Method and system for controlling the emptying of a charging mechanism

Abstract

The method for controlling the feeding mechanism includes: establishing a rectangular coordinate system, the longitudinal axis of the rectangular coordinate system is parallel to the direction of gravity, and the transverse axis of the rectangular coordinate system is perpendicular to the first direction and the direction of gravity; for each traction end, the speed set value of the rotation axis of the traction end along the transverse axis direction of the rectangular coordinate system and the speed set value of the rotation axis of the traction end along the longitudinal axis direction of the rectangular coordinate system are calculated according to the formula Vx=-Lb*sin(thetaa+thetab)*omega and the formula Vy=Lb*cos(thetaa+thetab)*omega; and the driving unit is controlled to act according to the speed set values of the rotation axes of the two traction ends along the transverse axis direction and the speed set values of the rotation axes of the two traction ends along the longitudinal axis direction. The method for controlling the feeding mechanism can realize uniform rotation of the hopper during the feeding process. In addition, a control system of the feeding mechanism is also provided.

Description

Technical Field

[0001] This invention relates to a control method, and more particularly to a material discharge control method for a feeding mechanism and a control system for the feeding mechanism that implements the material discharge control method. Background Technology

[0002] The feeding mechanism in a steel plant is used to add scrap to the converter. During the feeding process, the hopper needs to be rotated to complete the unloading. Current unloading control methods cannot achieve uniform rotation of the hopper during the unloading process. Summary of the Invention

[0003] The purpose of this invention is to provide a feeding mechanism for controlling the discharge of materials, which can achieve uniform rotation of the hopper during the discharge process.

[0004] Another objective of this invention is to provide a control system for a feeding mechanism that enables the hopper to rotate at a constant speed during the feeding process.

[0005] This invention provides a method for controlling the discharge of a feeding mechanism. The feeding mechanism includes a hopper and a drive unit. The drive unit has two traction ends. Each traction end is rotatably connected to the hopper along a rotation axis parallel to a first direction and applies a traction force perpendicular to the first direction to the hopper, wherein the first direction is perpendicular to the direction of gravity. The point of application of the traction force applied by the two traction ends and the center of gravity of the hopper are located in the same plane perpendicular to the first direction. The rotation axes of the two traction ends relative to the hopper are separated. The drive unit can drive each traction end to move along the plane perpendicular to the first direction through action. The discharge control method is used to control the hopper to rotate from a discharge starting position about a discharge axis parallel to the first direction. The discharge control method includes:

[0006] Establish a rectangular coordinate system with its vertical axis parallel to the direction of gravity and its horizontal axis perpendicular to both the first direction and the direction of gravity.

[0007] For each traction end, the setpoint values ​​of the rotation axis of the traction end along the horizontal axis of the rectangular coordinate system and the setpoint values ​​of the rotation axis of the traction end along the vertical axis of the rectangular coordinate system are calculated according to formulas (1) and (2).

[0008] Vx=-Lb×sin(θa+θb)×ω Formula (1)

[0009] Vy=Lb×cos(θa+θb)×ω Formula (2)

[0010] Where: Vx is the set value of the speed of the rotation axis of the traction end along the horizontal axis; Vy is the set value of the speed of the rotation axis of the traction end along the vertical axis; Lb is the value of the vector from the projection point of the pouring axis on the coordinate plane of the rectangular coordinate system to the projection point of the rotation axis of the traction end on the coordinate plane of the rectangular coordinate system; θa is the value of the angular vector with the horizontal axis of the rectangular coordinate system as the initial side and La as the terminal side, and the angle is less than 180 degrees, where La is the value of the vector from the origin of the rectangular coordinate system to the projection point of the pouring axis on the coordinate plane of the rectangular coordinate system; θb is the value of the angular vector with La as the initial side and Lb as the terminal side, and the angle is less than 180 degrees; ω is the set angular velocity of the hopper rotating around the pouring axis; and

[0011] The drive unit is controlled to operate based on the speed settings of the rotation axes of the two traction ends along the horizontal axis and the speed settings of the rotation axes of the two traction ends along the vertical axis.

[0012] The feeding mechanism's discharge control method enables the hopper to rotate at a constant speed during the discharge process.

[0013] In another illustrative embodiment of the feeding mechanism's discharge control method, the feeding mechanism further includes a support. The drive unit includes two drive components. Each drive component includes a movable frame, a drive wheel, a movable motor, a winding member, and a traction member. Each traction member is provided with a traction end. The movable frame is movably disposed on the support along a second direction, wherein the second direction is perpendicular to the first direction and the direction of gravity. The winding member is rotatably disposed on the movable frame about an axis perpendicular to the direction of gravity. The main body of the traction member is a rope or chain and is wound around the winding member, and the traction end is connected to one end of the rope or chain. The direction of the traction force of each traction end when the hopper is in the discharge start position is opposite to the direction of gravity. The drive wheel is rotatably connected to the movable frame to drive the movable frame to move along the second direction by rolling on the support. The movable motor is disposed on the movable frame and is capable of driving the drive wheel to rotate relative to the movable frame. The steps of controlling the operation of the drive unit according to the speed set values ​​of the rotation axes of the two traction ends along the horizontal axis and the speed set values ​​of the rotation axes of the two traction ends along the vertical axis include:

[0014] For each drive component, the speed setpoint of the moving motor is calculated according to formula (3).

[0015] Vm=Vx / (A×B) Formula (3)

[0016] Where: Vm is the setpoint speed of the moving motor, Vx is the setpoint speed of the rotation axis of the traction end along the horizontal axis, A is the ratio of the angular velocity of the driving wheel to the angular velocity of the output shaft of the moving motor during the movement of the driving wheel, B is the ratio of the moving speed of the moving frame to the angular velocity of the driving wheel during the movement of the moving frame driven by the driving wheel; and

[0017] The operation of the mobile motor is controlled based on its set speed. This facilitates control.

[0018] In another illustrative embodiment of the feeding mechanism's discharge control method, the feeding mechanism further includes a support. The drive unit includes two drive components. Each drive component includes a movable frame, a winding member, a winding motor, and a traction member. Each traction member is provided with a traction end. The movable frame is movably mounted on the support along a second direction, wherein the second direction is perpendicular to the first direction and the direction of gravity. The winding member is rotatably mounted on the movable frame about an axis perpendicular to the direction of gravity. The main body of the traction member is a rope or chain and is wound around the winding member, with the traction end connected to one end of the rope or chain. The direction of the traction force at each traction end when the hopper is in the discharge start position is opposite to the direction of gravity. The winding motor is mounted on the movable frame and is capable of driving the winding member to rotate. The steps of controlling the operation of the drive unit based on the speed set values ​​of the rotation axes of the two traction ends along the horizontal axis and the speed set values ​​of the rotation axes of the two traction ends along the vertical axis include:

[0019] For each drive component, the speed setting value of the take-up motor is calculated according to formula (4).

[0020] Vn=Vy / (C×D) Formula (4)

[0021] Where: Vn is the setpoint speed of the take-up motor, Vy is the setpoint speed of the traction end's rotation axis along the longitudinal axis, C is the ratio of the angular velocity of the take-up component to the angular velocity of the output shaft of the take-up motor during the process of the take-up motor driving the take-up component to move, and D is the ratio of the moving speed of the traction end to the angular velocity of the take-up component during the process of the take-up component driving the traction end to move; and

[0022] The winding motor is controlled based on its set speed. This facilitates control.

[0023] In another illustrative embodiment of the material discharge control method of the feeding mechanism, the material discharge control method further includes: obtaining the coordinate values ​​of the projection points of the rotation axes of the two traction ends onto the coordinate plane of the rectangular coordinate system, and calculating the value of θb in formulas (1) and (2) based on the coordinate values ​​of the rotation axes of the two traction ends. The step of obtaining the coordinate values ​​of the projection points of the rotation axes of the two traction ends onto the coordinate plane of the rectangular coordinate system includes:

[0024] For each drive component, obtain the cumulative value of the rotational amount of the drive wheels; and

[0025] Calculate the abscissa of the projection point of the rotation axis of the traction end onto the coordinate plane of the rectangular coordinate system according to formula (5).

[0026] Xr=Xi+F×B Formula (5)

[0027] Where: Xr is the abscissa of the projection point of the rotation axis of the traction end onto the coordinate plane of the rectangular coordinate system; Xi is the abscissa of the projection point of the rotation axis of the traction end onto the coordinate plane of the rectangular coordinate system when the cumulative value of the rotation of the drive wheel is zero; F is the cumulative value of the rotation of the drive wheel; and B is the ratio of the moving speed of the moving frame to the angular velocity of the drive wheel during the movement of the moving frame driven by the drive wheel. This facilitates the determination of the value of θb.

[0028] In another illustrative embodiment of the material discharge control method of the feeding mechanism, the material discharge control method further includes: obtaining the coordinate values ​​of the projection points of the rotation axes of the two traction ends onto the coordinate plane of the rectangular coordinate system, and calculating the value of θb in formulas (1) and (2) based on the coordinate values ​​of the rotation axes of the two traction ends. The step of obtaining the coordinate values ​​of the projection points of the rotation axes of the two traction ends onto the coordinate plane of the rectangular coordinate system includes:

[0029] For each drive component, obtain the cumulative value of the rotation of the winding component; and

[0030] Calculate the ordinate of the projection point of the rotation axis of the traction end onto the coordinate plane of the rectangular coordinate system according to formula (6).

[0031] Yr=Yi+G×D Formula (6)

[0032] Where: Yr is the ordinate of the projection point of the rotation axis of the traction end onto the coordinate plane of the rectangular coordinate system; Yi is the ordinate of the projection point of the rotation axis of the traction end onto the coordinate plane of the rectangular coordinate system when the cumulative value of the rotation of the take-up component is zero; G is the cumulative value of the rotation of the take-up component; and D is the ratio of the moving speed of the traction end to the angular velocity of the take-up component during the process of the take-up component driving the traction end to move. This facilitates the acquisition of the value of θb.

[0033] The present invention also provides a control system for a feeding mechanism. The feeding mechanism includes a hopper and a drive unit. The drive unit has two traction ends. Each traction end is rotatably connected to the hopper along a rotation axis parallel to a first direction and applies a traction force perpendicular to the first direction to the hopper, wherein the first direction is perpendicular to the direction of gravity. The point of application of the traction force applied by the two traction ends and the center of gravity of the hopper are located in the same plane perpendicular to the first direction. The rotation axes of the two traction ends relative to the hopper are separated. The drive unit is capable of driving each traction end to move along the plane perpendicular to the first direction by means of action. The control system includes a processing unit. The processing unit is configured to calculate, for each traction end, a setpoint value of the velocity of the rotation axis of the traction end along the horizontal axis of a rectangular coordinate system and a setpoint value of the velocity of the rotation axis of the traction end along the vertical axis of a rectangular coordinate system, according to formulas (1) and (2), wherein the vertical axis of the rectangular coordinate system is parallel to the direction of gravity, and the horizontal axis of the rectangular coordinate system is perpendicular to the first direction and the direction of gravity. The processing unit is also configured to generate control signals for controlling the operation of the drive unit based on the speed set values ​​of the rotation axes of the two traction ends along the horizontal axis and the speed set values ​​of the rotation axes of the two traction ends along the vertical axis.

[0034] Vx=-Lb×sin(θa+θb)×ω Formula (1)

[0035] Vy=Lb×cos(θa+θb)×ω Formula (2)

[0036] Where: Vx is the set value of the speed of the rotation axis of the traction end along the horizontal axis, Vy is the set value of the speed of the rotation axis of the traction end along the vertical axis, Lb is the value of the vector from the projection point of the pouring axis on the coordinate plane of the rectangular coordinate system to the projection point of the rotation axis of the traction end on the coordinate plane of the rectangular coordinate system. The pouring axis is parallel to the first direction. The pouring axis is the axis of rotation of the hopper during the pouring process of the feeding mechanism. During the pouring process, the hopper starts to rotate from a pouring starting position. θa is the value of the angular vector with the horizontal axis of the rectangular coordinate system as the initial side and La as the terminal side, and the angle is less than 180 degrees. Where La is the value of the vector from the origin of the rectangular coordinate system to the projection point of the pouring axis on the coordinate plane of the rectangular coordinate system, θb is the value of the angular vector with La as the initial side and Lb as the terminal side, and the angle is less than 180 degrees. ω is the set angular velocity of the hopper rotating around the pouring axis. The control system of this feeding mechanism can realize the uniform rotation of the hopper during the pouring process.

[0037] In another illustrative embodiment of the control system for the feeding mechanism, the feeding mechanism further includes a support. The drive unit includes two drive components. Each drive component includes a moving frame, a drive wheel, a moving motor, a winding member, and a traction member. Each traction member is provided with a traction end. The moving frame is movably disposed on the support along a second direction, wherein the second direction is perpendicular to the first direction and the direction of gravity. The winding member is rotatably disposed on the moving frame about an axis perpendicular to the direction of gravity. The main body of the traction member is a rope or chain and is wound around the winding member, and the traction end is connected to one end of the rope or chain. The direction of the traction force of each traction end when the hopper is in the initial discharging position is opposite to the direction of gravity. The drive wheel is rotatably connected to the moving frame to move the moving frame along the second direction by rolling on the support. The moving motor is disposed on the moving frame and is capable of driving the drive wheel to rotate relative to the moving frame. The processing unit is also configured to calculate the speed setpoint of the moving motor according to formula (3) for each drive component. The processing unit is also configured to generate a control signal for controlling the operation of the moving motor based on the speed setpoint of the moving motor.

[0038] Vm=Vx / (A×B) Formula (3)

[0039] Where: Vm is the setpoint speed of the moving motor, Vx is the setpoint speed of the rotation axis of the traction end along the horizontal axis, A is the ratio of the angular velocity of the driving wheel to the angular velocity of the output shaft of the moving motor during the movement of the driving wheel, and B is the ratio of the moving speed of the moving frame to the angular velocity of the driving wheel during the movement of the moving frame driven by the driving wheel. This facilitates control.

[0040] In another illustrative embodiment of the control system of the feeding mechanism, the feeding mechanism further includes a support. The drive unit includes two drive components. Each drive component includes a movable frame, a winding member, a winding motor, and a traction member. Each traction member is provided with a traction end. The movable frame is movably disposed on the support along a second direction, wherein the second direction is perpendicular to the first direction and the direction of gravity. The winding member is rotatably disposed on the movable frame about an axis perpendicular to the direction of gravity. The main body of the traction member is a rope or chain and is wound around the winding member, and the traction end is connected to one end of the rope or chain. The direction of the traction force of each traction end when the hopper is in the starting position of unloading is opposite to the direction of gravity. The winding motor is disposed on the movable frame and is capable of driving the winding member to rotate. The processing unit is also configured to calculate the speed setpoint of the winding motor for each drive component according to formula (4). The processing unit is also configured to generate a control signal for controlling the operation of the winding motor based on the speed setpoint of the winding motor.

[0041] Vn=Vy / (C×D) Formula (4)

[0042] Where: Vn is the setpoint speed of the take-up motor, Vy is the setpoint speed of the traction end's rotation axis along the longitudinal axis, C is the ratio of the angular velocity of the take-up component to the angular velocity of the output shaft of the take-up motor during the process of the take-up motor driving the take-up component, and D is the ratio of the moving speed of the traction end to the angular velocity of the take-up component during the process of the take-up component driving the traction end. This facilitates control.

[0043] In another illustrative embodiment of the control system for the feeding mechanism, the processing unit is configured to calculate the value of θb in formulas (1) and (2) based on the coordinate values ​​of the projection points of the rotation axes of the two traction ends onto the coordinate plane of the Cartesian coordinate system. The control system also includes a first absolute position encoder and a second absolute position encoder. The first absolute position encoder is capable of detecting the cumulative value of the rotation of the drive wheel of one drive component and sending a signal to the processing unit. The second absolute position encoder is capable of detecting the cumulative value of the rotation of the drive wheel of the other drive component and sending a signal to the processing unit. The processing unit is also configured to calculate, for each traction end, the abscissa of the projection point of the rotation axis of the traction end onto the coordinate plane of the Cartesian coordinate system according to formula (5).

[0044] Xr=Xi+F×B Formula (5)

[0045] Where: Xr is the abscissa of the projection point of the rotation axis of the traction end onto the coordinate plane of the rectangular coordinate system; Xi is the abscissa of the projection point of the rotation axis of the traction end onto the coordinate plane of the rectangular coordinate system when the cumulative value of the rotation of the drive wheel is zero; F is the cumulative value of the rotation of the drive wheel; and B is the ratio of the moving speed of the moving frame to the angular velocity of the drive wheel during the movement of the moving frame driven by the drive wheel. This facilitates the determination of the value of θb.

[0046] In another illustrative embodiment of the control system for the feeding mechanism, the processing unit is configured to calculate the value of θb in formulas (1) and (2) based on the coordinate values ​​of the projection points of the rotation axes of the two traction ends onto the coordinate plane of the Cartesian coordinate system. The control system also includes a third absolute position encoder and a fourth absolute position encoder. The third absolute position encoder is capable of detecting the cumulative value of the rotation of the winding component of one drive assembly and sending a signal to the processing unit. The fourth absolute position encoder is capable of detecting the cumulative value of the rotation of the winding component of the other drive assembly and sending a signal to the processing unit. The processing unit is also configured to calculate the ordinate of the projection point of the rotation axis of the traction end onto the coordinate plane of the Cartesian coordinate system for each traction end according to formula (6).

[0047] Yr=Yi+G×D Formula (6)

[0048] Where: Yr is the ordinate of the projection point of the rotation axis of the traction end onto the coordinate plane of the rectangular coordinate system; Yi is the ordinate of the projection point of the rotation axis of the traction end onto the coordinate plane of the rectangular coordinate system when the cumulative value of the rotation of the take-up component is zero; G is the cumulative value of the rotation of the take-up component; and D is the ratio of the moving speed of the traction end to the angular velocity of the take-up component during the process of the take-up component driving the traction end to move. This facilitates the acquisition of the value of θb. Attached Figure Description

[0049] The following figures are for illustrative purposes only and do not limit the scope of the invention.

[0050] Figure 1 This is a flowchart illustrating one implementation of a feeding mechanism's material discharge control method.

[0051] Figure 2 This is a schematic diagram of the feeding mechanism.

[0052] Figure 3 This is a schematic diagram of another state of the feeding mechanism.

[0053] Figure 4 Used to explain the meaning of the parameters in formulas (1) and (2).

[0054] Figure 5 This is a structural block diagram illustrating one embodiment of the control system for the feeding mechanism.

[0055] Label Explanation

[0056] 10 hoppers

[0057] 20 Traction Components

[0058] 21 Traction End

[0059] 30 Driver Components

[0060] 31 Mobile Frame

[0061] 32 drive wheels

[0062] 33. Mobile motor

[0063] 34 Receiving Items

[0064] 35 winding motor

[0065] 40 supports

[0066] 60 processing units

[0067] 71 First Absolute Position Encoder

[0068] 72 Second Absolute Position Encoder

[0069] 73 Third Absolute Position Encoder

[0070] 74 Fourth Absolute Position Encoder

[0071] Z1 and Z2 are the rotation axes of the traction ends relative to the hopper.

[0072] Z3 pouring axis

[0073] Q is the projection point of the rewind axis onto the coordinate plane of the rectangular coordinate system.

[0074] The projection points of the rotation axes of the traction ends P1 and P2 onto the coordinate plane of the rectangular coordinate system.

[0075] x-axis of the rectangular coordinate system

[0076] y is the vertical axis of a rectangular coordinate system.

[0077] D1 First Direction

[0078] D2 Second Direction

[0079] D3 gravity direction Detailed Implementation

[0080] To provide a clearer understanding of the technical features, objectives, and effects of the invention, specific embodiments of the invention are now described with reference to the accompanying drawings. In the drawings, the same reference numerals indicate components with the same or similar structures but the same function.

[0081] In this document, “illustrative” means “serving as an example, illustration or description”, and any illustration or implementation described herein as “illustrative” should not be construed as a more preferred or advantageous technical solution.

[0082] In this document, terms such as "first" and "second" do not indicate their importance or order, but are only used to distinguish them to facilitate the description of the document.

[0083] To keep the drawings simple, each drawing only schematically shows the parts related to the present invention, and they do not represent the actual structure of the product.

[0084] Figure 1 This is a flowchart illustrating one implementation of a feeding mechanism's material discharge control method. Figure 2 This is a schematic diagram of the feeding mechanism. Figure 2As shown, the feeding mechanism includes a hopper 10, a support 40, and a drive unit. The drive unit has two traction ends 21. Each traction end 21 is rotatably connected to the hopper 10 along a rotation axis Z1 / Z2 parallel to a first direction D1 and applies a traction force perpendicular to the first direction D1 to the hopper 10, wherein the first direction D1 is perpendicular to the direction of gravity D3. The point of application of the traction force applied by the two traction ends 21 and the center of gravity of the hopper 10 are located in the same plane perpendicular to the first direction D1. The rotation axes of the two traction ends 21 relative to the hopper 10 are separated. The drive unit can drive each traction end 21 to move along the plane perpendicular to the first direction D1 through operation.

[0085] The material discharge control method is used to control the hopper 10 to rotate around a material discharge axis Z3 parallel to the first direction D1 from a material discharge starting position. Figure 2 and Figure 3 The display shows the status of hopper 10 at the start and end positions of material discharge. For example... Figure 1 As shown, the material discharge control method includes the following steps S10 to S30.

[0086] S10: Establish a rectangular coordinate system, such as Figure 2 As shown, the vertical axis y of the rectangular coordinate system is parallel to the direction of gravity D3, and the horizontal axis x of the rectangular coordinate system is perpendicular to the first direction D1 and the direction of gravity D3.

[0087] S20: For each traction end 21, calculate the set value of the speed of the rotation axis Z1 / Z2 of the traction end 21 along the horizontal axis of the rectangular coordinate system and the set value of the speed of the rotation axis Z1 / Z2 of the traction end 21 along the vertical axis of the rectangular coordinate system according to formula (1) and formula (2).

[0088] Vx=-Lb×sin(θa+θb)×ω Formula (1)

[0089] Vy=Lb×cos(θa+θb)×ω Formula (2)

[0090] Combination Figure 4 ,in:

[0091] Vx is the set value of the speed of the rotation axis Z1 / Z2 of the traction end 21 along the horizontal axis.

[0092] Vy is the set value of the speed of the rotation axis Z1 / Z2 of the traction end 21 along the longitudinal axis.

[0093] Lb is the value of the vector from the projection point Q of the reversing axis Z3 on the coordinate plane of the rectangular coordinate system to the projection point P1 / P2 of the rotation axis Z1 / Z2 on the coordinate plane of the rectangular coordinate system at the traction end 21.

[0094] θa is the value of an angular vector with the x-axis of the rectangular coordinate system as its initial side and La as its terminal side, and the angle is less than 180 degrees, where La is the value of the vector from the origin O of the rectangular coordinate system to the projection point Q of the reciprocating axis Z3 onto the coordinate plane of the rectangular coordinate system.

[0095] θb is the value of an angular vector with La as its initial side and Lb as its terminal side, and whose angle is less than 180 degrees.

[0096] ω is the set angular velocity of the hopper 10 rotating around the material feeding axis Z3.

[0097] S30: Control the drive unit to operate according to the speed set values ​​of the rotation axes of the two traction ends 21 along the horizontal axis and the speed set values ​​of the rotation axes of the two traction ends 21 along the vertical axis, so that the rotation axes of the two traction ends 21 move according to the calculated speed set values ​​of the rotation axes of the two traction ends 21 along the horizontal axis and the speed set values ​​of the rotation axes of the two traction ends 21 along the vertical axis.

[0098] The generation process of formulas (1) and (2) is described in detail below.

[0099] See Figure 4 First, the equations for the abscissa and ordinate of the projection points P1 / P2 of the rotation axis Z1 / Z2 of the traction end 21 onto the coordinate plane of the rectangular coordinate system are generated, as shown in formula (7).

[0100]

[0101] in:

[0102] Px is the abscissa of the projection point P1 / P2 of the rotation axis Z1 / Z2 of the traction end 21 onto the coordinate plane of the rectangular coordinate system, and Py is the ordinate of the projection point P1 / P2 of the rotation axis Z1 / Z2 of the traction end 21 onto the coordinate plane of the rectangular coordinate system.

[0103] La is the value of the vector from the origin O of the rectangular coordinate system to the projection point Q of the reciprocating axis Z3 onto the coordinate plane of the rectangular coordinate system.

[0104] Lb is the value of the vector from the projection point Q of the reversing axis Z3 on the coordinate plane of the rectangular coordinate system to the projection point P1 / P2 of the rotation axis Z1 / Z2 on the coordinate plane of the rectangular coordinate system at the traction end 21.

[0105] θa is the value of an angular vector with its initial side being the horizontal axis of a rectangular coordinate system and its terminal side being La, and the angle being less than 180 degrees.

[0106] θb is the value of a vector containing an angle less than 180 degrees, with La as the initial side and Lb as the terminal side.

[0107] θc is the value of the vector of an angle less than 180 degrees with Lb as the initial side and the vertical axis of the rectangular coordinate system as the terminal side. θ is the sum of θa, θb and θc, and its angle is 90 degrees.

[0108] Then, by differentiating equation (7), the velocity equation of the rotation axis Z1 / Z2 of the traction end 21 is obtained, as shown in equation (8).

[0109]

[0110] in:

[0111] Vx is the set value of the speed of the rotation axis Z1 / Z2 of the traction end 21 along the horizontal axis.

[0112] Vy is the set value of the speed of the rotation axis Z1 / Z2 of the traction end 21 along the longitudinal axis.

[0113] Since La, Lb, θa, and θ are all constants in formula (8), it can be simplified to formula (9).

[0114]

[0115] The derivative of θb in formula (9) is ω in formulas (1) and (2), which is the set angular velocity of the hopper 10 rotating around the pouring axis Z3. Thus, by setting a specific value for ω in formulas (1) and (2), the set values ​​of the speed along the horizontal axis and the speed along the vertical axis of the rotation axis Z1 / Z2 of the traction end 21 at any rotation angle during the pouring process can be calculated.

[0116] Since the value of ω (i.e. the set angular velocity of the hopper 10 rotating around the pouring axis Z3) is constant when calculating the set values ​​of the rotation axis Z1 / Z2 of the traction end 21 along the horizontal axis and along the vertical axis, the hopper 10 can rotate around the pouring axis Z3 at a constant angular velocity during the pouring process.

[0117] The feeding mechanism also includes a support frame 40. The drive unit includes two drive components 30. Each drive component 30 includes a moving frame 31, a drive wheel 32, a moving motor 33, a winding member 34, a winding motor 35, and a traction member 20. Each traction member 20 is provided with a traction end 21. The moving frame 31 is movably mounted on the support frame 40 along a second direction D2, wherein the second direction D2 is perpendicular to the first direction D1 and the gravity direction D3. The winding member 34 is rotatably mounted on the moving frame 31 about an axis perpendicular to the gravity direction D3. The main body of the traction member 20 is a rope or chain and is wound around the winding member 34, and the traction end 21 is connected to one end of the rope or chain. When the hopper 10 is in the initial pouring position, the direction of the traction force of each traction end 21 is opposite to the gravity direction D3. The drive wheel 32 is rotatably connected to the moving frame 31 to move the moving frame 31 along the second direction D2 by rolling on the support frame 40. The movable motor 33 is mounted on the movable frame 31 and can drive the drive wheel 32 to rotate relative to the movable frame 31. The take-up motor 35 is mounted on the movable frame 31 and can drive the take-up piece 34 to rotate.

[0118] like Figure 1 As shown, in the illustrative embodiment, step S30 includes steps S31 and S32.

[0119] S31: For each drive component 30, calculate the speed setting value of the moving motor 33 according to formula (3).

[0120] Vm=Vx / (A×B) Formula (3)

[0121] in:

[0122] Vm is the speed setting value of the mobile motor 33.

[0123] Vx is the set value of the speed of the rotation axis Z1 / Z2 of the traction end 21 along the horizontal axis.

[0124] A represents the ratio of the angular velocity of the drive wheel 32 to the angular velocity of the output shaft of the motor 33 during the motion of the drive wheel 32 driven by the motor 33.

[0125] B is the ratio of the moving speed of the moving frame 31 to the angular velocity of the driving wheel 32 during the process of the driving wheel 32 driving the moving frame 31.

[0126] S32: Controls the operation of the moving motor 33 according to the set speed value of the moving motor 33. This facilitates control.

[0127] like Figure 1 As shown, in the illustrative embodiment, step S30 further includes steps S33 and S34.

[0128] S33: For each drive component 30, calculate the speed setting value of the take-up motor 35 according to formula (4).

[0129] Vn=Vy / (C×D) Formula (4)

[0130] in:

[0131] Vn is the speed setting value of the take-up motor 35.

[0132] Vy is the set value of the speed of the rotation axis Z1 / Z2 of the traction end 21 along the longitudinal axis.

[0133] C represents the ratio of the angular velocity of the winding member 34 to the angular velocity of the output shaft of the winding motor 35 during the process of the winding motor 35 driving the winding member 34 to move.

[0134] D is the ratio of the moving speed of the traction end 21 to the angular velocity of the winding component 34 during the process of the winding component 34 driving the traction end 21 to move.

[0135] S34: Control the operation of the take-up motor 35 according to the set speed value of the take-up motor 35. This facilitates control.

[0136] like Figure 1 As shown in the illustrative embodiment, the material discharge control method further includes the following steps S40 and S50.

[0137] S40: Obtain the coordinate values ​​of the projection points of the rotation axes of the two traction ends 21 onto the coordinate plane of the rectangular coordinate system.

[0138] S50: Calculate the value of θb in formulas (1) and (2) based on the coordinate values ​​of the rotation axes of the two traction ends 21.

[0139] like Figure 1 As shown, in the illustrative embodiment, step S40 includes steps S41 and S42.

[0140] S41: For each drive component 30, obtain the cumulative value of the rotation of the drive wheel 32.

[0141] S42: Calculate the abscissa of the projection point P1 / P2 of the rotation axis Z1 / Z2 of the traction end 21 onto the coordinate plane of the rectangular coordinate system according to formula (5).

[0142] Xr=Xi+F×B Formula (5)

[0143] in:

[0144] Xr is the abscissa of the projection point P1 / P2 of the rotation axis Z1 / Z2 of the traction end 21 onto the coordinate plane of the rectangular coordinate system.

[0145] Xi is the abscissa of the projection point P1 / P2 of the rotation axis Z1 / Z2 of the traction end 21 onto the coordinate plane of the rectangular coordinate system when the cumulative value of the rotation of the drive wheel 32 is zero.

[0146] F is the cumulative value of the rotation of drive wheel 32.

[0147] B is the ratio of the moving speed of the moving frame 31 to the angular velocity of the driving wheel 32 during the movement of the moving frame 31 driven by the driving wheel 32. This allows us to easily obtain the value of θb.

[0148] like Figure 1 As shown, in the illustrative embodiment, step S40 further includes steps S43 and S44.

[0149] S43: For each drive component 30, obtain the cumulative value of the rotation of the winding component 34.

[0150] S44: Calculate the ordinate of the projection point P1 / P2 of the rotation axis Z1 / Z2 of the traction end 21 onto the coordinate plane of the rectangular coordinate system according to formula (6).

[0151] Yr=Yi+G×D Formula (6)

[0152] in:

[0153] Yr is the ordinate of the projection point P1 / P2 of the rotation axis Z1 / Z2 of the traction end 21 onto the coordinate plane of the rectangular coordinate system.

[0154] Yi is the ordinate of the projection point P1 / P2 of the rotation axis Z1 / Z2 of the traction end 21 onto the coordinate plane of the rectangular coordinate system when the cumulative value of the rotation of the winding component 34 is zero.

[0155] G is the cumulative value of the rotation of the winding component 34.

[0156] D is the ratio of the moving speed of the traction end 21 to the angular velocity of the winding member 34 during the process of the winding member 34 driving the traction end 21. This allows us to easily obtain the value of θb.

[0157] Figure 5 This is a structural block diagram illustrating one embodiment of the control system for the feeding mechanism. The feeding mechanism has been described above and will not be repeated here. Figure 5As shown, the control system includes a processing unit 60. The processing unit 60 is configured to calculate, for each traction end 21, the setpoint values ​​of the rotation axes Z1 / Z2 of the traction end 21 along the horizontal axis of a rectangular coordinate system and the setpoint values ​​of the rotation axes Z1 / Z2 of the traction end 21 along the vertical axis of a rectangular coordinate system according to formulas (1) and (2), wherein the vertical axis of the rectangular coordinate system is parallel to the gravity direction D3, and the horizontal axis of the rectangular coordinate system is perpendicular to the first direction D1 and the gravity direction D3.

[0158] Vx=-Lb×sin(θa+θb)×ω Formula (1)

[0159] Vy=Lb×cos(θa+θb)×ω Formula (2)

[0160] in:

[0161] Vx is the set value of the speed of the rotation axis Z1 / Z2 of the traction end 21 along the horizontal axis.

[0162] Vy is the set value of the speed of the rotation axis Z1 / Z2 of the traction end 21 along the longitudinal axis.

[0163] Lb is the vector value of the projection point Q of the pouring axis Z3 on the coordinate plane of the rectangular coordinate system to the projection point P1 / P2 of the rotation axis Z1 / Z2 on the coordinate plane of the rectangular coordinate system. The pouring axis Z3 is parallel to the first direction D1. The pouring axis Z3 is the axis of rotation of the hopper 10 during the pouring process of the feeding mechanism. During the pouring process, the hopper 10 starts to rotate from a pouring starting position.

[0164] θa is the value of an angular vector with the x-axis of the rectangular coordinate system as its initial side and La as its terminal side, and the angle is less than 180 degrees, where La is the value of the vector from the origin O of the rectangular coordinate system to the projection point Q of the reciprocating axis Z3 onto the coordinate plane of the rectangular coordinate system.

[0165] θb is the value of an angular vector with La as its initial side and Lb as its terminal side, and whose angle is less than 180 degrees.

[0166] ω is the set angular velocity of the hopper 10 rotating around the material feeding axis Z3.

[0167] The processing unit 60 is also configured to generate control signals for controlling the operation of the drive unit based on the speed set values ​​of the rotation axes of the two traction ends 21 along the horizontal axis and the speed set values ​​of the rotation axes of the two traction ends 21 along the vertical axis.

[0168] The generation process of formulas (1) and (2) is the same as described above, and will not be repeated here.

[0169] Since the value of ω (i.e. the set angular velocity of the hopper 10 rotating around the pouring axis Z3) is constant when calculating the set values ​​of the rotation axis Z1 / Z2 of the traction end 21 along the horizontal axis and along the vertical axis, the hopper 10 can rotate around the pouring axis Z3 at a constant angular velocity during the pouring process.

[0170] In the illustrative embodiment, the processing unit 60 is further configured to calculate the speed setpoint of the moving motor 33 according to formula (3) for each drive component 30. The processing unit 60 is also configured to generate a control signal for controlling the operation of the moving motor 33 based on the speed setpoint of the moving motor 33. This facilitates control.

[0171] Vm=Vx / (A×B) Formula (3)

[0172] in:

[0173] Vm is the speed setting value of the mobile motor 33.

[0174] Vx is the set value of the speed of the rotation axis Z1 / Z2 of the traction end 21 along the horizontal axis.

[0175] A represents the ratio of the angular velocity of the drive wheel 32 to the angular velocity of the output shaft of the motor 33 during the motion of the drive wheel 32 driven by the motor 33.

[0176] B is the ratio of the moving speed of the moving frame 31 to the angular velocity of the driving wheel 32 during the process of the driving wheel 32 driving the moving frame 31.

[0177] In the illustrative embodiment, the processing unit 60 is further configured to calculate the speed setpoint of the take-up motor 35 according to formula (4) for each drive component 30. The processing unit 60 is also configured to generate a control signal for controlling the operation of the take-up motor 35 based on the speed setpoint of the take-up motor 35. This facilitates control.

[0178] Vn=Vy / (C×D) Formula (4)

[0179] in:

[0180] Vn is the speed setting value of the take-up motor 35.

[0181] Vy is the set value of the speed of the rotation axis Z1 / Z2 of the traction end 21 along the longitudinal axis.

[0182] C represents the ratio of the angular velocity of the winding member 34 to the angular velocity of the output shaft of the winding motor 35 during the process of the winding motor 35 driving the winding member 34 to move.

[0183] D is the ratio of the moving speed of the traction end 21 to the angular velocity of the winding component 34 during the process of the winding component 34 driving the traction end 21 to move.

[0184] In an illustrative embodiment, the processing unit 60 is configured to calculate the value of θb in formulas (1) and (2) based on the coordinate values ​​of the projection points P1 / P2 of the rotation axes of the two traction ends 21 onto the coordinate plane of a Cartesian coordinate system. Figure 5 As shown, the control system also includes a first absolute position encoder 71 and a second absolute position encoder 72. The first absolute position encoder 71 can detect the cumulative value of the rotation of the drive wheel 32 of one drive assembly 30 and send a signal to the processing unit 60. The second absolute position encoder 72 can detect the cumulative value of the rotation of the drive wheel 32 of another drive assembly 30 and send a signal to the processing unit 60. The processing unit 60 is also configured to calculate, for each traction end 21, the abscissa of the projection point P1 / P2 of the rotation axis Z1 / Z2 of the traction end 21 onto the coordinate plane of the rectangular coordinate system according to formula (5).

[0185] Xr=Xi+F×B Formula (5)

[0186] in:

[0187] Xr is the abscissa of the projection point P1 / P2 of the rotation axis Z1 / Z2 of the traction end 21 onto the coordinate plane of the rectangular coordinate system.

[0188] Xi is the abscissa of the projection point P1 / P2 of the rotation axis Z1 / Z2 of the traction end 21 onto the coordinate plane of the rectangular coordinate system when the cumulative value of the rotation of the drive wheel 32 is zero.

[0189] F is the cumulative value of the rotation of drive wheel 32.

[0190] B is the ratio of the moving speed of the moving frame 31 to the angular velocity of the driving wheel 32 during the movement of the moving frame 31 driven by the driving wheel 32. This allows us to easily obtain the value of θb.

[0191] In the illustrative embodiments, such as Figure 5 As shown, the control system also includes a third absolute position encoder 73 and a fourth absolute position encoder 74. The third absolute position encoder 73 can detect the cumulative value of the rotation of the take-up member 34 of one drive assembly 30 and send a signal to the processing unit 60. The fourth absolute position encoder 74 can detect the cumulative value of the rotation of the take-up member 34 of another drive assembly 30 and send a signal to the processing unit 60. The processing unit 60 is also configured to calculate the ordinate of the projection points P1 / P2 of the rotation axis Z1 / Z2 of the traction end 21 onto the coordinate plane of the rectangular coordinate system according to formula (6) for each traction end 21.

[0192] Yr=Yi+G×D Formula (6)

[0193] in:

[0194] Yr is the ordinate of the projection point P1 / P2 of the rotation axis Z1 / Z2 of the traction end 21 onto the coordinate plane of the rectangular coordinate system.

[0195] Yi is the ordinate of the projection point P1 / P2 of the rotation axis Z1 / Z2 of the traction end 21 onto the coordinate plane of the rectangular coordinate system when the cumulative value of the rotation of the winding component 34 is zero.

[0196] G is the cumulative value of the rotation of the winding component 34.

[0197] D is the ratio of the moving speed of the traction end 21 to the angular velocity of the winding member 34 during the process of the winding member 34 driving the traction end 21. This allows us to easily obtain the value of θb.

[0198] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0199] The detailed descriptions listed above are merely specific descriptions of feasible embodiments of the present invention and are not intended to limit the scope of protection of the present invention. All equivalent implementation schemes or modifications made without departing from the spirit of the present invention, such as combinations, divisions or repetitions of features, should be included within the scope of protection of the present invention.

Claims

1. A feeding mechanism discharge control method, wherein the feeding mechanism includes a hopper and a drive unit, the drive unit has two traction ends, each traction end is rotatably connected to the hopper along a rotation axis parallel to a first direction and applies a traction force perpendicular to the first direction to the hopper, the first direction being perpendicular to the direction of gravity, the point of application of the traction force applied by the two traction ends and the center of gravity of the hopper are located in the same plane perpendicular to the first direction, the rotation axes of the two traction ends relative to the hopper are separated, and the drive unit can drive each traction end to move along the plane perpendicular to the first direction through action, the discharge control method being used to control the hopper to rotate around a discharge axis parallel to the first direction from a discharge starting position; characterized in that The material discharge control method includes: Establish a rectangular coordinate system with its vertical axis parallel to the direction of gravity and its horizontal axis perpendicular to both the first direction and the direction of gravity. For each traction end, the setpoints of the rotation axis of the traction end along the horizontal axis of the rectangular coordinate system and the setpoints of the rotation axis of the traction end along the vertical axis of the rectangular coordinate system are calculated according to formulas (1) and (2). Vx=-Lb×sin(θa+θb)×ω Formula (1) Vy=Lb×cos(θa+θb)×ω Formula (2) in: Vx is the set value for the speed of the rotation axis of the traction end along the horizontal axis. Vy is the set value of the speed of the rotation axis of the traction end along the longitudinal axis. Lb is the value of the vector from the projection point of the reversing axis on the coordinate plane of the rectangular coordinate system to the projection point of the rotation axis of the traction end on the coordinate plane of the rectangular coordinate system. θa is the value of an angular vector with the horizontal axis of the rectangular coordinate system as its initial side and La as its terminal side, and the angle is less than 180 degrees, where La is the value of the vector from the origin of the rectangular coordinate system to the projection point of the reciprocating axis onto the coordinate plane of the rectangular coordinate system. θb is the value of an angular vector with La as its initial side and Lb as its terminal side, and whose angle is less than 180 degrees. ω is the set angular velocity of the hopper rotating around the discharge axis; and The drive unit is controlled to operate based on the speed settings of the rotation axes of the two traction ends along the horizontal axis and the speed settings of the rotation axes of the two traction ends along the vertical axis.

2. The method of claim 1, wherein The feeding mechanism also includes a support frame. The drive unit includes two drive components. Each drive component includes a movable frame, a drive wheel, a movable motor, a winding component, and a traction component. Each traction component is provided with a traction end. The movable frame is movably mounted on the support frame along a second direction, which is perpendicular to the first direction and the direction of gravity. The winding component is rotatably mounted on the movable frame about an axis perpendicular to the direction of gravity. The main body of the traction component is a rope or chain and is wound around the winding component. The traction end is connected to one end of the rope or chain. When the hopper is in the starting position of the feeding, the direction of the traction force of each traction end is opposite to the direction of gravity. The drive wheel is rotatably connected to the movable frame so as to drive the movable frame to move along the second direction by rolling on the support frame. The movable motor is mounted on the movable frame and can drive the drive wheel to rotate relative to the movable frame. The steps for controlling the drive unit's operation based on the set values ​​of the rotation axes of the two traction ends along the horizontal axis and the set values ​​of the rotation axes of the two traction ends along the vertical axis include: For each drive component, the speed setpoint of the moving motor is calculated according to formula (3). Vm=Vx / (A×B) Formula (3) in: Vm is the setpoint for the rotational speed of the mobile motor. Vx is the set value for the speed of the rotation axis of the traction end along the horizontal axis. A represents the ratio of the angular velocity of the drive wheel to the angular velocity of the output shaft of the motor during the motion of the drive wheel driven by the mobile motor. B represents the ratio of the moving speed of the moving frame to the angular velocity of the driving wheel during the motion of the moving frame driven by the driving wheel; and The operation of the mobile motor is controlled according to the set speed of the mobile motor.

3. The method of claim 1, wherein the predetermined time is a time at which the amount of the material in the hopper reaches a predetermined amount. The feeding mechanism also includes a support frame, and the drive unit includes two drive components. Each drive component includes a movable frame, a winding component, a winding motor, and a traction component. Each traction component is provided with a traction end. The movable frame is movably mounted on the support frame along a second direction, which is perpendicular to the first direction and the direction of gravity. The winding component is rotatably mounted on the movable frame about an axis perpendicular to the direction of gravity. The main body of the traction component is a rope or chain and is wound around the winding component. The traction end is connected to one end of the rope or chain. When the hopper is in the starting position of the material discharge, the direction of the traction force of each traction end is opposite to the direction of gravity. The winding motor is mounted on the movable frame and can drive the winding component to rotate. The steps for controlling the drive unit's operation based on the set values ​​of the rotation axes of the two traction ends along the horizontal axis and the set values ​​of the rotation axes of the two traction ends along the vertical axis include: For each drive component, the speed setting value of the take-up motor is calculated according to formula (4). Vn=Vy / (C×D) Formula (4) in: Vn is the speed setting value of the take-up motor. Vy is the set value of the speed of the rotation axis of the traction end along the longitudinal axis. C represents the ratio of the angular velocity of the winding component to the angular velocity of the output shaft of the winding motor during the process of the winding motor driving the winding component to move. D is the ratio of the moving speed of the traction end to the angular velocity of the winding end during the process of the winding component driving the traction end; and The operation of the winding motor is controlled according to the set speed of the winding motor.

4. The method of claim 2, wherein the predetermined time is a time at which the amount of the material in the hopper reaches a predetermined amount. The material reversing control method further includes: obtaining the coordinate values ​​of the projection points of the rotation axes of the two traction ends onto the coordinate plane of the rectangular coordinate system, and calculating the value of θb in formula (1) and formula (2) based on the coordinate values ​​of the rotation axes of the two traction ends; The steps for obtaining the coordinates of the projection points of the rotation axes of the two traction ends onto the coordinate plane of a rectangular coordinate system include: For each drive component, obtain the cumulative value of the rotational amount of the drive wheels; and Calculate the abscissa of the projection point of the rotation axis of the traction end onto the coordinate plane of the rectangular coordinate system according to formula (5). Xr=Xi+F×B Formula (5) in: Xr is the abscissa of the projection point of the rotation axis of the traction end onto the coordinate plane of the rectangular coordinate system. Xi is the abscissa of the projection point of the rotation axis of the traction end onto the coordinate plane of the rectangular coordinate system when the cumulative value of the rotation of the drive wheel is zero. F is the cumulative value of the rotation of the drive wheel. B is the ratio of the moving speed of the mobile frame to the angular velocity of the driving wheel during the process of the driving wheel driving the mobile frame to move.

5. The method of claim 3, wherein the predetermined time is a time at which the amount of the material in the hopper reaches a predetermined amount. The material reversing control method further includes: obtaining the coordinate values ​​of the projection points of the rotation axes of the two traction ends onto the coordinate plane of the rectangular coordinate system, and calculating the value of θb in formula (1) and formula (2) based on the coordinate values ​​of the rotation axes of the two traction ends; The steps for obtaining the coordinates of the projection points of the rotation axes of the two traction ends onto the coordinate plane of a rectangular coordinate system include: For each drive component, obtain the cumulative value of the rotation of the winding component; and Calculate the ordinate of the projection point of the rotation axis of the traction end onto the coordinate plane of the rectangular coordinate system according to formula (6). Yr=Yi+G×D Formula (6) in: Yr is the ordinate of the projection point of the rotation axis of the traction end onto the coordinate plane of the rectangular coordinate system. Yi is the ordinate of the projection point of the rotation axis of the traction end onto the coordinate plane of the rectangular coordinate system when the cumulative value of the rotation of the winding component is zero. G is the cumulative value of the rotation of the winding component. D is the ratio of the moving speed of the traction end to the angular velocity of the winding end during the process of the winding component driving the traction end to move.

6. A control system for a feeding mechanism, the feeding mechanism including a hopper and a drive unit, the drive unit having two traction ends, each traction end being rotatably connected to the hopper along a rotation axis parallel to a first direction and applying a traction force perpendicular to the first direction to the hopper, the first direction being perpendicular to the direction of gravity, the point of application of the traction force applied by the two traction ends and the center of gravity of the hopper being located in the same plane perpendicular to the first direction, the rotation axes of the two traction ends relative to the hopper being separately arranged, the drive unit being able to drive each traction end to move along the plane perpendicular to the first direction through action; Its features are: The control system includes a processing unit (60) configured to calculate, for each traction end, a setpoint value for the velocity of the rotation axis of the traction end along the horizontal axis of a rectangular coordinate system and a setpoint value for the velocity of the rotation axis of the traction end along the vertical axis of a rectangular coordinate system, according to formulas (1) and (2), wherein the vertical axis of the rectangular coordinate system is parallel to the direction of gravity, and the horizontal axis of the rectangular coordinate system is perpendicular to the first direction and the direction of gravity. Vx=-Lb×sin(θa+θb)×ω Formula (1) Vy=Lb×cos(θa+θb)×ω Formula (2) in: Vx is the set value for the speed of the rotation axis of the traction end along the horizontal axis. Vy is the set value of the speed of the rotation axis of the traction end along the longitudinal axis. Lb is the vector value from the projection point of the pouring axis on the coordinate plane of the rectangular coordinate system to the projection point of the rotation axis of the traction end on the coordinate plane of the rectangular coordinate system. The pouring axis is parallel to the first direction. The pouring axis is the axis of rotation of the hopper during the pouring process of the feeding mechanism. During the pouring process, the hopper starts to rotate from a pouring starting position. θa is the value of an angular vector with the horizontal axis of the rectangular coordinate system as its initial side and La as its terminal side, and the angle is less than 180 degrees, where La is the value of the vector from the origin of the rectangular coordinate system to the projection point of the reciprocating axis onto the coordinate plane of the rectangular coordinate system. θb is the value of an angular vector with La as its initial side and Lb as its terminal side, and whose angle is less than 180 degrees. ω is the set angular velocity of the hopper rotating around the discharge axis; The processing unit (60) is also configured to generate control signals for controlling the operation of the drive unit based on the speed set values ​​of the rotation axes of the two traction ends along the horizontal axis and the speed set values ​​of the rotation axes of the two traction ends along the vertical axis.

7. The control system of a charging mechanism according to claim 6, wherein The feeding mechanism also includes a support frame. The drive unit includes two drive components. Each drive component includes a movable frame, a drive wheel, a movable motor, a winding component, and a traction component. Each traction component is provided with a traction end. The movable frame is movably mounted on the support frame along a second direction, which is perpendicular to the first direction and the direction of gravity. The winding component is rotatably mounted on the movable frame about an axis perpendicular to the direction of gravity. The main body of the traction component is a rope or chain and is wound around the winding component. The traction end is connected to one end of the rope or chain. When the hopper is in the starting position of the feeding, the direction of the traction force of each traction end is opposite to the direction of gravity. The drive wheel is rotatably connected to the movable frame so as to drive the movable frame to move along the second direction by rolling on the support frame. The movable motor is mounted on the movable frame and can drive the drive wheel to rotate relative to the movable frame. The processing unit (60) is also configured to calculate the setpoint of the moving motor according to formula (3) for each drive component. Vm=Vx / (A×B) Formula (3) in: Vm is the setpoint for the rotational speed of the mobile motor. Vx is the set value for the speed of the rotation axis of the traction end along the horizontal axis. A represents the ratio of the angular velocity of the drive wheel to the angular velocity of the output shaft of the motor during the motion of the drive wheel driven by the mobile motor. B is the ratio of the moving speed of the moving frame to the angular velocity of the driving wheel during the process of the driving wheel driving the moving frame to move. The processing unit (60) is also configured to generate a control signal for controlling the operation of the mobile motor based on the set speed of the mobile motor.

8. The control system of the charging mechanism according to claim 6, wherein The feeding mechanism also includes a support frame, and the drive unit includes two drive components. Each drive component includes a movable frame, a winding component, a winding motor, and a traction component. Each traction component is provided with a traction end. The movable frame is movably mounted on the support frame along a second direction, which is perpendicular to the first direction and the direction of gravity. The winding component is rotatably mounted on the movable frame about an axis perpendicular to the direction of gravity. The main body of the traction component is a rope or chain and is wound around the winding component. The traction end is connected to one end of the rope or chain. When the hopper is in the starting position of the material discharge, the direction of the traction force of each traction end is opposite to the direction of gravity. The winding motor is mounted on the movable frame and can drive the winding component to rotate. The processing unit (60) is also configured to calculate the speed setpoint of the take-up motor for each drive component according to formula (4). Vn=Vy / (C×D) Formula (4) in: Vn is the speed setting value of the take-up motor. Vy is the set value of the speed of the rotation axis of the traction end along the longitudinal axis. C represents the ratio of the angular velocity of the winding component to the angular velocity of the output shaft of the winding motor during the process of the winding motor driving the winding component to move. D is the ratio of the moving speed of the traction end to the angular velocity of the winding end during the process of the winding component driving the traction end to move. The processing unit (60) is also configured to generate a control signal for controlling the operation of the winding motor based on the speed setting of the winding motor.

9. The control system for a charging mechanism as claimed in claim 7, wherein, The processing unit (60) is configured to calculate the value of θb in formulas (1) and (2) based on the coordinate values ​​of the projection points of the rotation axes of the two traction ends onto the coordinate plane of the Cartesian coordinate system; the control system further includes a first absolute position encoder (71) and a second absolute position encoder (72), the first absolute position encoder (71) being able to detect the cumulative value of the rotation of the drive wheel of one drive component and send a signal to the processing unit (60), the second absolute position encoder (72) being able to detect the cumulative value of the rotation of the drive wheel of the other drive component and send a signal to the processing unit (60); the processing unit (60) is also configured to calculate, for each traction end, the abscissa of the projection point of the rotation axis of the traction end onto the coordinate plane of the Cartesian coordinate system according to formula (5). Xr=Xi+F×B Formula (5) in: Xr is the abscissa of the projection point of the rotation axis of the traction end onto the coordinate plane of the rectangular coordinate system. Xi is the abscissa of the projection point of the rotation axis of the traction end onto the coordinate plane of the rectangular coordinate system when the cumulative value of the rotation of the drive wheel is zero. F is the cumulative value of the rotation of the drive wheel. B is the ratio of the moving speed of the mobile frame to the angular velocity of the driving wheel during the process of the driving wheel driving the mobile frame to move.

10. The control system of the charging mechanism according to claim 8, wherein The processing unit (60) is configured to calculate the value of θb in formulas (1) and (2) based on the coordinate values ​​of the projection points of the rotation axes of the two traction ends onto the coordinate plane of the Cartesian coordinate system; the control system further includes a third absolute position encoder (73) and a fourth absolute position encoder (74), the third absolute position encoder (73) being able to detect the cumulative value of the rotation of the take-up component of one drive assembly and send a signal to the processing unit (60), the fourth absolute position encoder (74) being able to detect the cumulative value of the rotation of the take-up component of another drive assembly and send a signal to the processing unit (60); the processing unit (60) is also configured to calculate the ordinate of the projection point of the rotation axis of the traction end onto the coordinate plane of the Cartesian coordinate system for each traction end according to formula (6). Yr=Yi+G×D Formula (6) in: Yr is the ordinate of the projection point of the rotation axis of the traction end onto the coordinate plane of the rectangular coordinate system. Yi is the ordinate of the projection point of the rotation axis of the traction end onto the coordinate plane of the rectangular coordinate system when the cumulative value of the rotation of the winding component is zero. G is the cumulative value of the rotation of the winding component. D is the ratio of the moving speed of the traction end to the angular velocity of the winding end during the process of the winding component driving the traction end to move.

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