CN115459642A - Logistics trolley belt tightness adjusting method and device - Google Patents
Logistics trolley belt tightness adjusting method and device Download PDFInfo
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- CN115459642A CN115459642A CN202211122066.9A CN202211122066A CN115459642A CN 115459642 A CN115459642 A CN 115459642A CN 202211122066 A CN202211122066 A CN 202211122066A CN 115459642 A CN115459642 A CN 115459642A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/28—Arrangements for controlling current
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/08—Means for varying tension of belts, ropes, or chains
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/08—Means for varying tension of belts, ropes, or chains
- F16H2007/0802—Actuators for final output members
- F16H2007/0823—Electric actuators
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- Control Of Direct Current Motors (AREA)
Abstract
A belt tightness adjusting method for a logistics trolley belongs to the technical field of logistics equipment. The invention comprises the following steps: adjust the elasticity of belt in the commodity circulation dolly, the dolly driver sets for a rotational speed, and order about the brushless motor drive in the commodity circulation dolly and the motorized pulley who is connected with belt drive rotates, the dolly driver gathers brushless motor's rotational speed signal, and adjust brushless motor's rotational speed according to the rotational speed signal, make it reach the rotational speed of settlement, the dolly driver adjusts the electric current of exporting brushless motor according to the rotational speed signal simultaneously, when brushless motor reaches the rotational speed of settlement, whether qualified is judged the belt elasticity through comparing the current value that exports the dolly driver to brushless motor with the qualified scope of current value. According to the invention, a certain amount of belt tightness is set, so that the speed of adjusting the belt tightness is increased, and the product consistency of the logistics trolley is improved.
Description
Technical Field
The invention belongs to the technical field of logistics equipment, and particularly relates to a method and a device for adjusting belt tightness of a logistics trolley.
Background
The automatic logistics sorting machine is used in large batch in the current express logistics industry, the automatic logistics sorting machine controls automatic sorting express through the intelligent control system, a large amount of labor is saved, and the quick development of the express industry plays a vital role. The logistics trolley belongs to a key part of an automatic logistics sorting machine and comprises a rack, a belt, an electric roller, a driven roller and a trolley driver for driving the electric roller to rotate, wherein the electric roller and the driven roller are connected through belt transmission. In the production and assembly processes, the tightness of the belt does not have an absolute reference quantification, and the tightness of the belt is difficult to grasp in production. At present, often rely on workman's sensation and experience to judge, require very high to workman's skill, and have great error, if the belt is transferred loosely, then the condition that the goods takes motionless can appear, if the belt is transferred tightly, then can increase the wearing and tearing of belt, also can increase the power consumption simultaneously.
Therefore, a new solution is needed to solve this problem.
Disclosure of Invention
The invention mainly solves the technical problems in the prior art and provides a method and a device for adjusting the belt tightness of a logistics trolley.
The technical problem of the invention is mainly solved by the following technical scheme: a belt tightness adjusting method for a logistics trolley comprises the following steps: adjust the elasticity of belt in the commodity circulation dolly, a rotational speed is set for to the dolly driver, and order about the electric drum that brushless motor drive in the commodity circulation dolly is connected with belt drive and rotate, brushless motor's rotational speed signal is gathered to the dolly driver, and adjust brushless motor's rotational speed according to rotational speed signal, make it reach the rotational speed of settlement, the current of output to brushless motor is adjusted according to rotational speed signal to the dolly driver simultaneously, when brushless motor reaches the rotational speed of settlement, whether qualified is judged belt elasticity through comparing the current value that exports to brushless motor with the qualified scope of current value with the dolly driver.
Preferably, the method for setting the acceptable current value range includes the steps of: and testing a plurality of logistics trolleys, recording the current value of each logistics trolley during operation, averaging the measured current value data, taking the average value as a central value of debugging reference, and setting a qualified range according to the distribution of the measured current value data around the central value.
The invention also provides a belt tightness adjusting device of the logistics trolley, which comprises a trolley driver, the logistics trolley electrically connected with the trolley driver, a digital power supply and an operation panel, wherein the logistics trolley comprises an electric roller, a driven roller, a belt used for transmission connection between the electric roller and the driven roller, and a brushless motor used for driving the electric roller to rotate and provided with an encoder, the trolley driver comprises a central controller, a power supply circuit electrically connected with the central controller, a control interface circuit, a motor driving circuit, a current sampling circuit and an encoder feedback circuit, the encoder feedback circuit is electrically connected with the encoder and used for transmitting a brushless motor rotating speed signal acquired by the encoder to the central controller, the central controller controls the motor driving circuit to drive the brushless motor to reach a set rotating speed according to the rotating speed signal and simultaneously adjusts the current output to the brushless motor by the motor driving circuit according to the rotating speed signal, the current sampling circuit is connected with the motor driving circuit, the current signal output by the motor driving circuit is acquired and transmitted to the central controller, the operation panel is electrically connected with the control interface circuit, and the digital power supply is electrically connected with the power supply.
Preferably, the digital power supply is provided with a voltmeter and an ammeter.
Preferably, the operation panel is provided with a start button and a stop button.
Preferably, the motor driving circuit includes a chip U2, the chip U2 has 20 pins, a third pin of the chip U2 is connected to a thirty-first pin of a chip U1 in the central controller, a sixth pin of the chip U2 is connected to a twenty-eighth pin of the chip U1 in the central controller, a second pin of the chip U2 is connected to a thirty-third pin of the chip U1 in the central controller, a fifth pin of the chip U2 is connected to a twenty-seventh pin of the chip U1 in the central controller, a first pin of the chip U2 is connected to a twenty-ninth pin of the chip U1 in the central controller, a fourth pin of the chip U2 is connected to a twenty-sixth pin of the chip U1 in the central controller, a seventh pin of the chip U2 is connected to a 15V voltage, an eighth pin of the chip U2 is connected to a ground, a capacitor C8 is connected in parallel between the seventh pin and the eighth pin of the chip U2, and an eleventh pin of the chip U2 is connected to a resistor R11, the other end of the resistor R11 is respectively connected with one end of a resistor R14 and a grid electrode of an MOS tube Q4, the other end of the resistor R14 is respectively connected with a source electrode of the MOS tube Q4, one end of a capacitor C5, one end of a resistor R21 and one end of a resistor R20, the public connection end of the resistor R14 is connected with a resistor R33 in the current sampling circuit, the other end of the capacitor C5 is respectively connected with one end of the resistor R21 and one end of the resistor R20, the public connection end of the capacitor C5 is grounded, the eighteenth pin of the chip U2 is respectively connected with one end of a capacitor E1, a drain electrode of the MOS tube Q4, a source electrode of the MOS tube Q1 and one end of a resistor R7, the other end of the resistor R7 is respectively connected with a grid electrode of the MOS tube Q1 and one end of a resistor R3, the other end of the resistor R3 is connected with the nineteenth pin of the chip U2, the twentieth pin of the chip U2 is respectively connected with the other end of the capacitor E1 and the cathode of the diode D1, and the tenth pin of the chip U2 is connected with one end of the resistor R12, the other end of the resistor R12 is respectively connected with one end of a resistor R16 and a grid electrode of an MOS tube Q5, the other end of the resistor R16 is respectively connected with a source electrode of the MOS tube Q5, one end of a capacitor C6, one end of a resistor R23 and one end of a resistor R22, the common connection end of the resistor R16 is connected with a resistor R34 in the current sampling circuit, the other end of the capacitor C6 is respectively connected with the other end of the resistor R23 and the other end of the resistor R22, the common connection end of the capacitor C6 is grounded, the fifteenth pin of the chip U2 is respectively connected with one end of a capacitor E2, a drain electrode of the MOS tube Q5, one end of a resistor R8 and a source electrode of the MOS tube Q2, the other end of the resistor R8 is respectively connected with a grid electrode of the MOS tube Q2 and one end of a resistor R4, the other end of the resistor R4 is connected with the sixteenth pin of the chip U2, the seventeenth pin of the chip U2 is connected with the other end of the capacitor E2 and the cathode of a diode D2, the ninth pin of the chip U2 is connected with one end of a resistor R13, the other end of the resistor R13 is respectively connected with one end of a resistor R18 and the grid electrode of the MOS tube Q6, the other end of the resistor R18 is respectively connected with the source electrode of the MOS tube Q6, one end of a capacitor C7, one end of a resistor R25 and one end of a resistor R24, the common connection of the resistor R18 and the resistor R35 in the current sampling circuit, the other end of the capacitor C7 is respectively connected with one end of the resistor R25 and one end of the resistor R24, the common connection end of the capacitor C7 is grounded, the twelfth pin of the chip U2 is respectively connected with one end of the capacitor E3, the drain electrode of the MOS tube Q6, one end of the resistor R9 and the source electrode of the MOS tube Q3, the other end of the resistor R9 is respectively connected with the grid electrode of the MOS tube Q3 and one end of the resistor R5, the other end of the resistor R5 is connected with the thirteenth pin of the chip U2, the drain electrode of the MOS tube Q1 is respectively connected with the drain electrode of the MOS tube Q2 and the drain electrode of the MOS tube Q3, the common connection end of the diode is connected with 48V voltage, the fourteenth pin of the chip U2 is respectively connected with the negative electrode of the diode D3, the positive pole of the diode D1 is respectively connected with the positive pole of the diode D2, the positive pole of the diode D3, one end of the capacitor C2 and one end of the resistor R1, the other end of the capacitor C2 is grounded, and the other end of the resistor R1 is connected with 15V voltage.
Preferably, the current sampling circuit comprises a chip U3, the chip U3 comprises an operational amplifier U3A, an operational amplifier U3B, an operational amplifier U3C, and an operational amplifier U3D, the non-inverting input terminal of the operational amplifier U3A is respectively connected to one end of a resistor R33, one end of a resistor R27, the non-inverting input terminal of the operational amplifier U3B, and the non-inverting input terminal of the operational amplifier U3C, the other end of the resistor R33 is grounded, the other end of the resistor R27 is connected to a 3.3V voltage, the inverting input terminal of the operational amplifier U3A is respectively connected to one end of the resistor R33 and one end of a resistor R41, the other end of the resistor R33 is connected to a resistor R20 in the motor driving circuit, the positive power terminal of the operational amplifier U3A is respectively connected to one end of a capacitor C14 and a 5V voltage, the other end of the capacitor C14 is grounded, the output terminal of the operational amplifier U3A is respectively connected to the other end of the resistor R41 and one end of a resistor R29, the other end of the operational amplifier U29 is connected to the eleventh pin of a chip U1 in the central controller, the inverting input end of the operational amplifier U3B is connected with one end of a resistor R34 and one end of a resistor R42 respectively, the other end of the resistor R34 is connected with a resistor R22 in a motor driving circuit, the output end of the operational amplifier U3B is connected with the other end of the resistor R42 and one end of a resistor R30 respectively, the other end of the resistor R30 is connected with an eighteenth pin of a chip U1 in a central controller, the inverting input end of the operational amplifier U3C is connected with one end of a resistor R35 and one end of a resistor R43 respectively, the other end of the resistor R35 is connected with a resistor R24 in the motor driving circuit, the output end of the operational amplifier U3C is connected with one end of a resistor R43 and one end of a resistor R31 respectively, the other end of the resistor R31 is connected with a nineteenth pin of the chip U1 in the central controller, the in-phase input end of the operational amplifier U3D is grounded, and the inverting input end of the operational amplifier U3D is connected with the output end.
Preferably, the encoder feedback circuit comprises a chip U11, the chip U11 is provided with 16 pins, the fourth pin of the chip U11 is connected with the twelfth pin thereof, the twelfth pin of the chip U11 is grounded, the second pin of the chip U11 is connected with one end of a resistor R79, the first pin of the chip U11 is connected with one end of a resistor R81, a capacitor C40 is connected in parallel between the other end of the resistor R79 and the other end of the resistor R81, the sixth pin of the chip U11 is connected with one end of a resistor R85, the seventh pin of the chip U11 is connected with one end of a resistor R90, a capacitor C41 is connected in parallel between the other end of the resistor R85 and the other end of the resistor R90, the tenth pin of the chip U11 is connected with one end of a resistor R94, the ninth pin of the chip U11 is connected with one end of a resistor R96, a capacitor C42 is connected in parallel between the other end of the resistor R94 and the other end of the resistor R96, the eleventh pin of the chip U11 is connected with one end of a resistor R95, the other end of the resistor R95 is respectively connected with one end of a resistor R97 and one end of a capacitor C43, and the common connection of the resistor R97 is connected with the forty-fifth pin of the chip U1 in the central controller, the other end of the resistor R97 is connected with the other end of the capacitor C43, the common connection end of the resistor R93 is grounded, the fifth pin of the chip U11 is connected with one end of a resistor R91, the other end of the resistor R91 is connected with one end of a resistor R93, and the common connection end is connected with the forty-third pin of the chip U1 in the central controller, the other end of the resistor R93 is grounded, the third pin of the chip U11 is connected with one end of a resistor R83, the other end of the resistor R83 is connected with one end of a resistor R87, the common connection end of the chip U11 is connected with forty-two pins of a chip U1 in the central controller, the eighth pin of the chip U11 is grounded, and a sixteenth pin of the chip U11 is connected with a voltage of 5V, and a capacitor C39 is connected in parallel between an eighth pin and the sixteenth pin of the chip U11.
The invention has the following beneficial effects: in the invention, the trolley driver is connected with the electric roller in the logistics trolley through the brushless motor to form closed-loop control, and whether the belt tightness adjustment is qualified or not is judged by comparing the acquired current value of the brushless motor with the qualified range of the current value. According to the invention, a certain amount of belt tightness is set, so that the speed of adjusting the belt tightness is increased, and the product consistency of the logistics trolley is improved.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the present invention;
FIG. 2 is a circuit diagram of the central controller of the present invention;
FIG. 3 is a circuit diagram of the power circuit of the present invention;
FIG. 4 is a circuit diagram of the encoder feedback circuit of the present invention;
FIG. 5 is a circuit diagram of the motor drive circuit of the present invention;
FIG. 6 is a circuit diagram of the current sampling circuit of the present invention;
fig. 7 is a circuit diagram of the control interface circuit of the present invention.
In the figure: 1. a trolley driver; 2. a logistics trolley; 3. a digital power supply; 4. an operation panel; 5. an electric roller; 6. a passive drum; 7. a belt; 8. a brushless motor; 9. an encoder; 10. a central controller; 11. a power supply circuit; 12. a control interface circuit; 13. a motor drive circuit; 14. a current sampling circuit; 15. an encoder feedback circuit; 16. a voltmeter; 17. an ammeter; 18. a start button; 19. a stop button; 20. and a frame.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
The embodiment is as follows: the utility model provides a commodity circulation dolly belt elasticity adjusting device, as shown in figure 1, include dolly driver 1, reach commodity circulation dolly 2, digital power source 3 and the operating panel 4 of being connected with dolly driver 1 electricity, commodity circulation dolly 2 includes frame 20, motorized pulley 5, driven roller 6, belt 7 and brushless motor 8, motorized pulley 5 and driven roller 6 are installed respectively in the both sides of frame 20, and are connected through belt 7 transmission between motorized pulley 5 and the driven roller 6, brushless motor 8 is used for driving motorized pulley 5 and rotates, installs encoder 9 on the brushless motor 8 for gather brushless motor 8's speed signal, brushless motor 8's driving voltage is direct current 48V voltage.
The digital power supply 3 is electrically connected with the trolley driver 1 and used for supplying power and displaying a voltage value and a current value, the digital power supply 3 is a direct-current digital power supply and is provided with a voltmeter 16 for displaying voltage and an ammeter 17 for displaying current, the output voltage range of the digital power supply 3 is 0-60V, and the output current range is 0-10A.
The operation panel 4 is electrically connected with the trolley driver 1, and a start button 18 and a stop button 19 are installed on the operation panel 4 and are respectively used for controlling the start and stop of the logistics trolley 2.
The trolley driver 1 comprises a central controller 10, a power circuit 11, a control interface circuit 12, a motor driving circuit 13, a current sampling circuit 14 and an encoder feedback circuit 15, wherein the power circuit 11, the control interface circuit 12, the motor driving circuit 13, the current sampling circuit 14 and the encoder feedback circuit 15 are electrically connected with the central controller 10, the encoder feedback circuit 15 is electrically connected with an encoder 9, a rotating speed signal of a brushless motor 8 acquired by the encoder 9 is transmitted to the central controller 10, the central controller 10 controls the motor driving circuit 13 to drive the brushless motor 8 to reach a set rotating speed according to the rotating speed signal, meanwhile, the current output to the brushless motor 8 by the motor driving circuit 13 is adjusted according to the rotating speed signal, the current sampling circuit 14 is connected with the motor driving circuit 13, the current signal output by the motor driving circuit 13 is acquired and transmitted to the central controller 10, the control interface circuit 12 is electrically connected with an operation panel 4, and the power circuit 11 is electrically connected with a digital power supply 3. The encoder 9, the encoder feedback circuit 15, the central controller 10, the motor drive circuit 13, the current sampling circuit 14 and the brushless motor 8 cooperate with one another to form a closed-loop control between the motorized pulley 5 and the trolley drive 1.
As shown in fig. 3, in the power supply circuit 11, a chip U7, a capacitor E8, a capacitor E9, a capacitor C3, a capacitor C35, a diode D9, a capacitor E7, an inductor L1, a diode D7, a capacitor E10, and a capacitor C44 are combined to form a DC/DC circuit, a 48V voltage input by the digital power supply 3 is converted into a 15V voltage, then the 15V voltage is filtered by a filter circuit formed by combining an inductor L2, an inductor L3, and a capacitor C36 and then is supplied to the motor driving circuit 13, and meanwhile, the filtered 15V voltage is converted into a 5V voltage by a circuit formed by combining a resistor R52, a resistor R56, a capacitor E4, a capacitor C26, a chip V2, and a capacitor E5, and then is converted into a 3.3V by a circuit formed by combining a capacitor C24, a chip V1, a capacitor E6, and a capacitor C25 and is supplied to the central controller 10. The model of the chip U7 is PN6055, the model of the chip V2 is 78M05, and the model of the chip V1 is AMS1117-3V3.
As shown in fig. 2, the central controller 10 includes a chip U1, the chip U1 employs an ST 32-bit monolithic STM32F103C8T6, and has 48 pins in total, and a power supply end thereof is connected to a power supply decoupling capacitor formed by combining a capacitor C9, a capacitor C10, a capacitor C11, a capacitor C12 and a capacitor C13; the seventh pin of the chip U1 is connected with a reset circuit formed by combining a resistor R36 and a capacitor C18; the twenty-first pin and the twenty-second pin of the chip U1 are connected with a power-off data storage circuit formed by combining a chip U4, a capacitor 16, a resistor R44 and a resistor R45, wherein the chip U4 is an EEPROM and is CAT24C256; the thirty-seventh pin and the thirty-fourth pin of the chip U1 are connected with the terminal P1 through the resistor R37 and the resistor R38 respectively; a thirty-eighth pin of the chip U1 is connected with an indicator light circuit formed by combining a resistor R39 and a light emitting diode LED 1; the tenth pin of the chip U1 is connected to the terminal P2 through the resistor R2, the resistor R6, and the capacitor C1.
A twenty-sixth pin, a twenty-seventh pin, a twenty-eighth pin, a twenty-ninth pin, a thirty-eighth pin and a thirty-first pin of the chip U1 are connected with the motor driving circuit 13; the eleventh pin, the eighteenth pin and the nineteenth pin of the chip U1 are connected with the current sampling circuit 14; the forty-first pin and the forty-fourth pin of the chip U1 are connected with the control interface circuit 12; the forty-second pin, the forty-third pin and the forty-fifth pin of the chip U1 are connected to the feedback circuit of the encoder 9.
The central controller 10 outputs a PWM signal to drive the brushless motor 8, samples a current signal of the motor driving circuit 13 and a rotating speed signal of the encoder 9, and adjusts the PWM output signal according to the collected current signal and rotating speed signal, so that the brushless motor 8 reaches a set torque and speed.
As shown in fig. 5, the motor driving circuit 13 includes a chip U2, the chip U2 has 20 pins, the third pin of the chip U2 is connected to the thirty-first pin of the chip U1 in the central controller 10, the sixth pin of the chip U2 is connected to the twenty-eighth pin of the chip U1 in the central controller 10, the second pin of the chip U2 is connected to the thirty-third pin of the chip U1 in the central controller 10, the fifth pin of the chip U2 is connected to the twenty-seventh pin of the chip U1 in the central controller 10, the first pin of the chip U2 is connected to the twenty-ninth pin of the chip U1 in the central controller 10, the fourth pin of the chip U2 is connected to the twenty-sixth pin of the chip U1 in the central controller 10, the seventh pin of the chip U2 is connected to a 15V voltage, the eighth pin of the chip U2 is connected to ground, a capacitor C8 is connected in parallel between the seventh pin and the eighth pin of the chip U2, the eleventh pin of the chip U2 is connected with one end of a resistor R11, the other end of the resistor R11 is respectively connected with one end of a resistor R14 and the grid electrode of an MOS tube Q4, the other end of the resistor R14 is respectively connected with the source electrode of the MOS tube Q4, one end of a capacitor C5, one end of a resistor R21 and one end of a resistor R20, the public connection end of the resistor R is connected with a resistor R33 in the current sampling circuit 14, the other end of the capacitor C5 is respectively connected with one end of the resistor R21 and one end of the resistor R20, the public connection end of the capacitor C5 is grounded, the eighteenth pin of the chip U2 is respectively connected with one end of a capacitor E1, the drain electrode of the MOS tube Q4, the source electrode of the MOS tube Q1 and one end of a resistor R7, the other end of the resistor R7 is respectively connected with the grid electrode of the MOS tube Q1 and one end of the resistor R3, the other end of the resistor R3 is connected with the nineteenth pin of the chip U2, the twentieth pin of the chip U2 is respectively connected with the other end of the capacitor E1 and the negative electrode of the diode D1, the tenth pin of the chip U2 is connected with one end of a resistor R12, the other end of the resistor R12 is respectively connected with one end of a resistor R16 and the grid electrode of an MOS tube Q5, the other end of the resistor R16 is respectively connected with the source electrode of the MOS tube Q5, one end of a capacitor C6, one end of a resistor R23 and one end of a resistor R22, the common connection end of the resistor R16 is connected with a resistor R34 in the current sampling circuit 14, the other end of the capacitor C6 is respectively connected with the other end of the resistor R23 and the other end of the resistor R22, the common connection end of the capacitor C is grounded, the fifteenth pin of the chip U2 is respectively connected with one end of a capacitor E2, the drain electrode of the MOS tube Q5, one end of a resistor R8 and the source electrode of the MOS tube Q2, the other end of the resistor R8 is respectively connected with the grid electrode of the MOS tube Q2 and one end of the resistor R4, the other end of the resistor R4 is connected with the sixteenth pin of the chip U2, the seventeenth pin of the chip U2 is connected with the other end of the capacitor E2 and the cathode of the diode D2, the ninth pin of the chip U2 is connected with one end of a resistor R13, the other end of the resistor R13 is respectively connected with one end of a resistor R18 and the grid electrode of an MOS tube Q6, the other end of the resistor R18 is respectively connected with the source electrode of the MOS tube Q6, one end of a capacitor C7, one end of a resistor R25 and one end of a resistor R24, the common connection end of the resistor R is grounded, the twelfth pin of the chip U2 is respectively connected with one end of a capacitor E3, the drain electrode of the MOS tube Q6, one end of a resistor R9 and the source electrode of the MOS tube Q3, the other end of the resistor R9 is respectively connected with the grid electrode of the MOS tube Q3 and one end of a resistor R5, the other end of the resistor R5 is connected with the thirteenth pin of the chip U2, the drain electrode of the MOS tube Q1 is respectively connected with the drain electrode of the MOS tube Q2 and the drain electrode of the MOS tube Q3, and the common connection end of the MOS tube Q1 is connected with 48V voltage, the fourteenth pin of the chip U2 is connected to the other end of the capacitor E3 and the cathode of the diode D3, the anode of the diode D1 is connected to the anode of the diode D2, the anode of the diode D3, one end of the capacitor C2 and one end of the resistor R1, the other end of the capacitor C2 is grounded, and the other end of the resistor R1 is connected to 15V.
In the motor driving circuit 13, the model of the chip U2 is FD6288T, which is a driving chip dedicated to the motor, and converts the 3.3V PWM control signal into the driving signals of the MOS transistor Q1, the MOS transistor Q2, the MOS transistor Q3, the MOS transistor Q4, the MOS transistor Q5, and the MOS transistor Q6; the resistor R1, the capacitor C2, the diode D1, the diode D2, the diode D3, the capacitor E1, the capacitor E2 and the capacitor E3 are peripheral circuits of the chip U2; the resistor R3, the resistor R4, the resistor R5, the resistor R11, the resistor R12, the resistor R13, the resistor R7, the resistor R8, the resistor R9, the resistor R14, the resistor R16, the resistor R18, the MOS transistor Q1, the MOS transistor Q2, the MOS transistor Q3, the MOS transistor Q4, the MOS transistor Q5 and the MOS transistor Q6 are combined to form a three-phase driving circuit, and the three-phase driving circuit is used for driving the brushless motor 8 to operate; the resistor R21, the resistor R22, the resistor R23, the resistor R24, the resistor R25 and the resistor R26 are combined to form a current sampling circuit which is used for collecting the current of the three-phase coil of the brushless motor 8; the capacitor C5, the capacitor C6 and the capacitor C7 are combined to form a decoupling capacitor at the sampling resistor end.
As shown in fig. 6, the current sampling circuit 14 includes a chip U3, the model of the chip U3 is TP1564, and is a four-way high-precision integrated operational amplifier, including an operational amplifier U3A, an operational amplifier U3B, an operational amplifier U3C, and an operational amplifier U3D, the non-inverting input end of the operational amplifier U3A is respectively connected with one end of a resistor R33, one end of a resistor R27, the non-inverting input end of the operational amplifier U3B and the non-inverting input end of the operational amplifier U3C, the other end of the resistor R33 is grounded, the other end of the resistor R27 is connected with 3.3V voltage, the inverting input end of the operational amplifier U3A is respectively connected with one end of a resistor R33 and one end of a resistor R41, the other end of the resistor R33 is connected with a resistor R20 in the motor driving circuit 13, the positive power supply end of the operational amplifier U3A is respectively connected with one end of a capacitor C14 and 5V voltage, the other end of the capacitor C14 is grounded, the output end of the operational amplifier U3A is respectively connected with the other end of the resistor R41 and one end of the resistor R29, the other end of the resistor R29 is connected to the eleventh pin of the chip U1 in the central controller 10, the inverting input end of the operational amplifier U3B is respectively connected with one end of the resistor R34 and one end of the resistor R42, the other end of the resistor R34 is connected with a resistor R22 in the motor driving circuit 13, the output end of the operational amplifier U3B is respectively connected with the other end of the resistor R42 and one end of the resistor R30, the other end of the resistor R30 is connected to the eighteenth pin of the chip U1 in the central controller 10, the inverting input end of the operational amplifier U3C is respectively connected with one end of the resistor R35 and one end of the resistor R43, the other end of the resistor R35 is connected with a resistor R24 in the motor driving circuit 13, the output end of the operational amplifier U3C is respectively connected with one end of a resistor R43 and one end of a resistor R31, the other end of the resistor R31 is connected to the nineteenth pin of the chip U1 in the central controller 10, the non-inverting input end of the operational amplifier U3D is grounded, and the inverting input end of the operational amplifier U3D is connected with the output end of the operational amplifier U3D.
The current sampling circuit 14 amplifies the current of the three-phase coil of the brushless motor 8 collected by the motor driving circuit 13 by 4.68 times and then transmits the amplified current to the chip U1 in the central controller 10.
As shown in fig. 4, the encoder feedback circuit 15 includes a chip U11, the chip U11 has 16 pins, the fourth pin of the chip U11 is connected with the twelfth pin thereof, the twelfth pin of the chip U11 is grounded, the second pin of the chip U11 is connected with one end of a resistor R79, the first pin of the chip U11 is connected with one end of a resistor R81, a capacitor C40 is connected in parallel between the other end of the resistor R79 and the other end of the resistor R81, the sixth pin of the chip U11 is connected with one end of a resistor R85, the seventh pin of the chip U11 is connected with one end of a resistor R90, a capacitor C41 is connected in parallel between the other end of the resistor R85 and the other end of the resistor R90, the tenth pin of the chip U11 is connected with one end of a resistor R94, the ninth pin of the chip U11 is connected with one end of a resistor R96, a capacitor C42 is connected in parallel between the other end of the resistor R94 and the other end of the resistor R96, the eleventh pin of the chip U11 is connected with one end of a resistor R95, the other end of the resistor R95 is respectively connected with one end of a resistor R97 and one end of a capacitor C43, and the common connection is connected with the forty-fifth pin of the chip U1 in the central controller 10, the other end of the resistor R97 is connected with the other end of the capacitor C43, and the common connection end is grounded, the fifth pin of the chip U11 is connected with one end of a resistor R91, the other end of the resistor R91 is connected with one end of a resistor R93, and the common connection is connected with the forty-third pin of the chip U1 in the central controller 10, the other end of the resistor R93 is grounded, the third pin of the chip U11 is connected with one end of a resistor R83, the other end of the resistor R83 is connected with one end of a resistor R87, and the common connection end is connected with forty-two pins of a chip U1 in the central controller 10, the eighth pin of the chip U11 is grounded, and a sixteenth pin of the chip U11 is connected with a voltage of 5V, and a capacitor C39 is connected in parallel between an eighth pin and the sixteenth pin of the chip U11.
In the encoder feedback circuit 15, the other end of the resistor R79, the other end of the resistor R81, the other end of the resistor R85, the other end of the resistor R90, the other end of the resistor R94 and the other end of the resistor R96 are combined to form an encoder 9 connection end for connecting the encoder 9; the chip U11 is in the type AM26S32, is a differential receiving chip and converts a differential signal transmitted by the encoder 9 into a signal required by the singlechip; the resistor R79, the resistor R81, the resistor R85, the resistor R90, the resistor R94, the resistor R96, the capacitor C40, the capacitor C41 and the capacitor C42 are combined to form a filter circuit, and the output signal of the encoder 9 is filtered; the resistor R83, the resistor R87, the resistor R91, the resistor R93, the resistor R95, and the resistor R97 form a level conversion circuit in combination, convert the 5V signal output from the chip U11 into a 3.3V signal, and output to the central controller 10.
As shown in fig. 7, the control interface circuit 12 includes an optocoupler U6 and an optocoupler U9, a diode anode at an input end of the optocoupler U6 is used as a first input end of the control interface circuit 12, a diode cathode at an output end of the optocoupler U6 is used as a second input end of the control interface circuit 12, and is connected in series with a resistor R61, a resistor R60 and a capacitor C27 are connected in parallel between the diode anode at the input end of the optocoupler U6 and the diode cathode at the output end, a collector at the input end of the optocoupler U6 is respectively connected to one end of a resistor R59, a forty-th pin of a chip U1 in the central controller 10, and one end of a capacitor C28, and an emitter at the output end of the optocoupler U6 is respectively connected to the other end of the capacitor C28 and ground; a diode anode at the input end of the optocoupler U9 serves as a third input end of the control interface circuit 12, a diode cathode at the output end of the optocoupler U9 serves as a fourth input end of the control interface circuit 12, and is connected in series with a resistor R70, a resistor R68 and a capacitor C32 are connected in parallel between the diode anode at the input end of the optocoupler U9 and the diode cathode at the output end, a collector at the input end of the optocoupler U9 is respectively connected with one end of a resistor R65, a forty-first pin of a chip U1 in the central controller 10 and one end of a capacitor C33, and an emitter at the output end of the optocoupler U9 is respectively connected with the other end of the capacitor C33 and the ground; the first, second, third and fourth input terminals are used to connect the start button 18 and the stop button 19 on the operation panel 4.
In the control interface circuit 12, the type of the optocoupler U6 and the optocoupler U9 is EL-357, and the optocoupler U6 and the optocoupler U9 are used for electrically isolating an on/off signal and transmitting the on/off signal to the central controller 10; the resistor R60, the resistor R61, the resistor R68, the resistor R70, the capacitor C27 and the capacitor C32 are combined to form a control signal input filter circuit; circuit R59, resistor R65, capacitor C28 and capacitor C33 combine to form an output signal filtering circuit.
The invention also provides a method for adjusting the belt tightness of the logistics trolley based on the adjusting device, which comprises the following steps: adjusting the tightness of a belt 7 in a logistics trolley 2, setting a rotating speed by a trolley driver 1, driving a brushless motor 8 in the logistics trolley 2 to drive a motor drum 5 in transmission connection with the belt 7 to rotate, acquiring a rotating speed signal of the brushless motor 8 by the trolley driver 1, adjusting the rotating speed of the brushless motor 8 according to the rotating speed signal to enable the rotating speed to reach the set rotating speed, adjusting the current output to the brushless motor 8 by the trolley driver 1 according to the rotating speed signal, and comparing the current value output to the brushless motor 8 by the trolley driver 1 with the qualified current value range to judge whether the tightness adjustment of the belt 7 is qualified or not when the brushless motor 8 reaches the set rotating speed; if the current value is within the qualified current value range, the tightness of the belt 7 of the logistics trolley 2 is judged to be qualified; if the current value is not within the qualified range of the current value, determining that the tightness of the belt 7 of the logistics trolley 2 is unqualified, readjusting the tightness, and detecting the tightness again until the tightness is qualified; the current value may be displayed by an ammeter 17 on the digital power supply 3.
The method for setting the qualified range of the current value comprises the following steps: and testing the plurality of logistics trolleys 2, recording the current value of each logistics trolley 2 during operation, averaging the measured current value data, taking the average value as a central value of debugging reference, and setting a qualified range according to the distribution of the measured current value data around the central value. During testing, as long as the current value of the logistics trolley 2 during operation is within the current value qualified range, the tightness of the belt 7 of the logistics trolley 2 can be judged to be qualified.
The principle of the belt 7 tightness adjusting method is as follows: the central controller 10 controls the PWM output signal by collecting the current signal and the rotational speed signal of the brushless motor 8, and controls the brushless motor 8 to operate at the set rotational speed and torque by the PWM output signal; under the same rotating speed and torque, the current output by the central controller 10 through the motor driving circuit 13 is constant, and based on the characteristic, under the same rotating speed, as long as the current output by the central controller 10 is determined, the torque of the brushless motor 8 is determined, and the tightness of the belt 7 is in proportional relation with the torque of the brushless motor 8, so that by using the principle, the tightness adjustment of the belt 7 can be intuitively converted into a current signal, and different tightness of the belt 7 can be represented by setting specific different current values.
Finally, it should be noted that the above embodiments are merely representative examples of the present invention. It is obvious that the invention is not limited to the above-described embodiments, but that many variations are possible. Any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention should be considered to be within the scope of the present invention.
Claims (8)
1. A belt tightness adjusting method for a logistics trolley is characterized by comprising the following steps: adjust the elasticity of belt (7) in commodity circulation dolly (2), a rotational speed is set for in dolly driver (1), and drive brushless motor (8) drive in the commodity circulation dolly (2) and motor drum (5) that belt (7) transmission is connected rotate, the rotational speed signal of brushless motor (8) is gathered in dolly driver (1), and adjust the rotational speed of brushless motor (8) according to the rotational speed signal, make it reach the rotational speed of setting for, the electric current of output to brushless motor (8) is adjusted according to the rotational speed signal to dolly driver (1) simultaneously, when brushless motor (8) reach the rotational speed of setting for, judge whether qualified regulation of belt (7) elasticity is qualified through comparing the current value that exports to brushless motor (8) with dolly driver (1) with the current value scope.
2. The logistics trolley belt tightness adjusting method as claimed in claim 1, wherein the method for setting the qualified range of the current value comprises the following steps: the method comprises the steps of testing a plurality of logistics trolleys (2), recording the current value of each logistics trolley (2) during operation, averaging the measured current value data, taking the average value as a central value of debugging reference, and setting a qualified range according to the distribution of the measured current value data around the central value.
3. A belt tightness adjusting device of a logistics trolley is characterized by comprising a trolley driver (1), a logistics trolley (2) electrically connected with the trolley driver (1), a digital power supply (3) and an operation panel (4), wherein the logistics trolley (2) comprises an electric roller (5), a driven roller (6), a belt (7) used for transmission connection between the electric roller (5) and the driven roller (6), and a brushless motor (8) used for driving the electric roller (5) to rotate and provided with an encoder (9), the trolley driver (1) comprises a central controller (10), a power supply circuit (11) electrically connected with the central controller (10), a control interface circuit (12), a motor driving circuit (13), a current sampling circuit (14) and an encoder feedback circuit (15), the encoder feedback circuit (15) is electrically connected with the encoder (9), a rotating speed signal of the brushless motor (8) collected by the encoder (9) is transmitted to the central controller (10), the central controller (10) controls the motor driving circuit (13) to drive the motor (8) according to the rotating speed signal, and simultaneously adjusts the rotating speed signal of the brushless motor (8) and outputs the brushless motor driving circuit (13) to the brushless motor (13), the current signal of gathering motor drive circuit (13) output and transmitting to central controller (10), operating panel (4) are connected with control interface circuit (12) electricity, digital power supply (3) are connected with power supply circuit (11) electricity.
4. A logistics trolley belt tightness adjustment device as claimed in claim 3, characterized in that the digital power supply (3) is provided with a voltmeter (16) and an ammeter (17).
5. A logistics trolley belt tightness adjustment device as claimed in claim 3, characterized in that the operation panel (4) is loaded with a start button (18) and a stop button (19).
6. The belt tightness adjusting device for the logistics trolley according to claim 3, wherein the motor driving circuit (13) comprises a chip U2, the chip U2 is provided with 20 pins, a third pin of the chip U2 is connected with a thirty-first pin of the chip U1 in the central controller (10), a sixth pin of the chip U2 is connected with a twenty-eighth pin of the chip U1 in the central controller (10), a second pin of the chip U2 is connected with a thirty-third pin of the chip U1 in the central controller (10), a fifth pin of the chip U2 is connected with a twenty-seventh pin of the chip U1 in the central controller (10), a first pin of the chip U2 is connected with a twenty-ninth pin of the chip U1 in the central controller (10), a fourth pin of the chip U2 is connected with a twenty-sixth pin of the chip U1 in the central controller (10), the seventh pin of the chip U2 is connected with 15V voltage, the eighth pin of the chip U2 is grounded, a capacitor C8 is connected between the seventh pin and the eighth pin of the chip U2 in parallel, the eleventh pin of the chip U2 is connected with one end of a resistor R11, the other end of the resistor R11 is respectively connected with one end of a resistor R14 and the grid electrode of an MOS tube Q4, the other end of the resistor R14 is respectively connected with the source electrode of the MOS tube Q4, one end of a capacitor C5, one end of a resistor R21 and one end of a resistor R20, the common connection end of the resistor R is connected with a resistor R33 in a current sampling circuit (14), the other end of the capacitor C5 is respectively connected with one end of the resistor R21 and one end of the resistor R20, the common connection end of the capacitor C5 is grounded, the eighteenth pin of the chip U2 is respectively connected with one end of the capacitor E1, the drain electrode of the MOS tube Q4, the source electrode of the MOS tube Q1 and one end of the resistor R7, the other end of the resistor R7 is respectively connected with a grid electrode of the MOS tube Q1 and one end of a resistor R3, the other end of the resistor R3 is connected with a nineteenth pin of the chip U2, a twentieth pin of the chip U2 is respectively connected with the other end of the capacitor E1 and the negative electrode of the diode D1, a tenth pin of the chip U2 is connected with one end of a resistor R12, the other end of the resistor R12 is respectively connected with one end of a resistor R16 and the grid electrode of the MOS tube Q5, the other end of the resistor R16 is respectively connected with a source electrode of the MOS tube Q5, one end of a capacitor C6, one end of a resistor R23 and one end of a resistor R22, the common connection end of the resistor R is connected with a resistor R34 in the current sampling circuit (14), the other end of the capacitor C6 is respectively connected with the other end of the resistor R23 and the other end of the resistor R22, the common connection end of the resistor R is grounded, a fifteenth pin of the chip U2 is respectively connected with one end of the capacitor E2, a drain electrode of the MOS tube Q5, one end of the drain electrode of the resistor R8 and the source electrode of the MOS tube Q2, the other end of the resistor R8 is respectively connected with the grid of the MOS tube Q2 and one end of the resistor R4, the other end of the resistor R4 is connected with the sixteenth pin of the chip U2, the seventeenth pin of the chip U2 is connected with the other end of the capacitor E2 and the cathode of the diode D2, the ninth pin of the chip U2 is connected with one end of the resistor R13, the other end of the resistor R13 is respectively connected with one end of the resistor R18 and the grid of the MOS tube Q6, the other end of the resistor R18 is respectively connected with the source of the MOS tube Q6, one end of the capacitor C7, one end of the resistor R25 and one end of the resistor R24, the common connection end of the resistor R18 is connected with the resistor R35 in the current sampling circuit (14), the other end of the capacitor C7 is respectively connected with one end of the resistor R25 and one end of the resistor R24, the common connection end of the capacitor C is grounded, the twelfth pin of the chip U2 is respectively connected with one end of the drain of the capacitor E3, the drain of the MOS tube Q6, one end of a resistor R9 and a source electrode of the MOS tube Q3, the other end of the resistor R9 is respectively connected with a grid electrode of the MOS tube Q3 and one end of a resistor R5, the other end of the resistor R5 is connected with a thirteenth pin of the chip U2, a drain electrode of the MOS tube Q1 is respectively connected with a drain electrode of the MOS tube Q2 and a drain electrode of the MOS tube Q3, the public connection of the drain electrodes is connected with 48V voltage, a fourteenth pin of the chip U2 is respectively connected with the other end of the capacitor E3 and a negative electrode of the diode D3, an anode of the diode D1 is respectively connected with an anode of the diode D2, an anode of the diode D3, one end of the capacitor C2 and one end of the resistor R1, the other end of the capacitor C2 is grounded, and the other end of the resistor R1 is connected with 15V voltage.
7. The logistics trolley belt tightness adjusting device according to claim 3, wherein the current sampling circuit (14) comprises a chip U3, the chip U3 comprises an operational amplifier U3A, an operational amplifier U3B, an operational amplifier U3C and an operational amplifier U3D, a non-inverting input terminal of the operational amplifier U3A is respectively connected with one end of a resistor R33, one end of a resistor R27, a non-inverting input terminal of the operational amplifier U3B and a non-inverting input terminal of the operational amplifier U3C, the other end of the resistor R33 is grounded, the other end of the resistor R27 is connected with 3.3V voltage, an inverting input terminal of the operational amplifier U3A is respectively connected with one end of a resistor R33 and one end of a resistor R41, the other end of the resistor R33 is connected with a resistor R20 in a motor driving circuit (13), a positive power terminal of the operational amplifier U3A is respectively connected with one end of a capacitor C14 and 5V voltage, the other end of the capacitor C14 is grounded, an output terminal of the operational amplifier U3A is respectively connected with the other end of a resistor R41 and one end of a motor driving circuit (13), an output terminal of a resistor R30 in the central resistor R3A is respectively connected with an output terminal of a resistor R30, an inverting input terminal of a resistor R3B, an output terminal of a resistor R30 and an output terminal of a resistor R34 in a central resistor R3C 3B, and an output terminal of a central resistor R30, and a central resistor R34 of a central resistor R30, and a central resistor R30 in a central resistor R3C 34 are respectively connected with an output terminal of a central resistor R30, the other end of the resistor R31 is connected with a nineteenth pin of a chip U1 in the central controller (10), the non-inverting input end of the operational amplifier U3D is grounded, and the inverting input end of the operational amplifier U3D is connected with the output end of the operational amplifier U3D.
8. The belt tightness adjusting device for the logistics trolley according to claim 3, wherein the encoder feedback circuit (15) comprises a chip U11, the chip U11 is provided with 16 pins, the fourth pin of the chip U11 is connected with the twelfth pin thereof, the twelfth pin of the chip U11 is grounded, the second pin of the chip U11 is connected with one end of a resistor R79, the first pin of the chip U11 is connected with one end of a resistor R81, a capacitor C40 is connected in parallel between the other end of the resistor R79 and the other end of the resistor R81, the sixth pin of the chip U11 is connected with one end of a resistor R85, the seventh pin of the chip U11 is connected with one end of a resistor R90, a capacitor C41 is connected in parallel between the other end of the resistor R85 and the other end of the resistor R90, one end of a resistor R94 is connected to the tenth pin of the chip U11, and one end of a ninth pin of the resistor R96 of the chip U11 is connected with one end of the resistor R96, a capacitor C42 is connected in parallel between the other end of the resistor R94 and the other end of the resistor R96, the eleventh pin of the chip U11 is connected with one end of the resistor R95, the other end of the resistor R95 is respectively connected with one end of the resistor R97 and one end of the capacitor C43, the common connection end of the resistor R95 is connected with the forty-fifth pin of the chip U1 in the central controller (10), the other end of the resistor R97 is connected with the other end of the capacitor C43, the common connection end of the resistor R97 is grounded, the fifth pin of the chip U11 is connected with one end of the resistor R91, the other end of the resistor R91 is connected with one end of the resistor R93, the common connection end of the resistor R93 is connected with the forty-third pin of the chip U1 in the central controller (10), the other end of the resistor R93 is grounded, the third pin of the chip U11 is connected with one end of the resistor R83, the other end of the resistor R83 is connected with one end of the resistor R87, and the common connection end of the forty-two pins of the chip U1 in the central controller (10), the eighth pin of the chip U11 is grounded, the sixteenth pin of the chip U11 is connected to 5V, and a capacitor C39 is connected in parallel between the eighth pin and the sixteenth pin of the chip U11.
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Denomination of invention: A method for adjusting the tightness of the logistics car belt and its adjustment device Granted publication date: 20230421 Pledgee: Industrial and Commercial Bank of China Limited Xinchang sub branch Pledgor: ZHEJIANG TAITAN Co.,Ltd. Registration number: Y2024330000314 |
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