WO2022242097A1 - Cloth regulation device and method, sorting system, and computer readable storage medium - Google Patents

Abstract

A cloth regulation device and method, a sorting system, and a computer readable storage medium. The cloth regulation device comprises a feeding apparatus (200), a first-stage sliding plate (300), a second-stage belt type distributor (400), a cloth sliding plate (500), and a three-stage belt type distributor (600) which are sequentially connected, and further comprises a feedback apparatus (700) separately connected to the feeding apparatus (200) and the second-stage belt type distributor (400). The feedback apparatus (700) is configured to obtain the adhesion lamination rate and the paving rate of the material on the three-stage belt type distributor (600), and control the feeding amount of the feeding apparatus (200) and the speed of the second-stage belt type distributor (400) according to the adhesion stacking rate and the paving rate, so that the adhesion stacking rate is less than a predetermined adhesion stacking rate upper limit, and the paving rate is greater than or equal to a predetermined paving rate upper limit.

Description

Cloth control device, method, sorting system and computer-readable storage medium

This application claims priority to a Chinese patent application with application number 202110559510.2 filed with the China Patent Office on May 21, 2021, the entire contents of which are incorporated herein by reference.

technical field

The present application relates to the field of material conveying, for example, to a cloth control device, method, sorting system and computer-readable storage medium.

Background technique

In the field of material sorting, due to factors such as speed difference and rolling of objects in the process of distributing materials, it is easy to cause the materials to form overlapping and sticking on the belt. In order to improve the sorting processing speed, it is necessary to increase the cloth speed, which will lead to more serious tumbling and overlapping.

In view of the above problems, the current distribution method is to calculate the corresponding parameters in the previous experiment, and then input the parameters in the distribution device for distribution. During the sorting process, the distribution speed remains unchanged, but the distribution effect obtained in this way will eventually achieve the sorting effect There is a difference from the expected one, and it cannot be adjusted according to the particle size and batch of the material. Manual experimental testing and adjustment of the corresponding compensation parameters are required to obtain the expected fabric effect, which is time-consuming and labor-intensive.

Contents of the invention

The present application provides a fabric control device, method, sorting system and computer-readable storage medium, so as to improve the fabric effect and save labor costs.

In the first aspect, the embodiment of the present application provides a cloth control device, which includes sequentially connected feeding devices, a first-stage slide plate, a second-stage belt distributor, a cloth slide plate and a third-stage belt distributor, and also includes The feedback device connected between the feeding device and the secondary belt distributor;

The feedback device is configured to obtain the adhesion and overlapping rate and the fullness rate of the materials on the three-stage belt distributor, and control the feeding of the feeding device according to the adhesion and overlapping rate and the fullness rate. The amount of material and the speed of the secondary belt distributor, so that the adhesion overlapping rate is less than the predetermined upper limit of the adhesion overlapping rate, and the fullness rate is greater than or equal to the predetermined upper limit of the fullness rate.

In the second aspect, the embodiment of the present application also provides a fabric control method, which is applied to the feedback device of the fabric control device in the first aspect; the fabric control method includes:

Acquiring the adhesion and lamination rate and the fullness rate of the materials on the three-stage belt distributor;

According to the adhesion overlap ratio and the coverage ratio, control the feeding amount of the feeding device and the speed of the secondary belt distributor, so that the adhesion overlap ratio is less than a predetermined adhesion overlap ratio rate upper limit, and the fullness rate is greater than or equal to the predetermined upper limit of the fullness rate.

In the third aspect, the embodiment of the present application also provides a sorting system, including the fabric control device in the first aspect.

In the fourth aspect, the embodiment of the present application also provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is run by a processor, the cloth control method of the second aspect above is executed .

Description of drawings

Fig. 1 is a schematic structural diagram of a cloth control device provided by an embodiment of the present application;

Fig. 2 is a schematic structural view of a feed rate controller provided by the embodiment of the present application;

Fig. 3 is a schematic structural diagram of a cloth sliding board provided by an embodiment of the present application;

Fig. 4 is a partially enlarged view of a structural schematic diagram of a cloth sliding board provided in an embodiment of the present application;

Fig. 5 is a schematic flow chart of a fabric control method provided by an embodiment of the present application;

Fig. 6 is a schematic flowchart of another method for controlling cloth according to the embodiment of the present application.

Icon: 100-hopper; 200-feeding device; 201-first motor; 202-first screw; 203-gate; 300-first-level slide; 400-secondary belt distributor; 501-second motor; 502-second lead screw; 503-feeding slide; 5031-straight plate section; 5032-bending plate section; 600-three-stage belt distributor;

Detailed ways

The size and shape of special-shaped bulk materials are irregular, and it is easy to form overlapping and adhesion on the belt. The current fabric distribution method can only input the parameters calculated in the previous experiment into the fabric fabric device. The fabric effect obtained in this way is different from the expected fabric effect. It is necessary to manually adjust the corresponding compensation parameters to obtain the expected fabric effect, which is time-consuming. strenuous. Based on this, embodiments of the present application provide a fabric control device, method, sorting system, and computer-readable storage medium, which can improve the fabric effect and save labor costs.

In order to facilitate the understanding of this embodiment, firstly, a detailed introduction will be given to a cloth regulating device disclosed in the embodiment of the present application.

The embodiment of the present application provides a fabric control device, which is suitable for evenly spreading materials, especially for the scene of uniformly spreading special-shaped bulk materials; the fabric control equipment can be used but not limited to Sorting of materials.

Referring to the schematic structural diagram of a cloth control device shown in Figure 1, the cloth control device includes a hopper 100 connected in sequence, a feeding device 200, a primary slide 300, a secondary belt distributor 400, a distribution slide 500 and three The primary belt distributor 600 also includes a feedback device 700 connected to the feeding device 200 and the secondary belt distributor 400 respectively. The feedback device 700 is set to obtain the adhesion and overlapping rate and the fullness rate of the material on the three-stage belt distributor 600, and control the feeding amount of the feeding device 200 and the secondary belt type conveyor according to the adhesion and overlapping rate and the fullness rate. The speed of the distributor 400 is such that the adhesion overlapping rate is less than the predetermined upper limit of the adhesion overlapping rate, and the fullness rate is greater than or equal to the predetermined upper limit of the fullness rate.

The feeding device 200 is connected behind the hopper 100 (ie, the outlet of the hopper 100 ) to receive the materials in the hopper 100 . In some embodiments, the feeding device 200 includes a vibrating distributor and a feed amount controller; the inlet of the vibrating distributor is connected to the outlet of the hopper 100, and the outlet of the vibrating distributor is connected to the inlet of the primary slide plate 300; the feeding amount The controller is connected with the feedback device 700, and the feed rate controller is arranged at the connection between the hopper 100 and the vibrating distributor.

Referring to the schematic structural view of a feed rate controller shown in Figure 2, the feed rate controller includes a first motor 201, a first lead screw 202 and a shutter 203 connected in sequence, and the first motor 201 is also connected with a feedback device 700 connections. The feedback device 700 can control the size of the feeding amount by controlling the direction of rotation and the number of rotations of the first motor 201. For example, the feedback device 700 can control the first motor 201 to rotate in the forward direction. At this time, the opening of the shutter 203 increases. Feed rate increased.

The material enters the primary slide plate 300 through the feeding device 200, the primary slide plate 300 is fixed on the support of the secondary belt distributor 400, relatively stationary with the secondary belt distributor 400, and the primary slide plate 300 is not adjustable.

The material enters the secondary belt distributor 400 through the primary slide 300. The secondary belt distributor 400 is equipped with a motor, and the feedback device 700 can adjust the frequency of the secondary belt distributor 400 motor. 400 speed.

The material enters the distribution slide 500 through the secondary belt distributor 400, and the distribution slide 500 is installed on the support of the third belt distributor 600. In some embodiments, the feedback device 700 is also connected to the distribution slider 500, and the feedback device 700 is also configured to control the speed of the distribution slider 500 in the transmission direction of the secondary belt distributor 400 according to the speed of the secondary belt distributor 400. position, so that the preset area of the distribution slide 500 accesses the materials passing through the secondary belt distributor 400.

In this embodiment, the position of the distribution slide 500 and the speed of the secondary belt distributor 400 are adjusted in linkage, and the position of the distribution slide 500 will change with the change of the speed of the secondary belt distributor 400. When the secondary belt When the speed of the belt distributor 400 increases, the distribution slide 500 moves away from the secondary belt distributor 400; conversely, when the speed of the secondary belt distributor 400 decreases, the distribution slide 500 moves closer to the secondary belt distributor 400. The direction of the distributor 400 moves. This can make the materials passing through the secondary belt distributor 400 all fall on the preset area of the distribution slide 500, thereby ensuring that all the materials passing through the secondary belt distributor 400 have the same sliding length on the distribution slide 500, thereby facilitating Cloth adjustment. The preset area can be the initial position of the distribution slider 500 , which can ensure that the distribution slider 500 is just connected to the material, and the sliding length of the material on the distribution slider 500 is equal to the length of the distribution slider 500 .

Referring to the structural diagram of a distribution slide shown in Figure 3 and Figure 4, the distribution slide 500 includes a second motor 501, a second lead screw 502 and a feeding slide 503 connected in sequence, the second motor 501 is also connected with the feedback device 700 Connection, the feeding slide 503 includes an integrally formed straight section 5031 and a curved section 5032, the first end of the straight section 5031 is connected to the secondary belt distributor 400, the second end of the curved section 5032 is connected to the third belt The bracket 601 of the belt distributor 600 is connected, that is, the curved plate section 5032 is higher than the belt of the three-stage belt distributor 600, and the arc of the curved plate section 5032 is a cycloid.

When the above-mentioned second motor 501 rotates, it drives the second lead screw 502 to rotate; when the second lead screw 502 rotates, it drives the feeding slide 503 to move back and forth in the horizontal direction (ie the transmission direction of the secondary belt distributor 400). The feedback device 700 can adjust the position of the feeding slide 503 in the transmission direction of the secondary belt distributor 400 by adjusting the rotation direction and the number of rotations of the second motor 501 . It should be noted that when the position of the feeding slide 503 is adjusted, the feed slide 503 only shifts in the horizontal direction, and its inclination angle (that is, the angle of the distribution slide determined during design and installation) does not change.

The material enters the three-stage belt distributor 600 through the distribution slide 500, and the three-stage belt distributor 600 can also be equipped with a motor, so that the three-stage belt distributor 600 can be adjusted by adjusting the frequency of the motor attached to the three-stage belt distributor. 600 speed. It should be noted that, during the fabric control process, the speed of the three-stage belt distributor 600 is not adjusted.

The embodiment of the present application also refines the design of the length of the slide plate and the speed of the belt in the above-mentioned fabric control equipment, as follows:

(1) The speed V ₃ of the three-stage belt distributor 600 is determined according to the physical properties of the materials to be sorted and the required processing capacity.

( ₂ ) Considering that the adhesion and stacking of materials on the secondary belt distributor 400 have little influence, the preset initial velocity V of the secondary belt distributor 400 is determined to be:

(3) The material passes through the acceleration and stabilization of the secondary belt distributor 400, and is thrown horizontally at the end of the secondary belt distributor 400 at the speed V2 _; The tangential speed of the slide 500 enters the cloth slide 500, and the shape of the cloth slide 500 is straight line + cycloid. Considering that the longer the length of the distribution slide 500, the greater the speed difference between the rolling material and the sliding material at the exit of the distribution slide 500, and the higher the adhesion and overlapping rate, so according to the speed of the material at the entrance of the distribution slide 500 and the speed at the exit speed, design the length of the cloth skateboard 500.

Based on the parameter design of the above cloth control equipment, this embodiment provides the following cloth control method:

The feedback device 700 can obtain the adhesion and overlapping rate of the material on the three-stage belt distributor 600 within a period of time through the analysis of the current distribution result by the identification module

Two analysis results with the coverage rate P, where:

Adhesion lamination rate = number of laminated blocks/total number of blocks * 100%,

Coverage rate = material area / belt area * 100%.

The feedback device 700 is pre-input with a predetermined upper limit of adhesion and overlap rate

and a predetermined upper limit of the coverage rate P ₀ . Taking material sorting as an example, when the adhesion and overlapping rate analyzed by the identification module

When , the sorting accuracy can be satisfied; when the adhesion overlapping rate analyzed by the recognition module

, the sorting accuracy cannot be satisfied. The fabric control equipment can be adjusted through the feedback device 700 to meet the requirements of the adhesion and lamination rate.

The maximum feeding amount at that time, that is, the maximum coverage rate P _max . Wherein, during the cloth control process, the feedback device 700 controls the speed of the secondary belt distributor 400, so that the speed V ₂ of the secondary belt distributor 400 and the speed V ₃ of the tertiary belt distributor 600 satisfy the following relationship:

In the embodiment of the present application, the distribution control equipment includes a sequentially connected feeding device, a first-stage slide plate, a second-stage belt distributor, a distribution slide and a third-stage belt distributor. The feedback device connected to the belt distributor; the feedback device is set to obtain the adhesion overlapping rate and coverage rate of the material on the three-stage belt distributor, and control the feeding of the feeding device according to the adhesion overlapping rate and coverage rate The amount and the speed of the secondary belt distributor, so that the adhesion overlap rate is less than the predetermined upper limit of the adhesion overlap rate, and the fullness rate is greater than or equal to the predetermined upper limit of the fullness rate. The cloth control device realizes cloth self-regulation through a feedback device, and improves the cloth effect and saves labor cost compared with the cloth method based on manual adjustment in the related art.

The embodiment of the present application also provides a cloth control method, which is applied to the feedback device of the above cloth control device. Referring to the schematic flow chart of a fabric control method shown in Figure 5, the method mainly includes the following steps S401 to S402:

Step S401, obtaining the adhesion and lamination rate and the fullness rate of the material on the three-stage belt distributor.

Step S402, according to the above-mentioned adhesion lamination rate and coverage rate, control the feeding amount of the feeding device and the speed of the secondary belt distributor, so that the adhesion lamination rate is less than the predetermined upper limit of the adhesion lamination rate, and the The rate is greater than or equal to the predetermined upper limit of the full rate.

The cloth control method provided in the embodiment of the present application is to control the feeding amount of the feeding device by obtaining the adhesion and overlapping rate and the fullness rate of the materials on the three-stage belt distributor, and according to the above-mentioned adhesion and overlapping rate and the fullness rate and the speed of the secondary belt distributor, the adhesion overlapping rate can be lower than the predetermined upper limit of the adhesion overlapping rate, and the fullness rate is greater than or equal to the predetermined upper limit of the fullness rate. In this way, the self-adjustment of the cloth is realized, and compared with the cloth method based on manual adjustment in the related art, the cloth effect is improved and the labor cost is saved.

In order to facilitate understanding, this embodiment also provides a theoretical basis related to the adjustment of adhesion overlapping ratio and confluence ratio. For example, the feeding device includes a feeding amount controller, and the feeding amount controller includes a first motor, a first lead screw and a shutter connected in sequence, and the first motor is also connected with a feedback device; the feeding device is adjusted by adjusting the shutter The opening degree changes the feeding amount; the relationship between the multiple parameters of the cloth control equipment is as follows:

1. The feeding quantity Q of the feeding device:

where k ₃ =k*k'*i*b

Q=Q'+k ₃ Δn

Among them: Q is the feeding amount, Q` is the preset initial feeding amount, △Q is the adjustment value of the feeding amount, k and k` are constants, a is the adjusted opening height of the gate, and a ₀ is the gate △a is the adjustment value of the opening height of the ram, b is the width of the ram, i is the transmission ratio of the first lead screw, and △n is the number of rotations of the first motor to be adjusted.

The above-mentioned feeding amount Q is the area of the material passing through the ram per unit time, and the feeding amount Q is equal to the width b of the ram multiplied by the opening height a of the ram.

2. Coverage rate P:

Among them: P is the coverage rate, V ₃ is the speed of the three-stage belt distributor, and k ₁ and k ₃ are constants.

It can be seen that the fullness rate P is positively correlated with the number of rotations Δn of the first motor to be adjusted.

3. Adhesion overlapping rate

in:

is the adhesion overlapping rate, k ₂ and n are both constants, V ₂ is the speed of the secondary belt distributor, and f(V ₂ ) is a function that is negatively correlated with V ₂ .

It can be seen that when the speed V ₃ of the three-stage belt distributor is constant, the adhesion and overlapping rate

It has an n-th power relationship with the fullness rate P, and

It is negatively correlated with the speed V ₂ of the secondary belt distributor.

During the adjustment process of the cloth control equipment, the adjustment of △n and V ₂ can refer to the above formula, so that the adhesion overlap rate

It meets the best cloth effect and the best sorting accuracy with the coverage rate P.

It should be noted that the best sorting accuracy is different sorting indicators required for different scenarios. For example, for the sorting equipment for sorting clean coal products, the gangue content rate of the sorted clean coal is detected, and when the gangue content rate is lower than the preset threshold, it can be considered that the sorting equipment has reached the best sorting accuracy. For another example, for the sorting equipment for pre-discharging gangue, the coal-carrying rate of the sorted gangue is detected. When the coal-carrying rate of the gangue is lower than the preset threshold, it can be considered that the sorting equipment has reached the best sorting accuracy. For the same sorting device, in different scenarios corresponding to different modes, the indicators required for sorting can be different, and the preset thresholds corresponding to different sorting indicators can be adjusted according to the actual situation.

Based on this, the above step S402 can be realized through the following process:

In step 1.1, respectively compare the relationship between the adhesion overlap rate and the upper limit of the adhesion overlap rate, and the relationship between the confluence rate and the upper limit of the confluence rate, and obtain the comparison results.

When the comparison result is that the adhesion overlapping rate is less than the upper limit of the adhesion overlapping rate, and the fullness rate is less than the upper limit of the fullness rate, perform step 1.2; When the rate is less than the upper limit of the fullness rate, perform step 1.3; when the comparison result is that the adhesion overlapping rate is less than the upper limit of the adhesion and overlapping rate, and the fullness rate is greater than or equal to the upper limit of the fullness rate, the control process ends.

In step 1.2, increase the feeding amount of the feeding device; reacquire the adhesion and overlapping rate and coverage rate of the material on the three-stage belt distributor, and re-execute step 1.1.

Step 1.3, reduce the feeding amount of the feeding device, and increase the speed of the secondary belt distributor; judge whether the current speed of the secondary belt distributor is less than the speed of the third belt distributor; based on the two The judgment result that the current speed of the first-stage belt distributor is less than the speed of the third-level belt distributor reacquires the adhesion and overlapping rate and the fullness rate of the material on the third-level belt distributor, and re-executes step 1.1; based on The current speed of the second-level belt distributor is greater than or equal to the speed judgment result of the third-level belt distributor, and the control process ends.

In the cloth control process of step 1.3, the speed V ₂ of the secondary belt distributor and the speed V ₃ of the third belt distributor satisfy the following relationship:

For ease of understanding, refer to the schematic flow chart of another cloth control method shown in Figure 6. Before the adjustment, first input the upper limit of the adhesion overlap rate

and the upper limit of the coverage rate P ₀ . When adjusting the fabric, first feed the material with a lower adhesion and overlapping rate and a lower fullness rate (that is, the feeding device adopts the preset initial feeding amount and the secondary belt distributor adopts the preset initial speed), Adhesion overlap rate

There is the following relationship with the filling rate P:

P<P ₀ ; After that, the motor of the feed controller is controlled to rotate in the forward direction, that is, increasing △n, at this time, the fullness rate P increases, and the adhesion and overlapping rate

rise. When the fullness rate reaches the upper limit, that is, P≥P ₀ , and the adhesion and overlapping rate does not reach the upper limit, that is,

, the self-regulation ends; when the adhesion overlap rate reaches the upper limit, the

When the fullness rate does not reach the upper limit, that is, P<P ₀ , reduce △n, and the adhesion overlap rate at this time

Decrease, increase the speed V ₂ of the secondary belt distributor at the same time, the coverage rate P will change accordingly, continue to determine the coverage rate P and the adhesion overlapping rate

with set upper limit

P ₀ until the fullness rate reaches the upper limit, that is, P≥P ₀ , and the adhesion and overlapping rate does not reach the upper limit, that is,

Self-tuning ends. If V ₂ is increased to be the same as the speed V ₃ of the three-stage belt distributor, that is, when V ₂ = V ₃ , the adhesion and overlapping rate still reaches the upper limit.

If the fullness rate does not reach the upper limit, that is, the state of P<P ₀ , then it is the best cloth state that can be adjusted at this time, and the self-adjustment ends.

The fabric control method provided by the embodiment of the present application converts the current work of manually adjusting the feeding amount and fabric effect into self-adjustment, and can adjust the most suitable fabric effect for places where materials often change, saving labor costs and increasing benefits.

In addition, the embodiment of the present application also provides a method for adjusting the position of the distribution slide related to the adjustment of the speed of the secondary belt distributor, as follows:

In the process of fabric adjustment, when the speed of the secondary belt distributor changes, the position of the fabric slider also changes accordingly, and the corresponding relationship is as follows:

Among them, △X is the position movement of the distribution slide; V ₂₁ is the initial velocity of the secondary belt distributor; V ₂₂ is the end speed of the secondary belt distributor; θ is the angle of the distribution slide determined during design and installation; g is the acceleration of gravity; k ₃ is the preset compensation coefficient.

In this way, by adjusting the position of the distribution slide plate in conjunction with the speed of the secondary belt distributor, it can be ensured that all materials passing through the secondary belt distributor have the same sliding length on the distribution slide plate, which facilitates the adjustment of the distribution. Improve cloth effect.

An embodiment of the present application also provides a sorting system, which includes the above-mentioned cloth control device. The sorting system performs sorting operations on the three-stage belt distributor of the cloth control equipment.

The sorting system provided in this embodiment includes the aforementioned material distribution control equipment, identification system and execution system, wherein the identification system includes an identification module, and the identification module is set to identify the adhesion stack of materials on the three-stage belt distributor within a period of time. pressure rate

It is also set to identify the nature of the material on the three-stage belt distributor and compare it with the preset value to determine whether it is the target material and transmit the result to the execution system. The execution system will check the non-target material Perform the execution operation, which can be any execution method that can remove non-target materials such as high-pressure blowing, beating or grabbing; and the execution speed or frequency of the execution system is consistent with the speed of the three-stage belt distributor and the speed of the material. related to particle size.

The realization principle and technical effect of the above-mentioned sorting system are the same as those of the aforementioned embodiment of the cloth control device. For a brief description, for the parts not mentioned in the part of the sorting system embodiment, reference may be made to the corresponding content in the aforementioned embodiment of the cloth control device.

The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is run by a processor, the cloth control method described in the foregoing method embodiments is executed. The computer-readable storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), RAM, magnetic disk or optical disk, and other media that can store program codes. The computer readable storage medium may be a non-transitory computer readable storage medium.

In all examples shown and described herein, any specific values should be construed as merely exemplary and not limiting, and thus other examples of the exemplary embodiments may have different values.

In addition, in the description of the embodiments of the present application, unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection , or integrally connected; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application in specific situations.

In the description of this application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, use a specific orientation construction and operation, therefore should not be construed as limiting the application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

Claims (10)

1. A cloth control device, comprising a sequentially connected feeding device, a first-stage slide plate, a second-stage belt distributor, a cloth slide plate and a third-stage belt distributor; Feedback device connected to the belt distributor;

   The feedback device is configured to obtain the adhesion and overlapping rate and the fullness rate of the materials on the three-stage belt distributor, and control the feeding of the feeding device according to the adhesion and overlapping rate and the fullness rate. The amount of material and the speed of the secondary belt distributor, so that the adhesion overlapping rate is less than the predetermined upper limit of the adhesion overlapping rate, and the fullness rate is greater than or equal to the predetermined upper limit of the fullness rate.
2. The cloth regulating device according to claim ₁ , wherein the feedback device is configured to control the speed of the secondary belt distributor so that the speed V of the secondary belt distributor is the same as that of the tertiary belt distributor. The speed V ₃ of the type distributor satisfies the following relationship:

   
3. The cloth regulating device according to claim 1, wherein, the feedback device is connected with the cloth sliding plate, and the feedback device is set to control the distribution sliding plate in the The position in the driving direction of the secondary belt distributor is such that the preset area of the distribution slide is connected to the material passing through the secondary belt distributor.
4. A cloth control method, applied to the feedback device of the cloth control device described in any one of claims 1-3; the cloth control method comprises:

   Acquiring the adhesion and lamination rate and the fullness rate of the materials on the three-stage belt distributor;

   According to the adhesion overlap ratio and the coverage ratio, control the feeding amount of the feeding device and the speed of the secondary belt distributor, so that the adhesion overlap ratio is less than a predetermined adhesion overlap ratio rate upper limit, and the fullness rate is greater than or equal to the predetermined upper limit of the fullness rate.
5. The cloth control method according to claim 4, wherein, the preset initial speed of the secondary belt distributor is less than the speed of the third belt distributor; Coverage rate, the step of controlling the feeding amount of the feeding device and the speed of the secondary belt distributor, including:

   Comparing the size relationship between the adhesion overlap ratio and the upper limit of the adhesion overlap ratio and the size relationship between the coverage ratio and the upper limit of the coverage ratio respectively to obtain a comparison result;

   In response to determining that the comparison result is that the adhesion overlap rate is less than the upper limit of the adhesion overlap rate, and the fullness rate is less than the upper limit of the fullness rate, increasing the feeding amount of the feeding device; Obtain the adhesion overlap rate and fullness rate of the materials on the three-stage belt distributor, and re-execute the comparison of the relationship between the adhesion overlap rate and the upper limit of the adhesion overlap rate and the fullness rate. rate and the size relationship of the upper limit of the fullness rate, and the step of obtaining the comparison result;

   In response to determining that the comparison result is that the adhesion overlap rate is greater than or equal to the upper limit of the adhesion overlap rate, and the fullness rate is less than the upper limit of the fullness rate, reducing the feeding amount of the feeding device , and increase the speed of the secondary belt distributor; judge whether the current speed of the secondary belt distributor is less than the speed of the third belt distributor; based on the speed of the secondary belt distributor Judging that the current speed is lower than the speed of the three-stage belt distributor, reacquire the adhesion lamination rate and coverage rate of the materials on the three-stage belt distributor, and re-execute the comparison of the adhesion laminations respectively. The step of obtaining a comparison result between the relationship between the pressure rate and the upper limit of the adhesion lamination rate and the relationship between the fullness rate and the upper limit of the fullness rate;

   In response to determining that the comparison result is that the adhesion overlapping ratio is less than the upper limit of the adhesion overlapping ratio, and the fullness ratio is greater than or equal to the upper limit of the fullness ratio, the control process is ended.
6. The cloth regulating method according to claim 5, further comprising:

   Based on the judgment result that the current speed of the secondary belt distributor is greater than or equal to the speed of the third-level belt distributor, the control process is ended.
7. The cloth regulating method according to claim 5 or 6, wherein, the feeding device includes a feeding amount controller, and the feeding amount controller includes a first motor, a first lead screw and a shutter connected in sequence , the first motor is connected to the feedback device; the feeding device is configured to change the feeding amount by adjusting the opening of the gate;

   The feeding quantity of described feeding device is determined by following relation:

   Q=Q'+ΔQ

   ΔQ=kΔab

   Δa=k'iΔn

   

   or

   

   Among them, Q is the feeding amount of the feeding device, Q` is the preset initial feeding amount, △Q is the adjustment value of the feeding amount, k, k`, k ₁ , k ₂ , k ₃ , and n are respectively constant, Δa is the adjustment value of the opening height of the gate, b is the width of the gate, Δn is the number of rotations of the first motor to be adjusted, and i is the transmission ratio of the first screw , P is the coverage rate, V ₃ is the speed of the three-stage belt distributor, V ₂ is the speed of the second-stage belt distributor,

   

   is the adhesion overlapping rate, and f(V ₂ ) is a function that is negatively correlated with V ₂ .
8. The distribution control method according to claim 4, further comprising: controlling the position of the distribution slide plate in the transmission direction of the secondary belt distributor by the following formula:

   

   Among them, ΔX is the position movement of the distribution slide, V ₂₁ is the initial velocity of the secondary belt distributor, V ₂₂ is the end speed of the secondary belt distributor, and θ is the distribution slide , g is the acceleration of gravity, and k ₃ is the preset compensation coefficient.
9. A sorting system, comprising the cloth control device according to any one of claims 1-3.
10. A computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is run by a processor, the cloth control method according to any one of claims 4-8 is executed.

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