CN116902612B - Intelligent material stepping system capable of uniformly distributing materials and control method thereof - Google Patents
Intelligent material stepping system capable of uniformly distributing materials and control method thereof Download PDFInfo
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- CN116902612B CN116902612B CN202311169319.2A CN202311169319A CN116902612B CN 116902612 B CN116902612 B CN 116902612B CN 202311169319 A CN202311169319 A CN 202311169319A CN 116902612 B CN116902612 B CN 116902612B
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- 239000000463 material Substances 0.000 title claims abstract description 82
- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000001360 synchronised effect Effects 0.000 claims abstract description 8
- 239000003921 oil Substances 0.000 claims description 32
- 239000003990 capacitor Substances 0.000 claims description 31
- 239000010720 hydraulic oil Substances 0.000 claims description 21
- 230000001105 regulatory effect Effects 0.000 claims description 18
- 239000003638 chemical reducing agent Substances 0.000 claims description 14
- 238000007599 discharging Methods 0.000 claims description 10
- 230000003014 reinforcing effect Effects 0.000 claims description 7
- 230000001276 controlling effect Effects 0.000 claims description 5
- 230000002441 reversible effect Effects 0.000 claims description 4
- 125000004122 cyclic group Chemical group 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims 1
- 230000006978 adaptation Effects 0.000 abstract description 2
- 230000005611 electricity Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
- 230000000903 blocking effect Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000010902 straw Substances 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000003111 delayed effect Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
- B65G65/34—Emptying devices
- B65G65/40—Devices for emptying otherwise than from the top
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G25/00—Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement
- B65G25/02—Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having different forward and return paths of movement, e.g. walking beam conveyors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Conveyors (AREA)
Abstract
The invention relates to the technical field of storage and distribution, in particular to an intelligent material stepping system capable of uniformly distributing materials and a control method thereof. Through connecting micro-step drive arrangement on step motor, utilize synchronous sensor to carry out the electricity with step motor and hydraulic cylinder and be connected for step motor and hydraulic cylinder's speed looks adaptation, when hydraulic cylinder operation drove step floor and remove, make the material in the step floor remove simultaneously, utilize master control circuit and PWM subdivision drive arrangement to carry out PWM subdivision drive to step motor, steerable step motor pivoted speed and angular velocity, carry out the speed governing to step motor, thereby avoided appearing too fast or too slow feed speed, can not lead to the material to pile up or sparse.
Description
Technical Field
The invention relates to the technical field of storage and distribution, in particular to an intelligent material stepping system capable of uniformly distributing materials and a control method thereof.
Background
In order to improve the comprehensive utilization rate of the straws, a large number of conveying equipment is needed in the straw utilization treatment, and particularly in the initial feeding stage, a device capable of conveying and bearing a large number of straws is needed, so that high requirements are placed on the bearing and conveying capacity of the device.
For the bin type conveying equipment for carrying and storing bulk materials, a hopper and a chain plate conveyor arranged at the bottom of the hopper are generally adopted to carry and convey materials in the hopper. In the applicant's prior invention application: chinese patent, application number is: 202010640866.4, publication number: in the patent of CN111776776A, the name of the invention is box-type bin stepping floor and a feeding method thereof, in the application, a floor component is used for supporting and conveying materials, and as the floor component is not easy to deform, the floor component has good supporting capacity, and the sufficient bearing capacity is realized, the shaking of materials is not easy to be caused in the process that each oil cylinder drives the corresponding station floor to reciprocate, the risk of loading starting is solved, the bin has the functions of conveying and storing, and the problem that the volume and bearing conveying capacity of stored materials are greatly limited is solved. However, the device still has certain defects in the actual use process, as the material is discharged along with the movement of the floor, if the moving speed of the floor and the rotating speed of the discharging roller are not controlled in the discharging process, the material is unevenly distributed on the floor and cannot move along with the floor, so that the blocking effect is caused, the following material is fully accumulated on the floor and cannot be discharged, the conveying efficiency is lower, and when the running speed of the stepping motor is too high, the torque of the stepping motor is quickly reduced along with the improvement, and if the control is improper, resonance and noise can be generated.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides an intelligent material stepping system capable of uniformly distributing materials and a control method thereof.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the intelligent material stepping system capable of uniformly distributing materials comprises a storage box, stepping floors are uniformly paved at the bottom of the storage box, the number of the stepping floors is eight, an oil cylinder supporting beam is installed at the bottom of the stepping floors, a hydraulic oil cylinder capable of being used for moving the stepping floors is arranged on the oil cylinder supporting beam, a mounting frame is fixedly connected to one side of the storage box, a stepping motor is arranged on the mounting frame, and the output end of the stepping motor is connected to the hydraulic oil cylinder and is also connected with a micro-step driving device;
the micro-step driving device comprises a timer, the timer is connected with a computer memory, the computer memory is connected with a D/A converter, the D/A converter is connected with a current control system, the current control system is connected with a PWM subdivision driving device, the PWM subdivision driving device is connected with a main control circuit, the output end of the main control circuit is connected with a stepping motor, the stepping motor is also connected with a synchronous sensor, and the output end of the main control circuit is also connected with the current control system;
the PWM subdivision driving device comprises a single chip microcomputer system, the output end of the single chip microcomputer system is connected with two D/A converters, the two D/A converters are respectively connected with a voltage comparator U1, the output end of the voltage comparator U1 is connected with a PWM driving chip, the PWM driving chip is connected with a power driving stage, one end of the power driving stage is connected with a resistor Rt, the output end of the resistor Rt is connected with a power VCC, the power driving stage is further connected to the input end of the voltage comparator U1, and the output ends of the two power driving stages are sequentially connected to a stepping motor.
Preferably, the main control circuit comprises a main control chip U2, pins 1, 2, 3 and 4 of the main control chip U2 are sequentially connected to a timer J1, pins 5 of the main control chip U2 are sequentially connected to pins 6, 7 and 8 and then grounded, pins 10 of the main control chip U2 are sequentially connected to pins 11 and 12 and then connected to a current control system, pins 13, 14, 15 and 16 of the main control chip U2 are sequentially connected to pins 3, 4, 5 and 6 of a stepping motor and then sequentially connected to a diode D1, a diode D2, a diode D3 and a diode D4, pins 1 of the stepping motor are sequentially connected to a power VCC, pins 10, 11 and 12 of the stepping motor are sequentially connected to a synchronous sensor, a resistor R1, a resistor R2, a resistor R3 and a resistor R4 are sequentially connected to the resistor R3, the resistor R2 and then sequentially connected to the power VCC;
the main control circuit further comprises a main power supply J2, the output end of the main power supply J2 is connected with a diode D5, the cathode of the diode D5 is connected with a capacitor C2, the main power supply J2, the diode D5 and the capacitor C2 form a series circuit, the series circuit is connected with a capacitor C1 in parallel, one end of the capacitor C1 is connected with a power supply VCC, and the other end of the capacitor C1 is connected with a ground end GND.
Preferably, the current control system comprises an operational amplifier U3, a reverse input end of the operational amplifier U3 is connected with a capacitor C3, a negative electrode of the capacitor C3 is grounded, an anode of the capacitor C3 is connected with a resistor R5, one end of the resistor R5 is connected with a voltage sensor VS1, one end of the voltage sensor VS1 is grounded, an output end of the operational amplifier U3 is connected with a triode Q1, a collector of the triode Q1 is connected with a light emitting diode D6, one end of the light emitting diode D6 is connected with a resistor R6, an output end of the resistor R6 is connected to a pin of a main control chip U2, an emitter connected with a collector of the triode Q1 is connected with a resistor R7, one end of the resistor R7 is connected to an in-phase input end of the operational amplifier U3, the resistor R7 is also connected with a capacitor C4, the capacitor C4 and the resistor R7 form a parallel circuit, and the parallel circuit is grounded.
Preferably, the equidistant gear reducer that is provided with on the storage box, the output of gear reducer is connected with the roller of unloading, the lateral wall bottom fixedly connected with of storage box holds the head board down, the head board slope sets up in the inside of storage box down, and is provided with the discharge gate between head board and the storage box down, the roller of unloading is located directly over the discharge gate.
Preferably, a reinforcing rod is arranged between the bottom of the storage box and the stepping floor, an oil cylinder reversing valve and an oil cylinder speed regulating valve are sequentially arranged on the reinforcing rod and close to one end of the hydraulic oil cylinder, the starting, stopping and moving direction of the hydraulic oil cylinder are controlled through the oil cylinder reversing valve, and the flow and the pressure of the hydraulic oil cylinder are regulated through the oil cylinder speed regulating valve.
An intelligent material stepping control method capable of uniformly distributing materials comprises the following steps:
step S1, equipment initialization/shutdown reset: starting the equipment, initializing the equipment, contracting all the hydraulic cylinders back to a retreating state by starting a stepping motor and a cylinder reversing valve, programming the hydraulic cylinders, circularly checking whether the hydraulic cylinders are at the tail part or not from 1-n, otherwise, retreating only 1 stepping floor at a time, wherein n is the number of the stepping floors;
step S2, floor movement: starting from an initial state, sequentially starting the stepping floors from 1 to n at intervals to enable the stepping floors to advance, wherein each stepping floor advances to the back of the head, retreats to the back of the head, and advances, only limiting 1 time to at most 1 stepping floor to retreat during the retreating of the stepping floors, so that the phenomenon that a plurality of stepping floors retreat simultaneously due to the operation deviation of a hydraulic cylinder is avoided, starting the 1-n stepping floors in a delayed manner in a starting stage, detecting the front ends of the stepping floors and approaching a switch and powering up in a cyclic operation stage, and retreating to the end and advancing again;
step S3, parameter calibration: when the stepping floors are in operation, carrying out automatic statistics and display on forward and backward time length of each stepping floor, if the time length deviation is out of tolerance, sending out a parameter calibration instruction, saving the instruction by power failure, and detecting and adjusting the operation time length and the operation speed of the hydraulic oil cylinder;
s4, controlling the discharging of the half bin and the full bin: the initial number of the stepping floor is denoted as n1, default 1, the end number of the stepping floor is denoted as n2, default n, and the number n of the stepping floors should satisfy n=n2-n1+1.
Preferably, in step S3, the detecting and adjusting the operation duration and the operation speed of the hydraulic cylinder in the parameter calibration includes the following steps:
step A, detecting the operation time length of the oil cylinder: after the oil cylinder reversing valve is connected with the instruction output, the time length from the power supply of the front proximity switch to the power supply of the rear proximity switch is recorded as the backward time length, and the forward time length is recorded in the same way;
and B, an oil cylinder operation speed adjusting method: according to the characteristic curve of the valve core of the speed regulating valve of the proportional oil cylinder, according to the range and deviation of the opening, if the opening is too long, the opening is gradually increased, the time is recorded, and the opening and the running time are adjusted to an ideal state through multiple-cycle adjustment.
Preferably, the material is placed on the stepping floors, the stepping floors and the hydraulic station control each hydraulic oil cylinder to synchronously act, 8 stepping floors are driven to sequentially advance simultaneously when the hydraulic oil cylinders move, and when 8 stepping floors advance simultaneously, at most, 3 stepping floors simultaneously retreat at the moment;
when 8 step floor waves advance, only 1 step floor recedes simultaneously, circulates in sequence, continuously conveys materials on the step floor to the direction of a discharge hole, then starts a gear reducer, the gear reducer drives a discharge roller to roll, and then pushes the materials, the materials fall out through the discharge hole, the running speed of the discharge roller is matched with the running speed of the step floor, the blocking is avoided, and the relation of T-back= delta T-1 and T-front= (n-1) delta T is satisfied, wherein: n is the number of the stepping floors, deltat is the time delay time, T is the advancing time of the single stepping floor before T and the retreating time of the single stepping floor after T.
The beneficial effects of the invention are as follows:
through connecting micro-step drive arrangement on step motor, utilize synchronous sensor to carry out the electricity with step motor and hydraulic cylinder and be connected for step motor and hydraulic cylinder's speed looks adaptation, when hydraulic cylinder operation drove step floor and remove, make the material in the step floor remove simultaneously, utilize master control circuit and PWM subdivision drive arrangement to carry out PWM subdivision drive to step motor, steerable step motor pivoted speed and angular velocity, carry out the speed governing to step motor, thereby avoided appearing too fast or too slow feed speed, can not lead to the material to pile up or sparse.
The rotor rotation period of the stepping motor is divided into 24 micro steps by utilizing two PWM driving chips, meanwhile, the current in the coil of the stepping motor is subdivided, the conventional rectangular wave power supply is changed into the step wave power supply, at the moment, the current in the coil rises to the rated value through a plurality of steps or falls to zero in the same way, the step angle of the stepping motor is reduced, and the step error is reduced, so that the resolution and the step precision of the stepping motor are improved, the oscillation is weakened or eliminated, the noise generated when the stepping motor runs is reduced, and the stability of the stepping motor is kept.
When the hydraulic cylinder drives the stepping floor to advance, the material in the hydraulic cylinder moves into the discharge hole, and the gear reducer drives the discharge roller to roll, so that the material is pushed, the material can fall out from the discharge hole, and the running speed of the discharge roller is matched with the advancing speed of the stepping floor, so that material blocking is avoided.
Drawings
FIG. 1 is a schematic diagram showing the general structure of an intelligent material stepping system capable of uniformly distributing materials and a control method thereof;
FIG. 2 is a schematic top view of an intelligent material stepping system capable of uniformly distributing materials and a control method thereof according to the present invention;
FIG. 3 is a schematic diagram of the bottom structure of an intelligent material stepping system capable of uniformly distributing materials and a control method thereof according to the present invention;
FIG. 4 is a schematic diagram of an enlarged structure of the position A in FIG. 3 of an intelligent material stepping system capable of uniformly distributing materials and a control method thereof according to the present invention;
FIG. 5 is a schematic diagram of a micro-step driving device of an intelligent material stepping system capable of uniformly distributing materials and a control method thereof;
FIG. 6 is a schematic diagram of a PWM subdivision driving device of an intelligent material stepping system capable of uniformly distributing materials and a control method thereof;
FIG. 7 is a schematic diagram of a main control circuit of an intelligent material stepping system capable of uniformly distributing materials and a control method thereof;
FIG. 8 is a schematic diagram of a current control system of an intelligent material stepping system capable of uniformly distributing materials and a control method thereof according to the present invention;
FIG. 9 is a schematic view showing the simultaneous advancing of a stepping floor of an intelligent material stepping system capable of uniformly distributing materials and a control method thereof;
fig. 10 is a schematic view of a step floor wave traveling of an intelligent material step system capable of uniformly distributing materials and a control method thereof according to the present invention.
In the figure:
1. a storage bin; 2. a step floor; 3. a hydraulic station; 4. the oil cylinder supports the cross beam; 5. a hydraulic cylinder; 6. a lower head plate; 7. a discharge port; 8. a gear reducer; 9. a discharge roller; 10. a stepping motor; 11. a reinforcing rod; 12. an oil cylinder reversing valve; 13. and a speed regulating valve of the oil cylinder.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
What is not described in detail in this specification is prior art known to those skilled in the art.
Standard parts used in the invention can be purchased from the market, special-shaped parts can be customized according to the description of the specification and the drawings, the specific connection modes of all parts adopt conventional means such as mature bolts, rivets and welding in the prior art, the machinery, the parts and the equipment adopt conventional models in the prior art, and the circuit connection adopts conventional connection modes in the prior art, so that the details are not described.
Embodiment one: referring to fig. 1-8, an intelligent material stepping system capable of uniformly distributing materials comprises a storage box 1, stepping floors 2 are uniformly paved at the bottom of the storage box 1, eight stepping floors 2 are arranged, an oil cylinder supporting beam 4 is installed at the bottom of each stepping floor 2, a hydraulic oil cylinder 5 capable of moving the stepping floors 2 is arranged on each oil cylinder supporting beam 4, a mounting frame is fixedly connected to one side of the storage box 1, a stepping motor 10 is arranged on each mounting frame, and the output end of each stepping motor 10 is connected to each hydraulic oil cylinder 5 and is also connected with a micro-step driving device;
the micro-step driving device comprises a timer, the timer is connected with a computer memory, the computer memory is connected with a D/A converter, the D/A converter is connected with a current control system, the current control system is connected with a PWM subdivision driving device, the PWM subdivision driving device is connected with a main control circuit, the output end of the main control circuit is connected with a stepping motor 10, the stepping motor 10 is also connected with a synchronous sensor, and the output end of the main control circuit is also connected with the current control system;
the PWM subdivision driving device comprises a singlechip system, the output end of the singlechip system is connected with two D/A converters, the two D/A converters are respectively connected with a voltage comparator U1, the output end of the voltage comparator U1 is connected with a PWM driving chip, the PWM driving chip is connected with a power driving stage, one end of the power driving stage is connected with a resistor Rt, the output end of the resistor Rt is connected with a power supply VCC, the power driving stage is further connected to the input end of the voltage comparator U1, and the output ends of the two power driving stages are sequentially connected to the stepping motor 10.
The main control circuit comprises a main control chip U2, pins 1, 2, 3 and 4 of the main control chip U2 are sequentially connected to a timer J1, pins 5 of the main control chip U2 are sequentially connected to pins 6, 7 and 8 and then grounded, pins 10 of the main control chip U2 are sequentially connected to pins 11 and 12 and then connected to a current control system, pins 13, 14, 15 and 16 of the main control chip U2 are sequentially connected to pins 3, 4, 5 and 6 of a stepping motor 10 and then sequentially connected to a diode D1, a diode D2, a diode D3 and a diode D4, pins 1 and pins 2 of the stepping motor 10 are sequentially connected to a synchronous sensor and then connected to a power VCC, pins 10, 11 and 12 of the stepping motor 10 are sequentially connected to a resistor R1, a resistor R2 and a resistor R3 and a resistor R4, and a resistor R4 are sequentially connected to a resistor R3, a resistor R2 and a resistor R1 and then sequentially connected to the power VCC;
the main control circuit further comprises a main power supply J2, the output end of the main power supply J2 is connected with a diode D5, the negative electrode of the diode D5 is connected with a capacitor C2, the main power supply J2, the diode D5 and the capacitor C2 form a series circuit, the series circuit is connected with a capacitor C1 in parallel, one end of the capacitor C1 is connected with a power supply VCC, and the other end of the capacitor C1 is connected with a ground end GND.
The current control system comprises an operational amplifier U3, wherein the reverse input end of the operational amplifier U3 is connected with a capacitor C3, the negative electrode of the capacitor C3 is grounded, the positive electrode of the capacitor C3 is connected with a resistor R5, one end of the resistor R5 is connected with a voltage sensor VS1, one end of the voltage sensor VS1 is grounded, the output end of the operational amplifier U3 is connected with a triode Q1, the collector electrode of the triode Q1 is connected with a light emitting diode D6, one end of the light emitting diode D6 is connected with a resistor R6, the output end of the resistor R6 is connected to a pin of a main control chip U2, the emitter electrode connected with the collector electrode of the triode Q1 is connected with a resistor R7, one end of the resistor R7 is connected to the non-inverting input end of the operational amplifier U3, the resistor R7 is also connected with a capacitor C4, the capacitor C4 and the resistor R7 form a parallel circuit, and the parallel circuit is grounded.
The equidistant gear reducer 8 that is provided with on the storage case 1, the output of gear reducer 8 is connected with the roller 9 of unloading, and the lateral wall bottom fixedly connected with of storage case 1 is first board 6 down, and first board 6 slope setting is in the inside of storage case 1 down, and is provided with discharge gate 7 between first board 6 and the storage case 1 down, and the roller 9 of unloading is located directly over the discharge gate 7.
A reinforcing rod 11 is arranged between the bottom of the storage box 1 and the stepping floor 2, an oil cylinder reversing valve 12 and an oil cylinder speed regulating valve 13 are sequentially arranged on the reinforcing rod 11 and close to one end of the hydraulic oil cylinder 5, the starting, stopping and moving direction of the hydraulic oil cylinder 5 are controlled through the oil cylinder reversing valve 12, and the flow and the pressure of the hydraulic oil cylinder 5 are regulated through the oil cylinder speed regulating valve 13.
In this embodiment, when the material is placed on the stepping floors 2, the stepping motor 10 and the hydraulic cylinder 5 are sequentially started, the hydraulic cylinder 5 sequentially drives the 8 stepping floors 2 to sequentially move when moving, and when the 8 stepping floors 2 simultaneously advance, at most 3 stepping floors 2 simultaneously retract, as shown in fig. 9; when 8 stepping floors 2 advance in a wave manner, only 1 stepping floor 2 is retreated, as shown in fig. 10, the material in the stepping floors 2 is driven to move at the moment, when the material in the stepping floors 2 is uneven, the output signal of a main control chip U2 in a main control circuit is used, when the main control chip U2 sends a pulse signal, the pulse signal is transmitted to a stepping motor 10, at the moment, the stepping motor 10 receives the pulse signal and converts the pulse signal into angular displacement, so that the stepping motor 10 can rotate by a fixed angle according to a set direction, namely a stepping angle, the rotating speed and the acceleration of the stepping motor 10 are controlled by controlling the pulse frequency, the speed of the stepping motor 10 is regulated, when the material is accumulated on the front side of a storage box 1 more, the speed of the hydraulic cylinder 5 is slower by regulating the stepping motor 10, the stepping floor 2 moves slowly, the phenomenon of continuous discharging of the material at the rear side is prevented, when the material is less accumulated at the front side of the storage box 1, the stepping motor 10 is quickly regulated, so that the moving speed of the hydraulic oil cylinder 5 is higher, the stepping floor 2 moves faster, the moving speed of the material at the rear side is further accelerated, when the moving speed of the stepping motor 10 is too fast, a coil in the stepping motor 10 is controlled by a current control system, when a signal sent by the stepping motor 10 passes through a resistor R5 and a capacitor C1, a low-pass filter is formed and then is sent to the operational amplifier U3, the operational amplifier U3 has the characteristic of virtual short under the condition of depth feedback, after the signal enters the non-inverting input end of the operational amplifier U3, the operational amplifier U3 controls the output, the voltage of the inverting input end approximates the non-inverting input end voltage through a feedback loop, finally, the transistors Q1 enter a linear region, the current flowing through the resistor R7 is increased, the voltage at two ends of the resistor R3 is increased, the voltage at the reverse input end of the final operational amplifier U3 is equal to the voltage at the same phase input end, the diode D6 emits stable bright light, the circuit enters a stable state, when the flowing currents are different, the magnetic field intensities generated by coils in the stepping motor 10 are different, the balance position of a rotor in the stepping motor 10 is further changed, the dynamic closed loop response in the stepping motor 10 is faster by utilizing the PWM subdivision driving device, the dynamic response when the coil load is changed is faster, the period is divided into 24 micro steps by utilizing the two PWM driving chips, the current in the coils of the stepping motor 10 is subdivided, the conventional rectangular wave power supply is changed into the step wave power supply, the current in the coils is increased to a rated value through a plurality of steps, or is reduced to zero in the same mode, the step angle is further reduced, the step error of the stepping motor 10 is further reduced, the step motor is further reduced, the vibration frequency is further reduced, the step motor 10 is further reduced, the running frequency is greatly, and the running frequency is reduced, and the running frequency is further reduced, and the running frequency is greatly reduced, and the step motor 10 is greatly when the vibration frequency is reduced, and the step motor is reduced.
Embodiment two: referring to fig. 1-4, on the basis of the first embodiment, an intelligent material stepping system capable of uniformly distributing materials and a control method technical scheme thereof are provided, and the intelligent material stepping system comprises the following steps:
step S1, equipment initialization/shutdown reset: starting the equipment, initializing the equipment, contracting all the hydraulic cylinders 5 back to a retreating in-place state by starting the stepping motor 10 and the cylinder reversing valve 12, programming the hydraulic cylinders 5, and circularly checking whether the hydraulic cylinders 5 are at the tail part from 1 to n, otherwise, retreating, wherein only 1 stepping floor 2 is retreated each time, and n is the number of the stepping floors 2;
step S2, floor movement: starting from an initial state, starting the stepping floors 2 in sequence from 1-n at intervals to enable the stepping floors 2 to advance, namely, backing the stepping floors 2 to advance after head, limiting backing of at most 1 stepping floors 2 only 1 time during backing of the stepping floors 2, so that the situation that a plurality of stepping floors 2 are simultaneously backed up due to running deviation of a hydraulic cylinder 5 is avoided, starting the 1-n number of stepping floors 2 in a delayed mode in a starting stage, detecting the front ends of the stepping floors 2 and approaching a switch in a cyclic running stage and powering the switch, and backing up to the end and advancing again;
step S3, parameter calibration: when the stepping floors 2 are in operation, carrying out automatic statistics and display on the forward and backward time length of each stepping floor 2, if the time length deviation is out of tolerance, sending out a parameter calibration instruction, saving the instruction by power failure, and detecting and adjusting the operation time length and the operation speed of the hydraulic oil cylinder 5;
s4, controlling the discharging of the half bin and the full bin: the starting number of the stepping floor 2 is denoted as n1, the default is 1, the ending number of the stepping floor 2 is denoted as n2, and the number n of the stepping floors 2 is n=n2-n1+1.
In step S3, the detecting and adjusting the operation duration and the operation speed of the hydraulic cylinder 5 in the parameter calibration includes the following steps:
step A, detecting the operation time length of the oil cylinder: after the oil cylinder reversing valve 12 is connected with the instruction output, the time length from the power supply of the front proximity switch to the power supply of the rear proximity switch is recorded as the backward time length, and the forward time length is recorded in the same way;
and B, an oil cylinder operation speed adjusting method: according to the characteristic curve of the valve core of the proportional cylinder speed regulating valve 13, the opening is gradually increased if the time is overlong according to the range and the deviation of the opening, the time is recorded, and the opening and the running time are regulated to an ideal state through multiple-cycle regulation.
Placing materials on the stepping floors 2, controlling each hydraulic cylinder 5 to synchronously act by the stepping floors 2 and the hydraulic station 3, and simultaneously driving 8 stepping floors 2 to sequentially advance when the hydraulic cylinders 5 move, wherein when 8 stepping floors 2 simultaneously advance, at most, only 3 stepping floors 2 simultaneously retreat at the moment;
when 8 step floors 2 wave advances, only 1 step floor 2 is retreated simultaneously, circulation in turn is carried continuously to the discharge gate 7 direction with the material on the step floor 2, then start gear reducer 8, gear reducer 8 drives the roll of unloading 9 and rolls, and then push away the material, drop out the material through discharge gate 7, the running speed of roll of unloading 9 matches with the speed of marcing of step floor 2, avoid the putty, should satisfy the relation of T back = Δt-1, T front = (n-1) = Δt, wherein: n is the number of the stepping floors 2, Δt is the delay time, T is the forward time of the single stepping floor 2, and T is the backward time of the single stepping floor 2.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (3)
1. The intelligent material stepping system capable of uniformly distributing materials comprises a storage box (1), and is characterized in that stepping floors (2) are uniformly paved at the bottom of the storage box (1), the number of the stepping floors (2) is eight, an oil cylinder supporting beam (4) is installed at the bottom of each stepping floor (2), a hydraulic oil cylinder (5) capable of being used for moving each stepping floor (2) is arranged on each oil cylinder supporting beam (4), one side of the storage box (1) is fixedly connected with a mounting frame, a stepping motor (10) is arranged on each mounting frame, and the output end of each stepping motor (10) is connected to each hydraulic oil cylinder (5) and is also connected with a micro-step driving device;
the micro-step driving device comprises a timer, the timer is connected with a computer memory, the computer memory is connected with a D/A converter, the D/A converter is connected with a current control system, the current control system is connected with a PWM subdivision driving device, the PWM subdivision driving device is connected with a main control circuit, the output end of the main control circuit is connected with a stepping motor (10), the stepping motor (10) is also connected with a synchronous sensor, and the output end of the main control circuit is also connected with the current control system;
the PWM subdivision driving device comprises a singlechip system, the output end of the singlechip system is connected with two D/A converters, the two D/A converters are respectively connected with a voltage comparator U1, the output end of the voltage comparator U1 is connected with a PWM driving chip, the PWM driving chip is connected with a power driving stage, one end of the power driving stage is connected with a resistor Rt, the output end of the resistor Rt is connected with a power VCC, the power driving stage is also connected to the input end of the voltage comparator U1, and the output ends of the two power driving stages are sequentially connected to a stepping motor (10);
the main control circuit comprises a main control chip U2, pins 1, 2, 3 and 4 of the main control chip U2 are sequentially connected to a timer J1, pins 5 of the main control chip U2 are sequentially connected to pins 6, 7 and 8 and then grounded, pins 10 of the main control chip U2 are sequentially connected to pins 11 and 12 and then connected to a current control system, pins 13, 14, 15 and 16 of the main control chip U2 are sequentially connected to pins 3, 4, 5 and 6 of a stepping motor (10) and then sequentially connected to a diode D1, a diode D2, a diode D3 and a diode D4, pins 1 of the stepping motor (10) are sequentially connected to a power VCC, pins 10, 11 and 12 of the stepping motor (10) are sequentially connected to a synchronous sensor, a resistor R1, a resistor R2, a resistor R3 and a resistor R4 are sequentially connected to the resistor R3, the resistor R2 and then to the power VCC;
the main control circuit further comprises a main power supply J2, the output end of the main power supply J2 is connected with a diode D5, the cathode of the diode D5 is connected with a capacitor C2, the main power supply J2, the diode D5 and the capacitor C2 form a series circuit, the series circuit is connected with a capacitor C1 in parallel, one end of the capacitor C1 is connected with a power supply VCC, and the other end of the capacitor C1 is connected with a ground end GND;
the current control system comprises an operational amplifier U3, wherein the reverse input end of the operational amplifier U3 is connected with a capacitor C3, the negative electrode of the capacitor C3 is grounded, the positive electrode of the capacitor C3 is connected with a resistor R5, one end of the resistor R5 is connected with a voltage sensor VS1, one end of the voltage sensor VS1 is grounded, the output end of the operational amplifier U3 is connected with a triode Q1, the collector of the triode Q1 is connected with a light emitting diode D6, one end of the light emitting diode D6 is connected with a resistor R6, the output end of the resistor R6 is connected to a pin of a main control chip U2, the emitter connected with the collector of the triode Q1 is connected with a resistor R7, one end of the resistor R7 is connected to the in-phase input end of the operational amplifier U3, the resistor R7 is also connected with a capacitor C4, the capacitor C4 and the resistor R7 form a parallel circuit, and the parallel circuit is grounded;
the automatic feeding device is characterized in that gear reducers (8) are arranged on the storage box (1) at equal intervals, the output end of each gear reducer (8) is connected with a discharging roller (9), the bottom of the side wall of the storage box (1) is fixedly connected with a lower head plate (6), the lower head plate (6) is obliquely arranged in the storage box (1), a discharging hole (7) is formed between the lower head plate (6) and the storage box (1), and the discharging rollers (9) are located right above the discharging hole (7);
a reinforcing rod (11) is arranged between the bottom of the storage box (1) and the stepping floor (2), an oil cylinder reversing valve (12) and an oil cylinder speed regulating valve (13) are sequentially arranged on one end, close to the hydraulic oil cylinder (5), of the reinforcing rod (11), the starting, stopping and moving direction of the hydraulic oil cylinder (5) are controlled through the oil cylinder reversing valve (12), and the flow and pressure of the hydraulic oil cylinder (5) are regulated through the oil cylinder speed regulating valve (13);
the application method of the intelligent material stepping system capable of uniformly distributing materials comprises the following steps of:
step S1, equipment initialization/shutdown reset: starting the equipment, initializing the equipment, shrinking all the hydraulic cylinders (5) back to a retreating in-place state by starting the stepping motor (10) and the cylinder reversing valve (12), programming the hydraulic cylinders (5), circularly checking whether the hydraulic cylinders (5) are at the tail part or not from 1-n, otherwise, retreating, wherein only 1 stepping floor (2) is retreated each time, and n is the number of the stepping floors (2);
step S2, floor movement: starting from an initial state, starting the stepping floors (2) sequentially from 1-n at intervals to enable the stepping floors to advance, wherein each stepping floor (2) advances to the back of the head, namely retreats, and advances after the stepping floors (2) retreats, only limiting 1 time to at most 1 stepping floor (2) to retreat during the retreating of the stepping floors (2), so that the situation that a plurality of stepping floors (2) retreat simultaneously due to the running deviation of a hydraulic cylinder (5) is avoided, starting the 1-n number stepping floors (2) in a starting stage in a time delay manner, detecting the front ends of the stepping floors (2) and closing a switch in a cyclic running stage and powering up, and thus carrying out retreating, and retreating to the end and advancing again;
step S3, parameter calibration: when the stepping floors (2) are in operation, carrying out automatic statistics and display on the forward and backward time length of each stepping floor (2), if the time length deviation is out of tolerance, sending out a parameter calibration instruction, saving the instruction by powering down, and detecting and adjusting the operation time length and the operation speed of the hydraulic oil cylinder (5);
s4, controlling the discharging of the half bin and the full bin: the starting number of the stepping floor (2) is denoted as n1, the default is 1, the ending number of the stepping floor (2) is denoted as n2, and the number n of the stepping floors (2) is n=n2-n1+1.
2. The intelligent material stepping system capable of uniformly distributing materials according to claim 1, wherein in the step S3, the detection and adjustment of the operation time length and the operation speed of the hydraulic cylinder (5) in the parameter calibration comprises the following steps:
step A, detecting the operation time length of the oil cylinder: after the oil cylinder reversing valve (12) is connected with the instruction output, the time length from the power supply of the front proximity switch to the power supply of the rear proximity switch is recorded as the backward time length, and the forward time length is recorded in the same way;
and B, an oil cylinder operation speed adjusting method: according to the characteristic curve of the valve core of the proportional cylinder speed regulating valve (13), the opening is gradually increased if the time is overlong according to the range and deviation of the opening, the time is recorded, and the opening and the running time are regulated to an ideal state through multiple-cycle regulation.
3. The intelligent material stepping system capable of uniformly distributing materials according to claim 1, wherein the materials are placed on stepping floors (2), the stepping floors (2) and a hydraulic station (3) control each hydraulic cylinder (5) to act synchronously, 8 stepping floors (2) are driven to advance sequentially when the hydraulic cylinders (5) move, and when the 8 stepping floors (2) advance simultaneously, at most 3 stepping floors (2) retract simultaneously;
when 8 step floor (2) wave advances, only 1 step floor (2) retreats simultaneously, circulate in proper order, carry the material on step floor (2) to discharge gate (7) direction in succession, then start gear reducer (8), gear reducer (8) drive discharge roller (9) roll, and then carry out the pushing away to the material, fall out the material through discharge gate (7), discharge roller (9) running speed and step floor (2) travel speed match, avoid the putty, should satisfy the relation of T back = Δt-1, T preceding = (n-1) = Δt, wherein: n is the number of the stepping floors (2), deltat is the time delay time, T is the advancing time of the single stepping floor (2) before T, and T is the retreating time of the single stepping floor (2) after T.
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