A control system and control method for an automatic weighing machine for pyrotechnic chemicals

Abstract

This invention relates to a control system and control method for an automatic weighing machine for pyrotechnic materials. The system includes a controller, wherein: the controller controls the automatic weighing machine for pyrotechnic materials, enabling coordinated operation of various functional mechanisms; sensors transmit collected signals to the controller and are electrically connected to the controller; cylinder solenoid valves control the movement of each cylinder and are electrically connected to the controller; vibrator solenoid valves control the vibration of each vibrator and are electrically connected to the controller; proportional valves control air pressure and are electrically connected to the controller; a three-color indicator light indicates the status of the automatic weighing machine for pyrotechnic materials and is electrically connected to the controller; a servo driver receives, transmits, and controls the movement of each servo motor and is electrically connected to the controller; a weighing scale transmits weighing signals to the controller and receives commands from the controller and is electrically connected to the controller; and a control panel enables human-machine interaction and is electrically connected to the controller.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of explosives, in particular to an automatic weighing system for explosives and a control method thereof. BACKGROUND

[0002] The weighing of explosives has been a major production process in the explosives industry. Due to the product characteristics, industrial safety management requirements and historical background, the production technology and management concept thereof are relatively backward compared with the manufacturing of general industrial products, and most of the production equipment is manually operated or semi-automated, which is far behind the automation level of general industrial equipment. The traditional way is to manually weigh the explosives, but there are the following problems and shortcomings:

[0003] 1. The traditional manual weighing requires a large amount of manpower and consumes a lot of time, and the balance is stable for a long time during the entire weighing process, resulting in low weighing efficiency.

[0004] 2. The traditional manual weighing method relies solely on manual weighing, and due to the low control degree of the manual weighing, the control of the amount of medicine cannot be accurately controlled, resulting in low weighing precision of the explosives, and the speed of manual judgment of the weighing amount is slow, further resulting in low weighing efficiency.

[0005] 3. The traditional manual weighing method requires the operator to directly contact the explosives for a long time, and due to the high flammability and toxicity of the explosives, the operator needs to be very careful during the operation, and due to the low degree of control of the amount of medicine during manual operation, the speed of pouring medicine is not high, which is easy to produce electric sparks, thus posing a great risk to manual weighing and threatening the safety of the operator.

[0006] In view of the above problems, an automatic weighing machine for explosives is needed to solve the problems of low production efficiency and low weighing precision, reduce the production intensity of the laborers, realize the isolation of man and machine during the weighing process, and improve the safety and reliability of the automatic weighing of the explosives. In the automatic weighing equipment, the control system is the core of the automatic weighing machine for explosives, and the automatic weighing machine for explosives realizes the automatic weighing of the explosives through the control system, therefore, the control system is an essential part of the automatic weighing machine for explosives. SUMMARY

[0007] The technical problem to be solved by the present application is to overcome the shortcomings of the prior art, provide an automatic weighing machine for explosives and a control method thereof, which are used for cooperatively controlling various functional mechanisms to complete the weighing of the explosives and realize the automation of the weighing of the explosives.

[0008] One of the technical problems solved by the present application is: a control system for an automatic weighing machine for pyrotechnic products, characterized in that it comprises a controller, a sensor, a cylinder electromagnetic valve, a vibrator electromagnetic valve, a proportional valve, a three-color lamp, a servo driver, a weighing scale and a control panel, wherein:

[0009] The controller is used to control the automatic weighing machine for pyrotechnic products, realize the cooperative operation of each functional mechanism, and complete the weighing of pyrotechnic products.

[0010] The sensor is used to transmit the collected signals to the controller and is electrically connected with the controller.

[0011] The cylinder electromagnetic valve is used to control the action of each cylinder and is electrically connected with the controller.

[0012] The vibrator electromagnetic valve is used to control the vibration of each vibrator and is electrically connected with the controller.

[0013] The proportional valve is used to control the air pressure to change the vibration force and vibration frequency of the vibrator and is electrically connected with the controller.

[0014] The three-color lamp is used to indicate the state of the automatic weighing machine for pyrotechnic products and is electrically connected with the controller.

[0015] The servo driver is used to receive signals of each servo motor and control the action of each servo motor and is electrically connected with the controller.

[0016] The weighing scale is used to transmit weighing signals to the controller and receive instructions from the controller and is electrically connected with the controller.

[0017] The control panel is used to realize man-machine dialogue and is electrically connected with the controller.

[0018] Further, the sensor comprises a pair of sensors, a waste collection sensor, a first position sensor and a second position sensor, wherein:

[0019] The pair of sensors are placed on both sides of the material bin of the coarse feeding mechanism to monitor the material state in the material bin.

[0020] The waste collection sensor is placed on the support of the waste rejection mechanism to observe the position of the waste collection assembly and the state of the rejection collection box.

[0021] The first position sensor and the second position sensor are placed on the supporting assembly of the rotating mechanism at the same time to determine the current position of the lifting assembly and determine the original position at initialization.

[0022] Furthermore, the cylinder solenoid valve includes an explosion-proof push rod solenoid valve, a drug-pulling cylinder solenoid valve, a pneumatic pressure regulating valve, a waste removal translation cylinder solenoid valve, a waste removal lifting cylinder solenoid valve, a waste removal swing gripper solenoid valve, a material feeding translation cylinder solenoid valve, a material feeding swing gripper solenoid valve, a first material feeding lifting cylinder solenoid valve, a second material feeding lifting cylinder solenoid valve, and a rotary lifting cylinder solenoid valve, wherein:

[0023] The explosion-proof push rod solenoid valve is placed in the explosion-proof push rod gas line of the explosion-proof cover and is used to open and close the explosion-proof sliding window;

[0024] The solenoid valve of the pneumatic cylinder for plucking is placed in the air circuit of the plucking machine of the coarse feeding mechanism and is used for coarse feeding;

[0025] The pneumatic pressure regulating valve is placed in the air circuit of the feeder of the coarse feeding mechanism and is used to regulate the air pressure of the feeder.

[0026] The solenoid valve of the waste removal translation cylinder is placed in the air circuit of the translation cylinder of the waste removal mechanism and is used to control the horizontal position of the waste removal code disk hand gripper assembly.

[0027] The solenoid valve of the waste removal lifting cylinder is placed in the air circuit of the lifting cylinder of the waste removal mechanism and is used to control the height position of the waste removal code disk hand gripper assembly.

[0028] The solenoid valve of the waste removal swing gripper is placed in the air circuit of the swing gripper of the waste removal mechanism and is used to control the opening, closing and flipping of the waste removal swing gripper.

[0029] The solenoid valve of the feeding translation cylinder is placed in the air circuit of the translation cylinder of the feeding mechanism and is used to control the horizontal position of the encoder hand gripper assembly.

[0030] The solenoid valve of the unloading swing gripper is placed in the air circuit of the swing gripper of the unloading mechanism and is used to control the opening, closing and flipping of the unloading swing gripper.

[0031] The first feeding lifting cylinder solenoid valve is placed in the air circuit of the first cylinder of the feeding mechanism to control the height position of the feeding encoder hand gripping assembly;

[0032] The second feeding lifting cylinder solenoid valve is located in the air circuit of the second cylinder of the feeding mechanism and is used to control the height position of the funnel frame.

[0033] The solenoid valve of the rotary lifting cylinder is placed in the air circuit of the lifting cylinder of the rotary mechanism and is used to control the height position of the rotary component.

[0034] Furthermore, the vibrator solenoid valve includes a first vibrator solenoid valve and a second vibrator solenoid valve, wherein:

[0035] The first vibrator solenoid valve is placed in the air circuit of the first vibrator of the fine feeding mechanism to control the start and stop of the first vibrator;

[0036] The second vibrator solenoid valve is placed in the air circuit of the second vibrator of the fine feeding mechanism to control the start and stop of the second vibrator.

[0037] Furthermore, the proportional valve includes a first proportional valve and a second proportional valve, wherein:

[0038] The first proportional valve is placed in the air circuit of the first vibrator of the fine feeding mechanism to control the air pressure, thereby changing the vibration force and vibration frequency of the first vibrator;

[0039] The second proportional valve is placed in the air circuit of the second vibrator of the fine feeding mechanism to control the air pressure, thereby changing the vibration force and vibration frequency of the second vibrator.

[0040] Furthermore, the three-color light is placed inside the protective cover to indicate the status of the automatic weighing machine for pyrotechnic chemicals: red indicates emergency stop, yellow indicates pause, and green indicates work completed.

[0041] Furthermore, the servo driver includes an X-direction drive motor, a Y-direction drive motor, and a rotary drive motor, wherein:

[0042] The X-direction drive motor is located on the X module of the cross module of the medicine tray assembly, and is used to receive and transmit motor control signals to control the X-direction drive motor to move.

[0043] The Y-direction drive motor is located on the Y module of the cross module of the medicine tray assembly, and is used to receive and transmit motor control signals to control the Y-direction drive motor to move.

[0044] The rotary drive motor is mounted on the rotary component of the rotary mechanism and is used to receive and transmit control signals from the rotary platform to control the operation of the rotary platform.

[0045] Furthermore, the weighing scale includes a first weighing scale and a second weighing scale, wherein:

[0046] The first weighing scale is the first weighing module, used to weigh the first fixed medicine container and the pyrotechnic chemicals inside it;

[0047] The second weighing scale is a second weighing module used to weigh the second fixed medicine container and the pyrotechnic chemicals inside.

[0048] Furthermore, the control panel is located outside the automatic weighing machine for pyrotechnic chemicals on a local button rack, for human-machine interaction during manual operation, and for displaying the control status during remote control.

[0049] Furthermore, the control structure between the mechanisms of each process and between the mechanisms of each process and the rotating mechanism is as follows:

[0050] In the coarse feeding process, the fixed powder container is filled with pyrotechnic materials. Then, the coarse feeding mechanism transfers the materials to the fine feeding process via a rotating mechanism to weigh them. The fine feeding mechanism replenishes the weight of the pyrotechnic materials to meet the standard requirements. The fine feeding mechanism then transfers the materials to the rejection process via a rotating mechanism. The rejection mechanism removes the unqualified pyrotechnic materials. Finally, the rejection mechanism transfers the materials to the unloading process via a rotating mechanism. The unloading mechanism loads the qualified pyrotechnic materials into the finished powder container, completing the weighing of the pyrotechnic materials.

[0051] The second solution to the technical problem of this invention is: a control method for a control system of an automatic weighing machine for pyrotechnic chemicals, characterized in that it includes manual control and automatic control, wherein:

[0052] Part 1: Manual control: Manual control is triggered in the manual mode of the automatic weighing machine for pyrotechnic materials. Through the manual control program, the cylinders, vibrators, and servo drives of the coarse feeding process, fine feeding process, waste removal process, and unloading process can be manually operated, and the results can be displayed on the control panel.

[0053] Part Two: Automatic Control: Automatic control is triggered in the automatic mode of the pyrotechnic explosives automatic weighing machine. The automatic control program is the main program, and the main program control includes the following steps:

[0054] 1) Power on the automatic weighing machine for explosives;

[0055] 2) Select the material type on the control panel;

[0056] 3) Determine if initialization is possible.

[0057] If the following conditions are met ("currently in pause mode, manual / automatic knob in automatic mode, local control knob in 0 position, and operating room door self-locking knob in 0 position"), then initialization will proceed; otherwise, if the conditions are met ("no"), then the manual / automatic mode will be reset.

[0058] To switch from manual to automatic mode: press the pause button to enter pause mode, turn the manual / automatic knob to automatic, turn the local control knob to 0, and turn the operating room door self-locking knob to 0.

[0059] 4) Initialize or set to "Manual" or "Automatic" mode before initializing;

[0060] 5) After initialization, the X-direction drive motor and the Y-direction drive motor reach the material picking position;

[0061] 6) Manually replace the tray and finished medicine container of the medicine tray assembly;

[0062] 7) Determine whether to weigh in fixed portions. If "yes", set the number of portions. If "no", enter automatic operation.

[0063] 8) Automatic operation or automatic operation after setting the number of portions, including the following steps:

[0064] (1) Coarse feeding

[0065] ① Coarse feeding is allowed: the first coarse feeding can be done directly. For subsequent coarse feedings, it is necessary to wait for the completion signal of the rotating mechanism: the line cleaning completion signal, the fixed-volume weighing completion signal, and the tray placement completion signal.

[0066] ② Perform coarse feeding;

[0067] ③ Determine the completion status of coarse feeding. If it is "yes", then coarse feeding is completed. If it is "no", then repeat step ①.

[0068] (2) Adding fine ingredients

[0069] ① Fine feeding is permitted only after receiving completion signals from the rotating mechanism, the coarse feeding mechanism, the line clearing completion signal, the fixed-volume weighing completion signal, and the tray placement completion signal;

[0070] ② Weighing is performed during fine feeding;

[0071] ③ Determine the completion status of fine feeding. If it is "yes", then fine feeding is completed. If it is "no", then repeat step ①.

[0072] (3) Removal of waste

[0073] ① Rejection allowed: Rejection is allowed only after receiving completion signals from the rotating mechanism, weighing module, line clearing, fixed-portion weighing, and tray placement.

[0074] ② Discard the defective products;

[0075] ③ Determine the completion status of the waste removal process. If it is "yes", the waste removal is complete. If it is "no", repeat step ①.

[0076] (4) Feeding

[0077] ① Material feeding is permitted only after receiving the completion signals from the rotating mechanism, the waste rejection mechanism, the line cleaning completion signal, the fixed-volume weighing completion signal, and the tray placement completion signal;

[0078] ② Perform material cutting;

[0079] ③ Complete the material cutting;

[0080] ④ Determine if the board is full. If "yes", the board is full. If "no", repeat step ①.

[0081] (5) Rotation

[0082] ① Rotation is permitted only upon receiving the completion signals of coarse feeding, weighing module, waste rejection, unloading, line cleaning, fixed-volume weighing, and tray placement.

[0083] ② Rotate one process step;

[0084] ③ Determine whether the rotation is complete. If it is "yes", the rotation is complete. If it is "no", repeat step ①.

[0085] 9) Determine whether to clear the line. If "yes", clear the line; if "no", proceed with the plate setting.

[0086] 10) Clear the line or arrange the plates;

[0087] 11) After the line clearing or tray placement is completed, the X-direction drive motor and the Y-direction drive motor reach the material picking position;

[0088] 12) Material collection;

[0089] 13) Automatic operation ends.

[0090] Furthermore, step 4) initialization includes the following steps:

[0091] (1) Clear all interactive signals;

[0092] (2) The explosion-proof sliding window of the explosion-proof cover reaches its initial position;

[0093] (3) Determine whether each swing gripper is released. If it is "yes", the X-direction drive motor and the Y-direction drive motor will reach the initial position. If it is "no", find the cause and re-initialize.

[0094] The reason for the "No" error and the subsequent re-initialization are as follows:

[0095] ① Determine if the swing gripper is in the extended position. If it is "yes", the X-direction drive motor and the Y-direction drive motor will reach the initial position. If it is "no", proceed to the next step.

[0096] ② Manually determine whether the fixed medicine container is on the swing gripper. If it is "yes", press the automatic run button. If it is "no", proceed to the next step.

[0097] ③ Switch to manual mode, release the swing gripper, place the fixed medicine container back onto the rotating component of the rotating mechanism, and reinitialize;

[0098] (4) All cylinders return to their initial positions;

[0099] (5) The rotary drive motor drives the rotating components of the rotary mechanism to rise;

[0100] (6) The rotating component of the rotating mechanism actively returns to its origin;

[0101] (7) Determine whether the rotating component of the rotating mechanism has returned to the origin. If it is "yes", the rotating component of the rotating mechanism will move to the absolute position and be straightened. If it is "no", return to step (6) and the rotating component of the rotating mechanism will actively return to the origin.

[0102] (8) The rotating component of the rotating mechanism falls down, the waste rejection mechanism is initialized, including the extension and retraction of the translation cylinder and the extension and retraction of the lifting cylinder. That is, the swing gripper clamps first and then rotates. After stopping, the translation cylinder extends and retracts, and the lifting cylinder extends and retracts to the preset position. Then, the swing gripper releases, and the rotating component of the rotating mechanism rises and rotates for one process.

[0103] (9) After positioning is completed, the number of rejections is determined. If it is "equal to 3 times", the weighing module is zeroed. If it is "less than 3 times", the rotating component of the rotating mechanism falls down and rejection continues.

[0104] (10) Determine the number of rejections. If it is "greater than or equal to 4 times", the number of rejections is reset to zero. If it is "less than 4 times", the rejection mechanism is reinitialized.

[0105] 11 Weigh the fixed medicine container and determine whether the weight of the fixed medicine container is qualified. If it is "yes", the rotary drive motor will drive the rotary component of the rotary mechanism to rise and rotate for one process. If it is "no", the process will pause and alarm.

[0106] 12. When the rotating component rotates for one process, the weighing module is zeroed, the rotating drive motor drives the rotating component of the rotating mechanism to fall, and the number of weighings is recorded;

[0107] 13. Determine the number of weighings. If it is "greater than or equal to 4 times", the number of rejections is reset to zero, and the rotating component of the rotating mechanism returns to the origin. If it is "less than 4 times", the rejection mechanism re-weighs the fixed medicine container.

[0108] 14. Determine whether the rotating component of the rotating mechanism has returned to the origin. If it is "yes", the rotating component of the rotating mechanism will move to the absolute position and be straightened. If it is "no", return to step 13, and the rotating component of the rotating mechanism will actively return to the origin.

[0109] 12. After positioning is completed, the rotary drive motor drives the rotating component of the rotary mechanism to fall.

[0110] ⒃ Determine if there is a replacement box indicator. If it is "yes", replace the waste collection box. If it is "no", complete the initialization.

[0111] Furthermore, in step 5), when the servo drive reaches the material picking position, its servo motion includes the following steps:

[0112] (1) To determine the qualified status, there are four states: A. Both the first fixed medicine container and the second fixed medicine container are qualified; B. The first fixed medicine container is qualified and the second fixed medicine container is unqualified; C. The first fixed medicine container is unqualified and the second fixed medicine container is qualified; D. Both the first fixed medicine container and the second fixed medicine container are unqualified.

[0113] (2) Both the first and second fixed medicine bowls are qualified. The X-direction drive motor and the Y-direction drive motor do not move. After feeding, move to the current position +2 and wait.

[0114] (3) If the first fixed medicine container is qualified and the second fixed medicine container is unqualified, neither the X-direction drive motor nor the Y-direction drive motor will move. After feeding, move to the current position +1 and wait.

[0115] (4) The first fixed medicine bowl is unqualified, the second fixed medicine bowl is qualified, the Y-direction drive motor moves to -1, after feeding, it moves to the current position +2 and waits;

[0116] (5) Both the first and second fixed medicine containers are unqualified, and neither the X-direction drive motor nor the Y-direction drive motor moves.

[0117] (6) After completing steps (2), (3), (4) or (5), determine whether a column in a tray has been filled. If it is "yes", move to the first position of the next column. If it is "no", repeat step (1).

[0118] (7) Determine whether all the finished medicine containers on all trays have been placed. If the answer is "yes", the tray placement is complete. If the answer is "no", repeat step (1).

[0119] Furthermore, step 7) of weighing the portions includes the following steps:

[0120] (1) Set the number of copies;

[0121] (2) Weighing in fixed portions;

[0122] (3) After the fixed-volume weighing is completed, the X-direction drive motor and the Y-direction drive motor reach the material picking position;

[0123] (4) Determine whether the set number of portions has been reached. If it is "yes", the fixed-portion weighing is completed. If it is "no", repeat step (2).

[0124] Further, (1) a clearing signal is received;

[0125] (2) Clear the line, do not perform coarse feeding, and complete the pouring of pyrotechnic materials in the fixed pyrotechnic container of the current rotating mechanism;

[0126] (3) After the line is cleared, the X-direction drive motor and the Y-direction drive motor reach the material picking position;

[0127] (4) Determine whether all 8 fixed medicine containers have been emptied. If "yes", the line clearing is complete. If "no", repeat step (2).

[0128] The beneficial effects of this invention are as follows: This invention combines several processes such as coarse feeding, fine feeding, waste removal and unloading, and completes the weighing of pyrotechnic materials by coordinating the control of each functional mechanism through the control system. It achieves the complete automation of pyrotechnic material weighing, and achieves the beneficial effects of weighing at least 7 charges per minute with an accuracy within ±3mg and a waste removal rate of about 2%. This improves production efficiency, reduces safety hazards, and saves labor costs. Attached Figure Description

[0129] Figure 1 This is a schematic diagram of the control system for the automatic weighing machine of pyrotechnic materials of the present invention;

[0130] Figure 2 This is a schematic diagram showing the relationship between the various processes of the control system for the automatic weighing machine of pyrotechnic materials of the present invention;

[0131] Figure 3 This is a network topology diagram of the control method for the control system of the automatic weighing machine for pyrotechnic materials of the present invention;

[0132] Figure 4 This is the main program flowchart of the control method for the control system of the automatic weighing machine for pyrotechnic materials of the present invention;

[0133] Figure 5 for Figure 4 A magnified view of part A;

[0134] Figure 6 for Figure 4 A magnified view of part B;

[0135] Figure 7 for Figure 4 A magnified view of part C;

[0136] Figure 8 This is a flowchart of the initialization program for the control method of the control system for the automatic weighing machine of pyrotechnic materials of the present invention;

[0137] Figure 9 for Figure 8 A magnified schematic diagram of part D;

[0138] Figure 10 for Figure 8 A magnified view of part E;

[0139] Figure 11 for Figure 8 A magnified schematic diagram of part of F;

[0140] Figure 12 for Figure 8 A magnified schematic diagram of part of G;

[0141] Figure 13 for Figure 8 A magnified schematic diagram of H in part;

[0142] Figure 14 for Figure 8 A magnified view of part of I;

[0143] Figure 15 This is a flowchart of the automatic operation program of the control method for the control system of the automatic weighing machine for pyrotechnic materials of the present invention;

[0144] Figure 16 for Figure 15 A magnified schematic diagram of part J;

[0145] Figure 17 for Figure 15 A magnified schematic diagram of K;

[0146] Figure 18 for Figure 15 A magnified schematic diagram of part L.

[0147] In the diagram: 1. Coarse feeding process, 2. Fine feeding process, 3. Waste removal process, 4. Unloading process. Detailed Implementation

[0148] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0149] See Figures 1-2 Example 1: This example describes a control system for an automatic weighing machine for pyrotechnic materials. It includes a controller, sensors, a cylinder solenoid valve, a vibrator solenoid valve, a proportional valve, a three-color indicator light, a servo driver, a weighing scale, and a control panel.

[0150] The controller is used to control the automatic weighing machine for pyrotechnic materials, realize the coordinated operation of various functional mechanisms, and complete the weighing of pyrotechnic materials.

[0151] The sensor is used to transmit the collected signals to the controller and is electrically connected to the controller;

[0152] The cylinder solenoid valve is used to control the action of each cylinder and is electrically connected to the controller.

[0153] The vibrator solenoid valve is used to control the vibration of each vibrator and is electrically connected to the controller.

[0154] The proportional valve is used to control the air pressure to change the vibration force and vibration frequency of the vibrator, and is electrically connected to the controller.

[0155] The tri-color light is used to indicate the status of the automatic weighing machine for pyrotechnic chemicals and is electrically connected to the controller.

[0156] The servo driver is used to receive signals from each servo motor and control the action of each servo motor, and is electrically connected to the controller.

[0157] The weighing scale is used to transmit weighing signals to the controller and receive instructions from the controller, and is electrically connected to the controller.

[0158] The control panel is used to enable human-machine interaction and is electrically connected to the controller.

[0159] Furthermore, the controller is a Siemens 1200 series PLC programmable controller.

[0160] Furthermore, the sensor includes a through-beam sensor, a waste collection sensor, a first position sensor, and a second position sensor, wherein:

[0161] The through-beam sensors are placed on both sides of the hopper of the coarse feeding mechanism to monitor the material status inside the hopper;

[0162] The waste collection sensor is placed on the support of the waste rejection mechanism to observe the position of the waste collection component and the status of the rejection collection box;

[0163] The first position sensor and the second position sensor are simultaneously placed on the support component of the rotating mechanism to determine the current position of the lifting component and determine the original position during initialization.

[0164] Furthermore, the cylinder solenoid valve includes an explosion-proof push rod solenoid valve, a drug-pulling cylinder solenoid valve, a pneumatic pressure regulating valve, a waste removal translation cylinder solenoid valve, a waste removal lifting cylinder solenoid valve, a waste removal swing gripper solenoid valve, a material feeding translation cylinder solenoid valve, a material feeding swing gripper solenoid valve, a first material feeding lifting cylinder solenoid valve, a second material feeding lifting cylinder solenoid valve, and a rotary lifting cylinder solenoid valve, wherein:

[0165] The explosion-proof push rod solenoid valve is placed in the explosion-proof push rod gas line of the explosion-proof cover and is used to open and close the explosion-proof sliding window;

[0166] The solenoid valve of the pneumatic cylinder for plucking is placed in the air circuit of the plucking machine of the coarse feeding mechanism and is used for coarse feeding;

[0167] The pneumatic pressure regulating valve is placed in the air circuit of the feeder of the coarse feeding mechanism and is used to regulate the air pressure of the feeder.

[0168] The solenoid valve of the waste removal translation cylinder is placed in the air circuit of the translation cylinder of the waste removal mechanism and is used to control the horizontal position of the waste removal code disk hand gripper assembly.

[0169] The solenoid valve of the waste removal lifting cylinder is placed in the air circuit of the lifting cylinder of the waste removal mechanism and is used to control the height position of the waste removal code disk hand gripper assembly.

[0170] The solenoid valve of the waste removal swing gripper is placed in the air circuit of the swing gripper of the waste removal mechanism and is used to control the opening, closing and flipping of the waste removal swing gripper.

[0171] The solenoid valve of the feeding translation cylinder is placed in the air circuit of the translation cylinder of the feeding mechanism and is used to control the horizontal position of the encoder hand gripper assembly.

[0172] The solenoid valve of the unloading swing gripper is placed in the air circuit of the swing gripper of the unloading mechanism and is used to control the opening, closing and flipping of the unloading swing gripper.

[0173] The first feeding lifting cylinder solenoid valve is placed in the air circuit of the first cylinder of the feeding mechanism to control the height position of the feeding encoder hand gripping assembly;

[0174] The second feeding lifting cylinder solenoid valve is located in the air circuit of the second cylinder of the feeding mechanism and is used to control the height position of the funnel frame.

[0175] The solenoid valve of the rotary lifting cylinder is placed in the air circuit of the lifting cylinder of the rotary mechanism and is used to control the height position of the rotary component.

[0176] Furthermore, the vibrator solenoid valve includes a first vibrator solenoid valve and a second vibrator solenoid valve, wherein:

[0177] The first vibrator solenoid valve is placed in the air circuit of the first vibrator of the fine feeding mechanism to control the start and stop of the first vibrator;

[0178] The second vibrator solenoid valve is placed in the air circuit of the second vibrator of the fine feeding mechanism to control the start and stop of the second vibrator.

[0179] Furthermore, the proportional valve includes a first proportional valve and a second proportional valve, wherein:

[0180] The first proportional valve is placed in the air circuit of the first vibrator of the fine feeding mechanism to control the air pressure, thereby changing the vibration force and vibration frequency of the first vibrator;

[0181] The second proportional valve is placed in the air circuit of the second vibrator of the fine feeding mechanism to control the air pressure, thereby changing the vibration force and vibration frequency of the second vibrator.

[0182] Furthermore, the three-color light is placed inside the protective cover to indicate the status of the automatic weighing machine for pyrotechnic chemicals: red indicates emergency stop, yellow indicates pause, and green indicates work completed.

[0183] Furthermore, the servo driver includes an X-direction drive motor, a Y-direction drive motor, and a rotary drive motor, wherein:

[0184] The X-direction drive motor is located on the X module of the cross module of the medicine tray assembly, and is used to receive and transmit motor control signals to control the X-direction drive motor to move.

[0185] The Y-direction drive motor is located on the Y module of the cross module of the medicine tray assembly, and is used to receive and transmit motor control signals to control the Y-direction drive motor to move.

[0186] The rotary drive motor is mounted on the rotary component of the rotary mechanism and is used to receive and transmit control signals from the rotary platform to control the operation of the rotary platform.

[0187] Furthermore, the weighing scale includes a first weighing scale and a second weighing scale, wherein:

[0188] The first weighing scale is a Medellin Toledo WMF weighing module, used to weigh the first fixed powder container and the pyrotechnic chemicals inside;

[0189] The second weighing scale is a Medler Toledo WMF weighing module, used to weigh the second fixed powder container and the pyrotechnic chemicals inside.

[0190] The control panel is a Siemens TP700 intelligent panel, which is located on the outside of the automatic weighing machine for explosives and on the local button rack. It is used for human-machine interaction during manual operation and displays the control status during remote control.

[0191] The control structure between the mechanisms of each process and between the mechanisms of each process and the rotating mechanism is as follows:

[0192] In the coarse feeding process 1, the fixed pyrotechnic container is filled with pyrotechnics. Then, the coarse feeding mechanism transfers the pyrotechnics to the fine feeding process 2 via a rotating mechanism for weighing. The fine feeding mechanism replenishes the weight of the pyrotechnics to meet the standard requirements. Then, the fine feeding mechanism transfers the pyrotechnics to the waste removal process 3 via a rotating mechanism. The waste removal mechanism removes the unqualified pyrotechnics. Finally, the waste removal mechanism transfers the pyrotechnics to the unloading process 4 via a rotating mechanism. The unloading mechanism loads the qualified pyrotechnics into the finished pyrotechnic container, completing the weighing of the pyrotechnics.

[0193] The control program in this embodiment is existing technology, and those skilled in the art can develop and complete the control program for this embodiment using existing technology.

[0194] This embodiment is manufactured using existing technology, and all electronic components are commercially available products based on existing technology.

[0195] The control process in this embodiment is as follows: The control system in this embodiment is divided into two parts: manual control and automatic control.

[0196] Part 1: Manual Control: Manual control is triggered in the manual mode of the automatic weighing machine for pyrotechnics. Through the manual control program, the cylinders, vibrators, and servo drives of the coarse feeding process 1, fine feeding process 2, waste removal process 3, and unloading process 4 can be manually operated and displayed on the control panel.

[0197] Part Two: Automatic Control: Automatic control is triggered in the automatic mode of the automatic weighing machine for explosives.

[0198] 1 Rotary control

[0199] The Siemens 1200 series PLC controls a Siemens TP700 smart panel and two Medler Toledo WMF weighing modules via Profinet communication. Four workstations operate simultaneously. After all four workstations have completed their tasks, the PLC controller uses a pulse + direction method to transfer the pyrotechnic materials from the previous workstation to the next workstation via a rotary drive motor driven by a rotary drive motor. The rotary drive motor's encoder is an absolute type, and its real-time position is read via MODBUS communication.

[0200] The PLC controller controls the height position of the rotating component through the solenoid valve of the rotary lifting cylinder.

[0201] The rotating mechanism of the automatic pyrotechnics weighing machine is equipped with two sensors, which have the following two functions:

[0202] 1) Determine the current location

[0203] Each cantilever arm of the rotating component of the rotating mechanism is equipped with a unique identification mark. A first position sensor and a second position sensor are simultaneously installed on the support component of the rotating mechanism. The cantilever arms are equipped with metal detection plates as unique identification marks in the pattern of (0,0)(0,1)(1,0)(1,1). The current workstation can be determined by the signal status of the first position sensor and the second position sensor.

[0204] 2) Determine the original position during initialization.

[0205] The first or second position sensor can be used as a home position switch for the rotary mechanism servo. It can find the home position during initialization and can also find zero every revolution during automatic operation to prevent the servo from accumulating errors.

[0206] 2. Coarse Feeding Control

[0207] The PLC controller controls the pneumatic charging machine to perform coarse feeding through the solenoid valve of the charging cylinder, and adjusts the air pressure of the charging machine through the pneumatic pressure regulating valve to complete the initial addition of pyrotechnic materials.

[0208] The PLC controller monitors the material status in the silo using through-beam sensors.

[0209] 3. Feeding control

[0210] The PLC controller controls the start and stop of the first and second vibrators through the first and second vibrator solenoid valves, and controls the first and second proportional valves respectively through analog output to control the air pressure, thereby changing the vibration force and vibration frequency of the first and second vibrators, achieving the purpose of vibrator frequency conversion and realizing precise feeding.

[0211] 4. Rejection Control

[0212] The PLC controller controls the rejection mechanism through the rejection translation cylinder solenoid valve, the rejection lifting cylinder solenoid valve, and the rejection swing gripper solenoid valve to reject out-of-tolerance pyrotechnic materials, ensuring the accuracy of pyrotechnic material weighing.

[0213] The PLC controller uses rejection sensors to observe the location of the waste collection components and the status of the rejection collection box.

[0214] 5. Material feeding control

[0215] The PLC controller controls the feeding mechanism to pour the weighed pyrotechnic materials into the finished medicine container of the medicine tray assembly through the feeding translation cylinder solenoid valve, the feeding swing gripper solenoid valve, the first feeding lifting cylinder solenoid valve, and the second feeding lifting cylinder solenoid valve.

[0216] The medicine tray assembly below the feeding mechanism has X-axis and Y-axis drive motors. The base of the medicine tray assembly can hold four 8x8 trays, with a total of 256 finished medicine containers on each tray. The PLC controller controls the X-axis and Y-axis drive motors via pulse + direction, automatically moving the trays according to signals transmitted within the system to ensure all 256 finished medicine containers are full. Both the X-axis and Y-axis drive motors use absolute encoders, and their real-time positions are read via MODBUS communication.

[0217] 6 Other

[0218] 1) The explosion-proof window with a downward opening is installed on the explosion-proof cover in front of the automatic weighing machine for explosives. It opens automatically after the work is completed. After the new tray is replaced for the next work, the downward opening explosion-proof window will close automatically and the work will start again after clicking the automatic run button.

[0219] 2) The explosion-proof three-color light on the outside of the automatic pyrotechnics weighing machine is convenient for observing the status of the automatic pyrotechnics weighing machine; red indicates that the emergency stop button is pressed, yellow indicates that the machine is in a paused state (when the pause button is pressed or the equipment alarms), and green indicates that the work is completed.

[0220] 3) The automatic pyrotechnic material weighing machine has two control modes: local control and remote control. Local control is located next to the machine and allows for simple manual operation via buttons, facilitating debugging. Remote control is located outside the explosion-proof room and operates the machine via a touchscreen and buttons on the control panel. Local and remote control are interlocked.

[0221] 4) During normal automatic operation, if you need to change models or finish get off work, press and hold the cleaning button for 2 seconds to trigger the cleaning program. From this moment on, the pyrotechnic feeder will stop feeding pyrotechnics, equivalent to the coarse feeding step 1 of the automatic pyrotechnics weighing machine ceasing feeding. The cleaning signal is then transmitted sequentially to the fine feeding step 2, the waste removal step 3, and the unloading step 4 via a shift transmission method, ensuring that the automatic pyrotechnics weighing machine stops working after processing the pyrotechnics on the current rotating mechanism, and the pyrotechnics tray assembly is automatically discharged. The purpose of this program is to facilitate cleaning.

[0222] 5) Data Recording: The automatic pyrotechnics weighing machine can record weighing values; the recording interface on the touch screen of the control panel can display the weight of the pyrotechnics in the finished medicine container on the current medicine tray assembly. The display order corresponds one-to-one with the actual weight, and a maximum of 256 items can be displayed. The data will be cleared after the new medicine tray assembly is replaced and the machine restarts; using the recording function of the touch screen, 5,000 weighing results can be recorded and stored on a USB flash drive plugged into the touch screen.

[0223] See Figures 1-18 Example 2, Glossary: ​​The wording of Example 2 differs from some of the terms used in the accompanying drawings, but they have the same meaning. To avoid ambiguity, the following annotations are provided:

[0224] Drug feeding – coarse feeding; weighing – fine feeding; loading – unloading; tare – removing weight from fixed medicine container; tare weight – weight from fixed medicine container; medicine container – fixed medicine container; turntable – rotating assembly; rotating cylinder – oscillating gripper; gripper – oscillating gripper; rotate 90° – rotate one process; X servo – X-direction drive motor; Y servo – Y-direction drive motor.

[0225] This embodiment discloses a control method for a control system of an automatic weighing machine for pyrotechnic materials, which includes manual control and automatic control, wherein:

[0226] Part 1: Manual control: Manual control is triggered in the manual mode of the automatic weighing machine for explosives. Through the manual control program, the cylinders, vibrators, and servo drives of the coarse feeding process 1, fine feeding process 2, waste removal process 3, and unloading process 4 can be manually operated and displayed on the control panel.

[0227] Part Two: Automatic Control: Automatic control is triggered in the automatic mode of the pyrotechnic explosives automatic weighing machine. The automatic control program is the main program, and the main program control includes the following steps:

[0228] 1) Power on the automatic weighing machine for explosives;

[0229] 2) Select the material type on the control panel;

[0230] 3) Determine if initialization is possible.

[0231] If the following conditions are met: "Currently in pause mode, manual / automatic knob is in automatic mode, local control knob is in position 0, and operating room door self-locking knob is in position 0", then initialize; otherwise, reset the "manual" and "automatic" modes.

[0232] To switch from manual to automatic mode: press the pause button to enter pause mode, turn the manual / automatic knob to automatic, turn the local control knob to 0, and turn the operating room door self-locking knob to 0.

[0233] 4) Initialize or set to "Manual" or "Automatic" mode before initializing;

[0234] 5) After initialization, the X-direction drive motor and the Y-direction drive motor reach the material picking position;

[0235] 6) Manually replace the tray and finished medicine container of the medicine tray assembly;

[0236] 7) Determine whether to weigh in fixed portions. If "yes", set the number of portions. If "no", enter automatic operation.

[0237] 8) Automatic operation or automatic operation after setting the number of portions, including the following steps:

[0238] (1) Coarse feeding

[0239] ① Coarse feeding is allowed: the first coarse feeding can be done directly. For subsequent coarse feedings, it is necessary to wait for the completion signals of the rotating mechanism, the line clearing completion signal, the fixed-volume weighing completion signal, and the tray placement completion signal.

[0240] ② Perform coarse feeding;

[0241] ③ Determine the completion status of coarse feeding. If it is "yes", then coarse feeding is completed. If it is "no", then repeat step ①.

[0242] (2) Adding fine ingredients

[0243] ① Fine feeding is permitted only after receiving completion signals from the rotating mechanism, the coarse feeding mechanism, the line clearing completion signal, the fixed-volume weighing completion signal, and the tray placement completion signal;

[0244] ② Weighing is performed during fine feeding;

[0245] ③ Determine the completion status of fine feeding. If it is "yes", then fine feeding is completed. If it is "no", then repeat step ①.

[0246] (3) Removal of waste

[0247] ① Rejection allowed: Rejection is allowed only after receiving completion signals from the rotating mechanism, weighing module, line clearing, fixed-portion weighing, and tray placement.

[0248] ② Discard the defective products;

[0249] ③ Determine the completion status of the waste removal process. If it is "yes", the waste removal is complete. If it is "no", repeat step ①.

[0250] (4) Feeding

[0251] ① Material feeding is permitted only after receiving the completion signals from the rotating mechanism, the waste rejection mechanism, the line cleaning completion signal, the fixed-volume weighing completion signal, and the tray placement completion signal;

[0252] ② Perform material cutting;

[0253] ③ Complete the material cutting;

[0254] ④ Determine if the board is full. If "yes", the board is full. If "no", repeat step ①.

[0255] (5) Rotation

[0256] ① Rotation is permitted only upon receiving the completion signals of coarse feeding, weighing module, waste rejection, unloading, line cleaning, fixed-volume weighing, and tray placement.

[0257] ② Rotate one process step;

[0258] ③ Determine whether the rotation is complete. If it is "yes", the rotation is complete. If it is "no", repeat step ①.

[0259] 9) Determine whether to clear the line. If "yes", clear the line; if "no", proceed with the plate setting.

[0260] 10) Clear the line or arrange the plates;

[0261] 11) After the line clearing or tray placement is completed, the X-direction drive motor and the Y-direction drive motor reach the material picking position;

[0262] 12) Material collection;

[0263] 13) Automatic operation ends.

[0264] Furthermore, step 4) initialization includes the following steps:

[0265] (1) Clear all interactive signals;

[0266] (2) The explosion-proof sliding window of the explosion-proof cover reaches its initial position;

[0267] (3) Determine whether each swing gripper is released. If it is "yes", the X-direction drive motor and the Y-direction drive motor will reach the initial position. If it is "no", find the cause and re-initialize.

[0268] The reason for the "No" error and the subsequent re-initialization are as follows:

[0269] ① Determine if the swing gripper is in the extended position. If it is "yes", the X-direction drive motor and the Y-direction drive motor will reach the initial position. If it is "no", proceed to the next step.

[0270] ② Manually determine whether the fixed medicine container is on the swing gripper. If it is "yes", press the automatic run button. If it is "no", proceed to the next step.

[0271] ③ Switch to manual mode, release the swing gripper, place the fixed medicine container back onto the rotating component of the rotating mechanism, and reinitialize;

[0272] (4) All cylinders return to their initial positions;

[0273] (5) The rotary drive motor drives the rotating components of the rotary mechanism to rise;

[0274] (6) The rotating component of the rotating mechanism actively returns to its origin;

[0275] (7) Determine whether the rotating component of the rotating mechanism has returned to the origin. If it is "yes", the rotating component of the rotating mechanism will move to the absolute position and be straightened. If it is "no", return to step (6) and the rotating component of the rotating mechanism will actively return to the origin.

[0276] (8) The rotating component of the rotating mechanism falls down, the waste rejection mechanism is initialized, including the extension and retraction of the translation cylinder and the extension and retraction of the lifting cylinder. That is, the swing gripper clamps first and then rotates. After stopping, the translation cylinder extends and retracts, and the lifting cylinder extends and retracts to the preset position. Then, the swing gripper releases, and the rotating component of the rotating mechanism rises and rotates for one process.

[0277] (9) After positioning is completed, the number of rejections is determined. If it is "equal to 3 times", the weighing module is zeroed. If it is "less than 3 times", the rotating component of the rotating mechanism falls down and rejection continues.

[0278] (10) Determine the number of rejections. If it is "greater than or equal to 4 times", the number of rejections is reset to zero. If it is "less than 4 times", the rejection mechanism is reinitialized.

[0279] 11 Weigh the fixed medicine container and determine whether the weight of the fixed medicine container is qualified. If it is "yes", the rotary drive motor will drive the rotary component of the rotary mechanism to rise and rotate for one process. If it is "no", the process will pause and alarm.

[0280] 12. When the rotating component rotates for one process, the weighing module is zeroed, the rotating drive motor drives the rotating component of the rotating mechanism to fall, and the number of weighings is recorded;

[0281] 13. Determine the number of weighings. If it is "greater than or equal to 4 times", the number of rejections is reset to zero, and the rotating component of the rotating mechanism returns to the origin. If it is "less than 4 times", the rejection mechanism re-weighs the fixed medicine container.

[0282] 14. Determine whether the rotating component of the rotating mechanism has returned to the origin. If it is "yes", the rotating component of the rotating mechanism will move to the absolute position and be straightened. If it is "no", return to step 13, where the rotating component of the rotating mechanism actively returns to the origin.

[0283] 12. After positioning is completed, the rotary drive motor drives the rotating component of the rotary mechanism to fall.

[0284] ⒃ Determine if there is a replacement box indicator. If it is "yes", replace the waste collection box. If it is "no", complete the initialization.

[0285] Furthermore, in step 5), when the servo drive reaches the material picking position, its servo motion includes the following steps:

[0286] (1) To determine the qualified status, there are four states: A. Both the first fixed medicine container and the second fixed medicine container are qualified; B. The first fixed medicine container is qualified and the second fixed medicine container is unqualified; C. The first fixed medicine container is unqualified and the second fixed medicine container is qualified; D. Both the first fixed medicine container and the second fixed medicine container are unqualified.

[0287] (2) Both the first and second fixed medicine bowls are qualified. The X-direction drive motor and the Y-direction drive motor do not move. After feeding, move to the current position +2 and wait.

[0288] (3) If the first fixed medicine container is qualified and the second fixed medicine container is unqualified, neither the X-direction drive motor nor the Y-direction drive motor will move. After feeding, move to the current position +1 and wait.

[0289] (4) The first fixed medicine bowl is unqualified, the second fixed medicine bowl is qualified, the Y-direction drive motor moves to -1, after feeding, it moves to the current position +2 and waits;

[0290] (5) Both the first and second fixed medicine containers are unqualified, and neither the X-direction drive motor nor the Y-direction drive motor moves.

[0291] (6) After completing steps (2), (3), (4) or (5), determine whether a column in a tray has been filled. If it is "yes", move to the first position of the next column. If it is "no", repeat step (1).

[0292] (7) Determine whether all the finished medicine containers on all trays have been placed. If the answer is "yes", the tray placement is complete. If the answer is "no", repeat step (1).

[0293] Furthermore, step 7) of weighing the portions includes the following steps:

[0294] (1) Set the number of copies;

[0295] (2) Weighing in fixed portions;

[0296] (3) After the fixed-volume weighing is completed, the X-direction drive motor and the Y-direction drive motor reach the material picking position;

[0297] (4) Determine whether the set number of portions has been reached. If it is "yes", the fixed-portion weighing is completed. If it is "no", repeat step (2).

[0298] Further, (1) a clearing signal is received;

[0299] (2) Clear the line, do not perform coarse feeding, and complete the pouring of pyrotechnic materials in the fixed pyrotechnic container of the current rotating mechanism;

[0300] (3) After the line is cleared, the X-direction drive motor and the Y-direction drive motor reach the material picking position;

[0301] (4) Determine whether all 8 fixed medicine containers have been emptied. If "yes", the line clearing is complete. If "no", repeat step (2).

[0302] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A control method for a control system of an automatic weighing machine for initiating explosive materials, characterized in that: It includes manual control and automatic control, wherein: ​ The first part of manual control: manual control triggers in the manual mode of the automatic weighing machine for pyrotechnic products, and through the manual control program, the cylinders, the vibrator and the servo driver of the coarse feeding process, the fine feeding process, the scrap removal process and the discharging process can be manually operated respectively, and the control panel is displayed; The second part of automatic control: automatic control triggers in the automatic mode of the automatic weighing machine for pyrotechnic products, and the automatic control program is the main program, which includes the following steps: 1) The automatic weighing machine for pyrotechnic products is powered on; 2) Select the material type on the control panel; 3) Determine whether to initialize If it meets "currently in pause mode, hand-automatic knob in automatic gear, local control knob in 0 gear, and operation room door self-locking knob in 0 gear", that is, "yes", initialize, otherwise, "no", reset the "hand" and "self" modes; Set the "hand" and "self" modes: press the pause button to be in pause mode, rotate the hand-automatic knob to the automatic gear, rotate the local control knob to 0 gear, and rotate the operation room door self-locking knob to 0 gear, that is, switch the manual mode to the automatic mode; Initialize or set the "hand" and "self" modes after initialization; 1) Clear all interactive signals; 2) The explosion-proof pull window of the explosion-proof shield reaches the initial position; 3) Determine whether the swing air claw is loose, if "yes", the X-direction drive motor and the Y-direction drive motor reach the initial position, if "no", find the reason and re-initialize; The "no" reason finding and re-initialization are as follows: 1) Determine whether the swing air claw is in the extended position, if "yes", the X-direction drive motor and the Y-direction drive motor reach the initial position, if "no", proceed to the next step; 2) Manually determine whether the fixed medicine bowl is on the swing air claw, if "yes", press the automatic operation button, if "no", proceed to the next step; 3) Switch to the manual mode, loosen the swing air claw, and put the fixed medicine bowl back on the rotating assembly of the rotating mechanism to re-initialize; 5) All cylinders return to the initial position; 6) The rotating drive motor drives the rotating assembly of the rotating mechanism to rise; 7) The rotating assembly of the rotating mechanism actively returns to the origin; 8) Determine whether the rotating assembly of the rotating mechanism has completed the return to the origin, if "yes", the rotating assembly of the rotating mechanism moves to the absolute position and adjusts, if "no", return to step 7, and the rotating assembly of the rotating mechanism actively returns to the origin; 9) The rotating assembly of the rotating mechanism falls down, and the scrap removal mechanism initializes, including the extension and retraction of the translation cylinder and the extension and retraction of the lifting cylinder, that is, the swing air claw first clamps, then rotates, stops, the translation cylinder executes extension and retraction, the lifting cylinder executes extension and retraction, reaches the preset position, then the swing air claw loosens, and the rotating assembly of the rotating mechanism rises and rotates one process; 10) After positioning is completed, determine the number of scrap removal times, if "equal to 3 times", the weighing module is cleared, if "less than 3 times", the rotating assembly of the rotating mechanism falls down and continues to remove scrap. ⑼Judge the number of times of rejection, if "greater than or equal to 4 times", the number of times of rejection is cleared, if "less than 4 times", the rejection mechanism is reinitialized; ⑾Weigh the fixed weight of the medicine bowl, judge whether the fixed weight of the medicine bowl is qualified, if "yes", the rotating assembly of the rotating mechanism is lifted and rotated by the rotating drive motor, if "no", it is paused and an alarm is reported; ⑿The rotating assembly rotates one process, the weighing module is cleared, the rotating assembly of the rotating mechanism is lowered by the rotating drive motor, and the number of times of weighing is recorded; ⒀Judge the number of times of weighing, if "greater than or equal to 4 times", the number of times of rejection is cleared, the rotating assembly of the rotating mechanism is actively returned to the origin, if "less than 4 times", the fixed weight of the medicine bowl is reweighed by the rejection mechanism; ⒁Judge whether the rotating assembly of the rotating mechanism is returned to the origin, if "yes", the rotating assembly of the rotating mechanism is absolutely positioned, if "no", return to step ⒀, the rotating assembly of the rotating mechanism is actively returned to the origin; ⒂After positioning, the rotating assembly of the rotating mechanism is lowered by the rotating drive motor; ⒃Judge whether there is a box changing mark, if "yes", change the waste collection box, if "no", initialization is completed; 5) Initialization is completed, the X direction drive motor and the Y direction drive motor reach the material taking position; 6) Manually change the tray of the medicine disc assembly and the finished product medicine bowl; 7) Judge whether to set the portion weighing, if "yes", set the number of portions, if "no", enter automatic operation; 8) Automatic operation or automatic operation after setting the number of portions, including the following steps: ⑴Coarse feeding ①Allow coarse feeding: directly proceed with the first coarse feeding, and wait for the completion signal of the rotating mechanism, the line clearing completion signal, the portion weighing completion signal and the tray positioning completion signal for non-first coarse feeding; ②Coarse feeding is performed; ③Judge the coarse feeding completion state, if "yes", complete the coarse feeding, if "no", re-execute step ①; ⑵Fine feeding ①Allow fine feeding: receive the completion signal of the rotating mechanism, the completion signal of the coarse feeding mechanism, the line clearing completion signal, the portion weighing completion signal and the tray positioning completion signal, and then allow fine feeding; ②Weighing is performed during fine feeding; ③Judge the fine feeding completion state, if "yes", complete the fine feeding, if "no", re-execute step ①; ⑶Rejection ①Allow rejection: receive the completion signal of the rotating mechanism, the completion signal of the weighing module, the line clearing completion signal, the portion weighing completion signal and the tray positioning completion signal, and then allow rejection; ②Rejection is performed; ③Judge the rejection completion state, if "yes", complete the rejection, if "no", re-execute step ①; ⑷Discharging ①Allow discharging: receive the completion signal of the rotating mechanism, the completion signal of the rejection mechanism, the line clearing completion signal, the portion weighing completion signal and the tray positioning completion signal, and then allow discharging; ②Discharging is performed; ③Complete discharging; ④Judge whether the tray is full, if "yes", it is full, if "no", re-execute step ①; ⑸Rotation ①Allow rotation, receive the completion signal of the coarse feeding, the completion signal of the weighing module, the rejection completion signal, the discharging completion signal, the line clearing completion signal, the portion weighing completion signal and the tray positioning completion signal, and then allow rotation; ②Rotating a process; ③Judging whether the rotation is completed, if "Yes", it is completed, if "No", re-executing step ①; 9) Judging whether to clear the line, if "Yes", it is cleared, if "No", it is placed; 10) Clearing the line or placing; 11) Completing the line or placing, the X-direction drive motor and the Y-direction drive motor reaching the material taking position; 12) Taking the material; 13) The automatic operation is ended.

2. The control method for the control system of the automatic weighing machine for pyrotechnic materials as described in claim 1, characterized in that: The step 5) The servo drive reaches the material taking position, and the servo movement includes the following steps: (1) Judging the qualified state, which has four states: A both the first fixed medicine bowl and the second fixed medicine bowl are qualified, B the first fixed medicine bowl is qualified and the second fixed medicine bowl is unqualified, C the first fixed medicine bowl is unqualified and the second fixed medicine bowl is qualified, and D both the first fixed medicine bowl and the second fixed medicine bowl are unqualified; (2) A both the first fixed medicine bowl and the second fixed medicine bowl are qualified, the X-direction drive motor and the Y-direction drive motor are not moved, after the material is discharged, it is moved to the current position+2 to wait; (3) B the first fixed medicine bowl is qualified and the second fixed medicine bowl is unqualified, the X-direction drive motor and the Y-direction drive motor are not moved, after the material is discharged, it is moved to the current position+1 to wait; (4) C the first fixed medicine bowl is unqualified and the second fixed medicine bowl is qualified, the Y-direction drive motor is moved to-1, after the material is discharged, it is moved to the current position+2 to wait; (5) D both the first fixed medicine bowl and the second fixed medicine bowl are unqualified, the X-direction drive motor and the Y-direction drive motor are not moved; (6) After the step (2), (3), (4) or (5) is completed, judging whether a column in a tray is walked through, if "Yes", it is walked to the first position of the next column, if "No", re-executing the step (1); (7) Judging whether the finished product medicine bowl of all the trays is completed, if "Yes", the placing is completed, if "No", re-executing the step (1).

3. The control method for the control system of the automatic weighing machine for pyrotechnic materials as described in claim 1, characterized in that: The step 7) The fixed quantity weighing includes the following steps: (1) Setting the number of portions; (2) Weighing the fixed quantity; (3) After the fixed quantity weighing is completed, the X-direction drive motor and the Y-direction drive motor reach the material taking position; (4) Judging whether the set number of portions is reached, if "Yes", the fixed quantity weighing is completed, if "No", re-executing the step (2).

4. The control method for the control system of the automatic weighing machine for pyrotechnic materials as described in claim 1, characterized in that: The step 10) The line clearing includes the following steps: (1) Receiving the line clearing signal; (2) Clearing the line, without rough charging, the explosive medicine of the fixed medicine bowl of the current rotating mechanism is poured; (3) After the line clearing is completed, the X-direction drive motor and the Y-direction drive motor reach the material taking position; (4) Judging whether 8 fixed medicine bowls are poured, if "Yes", the line clearing is completed, if "No", re-executing the step (2).

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