Multi-material proportioning, grinding and stirring integrated device and control method thereof

Abstract

The invention discloses a multi-material matching grinding and stirring integrated device and a control method thereof.The multi-material matching grinding and stirring integrated device comprises a stirring barrel, a plurality of feeding units are arranged on the periphery of the stirring barrel, a grinding mechanism is arranged at an upper end opening of the stirring barrel, a plurality of stirring rods are arranged in the stirring barrel, each feeding unit comprises a material barrel, and an electric discharging gate is arranged on one side of the material barrel; a discharging channel is arranged on the outer side of the electric discharging gate, a piston is movably arranged in the charging barrel and is in transmission connection with an air cylinder below the piston, a displacement sensor is arranged on the piston, an air pressure sensor is arranged in the air cylinder, and the air cylinder is connected with an air pump through an air pipe. According to the scheme, the air pressure in the air cylinder is measured through the air pressure sensor to obtain the weight of materials in each charging barrel, the air cylinder can push the piston to do lifting motion through inflation and deflation of the air pump, discharging is conducted in cooperation with the electric discharging gate and the discharging channel, each feeding unit is independently controlled, and therefore the materials are filled into the stirring barrel in a proportion controllable mode.

Description

Technical Field

[0001] The present invention relates to the technical field of material proportioning processing, and in particular to a multi-material proportioning grinding and stirring integrated device and a control method thereof. Background Art

[0002] During use, traditional grinding and mixing machines lack intelligent control functions, making it difficult to achieve precise control and automatic adjustment of material ratios, resulting in low production efficiency and unstable product quality. In the existing technology, the material ratios of traditional grinding and mixing equipment rely on manual premixing, which has problems such as large ratio errors and low efficiency. In addition, the automatic batching system is separated from the grinding equipment, and the materials need to be transferred multiple times, resulting in cross-contamination. At the same time, dynamic ratio adjustment is difficult, and real-time ratio adjustment during the processing process cannot be achieved. The grinding particle size and the mixing effect restrict each other, making it difficult to achieve coordinated control of process parameters.

[0003] For example, China's invention patent application "Mixer" (publication number: CN113648861A) includes a barrel, a stirring component (including a stirring shaft and multiple impellers), a drive component (pulley transmission system), a detection component (monitoring material status) and a control component. The detection component monitors the material status in the barrel (such as critical flow concentration) in real time, and the control component dynamically adjusts the speed or start and stop of the drive component to achieve precise stirring; however, the invention does not specify the sensor type or detection accuracy, which may affect the reliability of the control box; the belt drive is prone to speed deviation due to slippage or aging, and long-term use requires frequent maintenance; although the horizontal design of the barrel is conducive to material flow, it may take up more space when it is large-scale; the loading of materials needs to be done manually, which greatly reduces efficiency and is also very likely to cause material contamination. Summary of the Invention

[0004] In view of the above-mentioned deficiencies in the prior art, the present invention provides a multi-material proportioning grinding and stirring integrated device and a control method thereof, so as to realize the integrated control requirements of precise proportioning, grinding and stirring of materials.

[0005] To achieve the above object, the technical solution adopted by the present invention is:

[0006] In a first aspect, a multi-material proportioning grinding and stirring device is provided, which includes a mixing barrel, a plurality of feeding units for feeding materials into the mixing barrel are arranged around the mixing barrel, a grinding mechanism is provided at the upper port of the mixing barrel, a plurality of stirring rods are provided in the mixing barrel, and a discharge valve is provided at the bottom of the mixing barrel; the feeding unit includes a barrel, an electric discharge gate is provided on one side of the barrel, a discharge channel is provided on the outer side of the electric discharge gate, a piston is movably provided in the barrel, the piston is transmission-connected to a cylinder below it, a displacement sensor is provided on the piston, an air pressure sensor is provided in the cylinder, the cylinder is connected to an air pump through an air pipe, and a gas proportional valve is provided on the air pipe; the grinding mechanism includes an upper grinding disc transmission-connected to a first motor, a feed hopper is provided at the upper end of the upper grinding disc and is docked with the plurality of discharge channels, a lower grinding disc transmission-connected to a second motor is provided in the gap below the upper grinding disc, and the plurality of stirring rods are transmission-connected to the lower grinding disc; the electric discharge gate, the displacement sensor, the air pressure sensor, the air pump, the first motor and the second motor are all electrically connected to a control box.

[0007] The beneficial effects of adopting the above technical solution are as follows: different materials can be loaded into each barrel of this solution, and the air pressure inside the cylinder is measured by an air pressure sensor to obtain the weight of the material in each barrel; the cylinder can push the piston to move up and down through the filling and deflation of the air pump, and the electric discharge gate and the discharge channel are used to discharge the material, and each feeding unit is independently controlled, so that the material proportion can be controlled and loaded into the mixing barrel; the material is ground by the cooperation of the upper grinding disc and the lower grinding disc, and the ground material is stirred by a number of stirring rods.

[0008] Furthermore, the first motor is fixed above the upper grinding disc through a bracket, and the rotating shaft of the first motor is fixedly connected to the upper end of the upper grinding disc, and a plurality of feed ports are opened on the circumference of the upper grinding disc located at the bottom of the feed hopper;

[0009] The beneficial effects of adopting the above technical solution are as follows: the material in the barrel of this solution slides into the feed hopper through the electric discharge gate and the discharge channel, and then falls into the gap space between the upper grinding disc and the lower grinding disc through several feed ports. The material is ground by the reverse rotation of the upper grinding disc and the lower grinding disc, and finally the material slides out from the outer edge between the upper grinding disc and the lower grinding disc and falls into the mixing barrel.

[0010] Furthermore, a column is provided in the mixing barrel, a second motor is provided in the column, a circular trough is provided at the lower end of the lower grinding disc, an internal gear is provided on the inner side wall of the circular trough, a fixed disk is provided at the upper end of the column, the upper ends of several stirring rods are limited in the circumferential direction of the fixed disk, and the upper ends of several stirring rods are provided with transmission gears meshing with the internal gear, and the lower ends of several stirring rods are provided with stirring impellers.

[0011] The beneficial effects of adopting the above technical solution are: through the rotation of the lower grinding plate, the internal gear can drive the transmission gear to rotate, thereby synchronously driving several stirring rods to rotate along their own axes, thereby realizing the linkage control of material grinding and stirring.

[0012] Furthermore, the lower end of the lower grinding disc is fixedly connected to the upper end of the transmission rod, the lower end of the transmission rod is provided with a thrust ball bearing, the thrust ball bearing is fixedly connected to the telescopic end of the electric push rod, the middle fixed sleeve of the transmission rod is provided with a cylindrical gear, and the rotating shaft of the second motor is provided with a driving gear that slides and meshes with the cylindrical gear.

[0013] The beneficial effects of adopting the above technical solution are as follows: this solution can drive the lower grinding disc to rise and fall fine-tuning through the electric push rod, thereby realizing the adjustment of the distance between the upper grinding disc and the lower grinding disc, thereby realizing the regulation of the material grinding particle size; at the same time, the transmission rod is slidably engaged with the driving gear through the cylindrical gear, so that the liftable transmission rod is always connected to the second motor transmission, so as to drive the lower grinding disc to rotate and grind.

[0014] Furthermore, both ends of the transmission rod are slidably sleeved with limit bearings, and the two limit bearings are fixed in the column, and the cylindrical gear gap is set on the transmission rod between the two limit bearings.

[0015] In a second aspect, a control method for a multi-material ratio grinding and stirring device is provided, which comprises the following steps:

[0016] S1: Establish a dynamic coupling model of air pressure and mass, and perform real-time detection of the material mass in several barrels;

[0017] S2: Dynamically control the discharge amount of several barrels through a three-level pressure regulation strategy until the preset material ratio is achieved;

[0018] S3: Grind and stir the proportioned materials in sequence through the grinding mechanism and a number of stirring rods until the preparation of the materials is completed;

[0019] S4: Before the next material preparation, the air pressure-mass dynamic coupling model is calibrated by the self-learning calibration method.

[0020] The beneficial effects of adopting the above technical solution are: this solution realizes accurate measurement and dynamic control of the material in the barrel by constructing a dynamic coupling model of air pressure and mass, and adopts a three-level pressure regulation strategy for dynamic control, thereby realizing accurate proportioning of multiple materials. At the same time, after each material proportioning is completed, self-learning calibration can be performed through the self-learning calibration method to ensure the accuracy of subsequent material proportioning.

[0021] Furthermore, step S1 specifically includes:

[0022] S11: Establish cylinder pressure-material mass conversion model:

[0023]

[0024] Where, P is the effective pressure of the cylinder (Pa); A is the effective area of the piston (m 2 );F f is the Coulomb friction compensation force obtained through the no-load calibration curve; g is the acceleration of gravity; m0 is the system weight;

[0025] S12: Establish a dynamic calculation formula for material quality:

[0026] m(t)=k[P(t)AF f (t)]-m0+Δm

[0027]

[0028] Where m(t) is the real-time mass of the material, P(t) is the measured value of the air pressure sensor, and F f (t) is the friction compensation term after dynamic calibration, k is the system calibration coefficient, Δm is the gas compressibility correction term, and β is the gas compressibility coefficient.

[0029] Furthermore, step S2 specifically includes:

[0030] S21: Coarse adjustment stage: When the absolute value of the difference between the target pressure and the actual pressure exceeds the set threshold value ΔP1, filling and exhaust are performed at the maximum flow rate of the gas proportional valve until the absolute value of the difference between the target pressure and the actual pressure is within the ΔP1 range;

[0031] S22: Fine-tuning stage: precise adjustment based on PID algorithm. The expression of PID algorithm is:

[0032]

[0033] Among them, ΔP(t) is the difference between the target pressure and the actual pressure, and the initial parameter K p , K i , K d Determined by offline calibration; u(t) is the adjustment value of the gas proportional valve opening;

[0034] S23: Steady-state maintenance: PWM micro-pulse width modulation mode is used to maintain dynamic balance. The dynamic adjustment formula of the duty cycle is:

[0035] D(t)=D0+K PWM ΔP(t)

[0036] Among them, D0 is the reference duty cycle, K PWMis the gain coefficient; ΔP(t) is the difference between the target pressure and the actual pressure.

[0037] Furthermore, the self-learning calibration method in step S4 includes:

[0038] S41: When there is no material in the barrel, a reference curve of the change of the internal air pressure of the cylinder with the piston displacement is collected as a reference for the friction compensation item;

[0039] S42: Load a standard mass block in the barrel to obtain a pressure-mass mapping relationship data set, and perform full-scale multi-point calibration (0%, 25%, 50%, 75%, 100%) according to the piston stroke.

[0040] S43: Use the least squares method to fit k, F f (t) parameter matrix, iteratively updating k and F through multi-point calibration data f (t), ensure that the parameters converge to the optimal solution;

[0041] S44: Add a compensation model for the friction force changing with the piston speed v to the friction force compensation term:

[0042] F f (v)=a·sign(v)+b·v

[0043] Where a is the Coulomb friction coefficient and b is the viscous friction coefficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is a schematic diagram of the structure of a multi-material proportioning grinding and stirring device.

[0045] Figure 2 This is a cross-sectional view of a multi-material proportioning grinding and stirring device.

[0046] Figure 3 for Figure 2 Magnified view of area A in center.

[0047] Figure 4 This is a schematic diagram of the working process of the multi-material proportioning grinding and stirring device.

[0048] Among them, 1. mixing barrel, 2. stirring rod, 3. discharge valve, 4. barrel, 5. electric discharge gate, 6. discharge channel, 7. piston, 8. cylinder, 9. displacement sensor, 10. air pressure sensor, 11. air pipe, 12. air pump, 13. first motor, 14. upper grinding disc, 15. feed hopper, 16. second motor, 17. lower grinding disc, 18. control box, 19. feed port, 20. column, 21. circular sink, 22. fixed plate, 23. transmission gear, 24. stirring impeller, 25. transmission rod, 26. thrust ball bearing, 27. electric push rod, 28. cylindrical gear, 29. drive gear, 30. limit bearing, 31. limit block. DETAILED DESCRIPTION

[0049] The specific embodiments of the present invention are described below to facilitate understanding of the present invention by those skilled in the art. However, it should be clear that the present invention is not limited to the scope of the specific embodiments. For those skilled in the art, as long as various changes are within the spirit and scope of the present invention as defined and determined by the appended claims, these changes are obvious, and all inventions and creations utilizing the concepts of the present invention are protected.

[0050] Example 1

[0051] like Figures 1 to 3 As shown, the multi-material proportioning grinding and stirring device of this scheme includes a stirring barrel 1, and a plurality of feeding units for feeding materials into the stirring barrel 1 are arranged around the stirring barrel 1. A grinding mechanism is provided at the upper port of the stirring barrel 1, and a plurality of stirring rods 2 are provided in the stirring barrel 1. A discharge valve 3 is provided at the bottom of the stirring barrel 1, and the bottom of the stirring barrel 1 is a 45° inclined surface to facilitate the outflow of materials and reduce the residue of materials at the bottom of the barrel.

[0052] The feeding unit includes a barrel 4, an electric discharge gate 5 is provided on one side of the barrel 4, a feeding channel 6 is provided on the outside of the electric discharge gate 5, a piston 7 and a limit block 31 are movably provided in the barrel 4, and the limit block 31 is located below the electric discharge gate 5 and is used to limit the stroke of the piston 7; the piston 7 is connected to the cylinder 8 below it by transmission, and a displacement sensor 9 is provided in the interlayer of the piston 7 for real-time measurement of the position of the piston 7; an air pressure sensor 10 is provided in the cylinder 8, and the cylinder 8 is connected to the air pump 12 through an air pipe 11, a gas proportional valve is provided on the air pipe, and the air pump 12 can perform inflation and exhaust operations on each cylinder 8 separately and adjust the filling and exhaust rates through the gas proportional valve; each barrel 4 of this scheme can be filled with different materials, and the air pressure inside the cylinder 8 is measured by the air pressure sensor 10 to obtain the weight of the material in each barrel 4; through the filling and deflation of the air pump 12, the cylinder 8 can push the piston 7 to move up and down, and cooperate with the electric discharge gate 5 and the discharge channel 6 to discharge the material; the displacement sensor 9 senses the position of the piston 7 in the barrel 4, thereby obtaining the gas volume in the cylinder 8, and combined with the air pressure value in the cylinder 8, the mass change of the material is measured; and each feeding unit is independently controlled, so as to realize the controllable loading of the material into the mixing barrel 1.

[0053] The grinding mechanism includes an upper grinding disc 14 that is transmission-connected to the first motor 13, a feed hopper 15 that is docked with a number of discharge channels 6 is provided at the upper end of the upper grinding disc 14, a lower grinding disc 17 that is transmission-connected to the second motor 16 is provided in the gap below the upper grinding disc 14, and a number of stirring rods 2 are transmission-connected to the lower grinding disc 17; the material can be ground by cooperating with the upper grinding disc 14 and the lower grinding disc 17, and the ground material can be stirred by the number of stirring rods 2.

[0054] The electric discharge gate 5, displacement sensor 9, air pressure sensor 10, air pump 12, first motor 13 and second motor 16 of this solution are all electrically connected to the control box 18 to facilitate the integrated control of material proportioning, grinding and stirring; the first motor 13 and the second motor 16 are both brushless motors, which can achieve speed adjustment and are controlled by the control box 18.

[0055] Example 2

[0056] This embodiment is a further limitation made on the basis of Example 1, in which the first motor 13 is fixed above the upper grinding disc 14 by a bracket, and the rotating shaft of the first motor 13 is fixedly connected to the upper end of the upper grinding disc 14, and a plurality of feed ports 19 are provided on the circumference of the upper grinding disc 14 located at the bottom of the feed hopper 15; the material in the barrel 4 of this scheme slides into the feed hopper 15 through the electric discharge gate 5 and the discharge channel 6, and the feed hopper 15 can also perform full-angle real-time loading and grinding when rotating; the material in the feed hopper 15 falls into the gap space between the upper grinding disc 14 and the lower grinding disc 17 through the plurality of feed ports 19, and the material is ground by the reverse rotation of the upper grinding disc 14 and the lower grinding disc 17, and finally the material slides out from the outer edge between the upper grinding disc 14 and the lower grinding disc 17 and falls into the mixing barrel 1.

[0057] Example 3

[0058] This embodiment is a further limitation made on the basis of Example 1, in which a column 20 is provided in the mixing barrel 1, a second motor 16 is provided in the column 20, a circular trough 21 is provided at the lower end of the lower grinding disc 17, an internal gear is provided on the inner side wall of the circular trough 21, a fixed disk 22 is provided at the upper end of the column 20, the upper ends of the plurality of stirring rods 2 are limited in the circumferential direction of the fixed disk 22, and the upper ends of the plurality of stirring rods 2 are provided with a transmission gear 23 meshing with the internal gear, and the lower ends of the plurality of stirring rods 2 are provided with a stirring impeller 24; in this scheme, through the rotation of the lower grinding disc 17, the internal gear can drive the transmission gear 23 to rotate, thereby synchronously driving the plurality of stirring rods 2 to rotate along their own axes, thereby realizing the linkage control of material grinding and stirring.

[0059] The lower end of the lower grinding disc 17 is fixedly connected to the upper end of the transmission rod 25. The lower end of the transmission rod 25 is provided with a thrust ball bearing 26. The thrust ball bearing 26 is fixedly connected to the telescopic end of the electric push rod 27. Both ends of the transmission rod 25 are slidingly sleeved with limit bearings 30. The two limit bearings 30 are fixed in the column 20. The middle part of the transmission rod 25 is fixedly sleeved with a cylindrical gear 28, and the gap of the cylindrical gear 28 is set between the two limit bearings 30. The rotating shaft of the second motor 16 is provided with a driving gear 29 that slides and meshes with the cylindrical gear 28.

[0060] In this solution, the electric push rod 27 can drive the lower grinding disc 17 to be raised and lowered for fine adjustment, thereby adjusting the distance between the upper grinding disc 14 and the lower grinding disc 17, thereby achieving the regulation of the material grinding particle size; at the same time, the transmission rod 25 is slidably engaged with the driving gear 29 through the cylindrical gear 28, so that the liftable transmission rod 25 is always connected to the second motor 16 for driving the lower grinding disc 17 to rotate and grind.

[0061] In combination with the above embodiments 1-3, this solution also provides a control method for a multi-material ratio grinding and stirring device, which includes the following steps:

[0062] S1: Establishing a pressure-mass dynamic coupling model and performing real-time detection of the material quality in the barrels 4; specifically including:

[0063] S11: Establish cylinder 8 pressure-material mass conversion model:

[0064]

[0065] Where, P is the effective pressure of cylinder 8 (Pa); A is the effective area of piston 7 (m 2 );F f is the Coulomb friction compensation force obtained through the no-load calibration curve; g is the acceleration of gravity; m0 is the system weight;

[0066] S12: Establish a dynamic calculation formula for material quality:

[0067] m(t)=k[P(t)AF f (t)]-m0+Δm

[0068]

[0069] Where m(t) is the real-time mass of the material, P(t) is the measured value of the air pressure sensor 10, and F f (t) is the friction compensation term after dynamic calibration, k is the system calibration coefficient, Δm is the gas compressibility correction term, and β is the gas compressibility coefficient.

[0070] S2: Dynamically control the discharge amount of several barrels 4 through a three-level pressure regulation strategy until the preset material ratio is reached; specifically including:

[0071] S21: Coarse adjustment stage: When the absolute value of the difference between the target pressure and the actual pressure exceeds the set threshold value ΔP1, filling and exhaust are performed at the maximum flow rate until the absolute value of the difference between the target pressure and the actual pressure is within the ΔP1 range;

[0072] S22: Fine-tuning stage: precise adjustment based on PID algorithm. The expression of PID algorithm is:

[0073]

[0074] Among them, ΔP(t) is the difference between the target pressure and the actual pressure, and the initial parameter K p , K i , K dDetermined through offline calibration, u(t) is the adjustment value of the gas proportional valve opening; by dynamically adjusting the filling / exhaust rate, the actual pressure can quickly converge to the target value; at the same time, dynamic adjustment can be performed in combination with the real-time feedback of the air pressure sensor 10 and the displacement sensor 9, and based on the fuzzy PID adaptive algorithm, fuzzy logic is introduced to dynamically adjust the PID parameters. For example, when the error is large, the proportional term is enhanced, and when the error is small, the integral term is enhanced to reduce overshoot.

[0075] S23: Steady-state maintenance: PWM micro-pulse width modulation mode is used to maintain dynamic balance. The dynamic adjustment formula of the duty cycle is:

[0076] D(t)=D0+K PWM ΔP(t)

[0077] Among them, D0 is the reference duty cycle, K PWM is the gain coefficient; ΔP(t) is the difference between the target pressure and the actual pressure; when the actual pressure is lower than the target (ΔP(t)>0), the duty cycle increases to accelerate the charging; otherwise, the duty cycle decreases to decelerate or exhaust.

[0078] When the duty cycle reaches the preset upper or lower limit, the integral term K can be suspended i ∫ΔP(t)dt is accumulated to avoid overshoot; in specific implementation, a modulation frequency of 30kHz can be selected to avoid the gas path resonance frequency band (such as 1-5kHz) to reduce electromagnetic interference; and a 2μs dead time is set to prevent the upper and lower tubes in the H-bridge drive circuit from being directly connected to improve reliability; an LC filter (L=10μH, C=100μF) is connected in parallel at the output end of the air pump 12 to suppress pressure fluctuations within ±0.05%FS; for the dynamic balance maintenance strategy, a state observer is used to predict the pressure change trend, and the duty cycle instruction is gradually transitioned to avoid pressure jumps during switching, and the transition time is ≤50ms, so as to achieve a smooth transition.

[0079] S3: The proportioned materials are ground and stirred in sequence by the grinding mechanism and a plurality of stirring rods 2 until the preparation of the materials is completed; the rotational speeds of the upper grinding disc 14 and the lower grinding disc 17 can be adjusted respectively by the first motor 13 and the second motor 16, and the distance between the upper grinding disc 14 and the lower grinding disc 17 can be adjusted by the electric push rod 27 to control the particle size of the ground materials.

[0080] S4: Before the next material preparation, the pressure-mass dynamic coupling model is calibrated by a self-learning calibration method. The self-learning calibration method specifically includes:

[0081] S41: When the barrel 4 is empty, a reference curve of the change in the internal air pressure of the cylinder 8 with the displacement of the piston 7 is collected as a reference for the friction compensation item;

[0082] S42: Load a standard mass block in the barrel 4 to obtain a pressure-mass mapping relationship data set, and perform full-scale multi-point calibration (0%, 25%, 50%, 75%, 100%) according to the piston stroke; establish a nonlinear relationship model; when loading, record different masses m i The corresponding pressure P i and displacement x i , forming an input and output data pair {m i ,P i ,x i};

[0083] S43: Use the least squares method to fit k, F f (t) parameter matrix, iteratively updating k and F through multi-point calibration data f (t), ensure that the parameters converge to the optimal solution;

[0084] S44: A compensation model for the change of friction force with the speed v of the piston 7 is added to the friction force compensation term to improve the comprehensiveness of the friction force compensation term. The expression is:

[0085] F f (v)=a·sign(v)+b·v

[0086] Where a is the Coulomb friction coefficient and b is the viscous friction coefficient.

[0087] In summary, if Figure 4 As shown, the control system in the control box 18 of this scheme synchronously receives feedback signals from the air pressure sensor 10 and the displacement sensor 9. The displacement sensor 9 senses the position of the piston 7 in the barrel 4, thereby obtaining the gas volume in the cylinder 8, and combined with the air pressure value in the cylinder 8, the material mass change is measured, and an air pressure-mass dynamic coupling model and an air pressure-displacement double closed-loop control logic are constructed to ensure the dynamic balance of air pressure and material mass. The design adopts a three-level pressure regulation strategy and an online compensation model based on PID to achieve dynamic regulation of the material in the barrel 4, thereby achieving precise proportioning of multiple materials; at the same time, the control module can dynamically adjust the upper and lower grinding disc speeds according to the material feed amount and preset, and grind and stir the material to obtain a mixed material with a target proportion; after each material proportioning is completed, self-learning calibration can be performed through the self-learning calibration method to ensure the accuracy of subsequent material proportioning.

Claims

1. A multi-material ratio grinding and stirring device, characterized in that: The mixing barrel comprises a mixing barrel, wherein a plurality of feeding units for feeding materials into the mixing barrel are arranged around the mixing barrel, a grinding mechanism is arranged at the upper port of the mixing barrel, a plurality of stirring rods are arranged in the mixing barrel, and a discharge valve is arranged at the bottom of the mixing barrel; The feeding unit includes a barrel, an electric discharge gate is provided on one side of the barrel, a discharge channel is provided on the outside of the electric discharge gate, a piston is movably provided in the barrel, the piston is transmission-connected to the cylinder below it, a displacement sensor is provided on the piston, an air pressure sensor is provided in the cylinder, the cylinder is connected to the air pump through an air pipe, and a gas proportional valve is provided on the air pipe; The grinding mechanism includes an upper grinding disc connected to the first motor, a feed hopper connected to a plurality of material discharge channels is provided at the upper end of the upper grinding disc, a lower grinding disc connected to the second motor is provided in the gap below the upper grinding disc, and a plurality of stirring rods are connected to the lower grinding disc; The electric discharging gate, the displacement sensor, the air pressure sensor, the air pump, the first motor and the second motor are all electrically connected to the control box.

2. The multi-material ratio grinding and stirring integrated device according to claim 1, characterized in that: The first motor is fixed above the upper grinding disc through a bracket, and the rotating shaft of the first motor is fixedly connected to the upper end of the upper grinding disc. A plurality of feed ports are opened on the circumference of the upper grinding disc located at the bottom of the feed hopper.

3. The multi-material ratio grinding and stirring integrated device according to claim 1, characterized in that: A column is provided in the mixing barrel, the second motor is provided in the column, a circular groove is provided at the lower end of the lower grinding disc, an internal gear is provided on the inner side wall of the circular groove, a fixed disk is provided at the upper end of the column, the upper ends of several stirring rods are limited in the circumferential direction of the fixed disk, and the upper ends of several stirring rods are provided with transmission gears meshing with the internal gear, and the lower ends of several stirring rods are provided with stirring impellers.

4. The multi-material ratio grinding and stirring integrated device according to claim 3, characterized in that: The lower end of the lower grinding disc is fixedly connected to the upper end of the transmission rod, the lower end of the transmission rod is provided with a thrust ball bearing, the thrust ball bearing is fixedly connected to the telescopic end of the electric push rod, the middle fixed sleeve of the transmission rod is provided with a cylindrical gear, and the rotating shaft of the second motor is provided with a driving gear that is slidably engaged with the cylindrical gear.

5. The multi-material ratio grinding and stirring integrated device according to claim 4, characterized in that: Both ends of the transmission rod are slidably sleeved with limit bearings, and the two limit bearings are fixed in the column, and the cylindrical gear gap is set on the transmission rod between the two limit bearings.

6. A control method using the multi-material proportioning grinding and stirring device according to any one of claims 1 to 5, characterized in that: The following steps are involved: S1: Establish a dynamic coupling model of air pressure and mass, and perform real-time detection of the material mass in several barrels; S2: Dynamically control the discharge amount of several barrels through a three-level pressure regulation strategy until the preset material ratio is achieved; S3: Grind and stir the proportioned materials in sequence through the grinding mechanism and a number of stirring rods until the preparation of the materials is completed; S4: Before the next material preparation, the air pressure-mass dynamic coupling model is calibrated by the self-learning calibration method.

7. The control method of the multi-material ratio grinding and stirring device according to claim 6, characterized in that: Step S1 specifically includes: S11: Establish cylinder pressure-material mass conversion model: Where, P is the effective pressure of the cylinder (Pa); A is the effective area of the piston (m 2 );F f is the Coulomb friction compensation force obtained through the no-load calibration curve; g is the acceleration of gravity; m0 is the system weight; S12: Establish dynamic calculation formula for material quality: m(t)=k[P(t)A-F f (t)]-m0+Δm Where m(t) is the real-time mass of the material, P(t) is the measured value of the air pressure sensor, and F f (t) is the friction compensation term after dynamic calibration, k is the system calibration coefficient, Δm is the gas compressibility correction term, and β is the gas compressibility coefficient.

8. The control method of the multi-material ratio grinding and stirring device according to claim 6, characterized in that: Step S2 specifically includes: S21: Coarse adjustment stage: When the absolute value of the difference between the target pressure and the actual pressure exceeds the set threshold value ΔP1, filling and exhaust are performed at the maximum flow rate until the absolute value of the difference between the target pressure and the actual pressure is within the ΔP1 range; S22: Fine-tuning stage: precise adjustment based on PID algorithm. The expression of PID algorithm is: Among them, ΔP(t) is the difference between the target pressure and the actual pressure, and the initial parameter K p , K i , K d Determined by offline calibration, u(t) is the adjustment value of the gas proportional valve opening; S23: Steady-state maintenance: PWM micro-pulse width modulation mode is used to maintain dynamic balance. The dynamic adjustment formula of the duty cycle is: D(t)=D0+K PWM ·ΔP(t) Where D0 is equal to 50%, which is the reference duty cycle, K PWM is the gain coefficient; ΔP(t) is the difference between the target pressure and the actual pressure.

9. The control method of the multi-material ratio grinding and stirring device according to claim 6, characterized in that: The self-learning calibration method in step S4 includes: S41: When there is no material in the barrel, a reference curve of the change of the internal air pressure of the cylinder with the piston displacement is collected as a reference for the friction compensation item; S42: Load a standard mass block in the barrel to obtain a pressure-mass mapping relationship data set, and perform full-scale multi-point calibration (0%, 25%, 50%, 75%, 100%) according to the piston stroke. S43: Use the least squares method to fit k, F f (t) parameter matrix, iteratively updating k and F through multi-point calibration data f (t), ensure that the parameters converge to the optimal solution; S44: Add a compensation model for the friction force changing with the piston speed v to the friction force compensation term: F f (v)=a·sign(v)+b·v Where a is the Coulomb friction coefficient and b is the viscous friction coefficient.

Images