A synchronous control method and system for a friction line pusher and a friction drive motor

Abstract

The present invention discloses a synchronous control method and system for a push plate machine and a friction drive motor of a friction line, wherein the control method includes: when the first motor of the friction line drives the spreader to move from a first set point to a second set point, the controller sends a first control instruction set to the frequency converter; the frequency converter controls the second motor according to the first control instruction set, so that the second motor drives the push claw to move from a rearward position to a forward position, and during the movement of the push claw, it drives the spreader from the first set point to the second set point synchronously with the first motor; after the spreader moves to the second set point, the controller sends a second control instruction set to the frequency converter; the frequency converter controls the second motor according to the second control instruction set, so that the second motor drives the push claw to return from the forward position to the rearward position. The present invention can effectively prevent the spreader from slipping, thereby reducing the downtime of equipment failure and the quality risk of pre-processing foam tank vehicles.

Description

Technical Field

[0001] The present invention belongs to the technical field of friction line control, and in particular relates to a synchronous control method and system for a plate pusher and a friction drive motor of a friction line. Background Art

[0002] The painting friction conveyor line is affected by the winter temperature environment. The temperature inside the pre-treatment tank is high, while the ambient temperature in the workshop is low. Steam condensation will adhere to the surface of the driving friction wheel on the friction line above the tank and the running hoist push rod, causing the driving friction wheel and the running hoist push rod to slip, resulting in equipment failure and line stoppage, and the risk of body foaming in the tank affecting body quality. Summary of the Invention

[0003] In response to the above problems, the present invention provides a method and system for synchronously controlling a plate pusher and a friction drive motor of a friction line, so as to solve the problem of spreader slippage during the operation of a coating friction conveyor line.

[0004] The present invention provides a method for synchronously controlling a plate pusher and a friction drive motor of a friction line, comprising the following steps:

[0005] When the first motor of the friction line drives the spreader to move from the first set point to the second set point, the controller sends a first control instruction set to the frequency converter based on the real-time acquired operating status information of the first motor and the push claw position signal of the push plate machine;

[0006] The frequency converter controls the speed and direction of the second motor according to the first control instruction set, so that the second motor drives the push claw to move from the rearward position to the forward position. During the movement of the push claw, it drives the spreader from the first set point to the second set point synchronously with the first motor;

[0007] After the spreader moves to the second set point, the controller sends a second set of control instructions to the frequency converter based on the claw position signal;

[0008] The frequency converter controls the speed and direction of the second motor according to the second control instruction set, so that the second motor drives the push claw from moving forward to the position and then moving back to the position.

[0009] Furthermore, the first control instruction set includes a forward instruction, a forward deceleration instruction, and a forward to position instruction; the second control instruction set includes a backward instruction, a backward deceleration instruction, and a backward to position instruction.

[0010] Furthermore, the controller sends a first control instruction set to the frequency converter based on the real-time acquired operating status information of the first motor and the push claw position signal of the push plate machine, including:

[0011] When the push claw is at the retracted position, the first proximity switch feeds back an action signal to the controller, and the controller sends a forward instruction to the frequency converter based on the speed information of the first motor and the action signal feedback of the first proximity switch;

[0012] When the push claw is at the forward deceleration point, the second proximity switch feeds back an action signal to the controller. The controller sends a forward deceleration command to the inverter based on the speed information of the first motor and the action signal feedback of the second proximity switch.

[0013] When the push claw is at the forward position, the fourth proximity switch feeds back an action signal to the controller, and the controller sends a forward position instruction to the frequency converter based on the action signal feedback of the fourth proximity switch.

[0014] Furthermore, the frequency converter controls the speed and direction of the second motor according to the first control instruction set, so that the second motor drives the push claw to move from the rearward position to the forward position, including:

[0015] The inverter controls the second motor to rotate forward according to the forward instruction and the speed is the same as that of the first motor, so that the second motor drives the push claw to move from the backward position to the forward deceleration point;

[0016] The frequency converter controls the second motor to decelerate according to the forward deceleration instruction, and the decelerated second motor drives the push claw to move from the forward deceleration point to the forward arrival point;

[0017] The frequency converter controls the second motor to stop running according to the forward position instruction, and controls the brake to brake the second motor to stop the push claw at the forward position.

[0018] Furthermore, after the spreader moves to the second set point, the controller sends a second set of control instructions to the frequency converter according to the claw position signal, including:

[0019] After the push claw has been at the forward position for a certain period of time, the controller sends a motor backward instruction to the inverter;

[0020] When the push claw is at the reverse deceleration point, the third proximity switch feeds back the action signal to the controller, and the controller sends a reverse deceleration command to the inverter based on the action signal feedback from the third proximity switch;

[0021] When the push claw is at the retracted position, the first proximity switch feeds back an action signal to the controller, and the controller sends a retracted position instruction to the frequency converter based on the action signal feedback from the first proximity switch.

[0022] Furthermore, the frequency converter controls the speed and direction of the second motor according to the second control instruction set, so that the second motor drives the push claw from moving forward to the position and then moving back to the position, including:

[0023] According to the backward instruction, the inverter controls the second motor to reverse and drives the push claw to move from the forward position to the backward deceleration point at the set speed;

[0024] The frequency converter controls the second motor to decelerate according to the backward deceleration signal, and the decelerated second motor drives the push claw to move from the forward deceleration point to the forward arrival point;

[0025] The frequency converter controls the second motor to stop running, and controls the brake to brake the second motor, so that the push claw stops at the retracted position.

[0026] Furthermore, the method further includes the following steps:

[0027] When the fourth proximity switch does not feed back an action signal to the controller and the push claw moves to the sensing position of the second limit switch, the second limit switch action signal is fed back to the controller, and the controller sends a power supply instruction to the inverter to cut off the power supply of the second motor.

[0028] Furthermore, the method further includes the following steps:

[0029] When the first proximity switch does not feed back an action signal to the controller and the push claw moves to the sensing position of the first limit switch, the first limit switch action signal is fed back to the controller, and the controller sends a power supply instruction to the inverter to cut off the power supply of the second motor.

[0030] The present invention also provides a synchronous control system for a plate pusher and a friction drive motor of a friction line, comprising: a controller and a frequency converter; wherein the controller is configured to send a first control instruction set to the frequency converter based on real-time acquired operating status information of the first motor and a push claw position signal of the plate pusher when the first motor of the friction line drives the spreader to move from a first set point to a second set point;

[0031] The frequency converter is used to control the speed and direction of the second motor according to the first control instruction set, so that the second motor drives the push claw to move from a rearward position to a forward position, and during the movement of the push claw, it synchronizes with the first motor to drive the spreader to move from a first set point to a second set point;

[0032] The controller is further configured to send a second set of control instructions to the frequency converter according to the push claw position signal after the spreader moves to the second set point;

[0033] The frequency converter is also used to control the speed and direction of the second motor according to the second control instruction set, so that the second motor drives the push claw from moving forward to the position and then returns to the position.

[0034] Furthermore, the control system further includes a first proximity switch, a second proximity switch, a third proximity switch, a fourth proximity switch, a first limit switch, and a second limit switch;

[0035] The first proximity switch is used to feed back an action signal to the controller when the push claw is at the retreat position;

[0036] The second proximity switch is used to feed back the action signal to the controller when the push claw is at the forward deceleration point;

[0037] The third proximity switch is used to feed back the action signal to the controller when the push claw is at the reverse deceleration point;

[0038] The fourth proximity switch is used to feed back the action signal to the controller when the push claw is at the forward position;

[0039] The first limit switch is used to feed back an action signal to the controller when the push claw moves to the sensing position of the first limit switch;

[0040] The second limit switch is used to feed back an action signal to the controller when the push claw moves to the sensing position of the second limit switch.

[0041] Beneficial effects of the present invention: The synchronous control method and system of the push plate machine and the friction drive motor of the present invention can effectively prevent the slipping of the sling caused by the friction drive between the chains, thereby reducing the downtime of equipment failure and the quality risk of the pre-processing foam tank car.

[0042] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0044] Figure 1 A wiring diagram of a friction line pusher and a friction drive motor synchronous control system according to an embodiment of the present invention is shown;

[0045] Figure 2 A schematic diagram of an electrical circuit of a proximity switch according to an embodiment of the present invention is shown;

[0046] Figure 3 shows a schematic diagram of an electrical circuit of a second motor according to an embodiment of the present invention;

[0047] Figure 4A schematic flow chart of a method for synchronously controlling a plate pusher and a friction drive motor of a friction line according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0048] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0049] It should be noted that the terms "first", "second" etc. in this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the application described herein. In this application, the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inside", "outside", "center", "vertical", "horizontal", "lateral", "longitudinal" etc. are based on the directions or positional relationships shown in the accompanying drawings.

[0050] To facilitate understanding of this application, the following is a brief introduction to the structure and working mode of the friction line:

[0051] The friction line includes a spreader, a track, a friction wheel and a first motor. The first motor drives the friction wheel to rotate, and transmits the power to the spreader through friction contact to drive the spreader to move along the track.

[0052] In order to avoid slipping between the driving friction wheel and the running spreader push rod, the present invention arranges a push plate machine on the friction line, and provides a synchronous control system of the push plate machine and the friction drive motor of the friction line, so as to solve the problem of spreader slipping during the operation of the friction line, reduce the equipment failure downtime and the quality risk of the pre-processing foam tank car.

[0053] The pusher is used to assist conveying on the friction line and increase conveying power. Fixed to the friction line track, the pusher includes a second motor, a transmission rack, a drive gear, and a push pawl. The second motor is connected to the drive gear and can drive the drive gear to rotate. The transmission rack meshes with the drive gear. The push pawl is located on the side of the transmission rack and can move with the transmission rack. Driven by the drive gear, the transmission rack can reciprocate horizontally and push the spreader through the push pawl.

[0054] The present invention can effectively increase auxiliary power by adopting a push plate machine, thereby ensuring stable and continuous operation of the friction line. The second motor drives the driving gear to engage the transmission rack to run in a straight line, and the operation process is smooth and stable.

[0055] See also Figure 1 , Figure 1 A wiring diagram of a friction line pusher and a friction drive motor synchronous control system according to an embodiment of the present invention is shown.

[0056] Based on the above-mentioned friction line and push plate structure, the present invention provides a friction line push plate and friction drive motor synchronization control system, including electrical wiring, a controller, a frequency converter, a proximity switch, and a limit switch. The controller includes a communication module, a remote I / O module, and a processor.

[0057] The processor is connected to the inverter's control circuit signal via a remote I / O module. The inverter's RST terminal is connected to a three-phase power supply via electrical wiring. The inverter's output terminal is electrically connected to the second motor. The controller also obtains the first motor's speed information from the first motor's control module. For example, a PLC controller can be used, an ET200S remote I / O module can be used, and a SEW MDX61B series inverter can be used.

[0058] The processor and the remote IO module are connected through communication module signals, and the remote IO module and the inverter are also connected through communication module signals. There are 6 communication ports between the remote IO module and the inverter. The remote IO module sends the following instructions to the inverter through the 6 communication ports: motor forward output instruction, motor reverse output instruction, motor forward deceleration instruction, motor reverse deceleration instruction, motor forward limit instruction and motor reverse limit instruction.

[0059] For example, the communication module is a DP bus (PROFIBUS-DP), which can realize high-speed and long-distance communication based on the DP bus.

[0060] In this embodiment, the track of the friction line is provided with a backward limit point, a backward arrival point, a forward deceleration point, a backward deceleration point, a forward arrival point and a forward limit point in sequence along the running direction of the sling of the friction line.

[0061] The controller is used to send a first set of control instructions to the frequency converter based on the real-time acquired operating status information of the first motor and the push claw position signal of the push plate machine when the first motor of the friction line drives the spreader to move from the first set point to the second set point; the controller is also used to send a second set of control instructions to the frequency converter based on the push claw position signal after the spreader moves to the second set point.

[0062] The frequency converter is used to control the speed and direction of the second motor according to the first control instruction set, so that the second motor drives the pushing claw to move from the rearward position to the forward position, and during the movement of the pushing claw, it drives the sling from the first set point to the second set point synchronously with the first motor; the frequency converter is also used to control the speed and direction of the second motor according to the second control instruction set, so that the second motor drives the pushing claw from the forward position to the backward position.

[0063] There are two limit switches, including a first limit switch and a second limit switch. The first limit switch and the second limit switch are respectively set at the backward limit position and the forward limit position. The first limit switch and the second limit switch are evenly communicated with the controller. When the second motor drives the push claw to be located in the sensing area of ​​the first limit switch and the second limit switch, the limit switch action signal is fed back to the controller, and the controller sends a power supply instruction to the inverter to cut off the power supply of the second motor to stop the push plate machine.

[0064] See also Figure 2 , Figure 2 A schematic diagram of an electrical circuit of a proximity switch according to an embodiment of the present invention is shown.

[0065] There are four proximity switches, including a first proximity switch, a second proximity switch, a third proximity switch and a fourth proximity switch. The first proximity switch, the second proximity switch, the third proximity switch and the fourth proximity switch are respectively set at the reverse position, the forward deceleration point, the reverse deceleration point and the forward position.

[0066] The first proximity switch, the second proximity switch, the third proximity switch and the fourth proximity switch are all communicatively connected to the controller. When the push claw is located in the sensing area of ​​the proximity switch, the proximity switch action signal is fed back to the controller. The controller generates a control signal according to the action signals of the multiple proximity switches and sends the control signal to the frequency converter. The frequency converter controls the speed and direction of the second motor according to the control signal.

[0067] Specifically, the first, second, third, and fourth proximity switches each include a BN (brown), BU (blue), and BK (black) wire. The BN (brown) wire is connected to the positive power supply, the BU (blue) wire is also connected to the negative power supply, and the BK (black) wire is the output wire. The controller includes a power module and first, second, third, and fourth digital input modules.

[0068] Among them, the BN (brown) wire and BU (blue) wire of the first proximity switch are connected to the positive power supply and ground wire of the power module respectively, and the BK (black) wire of the first proximity switch is connected to the first digital input module; the BN (brown) wire and BU (blue) wire of the second proximity switch are connected to the positive power supply and ground wire of the power module respectively, and the BK (black) wire of the second proximity switch is connected to the second digital input module; the BN (brown) wire and BU (blue) wire of the third proximity switch are connected to the positive power supply and ground wire of the power module respectively, and the BK (black) wire of the third proximity switch is connected to the third digital input module; the BN (brown) wire and BU (blue) wire of the fourth proximity switch are connected to the positive power supply and ground wire of the power module respectively, and the BK (black) wire of the fourth proximity switch is connected to the fourth digital input module.

[0069] See also Figure 3 , Figure 3 FIG. 4 shows a schematic diagram of an electrical circuit of a second motor according to an embodiment of the present invention.

[0070] In this embodiment, the second motor is equipped with a brake and an MOV (metal oxide varistor). The inverter also includes a protection module and a brake control module. The brake is signal-connected to the brake control module. The brake control module controls the brake to brake the second motor according to commands from the controller. The MOV is connected in series with the protection module to provide overvoltage protection to the second motor when the brake is applied, preventing damage to the motor.

[0071] Specifically, the U1, V1 and W1 terminals of the second motor are connected to the output end of the inverter, and the brake is connected to the brake control module signal through the RD (red) line, BU (blue) line and WH (white) line.

[0072] See also Figure 4 , Figure 4 A schematic flow chart of a method for synchronously controlling a plate pusher and a friction drive motor of a friction line according to an embodiment of the present invention is shown.

[0073] Based on the synchronous control system of the push plate machine and the friction drive motor of the friction line, the present invention also provides a synchronous control method of the push plate machine and the friction drive motor of the friction line, comprising the following steps:

[0074] S1. When the first motor of the friction line drives the spreader to move from the first set point to the second set point, the controller sends a first control instruction set to the inverter based on the real-time acquired operating status information of the first motor and the push claw position signal of the push plate machine.

[0075] It should be noted that the first set point and the second set point may be the starting point and the end point where the spreader is prone to slipping, or the starting point and the end point where the spreader requires power assistance.

[0076] In this step, the operating status information of the first motor includes speed information, the first control instruction set includes forward instruction, forward deceleration instruction and forward to position instruction; the second control instruction set includes backward instruction, backward deceleration instruction and backward to position instruction.

[0077] The controller sends a first control instruction set to the frequency converter according to the real-time acquired operating status information of the first motor and the push claw position signal of the push plate machine as follows:

[0078] S11, when the push claw is at the retracted position, the first proximity switch feeds back an action signal to the controller, and the controller sends a forward instruction to the inverter according to the speed information of the first motor and the action signal feedback of the first proximity switch.

[0079] S12: When the push claw is at the forward deceleration point, the second proximity switch feeds back an action signal to the controller. The controller sends a forward deceleration instruction to the inverter based on the speed information of the first motor and the action signal feedback of the second proximity switch.

[0080] S13: When the push claw is at the advanced position, the fourth proximity switch feeds back an action signal to the controller, and the controller sends an advanced position instruction to the frequency converter according to the action signal feedback from the fourth proximity switch.

[0081] S14. When the fourth proximity switch does not feed back an action signal to the controller and the push claw moves to the sensing position of the second limit switch, the second limit switch action signal is fed back to the controller, and the controller sends a power supply instruction to the inverter to cut off the power supply of the second motor.

[0082] S2. The inverter controls the speed and direction of the second motor according to the first control instruction set, so that the second motor drives the push claw to move from the backward position to the forward position. During the movement of the push claw, it drives the spreader from the first set point to the second set point synchronously with the first motor. The details are as follows:

[0083] S21, the frequency converter controls the second motor to rotate forward according to the forward instruction and to have the same speed as the first motor, so that the second motor drives the push claw to move from the backward position to the forward deceleration point.

[0084] S22, the frequency converter controls the second motor to decelerate according to the forward deceleration instruction, and the decelerated second motor drives the push claw to move from the forward deceleration point to the forward arrival point.

[0085] S23, the frequency converter controls the second motor to stop running according to the forward position instruction, and controls the brake to brake the second motor to stop the push claw at the forward position.

[0086] S3. After the spreader moves to the second set point, the controller sends a second control instruction set to the frequency converter according to the claw position signal.

[0087] In this step, the second control instruction set includes a retreat instruction, a retreat deceleration instruction, and a retreat to position instruction.

[0088] The controller sends a second set of control instructions to the inverter according to the claw position signal as follows:

[0089] S31: After the push claw has been at the forward position for a certain period of time, the controller sends a motor backward instruction to the inverter.

[0090] S32: When the push claw is located at the backward deceleration point, the third proximity switch feeds back an action signal to the controller, and the controller sends a backward deceleration instruction to the inverter based on the action signal feedback from the third proximity switch.

[0091] S33: When the push claw is at the retreat position, the first proximity switch feeds back an action signal to the controller, and the controller sends a retreat command to the frequency converter based on the action signal feedback from the first proximity switch.

[0092] S34. When the first proximity switch does not feed back an action signal to the controller and the push claw moves to the sensing position of the first limit switch, the first limit switch action signal is fed back to the controller, and the controller sends a power supply instruction to the inverter to cut off the power supply of the second motor.

[0093] S4. The frequency converter controls the speed and direction of the second motor according to the second control instruction set, so that the second motor drives the push claw from the forward position to the reverse position, as follows:

[0094] According to the backward instruction, the frequency converter controls the second motor to reverse and drive the push claw to move from the forward arrival position to the backward deceleration point at the set speed; according to the backward deceleration signal, the frequency converter controls the second motor to decelerate, and the decelerated second motor drives the push claw to move from the forward deceleration point to the forward arrival position; the frequency converter controls the second motor to stop running, and controls the brake to brake the second motor to stop the push claw at the backward arrival position.

[0095] The synchronous control method of the plate pusher and the friction drive motor of the friction line of the present invention can effectively prevent the slipping of the sling caused by the friction drive between the chains, thereby reducing the downtime of equipment failure and the quality risk of the pre-processing vehicle body.

[0096] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for synchronously controlling a plate pusher and a friction drive motor of a friction line, comprising the following steps: When the first motor of the friction line drives the spreader to move from the first set point to the second set point, the controller sends a first control instruction set to the frequency converter based on the real-time acquired operating status information of the first motor and the push claw position signal of the push plate machine, wherein the first control instruction set includes a forward instruction, a forward deceleration instruction, and a forward position instruction; the second control instruction set includes a backward instruction, a backward deceleration instruction, and a backward position instruction; The controller sends a first control instruction set to the frequency converter based on the real-time acquired operating status information of the first motor and the push claw position signal of the push plate machine, including: When the push claw is at the retracted position, the first proximity switch feeds back an action signal to the controller, and the controller sends a forward instruction to the inverter based on the speed information of the first motor and the action signal feedback of the first proximity switch; When the push claw is at the forward deceleration point, the second proximity switch feeds back an action signal to the controller. The controller sends a forward deceleration command to the inverter based on the speed information of the first motor and the action signal feedback of the second proximity switch. When the push claw is at the forward position, the fourth proximity switch feeds back an action signal to the controller, and the controller sends a forward position instruction to the frequency converter based on the action signal feedback of the fourth proximity switch; The frequency converter controls the speed and direction of the second motor according to the first control instruction set, so that the second motor drives the push claw to move from the rearward position to the forward position. During the movement of the push claw, it drives the spreader from the first set point to the second set point synchronously with the first motor; After the spreader moves to the second set point, the controller sends a second set of control instructions to the frequency converter based on the claw position signal; The frequency converter controls the speed and direction of the second motor according to the second control instruction set, so that the second motor drives the push claw from moving forward to the position and then moving back to the position.

2. The synchronous control method of the push plate machine and the friction drive motor of the friction line according to claim 1, wherein: The frequency converter controls the speed and direction of the second motor according to the first control instruction set, so that the second motor drives the push claw to move from the backward position to the forward position, including: The inverter controls the second motor to rotate forward according to the forward instruction and the speed is the same as that of the first motor, so that the second motor drives the push claw to move from the backward position to the forward deceleration point; The frequency converter controls the second motor to decelerate according to the forward deceleration instruction, and the decelerated second motor drives the push claw to move from the forward deceleration point to the forward arrival point; The frequency converter controls the second motor to stop running according to the forward position instruction, and controls the brake to brake the second motor to stop the push claw at the forward position.

3. The synchronous control method of the push plate machine and the friction drive motor of the friction line according to claim 1, wherein: After the spreader moves to the second set point, the controller sends a second set of control instructions to the inverter based on the claw position signal, including: After the push claw has been at the forward position for a certain period of time, the controller sends a motor backward instruction to the inverter; When the push claw is at the reverse deceleration point, the third proximity switch feeds back the action signal to the controller, and the controller sends a reverse deceleration command to the inverter based on the action signal feedback from the third proximity switch; When the push claw is at the retracted position, the first proximity switch feeds back an action signal to the controller, and the controller sends a retracted position instruction to the frequency converter based on the action signal feedback from the first proximity switch.

4. The synchronous control method of the push plate machine and the friction drive motor of the friction line according to claim 3, wherein: The frequency converter controls the speed and direction of the second motor according to the second control instruction set, so that the second motor drives the push claw from moving forward to the position and then back to the position, including: According to the backward instruction, the inverter controls the second motor to reverse and drives the push claw to move from the forward position to the backward deceleration point at the set speed; The frequency converter controls the second motor to decelerate according to the backward deceleration signal, and the decelerated second motor drives the push claw to move from the forward deceleration point to the forward arrival point; The frequency converter controls the second motor to stop running, and controls the brake to brake the second motor, so that the push claw stops at the retracted position.

5. The method for synchronously controlling the push plate machine and the friction drive motor of the friction line according to claim 1 or 2, further comprising the following steps: When the fourth proximity switch does not feed back an action signal to the controller and the push claw moves to the sensing position of the second limit switch, the second limit switch action signal is fed back to the controller, and the controller sends a power supply instruction to the inverter to cut off the power supply of the second motor.

6. The method for synchronously controlling the pusher and the friction drive motor of the friction line according to claim 3 or 4, further comprising the following steps: When the first proximity switch does not feed back an action signal to the controller and the push claw moves to the sensing position of the first limit switch, the first limit switch action signal is fed back to the controller, and the controller sends a power supply instruction to the inverter to cut off the power supply of the second motor.

7. A synchronous control system for a friction line pusher and a friction drive motor, comprising: Controllers and inverters; The controller is configured to send a first set of control instructions to the frequency converter based on real-time acquired operating status information of the first motor and a push claw position signal of the push plate machine when the first motor of the friction line drives the spreader to move from a first set point to a second set point. The first set of control instructions includes a forward instruction, a forward deceleration instruction, and a forward in-position instruction; and the second set of control instructions includes a backward instruction, a backward deceleration instruction, and a backward in-position instruction. The controller sends a first control instruction set to the frequency converter based on the real-time acquired operating status information of the first motor and the push claw position signal of the push plate machine, including: When the push claw is at the retracted position, the first proximity switch feeds back an action signal to the controller, and the controller sends a forward instruction to the inverter based on the speed information of the first motor and the action signal feedback of the first proximity switch; When the push claw is at the forward deceleration point, the second proximity switch feeds back an action signal to the controller. The controller sends a forward deceleration command to the inverter based on the speed information of the first motor and the action signal feedback of the second proximity switch. When the push claw is at the forward position, the fourth proximity switch feeds back an action signal to the controller, and the controller sends a forward position instruction to the frequency converter based on the action signal feedback of the fourth proximity switch; The frequency converter is used to control the speed and direction of the second motor according to the first control instruction set, so that the second motor drives the push claw to move from a rearward position to a forward position, and during the movement of the push claw, it synchronizes with the first motor to drive the spreader to move from a first set point to a second set point; The controller is further configured to send a second set of control instructions to the frequency converter according to the push claw position signal after the spreader moves to the second set point; The frequency converter is also used to control the speed and direction of the second motor according to the second control instruction set, so that the second motor drives the push claw from moving forward to the position and then returns to the position.

8. The synchronous control system of the push plate machine and the friction drive motor of the friction line according to claim 7, further comprising a first proximity switch, a second proximity switch, a third proximity switch, a fourth proximity switch, a first limit switch and a second limit switch; in, The first proximity switch is used to feed back the action signal to the controller when the push claw is at the retreat position; The second proximity switch is used to feed back the action signal to the controller when the push claw is at the forward deceleration point; The third proximity switch is used to feed back the action signal to the controller when the push claw is at the reverse deceleration point; The fourth proximity switch is used to feed back the action signal to the controller when the push claw is at the forward position; The first limit switch is used to feed back an action signal to the controller when the push claw moves to the sensing position of the first limit switch; The second limit switch is used to feed back an action signal to the controller when the push claw moves to the sensing position of the second limit switch.

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