CN110550407A - control method of multi-station synchronous conveying device - Google Patents
control method of multi-station synchronous conveying device Download PDFInfo
- Publication number
- CN110550407A CN110550407A CN201910830521.2A CN201910830521A CN110550407A CN 110550407 A CN110550407 A CN 110550407A CN 201910830521 A CN201910830521 A CN 201910830521A CN 110550407 A CN110550407 A CN 110550407A
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- station
- frequency converter
- trolley
- conveying device
- movable trolley
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 25
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000001133 acceleration Effects 0.000 abstract description 17
- 230000001174 ascending effect Effects 0.000 abstract 1
- 238000004806 packaging method and process Methods 0.000 description 12
- 230000000694 effects Effects 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
Classifications
-
- 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
- B65G35/00—Mechanical conveyors not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Conveyors (AREA)
- Replacement Of Web Rolls (AREA)
Abstract
The control method of the multi-station synchronous conveying device realizes the conveying of paper rolls at each station through the ascending/descending of the rail and the advancing/retreating of the movable trolley. The control system of the multi-station synchronous conveying device comprises a PLC system, a frequency converter, a motor with an encoder, a pulse distributor and the like. The PLC system controls the frequency converter through a field bus to realize the starting, stopping and speed of the moving trolley, and the pulse distributor enables encoder signals carried by the motor to be connected into the frequency converter and a counting module of the PLC system. The PLC calculates the real-time position of the mobile trolley through the counting value of the encoder, and the real-time speed of the mobile trolley can be monitored through the rotating speed control of the frequency converter with the encoder. The frequency converter excites the motor in advance before the safety start of the movable trolley, so that the conveying time of about 2 seconds is shortened, and the conveying efficiency of the multi-station synchronous conveying device is improved. And an S-shaped acceleration and deceleration curve control algorithm is adopted, so that stable acceleration and deceleration and accurate positioning of the movable trolley in load change and short time are ensured.
Description
Technical Field
The invention belongs to the field of automatic control, and relates to a control method of a multi-station synchronous conveying device.
background
In the intelligent paper roll conveying and packaging system, the packaging rhythm of paper rolls is higher than that of a high-speed packaging production line of 150 rolls/hour, and a plurality of packaging technological processes of the paper rolls need to be carried out simultaneously on a plurality of stations. The paper roll is conveyed quickly, stably and accurately, so that the packaging effect and efficiency are influenced critically. The multi-station synchronous conveying device is used for synchronously conveying paper rolls to different stations for centering in a packaging machine system. The conveying speed of the multi-station synchronous conveying device directly influences the completion time of each station, and has great influence on the efficiency of the whole packaging machine system.
disclosure of Invention
the invention aims to provide a quick and stable control method of a multi-station synchronous conveying device, which realizes synchronous conveying of paper rolls at a plurality of stations and centering of the paper rolls at each station, and improves conveying efficiency and positioning accuracy.
The purpose of the invention is realized by the following technical scheme:
The control method of the multi-station synchronous conveying device comprises a movable trolley, a movable trolley track lifting device, a rack, hidden paper kickers and a hydraulic system, wherein the movable trolley runs in the station movable trolley track to and fro among stations, and the control method comprises the following steps:
(1) After the paper roll is well centered, the paper roll rolls into a multi-station synchronous conveying device;
(2) Jacking the synchronous conveying device;
(3) Stopping after the moving trolley advances for a fixed distance;
(4) Descending the movable trolley track;
(5) the mobile trolley retreats to the original position;
(6) And after the task of the last station is completed, the hidden paper kicker kicks out the paper roll.
The multi-station synchronous conveying device reciprocates according to the steps to realize synchronous centering conveying of the plurality of paper rolls. The control system of the multi-station paper roll synchronous conveying device comprises a PLC system, a frequency converter, a motor with an encoder, a pulse distributor and the like. The PLC is used for controlling the speed regulation of the frequency converter, and the motor is provided with an encoder which is used for connecting signals into the frequency converter and a counting module of the PLC system through a pulse distributor; the frequency converter adopts speed control with encoder feedback, and the PLC calculates the real-time position of the mobile trolley through the encoder and monitors the running speed and the real-time position of the mobile trolley. The S-shaped acceleration and deceleration curve control algorithm is adopted, the running speed of the mobile trolley is given in the acceleration and deceleration stage in real time, the speed of the mobile trolley is monitored at a specific position, and an adjustment value is added to the algorithm to prevent step loss. The S-shaped acceleration and deceleration control algorithm ensures that the mobile trolley can be accelerated and decelerated stably within a short acceleration and deceleration time. The frequency converter gives zero speed to the motor before the movable trolley can be safely started, so that excitation is performed in advance, the excitation time is saved, and the conveying efficiency is improved.
The invention has the following characteristics:
(1) A driving motor automatic encoder of a moving trolley accesses encoder signals into a frequency converter and a PLC system through a pulse distributor, adjusts the speed of the motor in real time according to real-time displacement and prevents step-out, overtravel, impact and oscillation when the high-speed movement speed changes.
(2) before the conveying mechanism is lifted, the movable trolley controls a frequency converter of the movable trolley to excite in advance; the moving trolley is started immediately after the conveying mechanism is lifted in place. The frequency converter is excited in advance, so that the running time of the movable trolley is saved, and the conveying efficiency is improved.
(3) The system adopts an S-shaped curve acceleration and deceleration control algorithm, the running speed of the mobile trolley is given in real time, and the stable acceleration and deceleration of the mobile trolley in a short acceleration and deceleration time is ensured. The control method can effectively prevent the paper roll from slipping on the movable trolley and improve the conveying efficiency of the movable trolley.
The invention has the beneficial effects. The invention improves the conveying efficiency of paper rolls, prevents overtravel and impact generated during conveying, improves the control precision, and is stable and reliable. The packaging machine is used in a multi-station packaging machine, and the packaging beat and the packaging effect of the multi-station packaging machine are improved.
Drawings
FIG. 1 is a schematic view of the structure of the present invention.
Fig. 2 is a basic composition of the control system of the present invention.
FIG. 3 shows the S-shaped curve acceleration and deceleration process of the traveling carriage of the present invention.
in the figure: 1-centering mechanism, 2-station one, 3-station two, 4-station three, 5-station four, 6-PLC controller, 7-frequency converter, 8-pulse discriminator and 9-motor with encoder.
Detailed Description
The invention will be further described with reference to the following examples.
as shown in fig. 1, the multi-station synchronous conveying device has 4 stations: 2-station one, 3-station two, 4-station three and 5-station four. And a hidden paper kicker is arranged at one side of the four positions of the 5-station and is used for kicking the paper roll out of the four positions of the 5-station. The paper roll is centered at the 1-centering mechanism and rolled to the 2-station. After all station tasks are completed and paper rolls at the four positions of the 5-station are kicked out by the hidden paper kicker, the rail of the movable trolley of the multi-station synchronous conveying device ascends, the movable trolley drives the paper rolls at the three positions of the 2-station I, the 3-station II and the 4-station I to advance after the rail ascends to the right position, and the paper rolls at the three positions of the 2-station I, the 3-station II and the 4-station I, the 3-station II, the 4-station III and the 5-station IV are conveyed. After the paper is conveyed in place, the rail of the movable trolley of the multi-station synchronous conveying device descends, and the paper roll at the 1-centering mechanism can roll to the position of one 2-station. The synchronous conveying of the paper rolls is realized in such a reciprocating way.
As shown in figure 2, the basic control system consists of a 6-PLC controller, a 7-frequency converter, an 8-pulse distributor and a 9-motor with an encoder. The 6-PLC controller and the frequency converter adopt PN communication, the operation and the operation speed of the frequency converter can be controlled in real time, the movable trolley is started to control the frequency converter to excite the motor of the movable trolley in advance, and the time for conveying paper rolls by the movable trolley is saved. And the encoder signals of the motor of the mobile trolley are respectively connected into the frequency converter and the PLC system through the pulse distributor. The encoder signal is accessed into the frequency converter, and the frequency converter works in a closed-loop control mode, so that the control precision is higher. The PLC calculates the real-time position of the mobile trolley through the encoder signal, collects the real-time speed of the motor output by the frequency converter, can monitor whether the speed of the motor exceeds the expectation when the mobile trolley is at different positions, and enables the error of the speed of the motor in a specific position to be within a controllable range through an adjustment value.
as shown in fig. 3, the operation process of the mobile car is divided into 7 stages. Acceleration phase (acceleration increases linearly) 10; 11 is a uniform acceleration stage; 12 is a deceleration and acceleration stage (acceleration is linearly reduced); 13 is a constant speed stage; 14 is an acceleration and deceleration stage (deceleration increases linearly); step 15 is a uniform deceleration stage; the deceleration stage (deceleration linearly decreases) is 16. The control program adopts an equivalent trapezoid and an iterative algorithm to realize an S-shaped curve. The S-shaped curve acceleration and deceleration control algorithm ensures the stable running of the movable trolley, and no step-out, overtravel and oscillation are generated in the starting and stopping stages.
The control method of the invention comprises the following steps:
(1) after the paper roll is well centered, the paper roll rolls into a multi-station synchronous conveying device;
(2) jacking the synchronous conveying device;
(3) Stopping after the moving trolley advances for a fixed distance;
(4) descending the movable trolley track;
(5) The mobile trolley retreats to the original position;
(6) And after the task of the last station is completed, the hidden paper kicker kicks out the paper roll.
The length of the movable trolley is 3 stations, 3 paper roll bottom supports with the length of 2.5 ~ 3m are evenly arranged at intervals, two traveling wheels and guide wheels are respectively arranged at the front end and the rear end of the movable trolley, the movable trolley is driven by a motor to move back and forth in a movable trolley track and move among 4 stations, vertical slide rails are distributed at two sides of the movable trolley track, the bottom of the movable trolley track is supported by a link mechanism, a hydraulic oil cylinder is arranged at the bottom of the center of the movable trolley track, a piston rod of the oil cylinder is connected with the movable trolley track, and the oil cylinder is connected with a fixed base and can freely rotate.
After the movable trolley rail rises, the movable trolley moves forward, and paper rolls at 3 stations can move forward one station sequentially. After the paper roll is conveyed in place, the movable trolley rail descends, the paper roll is stopped on the rack, the paper roll is separated from the movable trolley, and the movable trolley freely retreats to prepare for conveying again. And after the hidden paper kicker kicks out the paper roll in the station four, the paper roll in the subsequent station can be continuously conveyed forwards by the movable trolley.
Claims (1)
1. the control method of the multi-station synchronous conveying device comprises a movable trolley, a movable trolley track lifting device, a rack, hidden paper kickers and a hydraulic system, wherein the movable trolley runs in the station movable trolley track to and fro among stations, and the control method is characterized by comprising the following steps:
after the paper roll is well centered, the paper roll rolls into a multi-station synchronous conveying device;
Jacking the synchronous conveying device;
stopping after the moving trolley advances for a fixed distance;
Descending the movable trolley track;
The mobile trolley retreats to the original position;
And after the task of the last station is completed, the hidden paper kicker kicks out the paper roll.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910830521.2A CN110550407A (en) | 2019-09-04 | 2019-09-04 | control method of multi-station synchronous conveying device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910830521.2A CN110550407A (en) | 2019-09-04 | 2019-09-04 | control method of multi-station synchronous conveying device |
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| Publication Number | Publication Date |
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| CN110550407A true CN110550407A (en) | 2019-12-10 |
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| CN201910830521.2A Pending CN110550407A (en) | 2019-09-04 | 2019-09-04 | control method of multi-station synchronous conveying device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110920587A (en) * | 2019-12-20 | 2020-03-27 | 重庆艾博瑞威轨道交通设备有限公司 | Sectional type braking system of tour and sightseeing train |
| CN111077895A (en) * | 2020-01-02 | 2020-04-28 | 上海振华重工(集团)股份有限公司 | A synchronous control system for a traversing trolley and its control method |
| CN113359632A (en) * | 2021-06-09 | 2021-09-07 | 江苏徐工工程机械研究院有限公司 | Multi-process material conveying system and control method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5025912A (en) * | 1988-05-31 | 1991-06-25 | Tsubakimoto Chain Co. | Shuttle type conveyor |
| CN1421359A (en) * | 2002-12-26 | 2003-06-04 | 长沙长泰输送包装设备有限公司 | Fully automatic double-workplace paper roll packing method and packing machine |
| CN201102640Y (en) * | 2007-08-27 | 2008-08-20 | 长沙长泰输送包装设备有限公司 | Paper roll conveying system and automatic paper roll packing machine containing the system |
| CN108069217A (en) * | 2017-12-22 | 2018-05-25 | 安徽瑞祥工业有限公司 | A kind of reciprocating conveyor structure and its carrying method |
| CN109279300A (en) * | 2018-09-29 | 2019-01-29 | 东风设计研究院有限公司 | Multistation step-by-step movement rolling bed skid synchronizes transport control system and control method |
-
2019
- 2019-09-04 CN CN201910830521.2A patent/CN110550407A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5025912A (en) * | 1988-05-31 | 1991-06-25 | Tsubakimoto Chain Co. | Shuttle type conveyor |
| CN1421359A (en) * | 2002-12-26 | 2003-06-04 | 长沙长泰输送包装设备有限公司 | Fully automatic double-workplace paper roll packing method and packing machine |
| CN201102640Y (en) * | 2007-08-27 | 2008-08-20 | 长沙长泰输送包装设备有限公司 | Paper roll conveying system and automatic paper roll packing machine containing the system |
| CN108069217A (en) * | 2017-12-22 | 2018-05-25 | 安徽瑞祥工业有限公司 | A kind of reciprocating conveyor structure and its carrying method |
| CN109279300A (en) * | 2018-09-29 | 2019-01-29 | 东风设计研究院有限公司 | Multistation step-by-step movement rolling bed skid synchronizes transport control system and control method |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110920587A (en) * | 2019-12-20 | 2020-03-27 | 重庆艾博瑞威轨道交通设备有限公司 | Sectional type braking system of tour and sightseeing train |
| CN111077895A (en) * | 2020-01-02 | 2020-04-28 | 上海振华重工(集团)股份有限公司 | A synchronous control system for a traversing trolley and its control method |
| CN113359632A (en) * | 2021-06-09 | 2021-09-07 | 江苏徐工工程机械研究院有限公司 | Multi-process material conveying system and control method |
| CN113359632B (en) * | 2021-06-09 | 2023-11-07 | 江苏徐工工程机械研究院有限公司 | Multi-working-position material conveying system and control method |
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Application publication date: 20191210 |
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