid valve is connected to the 0V line. The relay controls the solenoid valve to realize the start and stop of the motor cylinder, the fixed pin cylinder, the grab cylinder and the gripper cylinder. The intermediate relay One end of the normally open contact is also connected to one end of the indicator light, and the other end of the indicator light is also connected to the 0V line, which is used to control the start and stop of the indicator light.

Further, the PLC module includes a CPU unit U1, and the PLC module is the core of the entire control system, which controls the start and stop of the motor, the start and stop of the cylinder, the start and stop of the indicator light, the detection limit switch, the photoelectric switch and the operation state data of the detection device;

The 232 communication serial port of the CPU unit U1 is connected with the touch screen communication terminal, which is used for communication between the production line control system and the touch screen, and the 485 communication serial port of the CPU unit U1 is connected with the dynamic torque sensor communication terminal, which is used for the production line control system and the touch screen. For the communication between the dynamic torque sensors, the L+ pin and the M pin of the CPU unit U1 are connected with a +24V line and a 0V line. This part is used for the power supply of the CPU unit U1. The M pin, 1M pin, 2M and 3M pins are connected with 0V line, and the L pin, 1L pin, 2L and 3L pins of CPU unit U1 are connected with +24V line, this part is used for the common wiring of each control pin of CPU unit U1;

The input end of the CPU unit U1 is connected to one end of the contact switch, and the other end of the contact switch is connected to the +24V line. This part is used to detect the fault of the conveyor belt motor, the limit switch, the proximity switch, the photoelectric switch and the device knob. state;

The output end of the CPU unit U1 is connected to one end of the intermediate relay coil, and the other end of the intermediate relay coil is connected to the 0V line.

Further, the motor drive module includes a driver Q1 and a driver Q2;

The driver Q1 is connected with a feeding conveyor belt, which is used to control the start-stop and running speed of the feeding conveyor belt, and feedback the motor running state to the PLC module part;

The driver Q2 is connected with a threaded track stepping motor, which is used to control the start-stop and running speed of the threaded track stepping motor, and feedback the motor running state to the PLC module part.

Further, a motor torque testing device for an intelligent clothes drying rack, the implementation method comprises the following steps:

The program starts at step S100, the program starts, and step S101 is executed;

Step S101, the control system judges whether there is a test motor at the 1# proximity switch; if it is, go to step S103; if not, go to step S102;

Step S102, the operator places the test motor in the motor compartment; after completion, step S101 is performed;

Step S103, the feeding conveyor belt is turned on to advance the set distance; after completion, step S104 is performed;

Step S104, the control system judges whether there is a test motor at the photoelectric switch; if it is, go to step S105; if not, go to step S103;

Step S105, the motor cylinder is extended; Step S106 is executed after completion;

Step S106, the control system judges whether the extension of the motor cylinder is in place; if it is, go to step S107; if not, go to step S105;

Step S107, the fixed pin cylinder is extended; after completion, step S108 is performed;

In step S108, the control system judges whether the extension of the fixed pin cylinder is in place; if it is, go to step S109; if not, go to step S107;

Step S109, the device alarms, prompting to connect the test motor power supply; Step S110 is performed after completion;

In step S110, the operator connects the power supply of the test motor, and the touch screen resets the alarm information; after completion, step S111 is performed;

Step S111, the test motor is powered on and rotates; after completion, step S112 is performed;

Step S112, the control system records the motor torque and the number of motor revolutions, and determines whether the motor test data is qualified; after completion, step S113 is performed;

Step S113, the control system judges whether the number of revolutions of the motor is equal to zero; if so, go to step S114; if not, go to step S112;

In step S114, the control system turns off the motor power, and the fixed pin cylinder retracts; after completion, step S115 is performed;

Step S115, the device alarms, indicating that the motor test is completed; if it is, step S116 is performed; after completion, step S116 is performed;

In step S116, the operator disconnects the power supply of the test motor from the test device, and resets the alarm information on the touch screen; after completion, perform step S117;

Step S117, the electromagnet is powered on, and the motor cylinder is retracted; after completion, step S118 is performed;

Step S118, the control system judges whether the motor cylinder is retracted in place; if so, go to step S119; if not, go to step S117;

In step S119, the electromagnet is powered off, and the grabbing cylinder is extended; after completion, step S120 is performed;

In step S120, the control system judges whether the grasping cylinder is extended in place; if it is, go to step S121; if not, go to step S119;

Step S121, the gripper starts the gripping test motor, and the gripping cylinder retracts; Step S122 is performed after completion;

In step S122, the threaded rail motor is started, and the grabbing cylinder is transported to the top of the corresponding conveyor belt; after completion, step S123 is performed;

Step S123, the grab cylinder is extended; after completion, step S124 is executed;

Step S124, the control system judges whether the grasping cylinder is extended in place; if it is, go to step S125; if not, go to step S123;

Step S125, the gripper starts the loosening test motor, the grabbing cylinder retracts, and the corresponding conveyor belt starts; after completion, step S126 is performed;

In step S125, the threaded rail motor is started, and the grabbing cylinder is transported to the top of the motor slot; after completion, the program jumps to program step S101, and the process is repeated.

The present invention adopts the above technical scheme, compared with the prior art, has the following technical effects:

1. The device is provided with a motor slot for holding the test motor, which can ensure that the center of the output shaft of the test motor and the center of the rotating shaft of the test device are in a straight line. It extends into the rotating shaft of the test device. The rotating shaft is provided with a fixed pin and a fixed pin cylinder. The fixed pin is connected with a spring, so that the fixed pin can be adaptively fitted with the positioning pin of the output shaft of the test motor when the test motor rotates. , without operator intervention, the test motor can be quickly connected with the test device, which greatly reduces the time when the motor output shaft and the test device are connected during the test.

2. The device is equipped with a feeding mechanism, a feeding mechanism and a testing mechanism. The feeding mechanism is used to transport the test motor in an orderly manner. The test motor after the test can be transported to the lower part of the motor through the feeding mechanism. In one process processing place, the feeding mechanism of the device includes a qualified conveyor belt and an unqualified conveyor belt, which can distinguish the qualified and unqualified motors of the tested motors, so as to avoid the qualified and unqualified testing of motors due to operational errors. confusion.

3. The device also has a program for automatic power-on and power-off of the test motor. When the test motor rotates at high and low speeds or stops rotating at high torque, it can automatically cut off the power supply of the test motor to prevent the test motor from continuing to rotate when it stops rotating. heat up, causing damage to the test motor.

Description of drawings

In order to illustrate the specific embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that are required to be used in the description of the specific embodiments or the prior art. Similar elements or parts are generally identified by similar reference numerals throughout the drawings. In the drawings, each element or part is not necessarily drawn according to the actual scale and orientation.

Fig. 1 is the structural representation of the production line in the present invention;

Fig. 2 is the electrical schematic diagram of the main power module part of the control system of the production line;

Fig. 3 is the electrical schematic diagram of the relay control module of the control system of the production line;

Fig. 4 is the electrical schematic diagram of the PLC module part of the control system of the production line;

Fig. 5 is the electrical schematic diagram of the motor drive module part of the control system of the production line;

FIG. 6 is a partial flow chart of the implementation method in the present invention.

Detailed ways

Embodiment 1, a motor torque testing device for an intelligent clothes drying rack and its implementation method, including a production line and a control system for the production line.

As shown in Figure 1, the production line includes a feeding mechanism, a feeding mechanism and a testing mechanism.

The feeding mechanism is used to transport the test motor to the test mechanism in an orderly manner to test the performance parameters of the test motor;

The test mechanism is used for fixing and positioning the test motor, and then energizing the test motor to test and record the torque and revolution of the test motor;

The unloading mechanism is used for classifying the tested motor as qualified and unqualified, and placing the test motor on the corresponding conveyor belt for the next step of the test motor treatment.

The feeding mechanism includes a motor compartment 19, the motor compartment 19 is used to store the test motor in a certain direction, the bottom end of the motor compartment 19 is provided with a motor track 31, and only one test motor in a certain direction can pass through the motor track 31, The motor track 31 is provided with 1# proximity switch 21 and 2# proximity switch 22, 1# proximity switch 21 and 2# proximity switch 22 are connected to the control system to detect the position where the motor reaches, the motor compartment 19 A vibrator 20 is provided on the outer wall of one side to prevent the test motor from being stuck when the test motor is lowered. A feeding conveyor belt 23 is provided below the motor track 31, and several vertical conveyor belts 23 are evenly distributed on the feeding conveyor belt 23. The feeding conveyor belt 23 is driven by the feeding conveyor belt stepping motor, and advances a certain distance each time. At one end of the motor slot 5, the slide plate 24 is placed obliquely. When the test motor of the motor compartment 19 falls on the feeding conveyor belt 23 in a certain direction, the feeding conveyor belt 23 advances a certain distance every time. A test motor can be taken away, and the end test motor of the feeding conveyor belt 23 slides down through the sliding plate 24 and falls into the motor slot 5 in the test structure.

The testing mechanism includes a motor slot 5, the motor slot 5 can be embedded in the motor, a photoelectric switch 4 is arranged above the motor slot 5, and the photoelectric switch 4 is connected to the control system for detecting the presence or absence of the motor in the motor slot 5. One end of the slot 5 is connected with the motor cylinder 1, and the other end of the motor slot 5 is connected with one end of the rotating shaft 8. A section of the rotating shaft 8 close to the motor slot 5 is hollow, and a fixing pin 7 is inserted above the hollow of the rotating shaft 8, and the fixing pin 7 is connected with a The fixed pin cylinder 6 is provided with a spring as a buffer between the fixed pin 7 and the fixed pin cylinder 6. The fixed pin cylinder 6 is used to drive the fixed pin 7 to extend and retract in the rotating shaft 8. The fixed pin cylinder 6 is provided with a spring. There are 6# limit switch 12 and 5# limit switch 9, 6# limit switch 12 and 5# limit switch 9 are connected to the control system for the position detection of the extension and retraction of the fixed pin 7, the motor The end of the cylinder 1 is provided with an electromagnet push plate 3. The motor cylinder 1 is used to push out and retract the output shaft of the test motor to its original position. The motor cylinder 1 is provided with a 1# limit switch 2 and a 2# limit switch. The switch 17, the 1# limit switch 2 and the 2# limit switch 17 are connected to the control system, and are used to detect the detection of the extended and retracted positions of the motor cylinder 1.

The other end of the rotating shaft 8 is connected with a dynamic torque sensor 31. The dynamic torque sensor 31 is connected to the control system for collecting the revolutions and torque of the test motor, and transmitting the data to the control system for recording. The dynamic torque sensor 31 The other end is connected with a rolling wheel 14, and the rolling wheel 14 is connected with a resistance spring 15 through a rope. When the test motor rotates, the resistance of the stretchable resistance spring 15 changes from small to large, so as to judge the torque change of each stage of the test motor speed.

When the control system detects that there is a test motor falling into the motor slot 5, the motor cylinder 1 extends to extend the output shaft of the test motor into the rotating shaft 8. When the motor cylinder 1 extends in place, the fixed pin cylinder 6 extends. Through the spring buffer between the fixed pin 7 and the fixed pin cylinder 6, through the rotation of the output shaft of the test motor, the positioning end of the output shaft of the test motor can be adaptively meshed with the fixed pin 7. When the fixed pin cylinder 6 extends When it is in place, the device alarms to remind the operator to connect the test motor power supply, the operator connects the test motor power supply, resets the alarm information, the test motor automatically turns on the power supply and rotates, and the dynamic torque sensor 31 transmits the collected test motor speed and torque value to the control System, when the test motor speed is zero, the power supply of the test motor is automatically disconnected, the fixed pin cylinder 6 retracts the fixed pin from the rotating shaft 8, and the resistance spring 15 also returns to the original state. This test motor test is over, and the device alarms And prompt the operator to disconnect the test motor power supply from the unit.

The unloading mechanism includes a threaded track 16, the threaded track 16 is located above the motor slot 5, the threaded track 16 is provided with a grab cylinder 25, and the grab cylinder 25 is provided with a 4# limit switch 28 and a 3# limit switch. The position switch 27, the 4# limit switch 28 and the 3# limit switch 27 are connected to the control system for detecting the extension and retraction of the grabbing cylinder. The end of the grabbing cylinder 25 is provided with a gripper 26 , the gripper 26 is driven by the gripper cylinder, and is used to grip the test motor in the motor slot 5. The threaded track 16 is also provided with a 7# limit switch 10 and an 8# limit switch 11, 7# limit switch The position switch 10 and the 8# limit switch 11 are connected with the control system, and are used to detect the limit positions on both sides of the grabbing cylinder 25 moving on the threaded rail 16 .

There are also qualified conveyor belts 29 and unqualified conveyor belts 30 below the threaded track 16. The qualified conveyor belts 29 are driven by the qualified conveyor belt motors to transport the test motors that have passed the test. The unqualified conveyor belts 30 are conveyed by unqualified conveyor belts. With motor drive, it is used to transport the test motor that fails the test. When the operator disconnects the power supply of the motor after the test, the alarm information is reset, and the electromagnet push plate 3 at the end of the motor cylinder 1 is electrified and magnetized, and the electromagnet push plate 3 The test motor will be sucked, and the test motor will be retracted from the rotating shaft 8. After the control system judges that the retraction is in place, the grabbing cylinder 25 is extended. After the extension is in place, the gripper 26 is activated to grab the test motor in the motor slot 5. The grabbing cylinder 25 is retracted, and the motor is transported to the top of the corresponding conveyor belt through the threaded track 16, the grabbing cylinder 25 is extended, and after the extension is in place, the gripper 26 releases the test motor, and the corresponding conveyor belt starts at the same time. And transport the test motor to the corresponding next test motor processing place.

The control system of the production line includes a main power module, a relay control module, a PLC module and a motor drive module. The main power module provides power for the control system, the relay module provides loop start-stop control for the control of the system, and the PLC module is connected to the relay control module. With the motor drive module, the PLC module is the core part of the system, and the motor drive module is the drive and information collection mechanism of the system.

The main power module includes a three-phase power line, one end of the circuit breaker is connected to the three-phase power line, the other end of the circuit breaker is connected to one end of the contactor, the other end of the contactor is connected to one end of a thermal relay, and the other end of the thermal relay is connected to a qualified transmission The belt motor and the unqualified conveyor belt motor are used to provide power to the qualified conveyor belt motor and the unqualified conveyor belt motor. The other end of the contactor is also connected to the end of the vibrator, which is used to provide power to the vibrator. The other end of the circuit breaker also One end of the normally open contact of the intermediate relay is connected, the other end of the long open contact of the intermediate relay is connected to one end of the electromagnet and the test motor, which is used to provide power to the electromagnet and the test motor, and the other end of the circuit breaker is also connected to the switching power supply. One end, the other end of the switching power supply is connected with a touch screen and a PLC, which is used to provide power to the touch screen and PLC, and is also used to provide 24V power for other electrical appliances.

As shown in FIG. 2 , the three-phase power supply includes R line, S line, T line and N line. The R line, S line, T line and N line of the three-phase power supply are connected to one end of the circuit breaker QF1, and the other end of the circuit breaker QF1 Connect the L1 line, L2 line, L3 line and N line of the three-phase power supply, the three-phase power supply L1 line, L2 line and L3 line are connected to one end of the circuit breaker QF2, and the other end of the circuit breaker QF2 is connected to one end of the contactor KM1, the contactor The other end of KM1 is connected to one end of thermal relay FR1, and the other end of thermal relay FR1 is connected to a qualified conveyor belt motor. This part is used to provide power and thermal protection for qualified conveyor belt motors. The three-phase power supply L1 line, L2 line and L3 line One end of the circuit breaker QF3 is connected, the other end of the circuit breaker QF3 is connected to one end of the contactor KM2, the other end of the contactor KM2 is connected to one end of the thermal relay FR2, and the other end of the thermal relay FR2 is connected to the unqualified conveyor belt motor. The qualified conveyor belt motor provides power and thermal protection. The three-phase power supply L1 line, L2 line and L3 line are connected to one end of circuit breaker QF4, the other end of circuit breaker QF4 is connected to one end of contactor KM3, and the other end of contactor KM3 is connected to vibration This part is used to provide power to the vibrator motor. The three-phase power L1 line and N line are connected to one end of the circuit breaker QF5, and the other end of the circuit breaker QF5 is connected to one end of the normally open contact of the intermediate relay KA8. The intermediate relay One end of the KA8 normally open contact is connected to an electromagnet, and this part is used to provide power to the electromagnet. The L2 line and the N line of the three-phase power supply are connected to one end of the circuit breaker QF6, and the other end of the circuit breaker QF6 is connected to an intermediate relay. One end of the normally open contact of KA9, the other end of the normally open contact of the intermediate relay KA9 is connected to the test motor, and this part is used to provide power to the test motor. The L3 line and the N line of the three-phase power supply are connected with a circuit breaker QF5 One end, the other end of the circuit breaker QF5 is connected to one end of the switching power supply LRS-200-24, the other end of the switching power supply LRS-200-24 is connected to the +24V line and the 0V line, and the +24V line and the 0V line are connected to the touch screen and the PLC end , this part is used to provide power for touch screen and PLC, the +24V line and 0V line are also used to provide DC 24V power supply for other electrical appliances.

The relay control module includes an intermediate relay normally open contact, the intermediate relay normally open contact is connected with a contactor coil, and is used to control the start and stop of the qualified conveyor belt, the unqualified conveyor belt and the vibrator, and the intermediate relay normally open contact The solenoid valve coil is also connected to control the start and stop of the motor cylinder, the fixed pin cylinder, the grab cylinder and the gripper cylinder. The normally open contact of the intermediate relay is also connected with an indicator light, which is used to control the start and stop of the indicator light.

As shown in Figure 3, the relay control module includes the normally open contact of the intermediate relay KA1, one end of the normally open contact of the intermediate relay KA1 is connected to the +24V line, and the other end of the normally open contact of the intermediate relay KA1 is connected to the contactor KM1 coil. One end, the other end of the contactor KM1 coil is connected to the 0V line. This part is used to control the start and stop of the qualified conveyor belt. The relay control module also includes the normally open contact of the intermediate relay KA2. One end of the normally open contact of the intermediate relay KA2 is connected with + 24V line, the other end of the normally open contact of the intermediate relay KA2 is connected to one end of the contactor KM2 coil, and the other end of the contactor KM2 coil is connected to the 0V line, this part is used to control the start and stop of the unqualified conveyor belt, the relay control module also Including the normally open contact of the intermediate relay KA3, one end of the normally open contact of the intermediate relay KA3 is connected to the +24V line, the other end of the normally open contact of the intermediate relay KA3 is connected to one end of the contactor KM3 coil, and the other end of the contactor KM3 coil is connected to 0V This part is used to control the start and stop of the vibrator. The relay control module also includes the normally open contact of the intermediate relay KA4. One end of the normally open contact of the intermediate relay KA4 is connected to the +24V line, and the other end of the normally open contact of the intermediate relay KA4 is connected. One end of the solenoid valve YV1 coil is connected, and the other end of the solenoid valve YV1 coil is connected to the 0V line. This part is used to control the start and stop of the motor cylinder. The relay control module also includes an intermediate relay KA5 normally open contact, and the intermediate relay KA5 is normally open. One end of the contact is connected to the +24V line, the other end of the normally open contact of the intermediate relay KA5 is connected to one end of the solenoid valve YV2 coil, and the other end of the solenoid valve YV2 coil is connected to the 0V line. This part is used to control the start and stop of the fixed pin cylinder. The relay control module also includes an intermediate relay KA6 normally open contact, one end of the intermediate relay KA6 normally open contact is connected to the +24V line, the other end of the intermediate relay KA6 normally open contact is connected to one end of the solenoid valve YV3 coil, the solenoid valve YV3 coil The other end is connected to the 0V line. This part is used to control the start and stop of the grabbing cylinder. The relay control module also includes an intermediate relay KA7 normally open contact. One end of the intermediate relay KA7 normally open contact is connected to a +24V line. The intermediate relay KA7 The other end of the normally open contact is connected to one end of the solenoid valve YV4 coil, and the other end of the solenoid valve YV4 coil is connected to the 0V line. This part is used to control the start and stop of the gripper cylinder. The relay control module also includes an intermediate relay KA10 normally open Contact, one end of the normally open contact of the intermediate relay KA10 is connected to the +24V line, the other end of the normally open contact of the intermediate relay KA10 is connected to the red end of the indicator light, and the other end of the red indicator light is connected to the 0V line, this part is used for control indication The light is red to start and stop. The relay control module also includes a normally open contact of the intermediate relay KA11. One end of the normally open contact of the intermediate relay KA11 is connected to the +24V line, and the other end of the normally open contact of the intermediate relay KA11 is connected to the green end of the indicator light. , the other end of the green indicator light is connected to the 0V line, this part is used to control the green start and stop of the indicator light, the relay control module also includes Including the normally open contact of the intermediate relay KA12, one end of the normally open contact of the intermediate relay KA12 is connected to the +24V line, the other end of the normally open contact of the intermediate relay KA12 is connected to one end of the indicator buzzer, and the other end of the indicator buzzer Connect the 0V line, this part is used to control the start and stop of the indicator buzzer.

The PLC module includes a CPU unit U1, the model of the CPU unit U1 is CPU226I, and the PLC module is the core of the entire control system, controlling the start and stop of the motor, the start and stop of the indicator light, and the detection of faults and detection of the operating state of the device.

As shown in Figure 4, the 232 communication serial port of the CPU unit U1 is connected with a touch screen for communication between the production line control system and the touch screen, and the 485 communication serial port of the CPU unit U1 is connected with a dynamic torque sensor for production line control. The communication between the system and the dynamic torque sensor, the L+ pin and M pin of the CPU unit U1 are connected with +24V line, 0V line, this part is used for the power supply of the CPU unit U1, the M pin, 1M pin of the CPU unit U1 The 0V line is connected to the pin 2M, and the +24V line is connected to the L pin, 1L pin and 2L pin of the CPU unit U1. This part is used for the common wiring of each control pin of the CPU unit U1.

The input end of the CPU unit U1 is connected with a contact switch, and the input end of the CPU unit U1 detects the state of motor failure, limit switch, proximity switch switch, photoelectric switch and device knob through the contact switch.

The I0.0 pin of the CPU unit U1 is connected to one end of the contact switch K1, and the other end of the contact switch K1 is connected to the +24V line. This part is used for the fault detection of the qualified conveyor belt motor. The I0.0 of the CPU unit U1. Pin 1 is connected to one end of the contact switch K2, and the other end of the contact switch K2 is connected to the +24V line. This part is used for fault detection of the unqualified conveyor belt motor. The I0.2 pin of the CPU unit U1 is connected to the contact switch. One end of K3, the other end of the contact switch K3 is connected to the +24V line, this part is used for 1# limit switch detection, the I0.3 pin of the CPU unit U1 is connected to one end of the contact switch K4, the contact switch K4 The other end is connected to the +24V line, this part is used for 2# limit switch detection, the I0.4 pin of the CPU unit U1 is connected to one end of the contact switch K5, and the other end of the contact switch K5 is connected to the +24V line, This part is used for 3# limit switch detection, the I0.5 pin of the CPU unit U1 is connected to one end of the contact switch K6, the other end of the contact switch K6 is connected to the +24V line, this part is used for the 4# limit switch Switch detection, the I0.6 pin of the CPU unit U1 is connected to one end of the contact switch K7, and the other end of the contact switch K7 is connected to the +24V line, this part is used for the 5# limit switch switch detection, the CPU unit The I0.7 pin of U1 is connected to one end of the contact switch K8, and the other end of the contact switch K8 is connected to the +24V line. This part is used for the detection of the 6# limit switch. The I1.0 pin of the CPU unit U1 is connected to a One end of the contact switch K9, the other end of the contact switch K9 is connected to the +24V line, this part is used for the detection of the 7# limit switch, the I1.1 pin of the CPU unit U1 is connected to one end of the contact switch K10, the contact The other end of the point switch K10 is connected to the +24V line. This part is used for the detection of the 8# limit switch. The I1.2 pin of the CPU unit U1 is connected to one end of the contact switch K11, and the other end of the contact switch K11 is connected to + 24V line, this part is used for 1# proximity switch detection, the I1.3 pin of the CPU unit U1 is connected to one end of the contact switch K12, and the other end of the contact switch K12 is connected to the +24V line, this part is used for 2# Proximity switch detection, the I1.4 pin of the CPU unit U1 is connected to one end of the contact switch K13, and the other end of the contact switch K13 is connected to the +24V line, this part is used for photoelectric switch detection, the I1 of the CPU unit U1 .5 pin is connected to one end of the rotary switch S1, the other end of the rotary switch S1 is connected to the +24V line, this part is used for the manual/automatic control knob signal detection of the device, the I1.6 pin of the CPU unit U1 is connected to the rotary switch S2 One end of the rotary switch S2 is connected to the +24V line, this part is used for emergency stop button signal detection.

The output end of the CPU unit U1 is connected with an intermediate relay coil, and the output end of the CPU unit U1 realizes the start-stop control of the motor, the cylinder and the indicator light by controlling the relay coil.

One end of the Q0.4 pin of the CPU unit U1 is connected to one end of the intermediate relay coil KA1, and the other end of the intermediate relay coil KA1 is connected to the 0V line. This part is used to control the start of the qualified conveyor belt motor. Q0 of the CPU unit U1 Pin .5 is connected to one end of the coil of the intermediate relay KA2, and the other end of the coil of the intermediate relay KA2 is connected to the 0V line. This part is used to control the start of the motor of the unqualified conveyor belt. The Q0.6 pin of the CPU unit U1 is connected to the intermediate relay. One end of the KA3 coil, the other end of the intermediate relay KA3 coil is connected to the 0V line, this part is used to control the start of the vibrator, the Q0.7 pin of the CPU unit U1 is connected to one end of the intermediate relay KA4 coil, the intermediate relay KA4 coil. The other end is connected to the 0V line, this part is used for the control of the motor cylinder starting, the Q1.0 pin of the CPU unit U1 is connected to one end of the coil of the intermediate relay KA5, and the other end of the coil of the intermediate relay KA5 is connected to the 0V line, this part is used for For the control of starting the cylinder with the fixed pin, the Q1.1 pin of the CPU unit U1 is connected to one end of the coil of the intermediate relay KA6, and the other end of the coil of the intermediate relay KA6 is connected to the 0V line. This part is used to control the starting of the cylinder. The Q1.2 pin of the CPU unit U1 is connected to one end of the coil of the intermediate relay KA7, and the other end of the coil of the intermediate relay KA7 is connected to the 0V line. This part is used to control the start of the gripper cylinder. The Q1.3 pin of the CPU unit U1 One end of the coil of the intermediate relay KA8 is connected, and the other end of the coil of the intermediate relay KA8 is connected to the 0V line. This part is used to test the control of the motor power start. The Q1.4 pin of the CPU unit U1 is connected to one end of the coil of the intermediate relay KA9. The other end of the intermediate relay KA9 coil is connected to the 0V line, which is used for the control of the electromagnet start. The Q1.5 pin of the CPU unit U1 is connected to one end of the intermediate relay KA10 coil, and the other end of the intermediate relay KA10 coil is connected to the 0V line. , this part is used for the control of the indicator light-red start, the Q1.6 pin of the CPU unit U1 is connected to one end of the coil of the intermediate relay KA11, and the other end of the coil of the intermediate relay KA11 is connected to the 0V line, this part is used for the indicator light- For the control of green start, the Q1.7 pin of the CPU unit U1 is connected to one end of the coil of the intermediate relay KA12, and the other end of the coil of the intermediate relay KA12 is connected to the 0V line. This part is used for the control of the start of the indicator light and the buzzer.

The motor drive module includes a driver Q1 and a driver Q2.

The driver Q1 is connected with a feeding conveyor belt, which is used to control the start-stop and running speed of the feeding conveyor belt, and feedback the running state of the motor to the PLC module part.

As shown in Figure 5, the AC1 pin and AC2 pin of the driver Q1 are respectively connected with the +24V line and the 0V line of the 24V DC power supply. This part is used for the power supply of the driver Q1, and the DIR- pin of the driver Q1 is connected with the 0V line. The DIR+ pin of the driver Q1 is connected to the Q0.1 pin of the CPU unit U1, the PLS- pin of the driver Q1 is connected to the 0V line, the PLS+ pin of the driver Q1 is connected to the Q0.0 pin of the CPU unit U1, and the A+ and A- pins of the driver Q1 are connected to the 0V line. , B+ and B- feet are connected with the feeding conveyor belt motor, the driver Q1 is used for the starting and stopping and running speed of the feeding conveyor belt motor, and feedback the motor running status to the PLC module part.

The driver Q2 is connected with a threaded track stepping motor, which is used to control the start-stop and running speed of the threaded track stepping motor, and feedback the motor running state to the PLC module part.

As shown in Figure 5, the AC1 pin and AC2 pin of the driver Q2 are respectively connected with the +24V line and the 0V line of the 24V DC power supply. This part is used for the power supply of the driver Q2, and the DIR- pin of the driver Q2 is connected with the 0V line. The DIR+ pin of the driver Q2 is connected to the Q0.3 pin of the CPU unit U1, the PLS- pin of the driver Q2 is connected to the 0V line, the PLS+ pin of the driver Q2 is connected to the Q0.2 pin of the CPU unit U1, and the A+ and A- pins of the driver Q2 are connected to the 0V line. , B+ and B- feet are connected with a threaded track stepper motor, the driver Q2 is used to control the start, stop and running speed of the threaded track stepper motor, and feedback the motor running status to the PLC module part.

In order to further illustrate the motor torque testing device for an intelligent clothes drying rack and its realization method, the steps of the realization method will now be described as follows.

As shown in Figure 6, the program starts at step S100, the program starts, and step S101 is executed;

Step S101, the control system judges whether there is a test motor at the 1# proximity switch; if it is, go to step S103; if not, go to step S102;

Step S102, the operator places the test motor in the motor compartment; after completion, step S101 is performed;

Step S103, the feeding conveyor belt is turned on to advance the set distance; after completion, step S104 is performed;

Step S104, the control system judges whether there is a test motor at the photoelectric switch; if it is, go to step S105; if not, go to step S103;

Step S105, the motor cylinder is extended; Step S106 is executed after completion;

Step S106, the control system judges whether the extension of the motor cylinder is in place; if it is, go to step S107; if not, go to step S105;

Step S107, the fixed pin cylinder is extended; after completion, step S108 is performed;

In step S108, the control system judges whether the extension of the fixed pin cylinder is in place; if it is, go to step S109; if not, go to step S107;

Step S109, the device alarms, prompting to connect the test motor power supply; Step S110 is performed after completion;

In step S110, the operator connects the power supply of the test motor, and the touch screen resets the alarm information; after completion, step S111 is performed;

Step S111, the test motor is powered on and rotates; after completion, step S112 is performed;

Step S112, the control system records the motor torque and the number of motor revolutions, and determines whether the motor test data is qualified; after completion, step S113 is performed;

Step S113, the control system judges whether the number of revolutions of the motor is equal to zero; if so, go to step S114; if not, go to step S112;

In step S114, the control system turns off the motor power, and the fixed pin cylinder retracts; after completion, step S115 is performed;

Step S115, the device alarms, indicating that the motor test is completed; if it is, step S116 is performed; after completion, step S116 is performed;

In step S116, the operator disconnects the power supply of the test motor from the test device, and resets the alarm information on the touch screen; after completion, perform step S117;

Step S117, the electromagnet is powered on, and the motor cylinder is retracted; after completion, step S118 is performed;

Step S118, the control system judges whether the motor cylinder is retracted in place; if so, go to step S119; if not, go to step S117;

In step S119, the electromagnet is powered off, and the grabbing cylinder is extended; after completion, step S120 is performed;

In step S120, the control system judges whether the grasping cylinder is extended in place; if it is, go to step S121; if not, go to step S119;

Step S121, the gripper starts the gripping test motor, and the gripping cylinder retracts; Step S122 is performed after completion;

In step S122, the threaded rail motor is started, and the grabbing cylinder is transported to the top of the corresponding conveyor belt; after completion, step S123 is performed;

Step S123, the grab cylinder is extended; after completion, step S124 is executed;

Step S124, the control system judges whether the grasping cylinder is extended in place; if it is, go to step S125; if not, go to step S123;

Step S125, the gripper starts the loosening test motor, the grabbing cylinder retracts, and the corresponding conveyor belt starts; after completion, step S126 is performed;

In step S125, the threaded rail motor is started, and the grabbing cylinder is transported to the top of the motor slot; after completion, the program jumps to program step S101, and the process is repeated.

The description of the present invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or to limit the invention to the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to better explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use.

Claims (10)

1. a motor torque testing device for intelligent clothes drying rack, is characterized in that: comprise the control system of production line and production line; The production line includes a feeding mechanism, a feeding mechanism and a testing mechanism; The feeding mechanism is used to transport the test motor to the test mechanism in an orderly manner to test the performance parameters of the test motor; The test mechanism is used to fix and position the test motor, and then power on to test and record the torque and revolution of the test motor; The test motor is placed on the corresponding conveyor belt, and the next step is to test the motor; The feeding mechanism includes a motor compartment (19), a motor track (31) is arranged at the bottom end of the motor compartment (19), and a 1# proximity switch (21) and a 2# proximity switch (22) are arranged on the motor track (31). ), a vibrator (20) is provided on one side outer wall of the motor compartment (19), a feeding conveyor belt (23) is provided below the motor track (31), and the feeding conveyor belt (23) is evenly Distributed vertical protrusions, the end of the feeding conveyor belt (23) is connected with one end of the sliding plate (24), the other end of the sliding plate (24) is connected with one end of the motor slot (5) in the testing mechanism, the sliding plate (24) slanted. 2 . The motor torque testing device for an intelligent clothes drying rack according to claim 1 , wherein the testing mechanism comprises a motor slot ( 5 ), and a photoelectric switch ( 4 ) is arranged above the motor slot ( 5 ). 3 . One end of the motor slot (5) is connected with the motor cylinder (1), and the other end of the motor slot (5) is connected with one end of the rotating shaft (8). ) A fixing pin (7) is inserted above the hollow, the fixing pin (7) is connected with a fixing pin cylinder (6), and a spring is provided between the fixing pin (7) and the fixing pin cylinder (6) as a buffer. The cylinder (6) is provided with a 6# limit switch (12) and a 5# limit switch (9). The end of the motor cylinder (1) is provided with an electromagnet push plate (3), and the motor cylinder (1) is provided with an electromagnet push plate (3). ) are provided with 1# limit switch (2) and 2# limit switch (17); The other end of the rotating shaft (8) is connected with a dynamic torque sensor (31), the other end of the dynamic torque sensor (31) is connected with a rolling wheel (14), and the rolling wheel (14) is telescopically connected with a resistance spring ( 15). 3 . The motor torque testing device for an intelligent clothes drying rack according to claim 1 , wherein the unloading mechanism comprises a threaded track ( 16 ), and the threaded track ( 16 ) is located at the bottom of the motor slot ( 5 ). 4 . Above, the threaded rail (16) is provided with a grab cylinder (25), and the grab cylinder (25) is provided with a 4# limit switch (28) and a 3# limit switch (27). 25) is provided with a gripper (26) at the end, and the threaded rail (16) is also provided with a 7# limit switch (10) and an 8# limit switch (11). There are also qualified conveyor belts (29) and unqualified conveyor belts (30) below. 4. The motor torque testing device for an intelligent clothes drying rack as claimed in claim 1, wherein the control system of the production line comprises a main power module, a relay control module, a PLC module and a motor drive module, and the main power module uses a In order to provide power for the control system, the PLC module connects the relay control module and the motor drive module. 5 . The motor torque testing device for an intelligent clothes drying rack according to claim 4 , wherein the main power module comprises a three-phase power cord, and one end of the three-phase power cord is connected with a circuit breaker, and the circuit breaker has another end. 6 . One end of the contactor is connected to one end, the other end of the contactor is connected to one end of the thermal relay, and the other end of the thermal relay is connected to a motor. The motor is used to drive the qualified conveyor belt and the unqualified conveyor belt. Drive the vibrator to act, the other end of the circuit breaker is also connected with an intermediate relay contact and one end of the switching power supply, and the other end of the intermediate relay contact is connected with one end of the electromagnet and the test motor, which is used to provide power to the electromagnet and the test motor, The other end of the switching power supply is connected with one end of the touch screen and the PLC, and the switching power supply is used to convert 380 AC to 24 DC, and is used to provide DC power supply for the touch screen and the PLC. 6. The motor torque testing device for an intelligent clothes drying rack as claimed in claim 4, wherein the relay control module comprises an intermediate relay normally open contact, and one end of the intermediate relay normally open contact is connected with a contactor, The other end of the contactor is connected to the 0V line. The relay controls the contactor to realize the start and stop of the qualified conveyor belt and the unqualified conveyor belt. One end of the intermediate relay is also connected to a solenoid valve, and the other end of the solenoid valve is connected to the 0V line. The relay controls the solenoid valve to Realize the start and stop of the motor cylinder, the fixed pin cylinder, the grab cylinder and the gripper cylinder. One end of the normally open contact of the intermediate relay is also connected to one end of the indicator light, and the other end of the indicator light is also connected to the 0V line, which is used to control the start of the indicator light. stop. 7. a kind of intelligent clothes drying rack motor torque testing device as claimed in claim 4, is characterized in that: described PLC module comprises CPU unit U1, the model of CPU unit U1 is CPU226I, and PLC module is used to control motor start-stop, Start and stop of cylinder, start and stop of indicator lights, detection limit switch, photoelectric switch and running status data of detection device; The 232 communication serial port of the CPU unit U1 is connected with the touch screen communication terminal, which is used for communication between the production line control system and the touch screen, and the 485 communication serial port of the CPU unit U1 is connected with the dynamic torque sensor communication terminal, which is used for the production line control system and the touch screen. For the communication between the dynamic torque sensors, the L+ pin and the M pin of the CPU unit U1 are connected with a +24V line and a 0V line. This part is used for the power supply of the CPU unit U1. The M pin, 1M pin, 2M and 3M pins are connected with 0V line, and the L pin, 1L pin, 2L and 3L pins of CPU unit U1 are connected with +24V line, this part is used for the common wiring of each control pin of CPU unit U1. 8. The motor torque testing device for an intelligent clothes drying rack as claimed in claim 7, wherein the input end of the CPU unit U1 is connected with one end of a contact switch, and the other end of the contact switch is connected with a +24V line , this part is used to detect the status of conveyor belt motor fault, limit switch, proximity switch, photoelectric switch and device knob; The output end of the CPU unit U1 is connected to one end of the intermediate relay coil, and the other end of the intermediate relay coil is connected to the 0V line. 9. The motor torque testing device for an intelligent clothes drying rack as claimed in claim 4, wherein the motor drive module comprises a driver Q1 and a driver Q2; The driver Q1 is connected with a feeding conveyor belt, which is used to control the start-stop and running speed of the feeding conveyor belt, and feedback the motor running state to the PLC module part; The driver Q2 is connected with a threaded track stepping motor, which is used to control the start-stop and running speed of the threaded track stepping motor, and feedback the motor running state to the PLC module part. 10. A realization method of a motor torque testing device for an intelligent clothes drying rack, characterized in that: the realization method is applied to the motor torque testing device for an intelligent clothes drying rack according to any one of claims 1-9, The implementation method includes the following steps: The program starts at step S100, the program starts, and step S101 is executed; Step S101, the control system judges whether there is a test motor at the 1# proximity switch; if it is, go to step S103; if not, go to step S102; Step S102, the operator places the test motor in the motor compartment; after completion, step S101 is performed; Step S103, the feeding conveyor belt is turned on to advance the set distance; after completion, step S104 is performed; Step S104, the control system judges whether there is a test motor at the photoelectric switch; if it is, go to step S105; if not, go to step S103; Step S105, the motor cylinder is extended; Step S106 is executed after completion; Step S106, the control system judges whether the extension of the motor cylinder is in place; if it is, go to step S107; if not, go to step S105; Step S107, the fixed pin cylinder is extended; after completion, step S108 is performed; In step S108, the control system judges whether the extension of the fixed pin cylinder is in place; if it is, go to step S109; if not, go to step S107; Step S109, the device alarms, prompting to connect the test motor power supply; Step S110 is performed after completion; In step S110, the operator connects the power supply of the test motor, and the touch screen resets the alarm information; after completion, step S111 is performed; Step S111, the test motor is powered on and rotates; after completion, step S112 is performed; Step S112, the control system records the motor torque and the number of motor revolutions, and determines whether the motor test data is qualified; after completion, step S113 is performed; Step S113, the control system judges whether the number of revolutions of the motor is equal to zero; if so, go to step S114; if not, go to step S112; In step S114, the control system turns off the motor power, and the fixed pin cylinder retracts; after completion, step S115 is performed; Step S115, the device alarms, indicating that the motor test is completed; if it is, step S116 is performed; after completion, step S116 is performed; In step S116, the operator disconnects the power supply of the test motor from the test device, and resets the alarm information on the touch screen; after completion, perform step S117; Step S117, the electromagnet is powered on, and the motor cylinder is retracted; after completion, step S118 is performed; Step S118, the control system judges whether the motor cylinder is retracted in place; if so, go to step S119; if not, go to step S117; In step S119, the electromagnet is powered off, and the grabbing cylinder is extended; after completion, step S120 is performed; In step S120, the control system judges whether the grasping cylinder is extended in place; if it is, go to step S121; if not, go to step S119; Step S121, the gripper starts the gripping test motor, and the gripping cylinder retracts; Step S122 is performed after completion; In step S122, the threaded rail motor is started, and the grabbing cylinder is transported to the top of the corresponding conveyor belt; after completion, step S123 is performed; Step S123, the grab cylinder is extended; after completion, step S124 is executed; Step S124, the control system judges whether the grasping cylinder is extended in place; if it is, go to step S125; if not, go to step S123; Step S125, the gripper starts the loosening test motor, the grabbing cylinder retracts, and the corresponding conveyor belt starts; after completion, step S126 is performed; In step S125, the threaded rail motor is started, and the grabbing cylinder is transported to the top of the motor slot; after completion, the program jumps to program step S101, and the process is repeated.

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