WO2015096623A1 - 一种多链条同步运行的控制系统及其同步运行的方法 - Google Patents

一种多链条同步运行的控制系统及其同步运行的方法 Download PDF

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Publication number
WO2015096623A1
WO2015096623A1 PCT/CN2014/093602 CN2014093602W WO2015096623A1 WO 2015096623 A1 WO2015096623 A1 WO 2015096623A1 CN 2014093602 W CN2014093602 W CN 2014093602W WO 2015096623 A1 WO2015096623 A1 WO 2015096623A1
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WIPO (PCT)
Prior art keywords
chain
transmission
pulse value
transmission chain
control unit
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PCT/CN2014/093602
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English (en)
French (fr)
Inventor
冯湛清
石伟
赵庆贺
柳明
郭建军
孙翠萍
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北新集团建材股份有限公司
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Application filed by 北新集团建材股份有限公司 filed Critical 北新集团建材股份有限公司
Publication of WO2015096623A1 publication Critical patent/WO2015096623A1/zh

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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
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • 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
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/10—Sequence control of conveyors operating in combination
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/26—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles
    • B65G47/30—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles during transit by a series of conveyors

Definitions

  • Embodiments of the present invention relate to a control system for chain transmission, and more particularly to a control system for synchronous operation and a method for synchronous operation thereof.
  • the mineral wool sound absorbing panel is an indoor roof decorative sheet widely used in large buildings such as office buildings, conference halls, concert halls, etc., and has the dual effect of practicality and decoration.
  • the main production process of the mineral wool sound absorbing board includes the mixing, forming, drying, cutting, planing and primer coating of the slurry to become the original board, and the original board is finished into a finished product by embossing, opening and secondary spraying.
  • the opening process is one of the important processes in the production of mineral wool sound absorbing panels, which directly affects the quality of the products and the production output.
  • the opening device is generally designed with three chain transmission devices driven by different motors.
  • the transmission chain of the three chain transmission devices has claws to drive the mineral wool board to run forward, and the transmission chain of the two chain transmission devices The intersection is generated.
  • the position of the first claw 10 of the opening and closing transmission chain and the position of the second claw 11 of the primary opening transmission chain must be matched to ensure that the mineral wool sound absorbing plate passes through the opening. Process.
  • it is necessary to ensure that the position difference of the claws on the transmission chain of the three chain transmission devices is relatively fixed, but since the transmission chains of the three chain transmission devices are respectively driven by the three motors, the position error continues after running for a period of time.
  • the embodiment of the present application provides a multi-chain synchronous operation control system, which includes a plurality of chain transmission devices and a central control unit.
  • the transmission chain of the chain transmission device is provided with detection components of equal distance, and each chain transmission device is configured.
  • the servo motor of the transmission chain is configured with an encoder, wherein a transmission chain of one chain transmission device is a reference transmission chain, and a transmission chain of other chain transmission devices is a non-reference transmission chain.
  • the detector is configured to send a signal to the control system when the detecting component is detected;
  • the central control unit is configured to record encoder feedback center control corresponding to each non-reference transmission chain in each time period from the detecting component detecting the reference transmission chain to detecting the detecting component of each non-reference chain
  • Each actual pulse value of the unit compares each of the actual pulse values with a corresponding preset pulse value, and adjusts an operating speed of each of the non-reference transmission chains according to the comparison result, so that the next detected The actual pulse value of the detection component is close to or equal to the preset pulse value.
  • the central control unit is configured to control the non-reference transmission chain to accelerate the running speed when the actual pulse value is greater than a preset pulse value;
  • the central control unit is further configured to control the non-reference transmission chain to slow down the running speed when the actual pulse value is less than a preset pulse value.
  • control system comprises two or three chain transport devices.
  • the outputs of the two transport chains of one of the two chain transport devices are located at the two chains Between the inputs of the two transmission chains of another chain transmission device in the transmission device.
  • a non-chain conveyor is provided between the output of the two transport chains of one chain transport device and the input of the two transport chains of the other chain transport device.
  • two transmission chains of one of the two chain transmission devices and two of the two chain transmission devices are perpendicular to each other.
  • the detecting component is a jaw on the transport chain.
  • the detector is a proximity switch or a photoelectric switch.
  • the central control unit further comprises a touch screen and a programmable logic controller, the touch screen being connected to the programmable logic controller via a communication cable.
  • the preset pulse value is set to be an encoder feedback corresponding to each non-reference transmission chain in each time period from detecting the detecting component of the reference transmission chain to detecting the detecting component of each non-reference chain
  • the embodiment of the invention further provides a method for synchronous operation of the above control system, the method comprising:
  • the central control unit controls the reference transmission chain to operate at a preset speed, and then adjusts the running speed of the non-reference transmission chain with the reference transmission chain as a reference, and the specific process thereof include:
  • the central control unit records the encoder corresponding to each non-reference transmission chain in each time period from receiving the detection component signal detecting the reference transmission chain to receiving the detection component signal detecting each non-reference chain Feedback is sent to each actual pulse value of the central control unit, and each of the actual pulse values is respectively compared with a corresponding preset pulse value, and the running speed of each of the non-reference transmission chains is adjusted according to the comparison result, so that the next detection is performed.
  • the actual pulse value to the detection component is close to or equal to the preset pulse value.
  • the method further includes: when the actual pulse value is greater than a preset pulse value, the central control unit controls the non-reference transmission chain to accelerate the running speed;
  • the central control unit controls the slowing down speed of the non-reference transmission chain transmission.
  • the method further comprises: adjusting the plurality of chain transport devices to an initial position.
  • the method further comprises: the plurality of chain transport devices operating from an initial position, each of each time period from a detecting component detecting the reference transport chain to detecting a detecting component of each non-reference chain
  • the encoder corresponding to the non-reference transmission chain feeds back the first pulse value of the central control unit, and the first pulse value is used as the preset pulse value.
  • Figure 1 is a schematic view showing the transfer of the transmission chain of the two chain transmission devices of the opening device
  • FIG. 2 is a schematic diagram of a control system for synchronous operation of multiple chains in an embodiment of the present invention.
  • the opening and closing chain transmission device and the one-time opening chain transmission device are sequentially arranged according to the transmission direction.
  • the secondary opening chain transmission device further includes a central control unit.
  • the opening and closing chain transmission device comprises an opening and closing transmission chain 1 and a first servo motor 4, and the opening and closing transmission chain 1 is driven by the first servo motor 4, and the first servo motor 4 has a first encoder at the end, opening the inlet
  • the transmission chain 1 is provided with an equal distance first claw 10, and the first claw 10 can drive the mineral wool sound absorbing panel 12 to move forward.
  • a first proximity switch 7 is provided at the right end of the opening and closing transmission chain 1 for detecting the first jaw 10 on the opening transmission chain 1 and transmitting the detected signal to the programmable logic control of the central control unit (PLC).
  • PLC central control unit
  • the one-time opening chain transmission device comprises a first opening transmission chain 2 and a second servo motor 5, the second servo motor 5 has a second encoder at the end, and the primary opening transmission chain 2 is driven by the second servo motor 5, one time opening.
  • the transmission chain 2 has the same transmission direction as the opening and closing transmission chain 1, and is transmitted in the same direction, and the output end of the opening and closing transmission chain 1 is located between the input ends of the primary opening transmission chain 2.
  • the first opening transmission chain 2 is provided with an equidistant second claw 11 which can drive the mineral wool sound absorbing panel 12 to move forward.
  • the second proximity switch 8 is disposed at the left end of the primary opening transmission chain 2, and can be used to detect the second claw 11 of the opening transmission chain 2 once and transmit the detected signal to the programmable logic controller of the central control unit ( PLC).
  • the secondary opening chain transmission device comprises a secondary opening transmission chain 3 and a third servo motor 6, the secondary opening transmission chain 3 is driven by the third servo motor 6, and the third servo motor 6 has a third encoder at the end.
  • the secondary opening transmission chain 3 is provided with an equidistant third claw, and the third claw can drive the mineral wool sound absorbing panel 12 to move forward.
  • the third proximity switch 9 is disposed at one end of the secondary opening transmission chain 3, The three proximity switches 9 are used to detect the third jaw of the secondary opening transmission chain 3 and to deliver the detected signals to a programmable logic controller (PLC) of the central control unit.
  • PLC programmable logic controller
  • the PLC controls the first servo motor 4 to drive the opening and the transmission chain 1 to operate at the set speed, and the PLC also controls the second servo motor 5 to drive the opening and opening of the transmission chain 2,
  • the first claw 10 on the opening and closing transmission chain 1 sequentially approaches the first proximity switch 7, and the first proximity switch 7 feeds back the detected signal to the PLC, and opens the second on the transmission chain 2 once.
  • the claws 11 are in turn approaching the second proximity switch 8, and the second proximity switch 8 feeds back the detected signal to the PLC.
  • the third claw on the secondary opening transmission chain 3 sequentially approaches the third proximity switch 9, and the third proximity switch 9 feeds back the detected signal to the PLC.
  • the second encoder sequentially passes the second claw 11 through the pulse value generated by the second proximity switch 8 (corresponding to the pulse value of each of the second claws 11 is detected at the first proximity switch 7)
  • the pulse value generated by the encoder recorded by the controller during the period from the first claw 10 to the second proximity switch 8 detecting the second claw 11 is transmitted to the PLC, the actual pulse value and the predetermined pulse of one opening Numerical real-time comparison, when the values are substantially the same, the second servo motor 5 and the first servo motor 4 both operate at a set speed; when the actual pulse value is greater than a predetermined pulse value of one opening, the PLC controls the second servo motor 5 Accelerating to eliminate the positional difference between the second claw 11 and the first claw 10 at the time of handover, until the actual pulse value substantially coincides with the predetermined pulse value of one opening, the PLC controls the speed of the second servo motor 5 Reverting to the set speed; when the actual pulse value is less than the predetermined pulse value of one opening, the
  • the multi-chain synchronous operation control system of the embodiment of the invention can not only keep the transmission chain of the two chain transmission devices running in the same direction synchronously, but also ensure the synchronous operation of the transmission chain in different transmission directions, as shown in the figure. 2, the transmission direction of the secondary opening transmission chain 3 is perpendicular to the transmission direction of the opening and closing transmission chain 1 and the primary opening transmission chain 2, in order to easily leap the sheet from the one opening transmission chain 2 to the second opening
  • the transport chain 3 can also be provided with a belt transport device 13 between the primary transport chain 2 and the secondary transport chain 3.
  • the third encoder will be the third
  • the claws sequentially pass the actual pulse value generated by the third proximity switch 9 (ie, the pulse value corresponding to each of the third claws is detected by the first proximity switch 7 detecting the first claw 10 to the third proximity switch 9
  • the pulse value generated by the encoder recorded by the controller within the time of the three jaws is transmitted into the PLC, and the pulse value is compared with the predetermined pulse value of the secondary opening in real time.
  • the third servo motor 6 and the third a servo motor 4 is operated at a set speed; when the actual pulse value is greater than a predetermined pulse value of the second opening, the PLC controls the third servo motor 6 to accelerate to eliminate the third claw and the second claw 11 (by According to the foregoing method, the position of the second claw 11 and the first claw 10 is matched, and the position difference is not matched at the time of the handover, until the actual pulse value is substantially consistent with the predetermined pulse value of the secondary opening, the PLC controls the third.
  • the speed of the servo motor 6 is restored to the set speed; when the actual pulse value is less than the predetermined pulse value of the second opening, the PLC controls the third servo motor 6 to decelerate to eliminate the third claw and the second claw 11 (by The aforementioned method It is known that the position of the second claw 11 matches the position of the first claw 10) the position difference which is not matched at the time of handover, until the actual pulse value substantially coincides with the predetermined pulse value of the secondary opening, the PLC controls the third servo motor. The speed of 6 is restored to the set speed.
  • the first jaw 10 of the opening and closing transmission chain and the second jaw 11 of the secondary opening transmission chain are always held in position, and the sheet material just falls on the two second jaws 11 when flying from the belt conveying device 13 between.
  • the speed of the opening and closing transmission chain 1 and the opening of the transmission chain 2 are constant, a certain amount of plates are conveyed to the belt conveying device 13 per unit time, and the belt conveying device 13 is also opened twice in unit time.
  • the transport chain 3 transports a certain number of sheets and leaps to the secondary opening transport chain 3, independent of the operating speed of the belt transport device 13, thus ensuring that the sheet can leap to the secondary opening transport chain 3.
  • the transmission chain 2 when the transmission direction of the secondary opening transmission chain 3 is different from the transmission direction of the primary opening transmission chain 2 and is not perpendicular, such as at a certain angle, the transmission chain 2 can be opened at one time.
  • a roller conveyor having a certain arc transmission is disposed between the secondary opening transmission chain 3, so that the plate on the primary opening transmission chain 2 is conveyed to the roller conveyor, and is transmitted after a certain degree of turning.
  • the number of sheets conveyed per unit time of the roller conveyor is only related to the speed of the opening and closing transmission chain 1 and the opening of the transmission chain 2, and the secondary opening of the transmission chain 3
  • the relative position of the third jaw to the first jaw 10 of the opening conveyor chain 1 should not be affected by the speed of the roller conveyor.
  • the transmission chain 3 is a reference transmission chain, and a constant running speed is set, and the transmission chains of the other two chain transmission devices dynamically adjust the running speed until the actual pulse value returns to the preset pulse value range, thereby making the opening transmission chain 2
  • the upper third jaw 11 or the third jaw on the secondary opening transport chain 3 and the first jaw 10 of the opening inlet transport chain are always held in position.
  • the central control unit further includes a touch screen, and the touch screen is connected to the PLC through a communication cable, so that the running speed of the chain selected as the reference can be input through the touch screen, and the preset pulse value can be displayed, and the actual pulse of each chain can also be displayed.
  • the value and the respective running speeds of the multiple chains are not limited to, but not limited to, but not limited to, but not limited to, but not limited to, but not limited to, and the touch screen is connected to the PLC through a communication cable, so that the running speed of the chain selected as the reference can be input through the touch screen, and the preset pulse value can be displayed, and the actual pulse of each chain can also be displayed. The value and the respective running speeds of the multiple chains.
  • the constant running speed of the opening and closing transmission chain 1 is input through the touch screen, and the other chains start to operate at the running speed of the opening and closing transmission chain 1 at the beginning of the operation.
  • the first opening of the opening and closing transmission chain 1 is performed as described above.
  • the claw 10 and the second jaw 11 of the primary opening transport chain 2 and the third jaw of the secondary opening transport chain 3 are always held in position.
  • the initial position calibration method is as follows: when the initial position button of the opening and closing transmission chain 1 is pressed, the first servo motor 4 is activated to drive the opening and closing transmission chain 1 to operate at a low speed; When the first claw 10 reaches the initial position, the initial position button of the opening and closing transmission chain 1 is pressed again, the first servo motor 4 is stopped, the driving opening and the entrance transmission chain 1 is stopped, and the first encoder will detect the first position.
  • the pulse value of the claw 10 from the first proximity switch 7 to the initial position is transmitted to the PLC, and is stored as the opening port initial position count value.
  • the first initial position calibration method of the primary opening transmission chain 2 and the secondary opening transmission chain 3 is the same as above.
  • the automatic reset button of the initial position of the opening system is pressed, the first servo motor 4 is activated, the drive opening and the transmission chain 1 are driven at a low speed, and the first claw 10 is driven from the first position.
  • the pulse value of the operation of the proximity switch 7 is equal to the initial value of the opening position of the opening, the first servo motor 4 is automatically stopped, and the first claw 10 on the opening/transporting chain 1 is automatically stopped at the initial position.
  • One opening transmission chain 2 and two opening transmission chain 3 The initial position reset method is the same as above. In this way, the jaws of the three transport chains can be simultaneously stopped at the initial position.
  • the initial position calibration and system initial position reset steps are used by the post personnel when needed. If the above steps are performed, the system automatically performs the following steps of determining the preset pulse value.
  • the first servo motor 4, the second servo motor 5, and the third servo motor 6 are simultaneously operated at high speed at the same speed.
  • the PLC starts recording the pulse value of the second encoder at the end of the second servo motor 5, when the second proximity switch 8 detects the second claw 11 for the first time, The counting stops.
  • the pulse value sent by the second encoder is transmitted into the PLC and memorized, and the stored pulse value is used as the preset pulse value of the transmission chain 2 at one time.
  • the PLC starts recording the pulse value of the third encoder at the end of the third servo motor 6, and when the third proximity switch 9 detects the third claw for the first time.
  • the pulse value sent by the third encoder is transmitted into the PLC and is memorized, and the stored pulse value is used as the preset pulse value of the secondary opening transmission chain 3.
  • the system runs continuously or stops again and then runs at high speed again with the preset pulse value as the reference. It completely solves the need to stop every 15-20 minutes, and uses the manual experience to reset the running starting point after the reset by the claw. The problem.
  • the PLC After determining the preset pulse value, the PLC will open the actual pulse value generated by the second detector 11 of the transmission chain 2 through the second detector and the preset of the transmission chain 1 once during the high-speed operation of the system.
  • the actual pulse value generated by the third claw sequentially passing through the third proximity switch 9 is compared with the preset pulse value of the secondary opening transmission chain 3 in real time, and the opening and closing chain transmission device and opening are continuously realized.
  • the claws are rectified between the inlet chain conveyors, the secondary chain conveyor and the opening chain conveyor.
  • the control system when a control system in which multiple chains are synchronously operated is applied to other devices, the control system may include two chain transmission devices, and may also include three or more chain transmission devices.
  • the control system includes a plurality of chain transmission devices and a central control unit, the transmission chain of the chain transmission device is provided with detecting components of equal distance, each chain transmission device is provided with a detector for detecting its detecting component and driving its transmission chain a servo motor, the servo motor is provided with an encoder, wherein a transmission chain of one chain transmission device is a reference transmission chain, and a transmission chain of other chain transmission devices is a non-reference transmission chain.
  • the detector is configured to send a signal to the control system when the detecting component is detected;
  • the central control unit is configured to record an encoder feedback delivery center control unit corresponding to each non-reference transmission chain in each time period from a detecting component that detects the reference transmission chain to a detecting component that detects each non-reference chain
  • Each actual pulse value is compared with the corresponding preset pulse value, and the running speed of each of the non-reference transmission chains is adjusted according to the comparison result, so that the next detected detection
  • the actual pulse value of the part is close to or equal to the preset pulse value
  • N chain transmission devices N servo motors, N detectors and one PLC (programmable controller) are also provided accordingly;
  • the transmission chain of each chain transmission device is respectively composed of a servo motor Driven, and the transmission chain of each chain transmission device is provided with an equidistant detection component;
  • the detector is implemented by an inductive device, for example, a photoelectric switch and a proximity switch can be used.
  • a proximity switch can be selected.
  • the detecting member may be a claw on the chain or other equally spaced marking members.
  • N proximity switches are respectively used for detecting the detection components of the transmission chains of the N chain transmission devices, and the detected signals are transmitted to the PLC, and the transmission chain of the Kth chain transmission device is used as a reference transmission chain, and the K chains are transmitted.
  • the transmission chain of the chain transmission device other than the device is used as a non-reference transmission chain.
  • the central control unit compares the actual pulse value of the non-reference transmission chain with the preset pulse value to adjust the running speed of the non-reference chain to realize the non-reference chain and the reference. The chain runs synchronously.
  • the actual pulse value corresponding to the Lth transmission chain claw is detected by the Kth proximity switch detecting the Kth transmission chain claw to the Lth proximity switch.
  • the pulse value generated by the Lth encoder recorded by the PLC during the period of the claw of the Lth transmission chain is the actual pulse value.
  • the first actual pulse value of the servo motor for the first time after the claw is positioned is memorized by the PLC as the preset pulse value.
  • the PLC is used to control the Kth servo motor to drive the transmission chain of the Kth chain transmission device to operate at the set speed.
  • the PLC compares the actual pulse value of the Lth transmission chain with the preset pulse value of the Lth transmission chain in real time. When the values are basically the same, the Lth servo motor and the Kth servo motor both operate at the set speed; When the actual pulse value of the Lth transmission chain is greater than the preset pulse value, the PLC controls the Lth servo motor to accelerate to eliminate the positional difference between the claws of the Lth transmission chain and the claws of the Kth transmission chain.
  • the PLC controls the speed of the Lth servo motor to return to the set speed; when the actual pulse value of the Lth transmission chain is less than the preset pulse value
  • the PLC controls the Lth servo motor to decelerate the position difference between the claws of the Lth transmission chain and the claws of the Kth transmission chain is not eliminated until the actual pulse value of the Lth transmission chain and the Lth
  • the PLC controls the speed of the Lth servo motor to return to the set speed.
  • K and L are integers, 2 ⁇ N, 1 ⁇ K ⁇ N, 1 ⁇ L ⁇ N, K ⁇ L;
  • the transmission chain of the Kth chain transmission device can also be used as a reference transmission chain to adjust the operating speed of the non-reference transmission chain except the transmission chain of the Kth chain transmission device, thereby realizing N-1 non-standards.
  • the transmission chain runs synchronously with the Kth chain.
  • the transmission chain of the N chain transport devices is adjusted to an initial position, that is, a position at which the detecting member or the claw of the transport chain can cooperate with each other. Then, using the transmission chain of the Kth chain transmission device as a reference transmission chain, the setting speed of the transmission chain of the Kth chain transmission device is preset, and the PLC drives the transmission chains of the N chain transmission devices by N servo motors respectively. Set the speed to start running;
  • the PLC controls the Kth servo motor to drive the transmission chain of the Kth chain transmission device to operate at the set speed
  • the first proximity switch is for detecting the detecting component of the transmission chain of the first chain transmission device, and transmitting the detected signal to the PLC
  • the second proximity switch is for detecting the detecting component of the transmission chain of the second chain transmission device And transmitting the detected signal to the PLC
  • the third proximity switch is for detecting the detecting component of the transmission chain of the third chain transmission device, and conveying the detected signal to the PLC until the Nth proximity switch is used for detecting
  • the PLC compares the actual pulse value of the Lth transmission chain with the preset pulse value of the Kth transmission chain in real time. When the values are basically the same, the Lth servo motor and the Kth servo motor both operate at the set speed; When the actual pulse value of the Lth transmission chain is greater than the predetermined pulse value, the PLC controls the Lth servo motor to accelerate to eliminate the positional difference between the claws of the Lth transmission chain and the claws of the Kth transmission chain.
  • the PLC controls the speed of the Lth servo motor to return to the set speed; when the actual pulse value of the Lth transmission chain is less than the predetermined pulse value, The PLC controls the Lth servo motor to decelerate to eliminate the positional difference between the claws of the Lth transmission chain and the claws of the Kth transmission chain until the actual pulse value and the Kth transmission of the Lth transmission chain.
  • the PLC controls the speed of the Lth servo motor to return to the set speed.
  • the transmission chain of the Kth chain transmission device is also used as the reference transmission chain, and the comparison results of the actual pulse values of the other N-1 non-reference transmission chains and the preset pulse values are respectively obtained, and the PLC can also pass the respective
  • the servo motor automatically adjusts the running speed of the transmission chain of the other N-1 chain transmission devices until the actual pulse value returns to the preset pulse value range (a relatively small range), thereby realizing N-1 non-reference transmission chains and The Kth chain runs synchronously.
  • the multi-chain synchronous operation control system of the embodiment of the present invention sets the transmission chain of one of the chain transmission devices as a reference transmission chain and maintains a constant running speed, and the programmable logic controller according to the detected actual pulse value and pre- The pulse values are compared to determine the deviation of the position of the claws of the other chains. Then, the servo motor automatically adjusts the running speed of other chains. Until the actual pulse value returns to the preset pulse value range, so that the claws of all the chains are always in the proper position, the dynamic adjustment of the position of the claws on the chain is realized, the accumulated position error is eliminated, and the plate is continuously accumulated. Blockage, resulting in "blocking" and "chaos" phenomenon.

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  • Mechanical Engineering (AREA)
  • Control Of Conveyors (AREA)

Abstract

　一种多链条同步运行的控制系统，其包括多个链条传输装置和中心控制单元，所述链条传输装置的传输链条设置有检测部件和检测器；所述中心控制单元设置在从检测器检测到基准传输链条的检测部件到检测到每一个非基准链条的检测部件的各个时间段内分别记录每一个非基准传输链条对应的编码器反馈送中心控制单元的各个实际脉冲数值，将所述各个实际脉冲数值分别与对应的预设脉冲数值进行比较，并根据比较结果调节每一个所述非基准传输链条的运行速度，使下一次检测到所述检测部件的实际脉冲数值与预设脉冲数值接近或相等。这样实现了传输链条上卡爪位置的动态调整，消除了不断累积的位置误差，避免了板材堵板或乱板现象。

Description

一种多链条同步运行的控制系统及其同步运行的方法 技术领域
本发明实施例涉及一种链条传输的控制系统，尤其涉及一种同步运行的控制系统及其同步运行的方法。
背景技术
矿棉吸声板是一种广泛应用于写字楼、会议厅、音乐厅等大型场所的室内屋顶装饰板材，具有实用性和装饰性双重效果。矿棉吸声板的主要生产流程包括料浆经调和、成型、干燥、切割、刨平和底涂后成为原板，原板再经压花、开榫和二次喷涂等精加工工序制成成品。开榫工序是矿棉吸声板生产的重要工序之一，直接影响产品的质量和生产产量。
目前，开榫设备一般设计有由不同电机驱动的三个链条传输装置，三个链条传输装置的传输链条上有卡爪来带动矿棉板向前运行，并在两个链条传输装置的传输链条产生交接，如图1所示，开榫入口传输链条的第一卡爪10与一次开榫传输链条的第二卡爪11位置必须相互配合，才能保证矿棉吸声板很好地通过开榫工序。在运行过程中，必须保证三个链条传输装置的传输链条上卡爪位置差的相对固定，但是由于三个链条传输装置的传输链条分别由三台电机各自驱动，运行一段时间后，位置误差不断累积形成卡爪的位置不准确，因此每15-20分钟必须停机，利用人工经验通过卡爪复位重新核定运行起点后再开机。一旦复位不及时，还会出现板材不断堆积、堵塞，造成“堵板”、“乱板”现象，导致大量板材破损，上述情况严重制约了生产线的生产能力和产品质量。
发明内容
本申请实施例提供了一种多链条同步运行的控制系统，其包括多个链条传输装置和中心控制单元，所述链条传输装置的传输链条设置有距离相等的检测部件，每一个链条传输装置设置有一个检测其检测部件的检测器和驱动 其传输链条的伺服电机，所述伺服电机配置有编码器，其中一个链条传输装置的传输链条为基准传输链条，其它链条传输装置的传输链条为非基准传输链条，
所述检测器设置为在检测到所述检测部件时向所述控制系统发送信号；
所述中心控制单元设置为在从检测到基准传输链条的检测部件到检测到每一个非基准链条的检测部件的各个时间段内，分别记录每一个非基准传输链条对应的编码器反馈送中心控制单元的各个实际脉冲数值，将所述各个实际脉冲数值分别与对应的预设脉冲数值进行比较，并根据比较结果调节每一个所述非基准传输链条的运行速度，使得下一次检测到的所述检测部件的实际脉冲数值与预设脉冲数值接近或相等。
优选地，所述中心控制单元设置成在所述实际脉冲数值大于预设脉冲数值时控制所述非基准传输链条加快运行速度；
所述中心控制单元还设置成在所述实际脉冲数值小于预设脉冲数值时控制所述非基准传输链条减慢运行速度。
优选地，所述控制系统包括两个或三个链条传输装置。
优选地，当所述多个链条传输装置中的两个链条传输装置同向传输时，所述两个链条传输装置中的一个链条传输装置的两条传输链条的输出端位于所述两个链条传输装置中的另一个链条传输装置的两条传输链条的输入端之间。
优选地，其中一个链条传输装置的两条传输链条的输出端与另一个链条传输装置的两条传输链条的输入端之间设置有非链条传输装置。
优选地，所述多个链条传输装置中的两个链条传输装置在转向传输时，所述两个链条传输装置中的一个链条传输装置的两条传输链条与所述两个链条传输装置中的另一个链条传输装置的两条传输链条相互垂直。
优选地，所述检测部件为所述传输链条上的卡爪。
优选地，所述检测器为接近开关或光电开关。
优选地，所述中心控制单元还包括触摸屏和可编程逻辑控制器，所述触摸屏通过通信电缆与所述可编程逻辑控制器相连接。
优选地，所述预设脉冲数值被设置为在从检测到基准传输链条的检测部件到检测到每一个非基准链条的检测部件的各个时间段内每一个非基准传输链条对应的编码器反馈送中心控制单元的各个脉冲数值，其中所述多个链条传输装置从初始位置开始运行。
本发明实施例还提供了一种上述控制系统的同步运行的方法，该方法包括：
在所述控制系统的运行过程中，所述中心控制单元控制所述基准传输链条以预先设定速度运行，然后以所述基准传输链条以为基准，调整非基准传输链条的运行速度，其具体过程包括：
所述中心控制单元在从接收到检测到基准传输链条的检测部件信号到接收到检测到每一个非基准链条的检测部件信号的各个时间段内，分别记录每一个非基准传输链条对应的编码器反馈送中心控制单元的各个实际脉冲数值，将所述各个实际脉冲数值分别与对应的预设脉冲数值进行比较，并根据比较结果调节每一个所述非基准传输链条的运行速度，使下一次检测到所述检测部件的实际脉冲数值与预设脉冲数值接近或相等。
优选地，还包括：当所述实际脉冲数值大于预设脉冲数值时，所述中心控制单元控制所述非基准传输链条加快运行速度；
当所述实际脉冲数值小于预设脉冲数值时，所述中心控制单元控制非基准传输链条传输的减慢运行速度。
优选地，还包括：将所述多个链条传输装置调整到初始位置。
优选地，还包括：所述多个链条传输装置从初始位置开始运行，在从检测到基准传输链条的检测部件到检测到每一个非基准链条的检测部件的各个时间段内，分别记录每一个非基准传输链条对应的编码器反馈送中心控制单元的各首个脉冲数值，将各首个脉冲数值作为预设脉冲数值。
附图概述
图1为开榫设备的两个链条传输装置的传输链条产生交接的示意图；
图2为本发明实施例中的多链条同步运行的控制系统的示意图。
附图标记：1-开榫入口传输链条，2-一次开榫传输链条，3-二次开榫传输链条，4-第一伺服电机，5-第二伺服电机，6-第三伺服电机，7-第一接近开关，8-第二接近开关，9-第三接近开关，10-第一卡爪，11-第二卡爪，12-矿棉吸声板，13-皮带传输装置，
本发明的较佳实施方式
下文中将结合附图对本发明的实施例进行详细说明。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互任意组合。
如图2所示，本发明实施例的多链条同步运行的控制系统应用于具有三个链条传输装置的开榫设备时，按传输方向依次为开榫入口链条传输装置、一次开榫链条传输装置、二次开榫链条传输装置，还包括中心控制单元。
开榫入口链条传输装置包括开榫入口传输链条1和第一伺服电机4，开榫入口传输链条1由第一伺服电机4驱动，第一伺服电机4尾端有第一编码器，开榫入口传输链条1设置有等距离的第一卡爪10，第一卡爪10可以带动矿棉吸声板12向前移动。第一接近开关7设置在开榫入口传输链条1的右端，用于检测到开榫入口传输链条1上的第一卡爪10，并把检测到的信号输送至中心控制单元的可编程逻辑控制器(PLC)。
一次开榫链条传输装置包括一次开榫传输链条2和第二伺服电机5，第二伺服电机5尾端有第二编码器，一次开榫传输链条2由第二伺服电机5驱动，一次开榫传输链条2与开榫入口传输链条1的传输方向相同，为同向传输，开榫入口传输链条1的输出端位于一次开榫传输链条2的输入端的之间。一次开榫传输链条2设置有等距离的第二卡爪11，第二卡爪11可以带动矿棉吸声板12向前移动。第二接近开关8设置在一次开榫传输链条2的左端，可以用于检测一次开榫传输链条2的第二卡爪11，并把检测的信号输送至中心控制单元的可编程逻辑控制器(PLC)。
二次开榫链条传输装置包括二次开榫传输链条3和第三伺服电机6，二次开榫传输链条3由第三伺服电机6驱动，第三伺服电机6尾端有第三编码器，二次开榫传输链条3设置有等距离的第三卡爪，第三卡爪可以带动矿棉吸声板12向前移动。第三接近开关9设置在二次开榫传输链条3的一端，第 三接近开关9用于检测二次开榫传输链条3的第三卡爪，并把检测到的信号输送至中心控制单元的可编程逻辑控制器(PLC)。
以开榫入口传输链条1作为基准传输链条，PLC控制第一伺服电机4驱动开榫入口传输链条1以设定速度运转，同时PLC也控制第二伺服电机5驱动一次开榫传输链条2运转，这样在运转过程中，开榫入口传输链条1上的第一卡爪10依次接近第一接近开关7，第一接近开关7将检测的信号反馈给PLC，一次开榫传输链条2上的第二卡爪11依次接近第二接近开关8，第二接近开关8将检测的信号反馈给PLC。二次开榫传输链条3上的第三卡爪依次接近第三接近开关9，第三接近开关9将检测的信号反馈给PLC。
在后续的生产运行过程中，第二编码器将第二卡爪11依次经过第二接近开关8所产生的脉冲数值(对应每一个第二卡爪11的脉冲数值为在第一接近开关7检测到第一卡爪10到第二接近开关8检测到第二卡爪11的时间段内控制器记录的编码器所产生的脉冲数值)传输进PLC，该实际脉冲数值与一次开榫的预定脉冲数值实时对比，当数值基本一致时，第二伺服电机5与第一伺服电机4均以设定速度运转；当该实际脉冲数值大于一次开榫的预定脉冲数值时，PLC控制第二伺服电机5加速，以消除第二卡爪11与第一卡爪10在交接时不相匹配的位置差，直至实际脉冲数值与一次开榫的预定脉冲数值基本一致时，PLC控制第二伺服电机5的速度恢复为设定速度；当该实际脉冲数值小于一次开榫的预定脉冲数值时，PLC控制第二伺服电机5减速，以消除第二卡爪11与第一卡爪10在交接时不相匹配的位置差，直至实际脉冲数值与一次开榫的预定脉冲数值基本一致时，PLC控制第二伺服电机5的速度恢复为设定速度。
本发明的实施例的多链条同步运行的控制系统，不但可以使同向运行的两个链条传输装置的传输链条保持同步运行，而且还可以保证不同传输方向上的传输链条进行同步运行，如图2所示，二次开榫传输链条3的传输方向与开榫入口传输链条1、一次开榫传输链条2的传输方向垂直，为了使板材从一次开榫传输链条2轻松地飞跃至二次开榫传输链条3，还可以在一次开榫传输链条2与二次开榫传输链条3之间设置有皮带传输装置13。
为了达到同步运行，也可以采用上述的相同方法，即第三编码器将第三 卡爪依次经过第三接近开关9所产生的实际脉冲数值(即对应每一个第三卡爪的脉冲数值为在第一接近开关7检测到第一卡爪10到第三接近开关9检测到第三卡爪的时间内控制器记录的编码器所产生的脉冲数值)传输进PLC，该脉冲数值与二次开榫的预定脉冲数值实时对比，当数值基本一致时，第三伺服电机6与第一伺服电机4均以设定速度运转；当该实际脉冲数值大于二次开榫的预定脉冲数值时，PLC控制第三伺服电机6加速，以消除第三卡爪与第二卡爪11(由前述方法可知，第二卡爪11与第一卡爪10的位置匹配)在交接时不相匹配的位置差，直至实际脉冲数值与二次开榫的预定脉冲数值基本一致时，PLC控制第三伺服电机6的速度恢复为设定速度；当该实际脉冲数值小于二次开榫的预定脉冲数值时，PLC控制第三伺服电机6减速，以消除第三卡爪与第二卡爪11(由前述方法可知，第二卡爪11与第一卡爪10的位置匹配)在交接时不相匹配的位置差，直至实际脉冲数值与二次开榫的预定脉冲数值基本一致时，PLC控制第三伺服电机6的速度恢复为设定速度。
开榫入口传输链条的第一卡爪10与二次开榫传输链条的第二卡爪11始终保持在适当位置，板材从皮带传输装置13飞跃过来时刚好落在两个第二卡爪11之间。其中，当开榫入口传输链条1和一次开榫传输链条2的速度恒定后，会在单位时间内向皮带传输装置13输送一定数量的板材，皮带传输装置13也会在在单位时间内向二次开榫传输链条3输送一定数量的板材，并且飞跃至二次开榫传输链条3上，与皮带传输装置13的运行速度无关，因此确保板材能飞跃至二次开榫传输链条3即可。
作为可变换的实施方式，二次开榫传输链条3的传输方向与一次开榫传输链条2的传输方向不相同且不垂直时，如成一定的角度，这时可以在一次开榫传输链条2与二次开榫传输链条3之间设置有具有一定弧度传输的辊道传输装置，这样，一次开榫传输链条2上的板材输送到辊道传输装置上，经一定弧度的转向后，被传输到二次开榫传输链条3，同理，辊道传输装置单位时间内传输板材的数量只与开榫入口传输链条1和一次开榫传输链条2的速度有关，二次开榫传输链条3的第三卡爪与开榫入口传输链条1的第一卡爪10的相对位置不应受辊道传输装置速度的影响。
作为可变换的实施方式，也可以选用一次开榫传输链条2或二次开榫传 输链条3为基准传输链条，设定恒定的运行速度，其它两个链条传输装置的传输链条动态调整运行速度，直到实际脉冲数值回归到预设脉冲数值范围内，从而使一次开榫传输链条2上的第二卡爪11或二次开榫传输链条3上的第三卡爪与开榫入口传输链条的第一卡爪10始终保持在适当位置。
中心控制单元还包括触摸屏，触摸屏通过通信电缆与PLC相连接，这样可以通过触摸屏输入选定为基准的链条的运行速度，以及显示预设脉冲数值等，同时还可以显示多链条的各自的实际脉冲数值和多链条的各自的运行速度。
通过触摸屏输入开榫入口传输链条1的恒定运行速度，其它链条开始也按开榫入口传输链条1的运行速度开始运行，在开始运行后，按上述方法使开榫入口传输链条1的上第一卡爪10与一次开榫传输链条2的第二卡爪11及二次开榫传输链条3的第三卡爪始终保持在适当位置。
上述开榫设备的工作过程如下：
1、初始位置的标定
以开榫入口传输链条1为例，初始位置的标定方法如下：当按下开榫入口传输链条1的初始位置按钮时，第一伺服电机4启动，驱动开榫入口传输链条1低速运转；当第一卡爪10到达初始位置时，再次按下开榫入口传输链条1的初始位置按钮，第一伺服电机4停止，驱动开榫入口传输链条1停止，第一编码器将检测到的第一卡爪10从第一接近开关7运行到初始位置的脉冲数值传输进PLC，作为开榫入口初始位置计数值予以保存。
一次开榫传输链条2和二次开榫传输链条3的首次初始位置标定方法同上。
2、系统初始位置复位
标定初始位置完成后，需要进行初始位置复位时，只需按下开榫系统初始位置自动复位按钮，第一伺服电机4启动，驱动开榫入口传输链条1低速运转，第一卡爪10从第一接近开关7起运行的脉冲数值与开榫入口初始位置计数值相等时，第一伺服电机4自动停止，开榫入口传输链条1上的第一卡爪10自动停止在初始位置位。一次开榫传输链条2和二次开榫传输链条3的 初始位置复位方法同上。这样，就可以将三条传输链条的卡爪同时停止在初始位置。
3、确定预设脉冲数值
初始位置标定和系统初始位置复位步骤由岗位人员在需要时使用。若执行了上述步骤，则系统自动执行下述确定预设脉冲数值步骤。
在生产运行时，第一伺服电机4、第二伺服电机5、第三伺服电机6同时高速运转，且速度相同。当第一接近开关7检测到第一卡爪10时，PLC开始记录第二伺服电机5尾端的第二编码器发出的脉冲数值，当第二接近开关8首次检测到第二卡爪11时，计数停止，此时段内，第二编码器所发出的脉冲数值传输进PLC，并被记忆，该记忆的脉冲数值作为一次开榫传输链条2的预设脉冲数值。
同理，当第一接近开关7检测到第一卡爪10时，PLC开始记录第三伺服电机6尾端的第三编码器发出的脉冲数值，当第三接近开关9首次检测到第三卡爪时，计数停止，此时段时，第三编码器所发出的脉冲数值传输进PLC，并被记忆，该记忆的脉冲数值作为二次开榫传输链条3的预设脉冲数值。
预设脉冲数值一经确定，系统连续运行或停止后再次高速运行均以预设脉冲数值为基准，彻底解决了每15-20分钟必须停机，利用人工经验通过卡爪复位重新核定运行起点后再开机的问题。
4、系统正常运行
确定预设脉冲数值后，在系统高速运转生产运行时，PLC将一次开榫传输链条2的第二卡爪11经过第二检测器所产生的实际脉冲数值与一次开榫传输链条1的预设脉冲数值实时对比，将第三卡爪依次经过第三接近开关9所产生的实际脉冲数值与二次开榫传输链条3的预设脉冲数值实时对比，不断实现一次开榫链条传输装置与开榫入口链条传输装置之间、二次开榫链条传输装置与开榫入口链条传输装置之间的卡爪纠偏作用。
作为可变换的实施方式，当多链条同步运行的控制系统应用于其它设备时，该控制系统可以包括两个链条传输装置，也可以包括三个以上的链条传输装置。
该控制系统包括多个链条传输装置和中心控制单元，所述链条传输装置的传输链条设置有距离相等的检测部件，每一个链条传输装置设置有一个检测其检测部件的检测器和驱动其传输链条的伺服电机，所述伺服电机配置有编码器，其中一个链条传输装置的传输链条为基准传输链条，其它链条传输装置的传输链条为非基准传输链条，
所述检测器设置成在检测到所述检测部件时向所述控制系统发送信号；
所述中心控制单元设置成在从检测到基准传输链条的检测部件到检测到每一个非基准链条的检测部件的各个时间段内分别记录每一个非基准传输链条对应的编码器反馈送中心控制单元的各个实际脉冲数值，将所述各个实际脉冲数值分别与对应的预设脉冲数值进行比较，并根据比较结果调节每一个所述非基准传输链条的运行速度，使得下一次检测到的所述检测部件的实际脉冲数值与预设脉冲数值接近或相等
例如控制系统设置有N个链条传输装置时，相应地也设置有N个伺服电机、N个检测器和一个PLC(可编程的控制器)；每个链条传输装置的传输链条分别由一个伺服电机驱动，并且每个链条传输装置的传输链条设置有等距离的检测部件；检测器由感应器件来实现检测，例如可以采用光电开关和接近开关，作为优选的实施方式，可以选用接近开关。检测部件可以为链条上的卡爪，也可以为其它等距离的标记件。
N个接近开关分别用于检测N个链条传输装置的传输链条的检测部件，并把检测到的信号输送PLC，以第K个链条传输装置的传输链条作为基准传输链条，将除K个链条传输装置以外的其它链条传输装置的传输链条作为非基准传输链条，中心控制单元通过非基准传输链条的实际脉冲数值与预设脉冲数值进行对比，调节非基准链条的运行速度，实现非基准链条与基准链条同步运行。
以第L个链条传输装置的传输链条为例，对应第L个传输链条卡爪的实际脉冲数值为在第K个接近开关检测到第K个传输链条的卡爪到第L个接近开关检测到第L个传输链条的卡爪的时间段内PLC记录的第L个编码器所产生的脉冲数值为实际脉冲数值。其中卡爪定位后伺服电机首次高速运转时的第一个实际脉冲数值被PLC记忆下来，作为预设脉冲数值。
PLC用于控制第K个伺服电机驱动第K个链条传输装置的传输链条以设定速度运转。PLC将第L个传输链条的实际脉冲数值与第L个传输链条的预设脉冲数值实时对比，当数值基本一致时，第L个伺服电机与第K个伺服电机均以设定速度运转；当第L个传输链条的实际脉冲数值大于预设脉冲数值时，PLC控制第L个伺服电机加速，以消除第L个传输链条的卡爪与第K个传输链条的卡爪不相匹配的位置差，直至第L个传输链条的实际脉冲数值与预设脉冲数值基本一致时，PLC控制第L个伺服电机的速度恢复为设定速度；当第L个传输链条的实际脉冲数值小于预设脉冲数值时，PLC控制第L个伺服电机减速，以消除第L个传输链条的卡爪与第K个传输链条的卡爪不相匹配的位置差，直至第L个传输链条的实际脉冲数值与第L个传输链条的预设脉冲数值基本一致时，PLC控制第L个伺服电机的速度恢复为设定速度。
其中，K和L为整数，2≤N，1≤K≤N，1≤L≤N，K≠L；
同理，同时也可将第K个链条传输装置的传输链条作为基准传输链条，调整除第K个链条传输装置的传输链条以外的非基准传输链条的运行速度，从而实现N-1条非基准传输链条与第K个链条同步运行。
上述N个链条传输装置的传输链条同步运行的具体步骤包括：
(1)将N个链条传输装置的传输链条调整至初始位置，初始位置即传输链条的检测部件或卡爪能相互配合的位置。然后以第K个链条传输装置的传输链条作为基准传输链条，预先设定第K个链条传输装置的传输链条的设定速度，PLC通过N个伺服电机分别驱动N个链条传输装置的传输链条以设定速度开始运行；
(2)在开始运行后，PLC控制第K个伺服电机驱动第K个链条传输装置的传输链条以设定速度运转；
第一个接近开关用于检测第一个链条传输装置的传输链条的检测部件，并把检测到的信号输送PLC，第二个接近开关用于检测第二个链条传输装置的传输链条的检测部件，并把检测的信号输送PLC，第三个接近开关用于检测第三个链条传输装置的传输链条的检测部件，并把检测到的信号输送PLC，一直到第N个接近开关用于检测第N个链条传输装置的传输链条的检测部件，并把检测到的信号输送PLC；PLC通过上述方法记录各个非基准链条的 实际脉冲数值。
PLC将第L个传输链条的实际脉冲数值与第K个传输链条的预设脉冲数值实时对比，当数值基本一致时，第L个伺服电机与第K个伺服电机均以设定速度运转；当第L个传输链条的实际脉冲数值大于预定脉冲数值时，PLC控制第L个伺服电机加速，以消除第L个传输链条的卡爪与第K个传输链条的卡爪不相匹配的位置差，直至第L个传输链条的实际脉冲数值与预设脉冲数值基本一致时，PLC控制第L个伺服电机的速度恢复为设定速度；当第L个传输链条的实际脉冲数值小于预定脉冲数值时，PLC控制第L个伺服电机减速，以消除第L个传输链条的卡爪与第K个传输链条的卡爪不相匹配的位置差，直至第L个传输链条的实际脉冲数值与第K个传输链条的预设脉冲数值基本一致时，PLC控制第L个伺服电机的速度恢复为设定速度。
同理，同时也将第K个链条传输装置的传输链条作为基准传输链条，分别得出其它N-1条非基准传输链条实际脉冲数值与预设脉冲数值的比较结果，PLC也可以通过各自的伺服电机自动调整其它N-1个链条传输装置的传输链条的运行速度，直到实际脉冲数值回归到预设脉冲数值范围(一个比较小的范围)内，从而实现N-1条非基准传输链条与第K链条同步运行。
虽然本发明实施例所揭露的实施方式如上，但所述的内容只是为了便于理解本发明实施例而采用的实施方式，并非用以限定本发明。任何本发明所属技术领域内的技术人员，在不脱离本发明所揭露的精神和范围的前提下，可以在实施的形式上及细节上作任何的修改与变化，但本发明的专利保护范围，仍须以所附的权利要求书所界定的范围为准。
工业实用性
本发明实施例的多链条同步运行的控制系统，通过设定其中一个链条传输装置的传输链条为基准传输链条，并保持恒定的运行速度，可编程逻辑控制器则根据检测的实际脉冲数值与预设脉冲数值进行比较，并判断出其它链条的卡爪位置的偏差。然后，通过伺服电机自动调整其它链条的运行速度， 直到实际脉冲数值回归到预设脉冲数值范围内，从而使全部链条的卡爪始终保持在适当位置，实现了链条上卡爪位置的动态调整，消除了不断累积的位置误差，避免了板材不断堆积、堵塞，造成“堵板”、“乱板”现象。

Claims (14)

  1. 一种多链条同步运行的控制系统，其包括多个链条传输装置和中心控制单元，所述链条传输装置的传输链条设置有距离相等的检测部件，每一个链条传输装置设置有一个检测其检测部件的检测器和驱动其传输链条的伺服电机，所述伺服电机配置有编码器，其中一个链条传输装置的传输链条为基准传输链条，其它链条传输装置的传输链条为非基准传输链条，
    所述检测器设置成在检测到所述检测部件时向所述控制系统发送信号；
    所述中心控制单元设置成在从检测到所述基准传输链条的检测部件到检测到每一个非基准链条的检测部件的各个时间段内分别记录每一个非基准传输链条对应的编码器反馈送所述中心控制单元的各个实际脉冲数值，将所述各个实际脉冲数值分别与对应的预设脉冲数值进行比较，并根据比较结果调节每一个非基准传输链条的运行速度，使得下一次检测到的所述检测部件的实际脉冲数值与所述预设脉冲数值接近或相等。
  2. 根据权利要求1所述的控制系统，其中，所述中心控制单元设置成在所述实际脉冲数值大于所述预设脉冲数值时控制所述非基准传输链条加快运行速度，以及在所述实际脉冲数值小于所述预设脉冲数值时控制所述非基准传输链条减慢运行速度。
  3. 根据权利要求1或2所述的控制系统，其中，所述控制系统包括两个或三个链条传输装置。
  4. 根据权利要求1或2所述的控制系统，其中，当所述多个链条传输装置中的两个链条传输装置同向传输时，所述两个链条传输装置中的一个链条传输装置的两条传输链条的输出端位于所述两个链条传输装置中的另一个链条传输装置的两条传输链条的输入端之间。
  5. 根据权利要求1或2所述的控制系统，其中，其中一个链条传输装置的两条传输链条的输出端与另一个链条传输装置的两条传输链条的输入端之间设置有非链条传输装置。
  6. 根据权利要求1或2所述的控制系统，其中，所述多个链条传输装置中的两个链条传输装置在转向传输时，所述两个链条传输装置中的一个链条 传输装置的两条传输链条与所述两个链条传输装置中的另一个链条传输装置的两条传输链条相互垂直。
  7. 根据权利要求1或2所述的控制系统，其中，所述检测部件为所述传输链条上的卡爪。
  8. 根据权利要求1或2所述的控制系统，其中，所述检测器为接近开关或光电开关。
  9. 根据权利要求1或2所述的控制系统，其中，所述中心控制单元还包括触摸屏和可编程逻辑控制器，所述触摸屏通过通信电缆与所述可编程逻辑控制器相连接。
  10. 根据权利要求1或2所述的控制系统，其中，所述预设脉冲数值被设置为在从检测到所述基准传输链条的检测部件到检测到每一个非基准链条的检测部件的各个时间段内每一个非基准传输链条对应的编码器反馈送所述中心控制单元的各个脉冲数值，其中所述多个链条传输装置从初始位置开始运行。
  11. 一种如权利要求1-10中任意一项所述的控制系统的同步运行的方法，该方法包括：
    在所述控制系统的运行过程中，所述中心控制单元控制所述基准传输链条以预先设定速度运行，然后以所述基准传输链条以为基准，调整非基准传输链条的运行速度，其具体过程包括：
    所述中心控制单元在从接收到检测到所述基准传输链条的检测部件信号到接收到检测到每一个非基准链条的检测部件信号的各个时间段内，分别记录每一个非基准传输链条对应的编码器反馈送中心控制单元的各个实际脉冲数值，将所述各个实际脉冲数值分别与对应的预设脉冲数值进行比较，并根据比较结果调节每一个所述非基准传输链条的运行速度，使下一次检测到所述检测部件的实际脉冲数值与预设脉冲数值接近或相等。
  12. 根据权利要求11所述的同步运行的方法，还包括：当所述实际脉冲数值大于所述预设脉冲数值时，所述中心控制单元控制所述非基准传输链条加快运行速度；
    当所述实际脉冲数值小于所述预设脉冲数值时，所述中心控制单元控制所述非基准传输链条传输的减慢运行速度。
  13. 根据权利要求11或12所述的同步运行的方法，还包括：将所述多个链条传输装置调整到初始位置。
  14. 根据权利要求13所述的同步运行的方法，还包括：所述多个链条传输装置从所述初始位置开始运行，在从检测到所述基准传输链条的检测部件到检测到每一个非基准链条的检测部件的各个时间段内，分别记录每一个非基准传输链条对应的编码器反馈送中心控制单元的各首个脉冲数值，将各首个脉冲数值作为预设脉冲数值。
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