CN115459642B - Method and device for adjusting tightness of belt of logistics trolley - Google Patents
Method and device for adjusting tightness of belt of logistics trolley Download PDFInfo
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- CN115459642B CN115459642B CN202211122066.9A CN202211122066A CN115459642B CN 115459642 B CN115459642 B CN 115459642B CN 202211122066 A CN202211122066 A CN 202211122066A CN 115459642 B CN115459642 B CN 115459642B
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- 238000005299 abrasion Methods 0.000 description 1
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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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Abstract
A tightness adjustment method for a commodity circulation trolley belt belongs to the technical field of commodity circulation equipment. The invention comprises the following steps: adjust elasticity of belt in commodity circulation dolly, the dolly driver sets for a rotational speed to order about brushless motor drive in the commodity circulation dolly and belt drive to be connected's electronic cylinder and rotate, the dolly driver gathers brushless motor's rotational speed signal, and adjust brushless motor's rotational speed according to rotational speed signal, make it reach the rotational speed of settlement, simultaneously the dolly driver adjusts the electric current that outputs to brushless motor according to rotational speed signal, when brushless motor reaches the rotational speed of settlement, through comparing the current value that the dolly driver output to brushless motor with the current value qualification range and judge whether belt elasticity adjusts to be qualified. 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 consistency of the logistics trolley products 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 tightness of a wagon belt of a logistics trolley.
Background
Automatic logistics sorting machine is already used in batches in present express delivery commodity circulation trade, and automatic logistics sorting machine passes through intelligent control system control automatic sorting express delivery, has saved a large amount of manual works, plays vital effect to the rapid development of express delivery trade. The logistics trolley belongs to a key component of an automatic logistics sorting machine, and comprises a frame, 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 process, the tightness of the belt does not have absolute reference quantity, and the tightness of the belt is difficult to grasp in production. At present, the judgment is often carried out by means of the feeling and experience of workers, the skill requirement on the workers is high, and large errors exist, if the belt is loosened, the situation that the cargo belt is not moved possibly occurs, if the belt is tightened, the abrasion of the belt can be increased, and meanwhile the electricity consumption can be increased.
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 tightness of a belt of a logistics trolley.
The technical problems of the invention are mainly solved by the following technical proposal: a method for adjusting tightness of a belt of a logistics trolley comprises the following steps: adjust elasticity of belt in commodity circulation dolly, the dolly driver sets for a rotational speed to order about brushless motor drive in the commodity circulation dolly and belt drive to be connected's electronic cylinder and rotate, the dolly driver gathers brushless motor's rotational speed signal, and adjust brushless motor's rotational speed according to rotational speed signal, make it reach the rotational speed of settlement, simultaneously the dolly driver adjusts the electric current that outputs to brushless motor according to rotational speed signal, when brushless motor reaches the rotational speed of settlement, through comparing the current value that the dolly driver output to brushless motor with the current value qualification range and judge whether belt elasticity adjusts to be qualified.
Preferably, the method for setting the current value pass range includes the steps of: testing a plurality of logistics trolleys, recording current values of each logistics trolley during operation, averaging the measured current value data, taking the average value as a debugging reference central value, and setting a qualified range according to distribution of the measured current value data around the central value.
The invention also provides a logistics trolley belt tightness adjusting device, which comprises a trolley driver, a 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 driving 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, a brushless motor rotating speed signal acquired by the encoder is transmitted to the central controller, the central controller controls the motor driving circuit to drive the brushless motor to achieve a set rotating speed according to the rotating speed signal, meanwhile, the current sampling circuit is connected with the motor driving circuit, acquires a current signal output by the motor driving circuit and transmits the current signal to the central controller, and the operation panel is electrically connected with the control interface circuit, and the digital power supply is electrically connected with the power supply circuit.
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 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 a chip U1 in the central controller, a sixth pin of the chip U2 is connected with a twenty-eighth pin of the chip U1 in the central controller, a second pin of the chip U2 is connected with a thirty-seventh pin of the chip U1 in the central controller, a fifth pin of the chip U2 is connected with a twenty-seventh pin of the chip U1 in the central controller, a first pin of the chip U2 is connected with a twenty-ninth pin of the chip U1 in the central controller, a fourth pin of the chip U2 is connected with a twenty-sixth pin of the chip U1 in the central controller, a seventh pin of the chip U2 is connected with 15V voltage, an 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, an 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 the resistor R14 and the grid electrode of the 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 the capacitor C5, one end of the resistor R21 and one end of the resistor R20, the common connection of the resistor R33 is connected with 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 common connection of the resistor 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 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 the resistor R12, the other end of the resistor R12 is respectively connected with one end of the resistor R16 and the grid electrode of the 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 the capacitor C6, one end of the resistor R23 and one end of the resistor R22, the common connection of the resistor R34 is connected with 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 of the resistor C6 is grounded, the fifteenth pin of the chip U2 is respectively connected with one end of the capacitor E2, the drain electrode of the MOS tube Q5, one end 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 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 negative electrode 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 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 the capacitor C7, one end of the resistor R25 and one end of the resistor R24, the common connection of the resistor R35 is connected with 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 of the resistor 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, and the common connection of the resistor is connected with 48V voltage, the fourteenth pin of the chip U2 is respectively connected with the other end of the capacitor E3 and the negative electrode of the diode D3, the positive electrode of the diode D1 is respectively connected with the positive electrode of the diode D2, the positive electrode 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 includes a chip U3, the chip U3 includes an operational amplifier U3A, an operational amplifier U3B, an operational amplifier U3C, and an operational amplifier U3D, the in-phase input end of the operational amplifier U3A is respectively connected to one end of a resistor R33, one end of a resistor R27, the in-phase input end of the operational amplifier U3B, and the in-phase 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 to 3.3V voltage, the inverting input end of the operational amplifier U3A is respectively connected to one end of a resistor R33 and one end of a resistor R41, the other end of the resistor R33 is connected to a resistor R20 in a motor driving circuit, the other end of the capacitor C14 is connected to the ground, the other end of the resistor R41 is respectively connected to one end of the resistor R41, the other end of the resistor R29 is connected to one end of the resistor U3B, the other end of the resistor R31 is connected to the other end of the resistor R31, the inverting input end of the resistor R30 is connected to the other end of the resistor R30, the inverting input end of the resistor R30 is connected to the other end of the resistor R3B, the other end of the inverting input end of the resistor R30 is connected to the other end of the resistor R30, and the other end of the inverting resistor is connected to the other end of the resistor 31.
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 of the chip U11, 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, the public connection of the resistor R95 is connected with the forty-five 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 public connection of the resistor R97 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, the public connection of the resistor R91 is connected with the forty-three 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 R87 is connected with the forty-two pin of the chip U1 in the central controller, the eighth pin of the chip U11 is grounded, the sixteenth pin of the chip U11 is connected with 5V voltage, and a capacitor C39 is connected in parallel between the eighth pin and the sixteenth pin of the chip U11.
The invention has the beneficial effects that: 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 collected current value of the brushless motor with the current value qualified range. 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 consistency of the logistics trolley products is improved.
Drawings
FIG. 1 is a schematic view of a construction of the present invention;
FIG. 2 is a circuit diagram of a central controller of the present invention;
FIG. 3 is a circuit diagram of the power supply circuit of the present invention;
FIG. 4 is a circuit diagram of an 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 a 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 cart driver; 2. a logistics trolley; 3. a digital power supply; 4. an operation panel; 5. an electric roller; 6. a passive roller; 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 driving 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. a frame.
Detailed Description
The technical scheme of the invention is further specifically described below through examples and with reference to the accompanying drawings.
Examples: the utility model provides a commodity circulation dolly belt tightness adjusting device, is shown as fig. 1, includes dolly driver 1, and the commodity circulation dolly 2, digital power supply 3 and the operating panel 4 that are connected with dolly driver 1 electricity, commodity circulation dolly 2 includes frame 20, motorized pulley 5, driven cylinder 6, belt 7 and brushless motor 8, motorized pulley 5 and driven cylinder 6 install respectively in the both sides of frame 20, and pass through belt 7 transmission connection between motorized pulley 5 and the driven cylinder 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 rotational 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 is used for supplying power and displaying voltage values and current values, the digital power supply 3 is a direct-current digital power supply, a voltmeter 16 with voltage display and an ammeter 17 with current display are arranged, 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 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, wherein 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 brushless motor 8 to achieve a set rotating speed according to the rotating speed signal, meanwhile, the current output by the motor driving circuit 13 to the brushless motor 8 is regulated 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 collected and transmitted to the central controller 10, the control interface circuit 12 is electrically connected with the operation panel 4, and the power supply circuit 11 is electrically connected with the 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 each other 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, the combination of the chip U7, the capacitor E8, the capacitor E9, the capacitor C3, the capacitor C35, the diode D9, the capacitor E7, the inductor L1, the diode D7, the capacitor E10 and the capacitor C44 forms a DC/DC circuit, the 48V voltage input by the digital power supply 3 is converted into 15V voltage, then the 15V voltage is filtered by the filter circuit formed by the combination of the inductor L2, the inductor L3 and the capacitor C36 and is supplied to the motor driving circuit 13, and meanwhile, the filtered 15V voltage is converted into 5V voltage by the circuit formed by the combination of the resistor R52, the resistor R56, the capacitor E4, the capacitor C26, the chip V2 and the capacitor E5, and is converted into 3.3V by the circuit formed by the combination of the capacitor C24, the chip V1, the capacitor E6 and the 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 adopts a 32-bit singlechip STM32F103C8T6 of ST, which is provided with 48 pins in total, and a power supply end thereof is connected with a power 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 the chip U4, the capacitor 16, the resistor R44 and the resistor R45, wherein the chip U4 is an EEPROM, and the model of the chip U4 is CAT24C256; the thirty-seventh pin and the thirty-fourth pin of the chip U1 are respectively connected with the terminal P1 through a resistor R37 and a resistor R38; the 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 a resistor R2, a resistor R6 and a capacitor C1.
The twenty-sixth pin, the twenty-seventh pin, the twenty-eighth pin, the twenty-ninth pin, the thirty-eighth pin and the 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 to the current sampling circuit 14; the forty-pin and forty-one pin of the chip U1 are connected with the control interface circuit 12; the forty-two pins, forty-three pins and forty-five pins of the chip U1 are connected with the feedback circuit of the encoder 9.
The central controller 10 outputs PWM signals to drive the brushless motor 8, samples current signals of the motor driving circuit 13 and rotation speed signals of the encoder 9, and adjusts PWM output signals through the collected current signals and rotation speed signals to enable the brushless motor 8 to achieve set torque and speed.
As shown in fig. 5, the motor driving circuit 13 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 the chip U1 in the central controller 10, a sixth pin of the chip U2 is connected to a twenty-eighth pin of the chip U1 in the central controller 10, a second pin of the chip U2 is connected to a thirty-seventh pin of the chip U1 in the central controller 10, a fifth pin of the chip U2 is connected to a twenty-seventh pin of the chip U1 in the central controller 10, a first pin of the chip U2 is connected to a twenty-ninth pin of the chip U1 in the central controller 10, a fourth pin of the chip U2 is connected to a twenty-sixth pin of the chip U1 in the central controller 10, a seventh pin of the chip U2 is connected to a 15V voltage, an eighth pin of the chip U2 is grounded, 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 one end of a 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 C5 is connected with the 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 common connection end of the resistor 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 the resistor R7, the other end of the resistor R7 is respectively connected with the gate electrode of the MOS tube Q1 and one end of the resistor R3, the twentieth pin of the resistor R3 is respectively 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, 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 a 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 C6 is connected with the 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 C6 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 negative electrode 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 a 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 C7 is connected with a 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 resistor C7 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 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, and the common connection end of the common connection is connected with 48V voltage, the fourteenth pin of the chip U2 is respectively connected with the other end of the capacitor E3 and the negative electrode of the diode D3, the positive electrode of the diode D1 is respectively connected with the positive electrode of the diode D2, the positive electrode 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.
In the motor driving circuit 13, the model of a chip U2 is FD6288T, which is a special driving chip for a motor, and converts a PWM control signal of 3.3V into driving signals of a MOS tube Q1, a MOS tube Q2, a MOS tube Q3, a MOS tube Q4, a MOS tube Q5 and a MOS tube 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 tube Q1, the MOS tube Q2, the MOS tube Q3, the MOS tube Q4, the MOS tube Q5 and the MOS tube 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 combination of the capacitor C5, the capacitor C6 and the capacitor C7 forms a decoupling capacitor at the sampling resistor end.
As shown in fig. 6, the current sampling circuit 14 includes a chip U3, the type TP1564 of the chip U3 is a four-way high-precision integrated operational amplifier, and includes 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 3.3V, the inverting input terminal of the operational amplifier U3A is respectively connected to one end of a 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 13, the positive power supply terminal of the operational amplifier U3A is respectively connected to one end of a capacitor C14 and 5V voltage, the other end of the capacitor C14 is grounded, the other end of the output terminal of the operational amplifier U3A is respectively connected to one end of a resistor R41 and one end of a resistor 29, the other end of the resistor R29 is connected with an 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 the 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 with an 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 the resistor R24 in the motor driving circuit 13, the output end of the operational amplifier U3C is respectively connected with one end of the resistor R43 and one end of the resistor R31, the other end of the resistor R31 is connected with a 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 is provided with 16 pins, the fourth pin of the chip U11 is connected to the twelfth pin of the chip U11, the twelfth pin of the chip U11 is grounded, the second pin of the chip U11 is connected to one end of a resistor R79, the first pin of the chip U11 is connected to 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 to one end of a resistor R85, the seventh pin of the chip U11 is connected to 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 to one end of a resistor R94, the ninth pin of the chip U11 is connected to 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 to one end of a resistor R95, the other end of the resistor R95 is connected to one end of a resistor R97 and one end of a capacitor C43 respectively, the common connection of the resistor R95 is connected to the forty-five pin of the chip U1 in the central controller 10, the other end of the resistor R97 is connected to the other end of the capacitor C43, the common connection of the resistor R97 is grounded, the fifth pin of the chip U11 is connected to one end of a resistor R91, the other end of the resistor R91 is connected to one end of a resistor R93, the common connection of the resistor R91 is connected to the forty-three 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 to one end of a resistor R83, the other end of the resistor R87 is connected to the forty-two pin 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 a voltage of 5V, and a capacitor C39 is connected in parallel between the 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 model of the chip U11 is AM26S32, which is a differential receiving chip, and the differential signal transmitted by the encoder 9 is converted 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, so that the output signal of the encoder 9 is filtered; the resistors R83, R87, R91, R93, R95, and R97 combine to form a level conversion circuit, 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, wherein a diode anode at an input end of the optocoupler U6 is used as a first path input end of the control interface circuit 12, a diode cathode at an output end of the optocoupler U6 is used as a second path input end of the control interface circuit 12, a resistor R61 is connected in series, a resistor R60 and a capacitor C27 are connected in parallel between a diode anode at the input end of the optocoupler U6 and a diode cathode at the output end, a collector at the input end of the optocoupler U6 is respectively connected with one end of the resistor R59, a forty pin of a chip U1 in the central controller 10, and one end of the capacitor C28, and an emitter at the output end of the optocoupler U6 is respectively connected with the other end of the capacitor C28 and ground; the positive electrode of the diode at the input end of the optical coupler U9 is used as a third input end of the control interface circuit 12, the negative electrode of the diode at the output end of the optical coupler U9 is used as a fourth input end of the control interface circuit 12, a resistor R70 is connected in series, a resistor R68 and a capacitor C32 are connected in parallel between the positive electrode of the diode at the input end of the optical coupler U9 and the negative electrode of the diode at the output end, the collector at the input end of the optical coupler U9 is respectively connected with one end of the resistor R65, the forty-first pin of the chip U1 in the central controller 10 and one end of the capacitor C33, and the emitter at the output end of the optical coupler U9 is respectively connected with the other end of the capacitor C33 and the ground; the first input end, the second input end, the third input end and the fourth input end are used for connecting a start button 18 and a stop button 19 on the operation panel 4.
In the control interface circuit 12, the model numbers of the optocouplers U6 and U9 are EL-357, and the optocouplers are used for electrically isolating on/off signals and then transmitting the signals 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; the circuit R59, resistor R65, capacitor C28, and capacitor C33 combine to form an output signal filtering circuit.
The invention further provides a method for adjusting tightness of the belt 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 an electric roller 5 in transmission connection with the belt 7 to rotate, collecting 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 current output to the brushless motor 8 by the trolley driver 1 according to the rotating speed signal, and judging whether the tightness adjustment of the belt 7 is qualified or not by comparing a current value output to the brushless motor 8 by the trolley driver 1 with a current value qualification range when the brushless motor 8 reaches the set rotating speed; if the current value is in the current value qualified range, judging that the tightness of the belt 7 of the logistics trolley 2 is qualified; if the current value is not in the current value qualified range, judging that the tightness of the belt 7 of the logistics trolley 2 is unqualified, and re-adjusting and then re-detecting until the tightness is qualified; the current value may be displayed by means of an ammeter 17 on the digital power supply 3.
The setting method of the current value qualification range comprises the following steps: and 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 debugging reference central value, and setting a qualified range according to the distribution of the measured current value data around the central value. During the test, the tightness adjustment of the belt 7 of the logistics trolley 2 can be judged to be qualified as long as the current value of the logistics trolley 2 during operation is within the current value qualified range.
The principle of the belt 7 tightness adjustment method is as follows: the central controller 10 controls PWM output signals by collecting current signals and rotation speed signals of the brushless motor 8, and controls the brushless motor 8 to run at set rotation speed and torque through the PWM output signals; based on the characteristic that the current output by the central controller 10 through the motor driving circuit 13 is constant at the same rotation speed and torque, the torque of the brushless motor 8 is determined as long as the current output by the central controller 10 is determined at the same rotation speed, and the tightness of the belt 7 is in proportional relation with the torque of the brushless motor 8, so that the tightness adjustment of the belt 7 can be intuitively converted into a current signal by utilizing the principle, 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. Obviously, the invention is not limited to the above-described embodiments, but many variations are possible. Any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present invention should be considered to be within the scope of the present invention.
Claims (8)
1. The utility model provides a commodity circulation dolly belt tightness adjusting device, characterized by including dolly driver (1), and with dolly driver (1) electrically connected commodity circulation dolly (2), digital power supply (3) and operating panel (4), commodity circulation dolly (2) include motorized pulley (5), passive pulley (6), be used for driving belt (7) of connection between motorized pulley (5) and passive pulley (6), and be used for driving motorized pulley (5) rotation and have brushless motor (8) of encoder (9), dolly driver (1) include central controller (10), and with central controller (10) electrically connected power supply circuit (11), control interface circuit (12), motor drive circuit (13), electric current sampling circuit (14) and encoder feedback circuit (15), encoder feedback circuit (15) are connected with encoder (9) electricity, transmit brushless motor (8) rotational speed signal that encoder (9) gathered to central controller (10), central controller (10) is according to rotational speed signal control motor drive circuit (13) and is reached to brushless motor drive circuit (8) the regulation rotational speed that sets for motor drive circuit (8) according to the rotational speed signal, the current sampling circuit (14) is connected with the motor driving circuit (13), current signals output by the motor driving circuit (13) are collected and transmitted to the central controller (10), the operation panel (4) is electrically connected with the control interface circuit (12), and the digital power supply (3) is electrically connected with the power supply circuit (11).
2. A device for regulating tightness of a belt of a trolley according to claim 1, characterized in that said digital power supply (3) is provided with a voltmeter (16) and an ammeter (17).
3. A device for regulating the tightness of a pushchair belt according to claim 1, wherein the operating panel (4) is loaded with a start button (18) and a stop button (19).
4. The device for regulating tightness of a belt of a logistics trolley according to claim 1, wherein the motor driving circuit (13) comprises a chip U2, 20 pins are arranged on the chip U2, a third pin of the chip U2 is connected with a thirty-first pin of a 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-seventh 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 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 a 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 R33 is connected with 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 common connection end of the capacitor C2 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 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 a 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 the resistor R12, the other end of the resistor R12 is respectively connected with one end of the resistor R16 and the grid electrode of the 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 the capacitor C6, one end of the resistor R23 and one end of the resistor R22, the common connection of the resistor R34 is connected with the resistor C6 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 of the resistor D1 is grounded, the fifteenth pin of the chip U2 is respectively connected with one end of the capacitor E2, the drain electrode of the MOS tube Q5, one end of the resistor R8 and the source electrode of the MOS tube Q2, the other end of the resistor R8 is connected with the grid electrode of the MOS tube Q2 and one end of the resistor R4 respectively, 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 negative electrode 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 connected with one end of the resistor R18 and the grid electrode of the MOS tube Q6 respectively, the other end of the resistor R18 is connected with the source electrode of the MOS tube Q6, one end of the capacitor C7, one end of the resistor R25 and one end of the resistor R24 respectively, the common connection of the resistor R35 is connected with the current sampling circuit (14), the other end of the capacitor C7 is connected with one end of the resistor R25 and one end of the resistor R24 respectively, the common connection of the resistor is grounded, the twelfth pin of the chip U2 is connected with one end of the capacitor E3, the drain electrode of the MOS tube Q6 respectively, one end of a resistor R9 and a source electrode of a 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 a 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, a common connection end of the drain electrode is connected with 48V voltage, a fourteenth pin of the chip U2 is respectively connected with the other end of a capacitor E3 and a negative electrode of a diode D3, a positive electrode of the diode D1 is respectively connected with a positive electrode of the diode D2, one end of a 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.
5. The device according to claim 1, 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, the non-inverting input terminal of the operational amplifier U3A is 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 3.3V voltage, the inverting input terminal of the operational amplifier U3A is 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 (13), the positive power supply terminal of the operational amplifier U3A is connected to one end of a capacitor C14 and 5V voltage, the other end of the capacitor C14 is connected to ground, 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 with an 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 the 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 with an 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 the resistor R24 in the motor driving circuit (13), the output end of the operational amplifier U3C is respectively connected with one end of the resistor R43 and one end of the resistor R31, 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 connected with the ground, and the inverting input end of the operational amplifier U3D is connected with the output end of the operational amplifier U3D.
6. The device according to claim 1, wherein the encoder feedback circuit (15) comprises a chip U11, the chip U11 has 16 pins, a fourth pin of the chip U11 is connected to a twelfth pin of the chip U11, the twelfth pin of the chip U11 is grounded, a second pin of the chip U11 is connected to one end of a resistor R79, a first pin of the chip U11 is connected to 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, a sixth pin of the chip U11 is connected to one end of a resistor R85, a seventh pin of the chip U11 is connected to 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, a tenth pin of the chip U11 is connected to one end of a resistor R94, a ninth pin of the chip U11 is connected to one end of a resistor R96, the 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 public connection of the resistor R95 is connected with the forty-five 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 public connection 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 public connection 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 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, the sixteenth pin of the chip U11 is connected with 5V voltage, and a capacitor C39 is connected in parallel between the eighth pin and the sixteenth pin of the chip U11.
7. A method of adjusting a belt tension adjusting device for a logistics trolley as claimed in any one of claims 1-6, comprising the steps of: adjust elasticity of belt (7) in commodity circulation dolly (2), a rotational speed is set for in dolly driver (1) to order about brushless motor (8) in commodity circulation dolly (2) drive and the electronic cylinder (5) rotation of belt (7) transmission connection, dolly driver (1) gather the rotational speed signal of brushless motor (8), and adjust the rotational speed of brushless motor (8) according to rotational speed signal, make it reach the rotational speed of settlement, simultaneously dolly driver (1) adjusts the electric current that exports to brushless motor (8) according to rotational speed signal, when brushless motor (8) reach the rotational speed of settlement, judge whether belt (7) elasticity regulation is qualified through comparing the current value that dolly driver (1) exported to brushless motor (8) with current value qualification range.
8. The method for adjusting the tightness adjustment device of a commodity circulation dolly according to claim 7, wherein the method for setting the current value qualified range comprises the following steps: and testing a plurality of logistics trolleys (2), recording the current value of each logistics trolley (2) during operation, taking the average value of 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.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| ATE367544T1 (en) * | 2002-12-16 | 2007-08-15 | Gates Corp | ACTIVE TENSIONING DEVICE |
| CN106253760B (en) * | 2016-08-31 | 2018-11-27 | 宁波汇五洲智能科技有限公司 | A kind of Double Motor Control box line road |
| DE102017214067A1 (en) * | 2017-08-11 | 2019-02-14 | Volkswagen Aktiengesellschaft | Method and control device for operating a belt drive and device for determining a belt pretension |
| CN108134374B (en) * | 2017-11-30 | 2020-07-14 | 中国神华能源股份有限公司 | Method for determining cause of belt slip for electric shovel, medium, and electronic apparatus |
| CN109435249B (en) * | 2018-10-31 | 2021-04-27 | 黄小花 | 3D printer belt elasticity signal processing apparatus |
| CN210431280U (en) * | 2019-07-12 | 2020-04-28 | 浙江工业大学 | Direct current brushless motor control circuit based on STM32 singlechip |
| CN110855193B (en) * | 2019-11-26 | 2021-11-05 | 北京工业大学 | Small robot joint steering engine transmission error input end data acquisition control circuit |
| CN215871242U (en) * | 2021-08-13 | 2022-02-18 | 浙江泰坦股份有限公司 | Direct-current brushless driver of doubling winder |
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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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