Speed adaptive control method for tray sorter and tray sorter

Abstract

This invention discloses a speed adaptive control method for a pallet sorting machine and the pallet sorting machine itself. The method calculates the number of steps and distance required for the pallet trolley to travel from the triggered counting photoelectric sensor to the target drop point, thus completing the positioning of the current pallet trolley. After the pallet trolley reaches the specified number of steps, the displacement calculated in each scanning cycle is integrated to obtain the total displacement S of the pallet trolley after reaching the specified number of steps. 积 And according to S 积 The system controls the activation or retraction of the electromagnet assembly corresponding to the target feeding port; it can also calculate the maximum travel speed Vmax of the current pallet trolley and set the current travel speed V of the pallet trolley. 设 This method can adjust the timing of unloading goods from the pallet trolley in real time according to the speed of the pallet trolley, and strictly control the movement of the pallet trolley by controlling the timing of the electromagnet component, thus solving the limitation that the equipment cannot be changed at will, and allowing it to be adjusted at will in real time within a certain speed range.

Description

Technical Field

[0001] This invention relates to the field of logistics sorting equipment technology, and in particular to a speed adaptive control method for a pallet sorting machine and the pallet sorting machine itself. Background Technology

[0002] Pallet sorting machines are widely used sorting equipment, mainly composed of multiple pallet trolleys and corresponding drive and traction devices. Each pallet trolley relies on gravity to tilt and unload goods. This method is simple in structure, low in cost, and has good stability. However, it requires high speed control. Before use, the timing of the pallet trolleys reaching each discharge port must be adjusted according to the current speed to ensure accurate material feeding. Traditional control methods are relatively rigid, requiring manual adjustment of the discharge timing parameters at each discharge port according to the required speed. Traditional pallet sorting machines lack real-time speed adjustment, making maintenance and adjustment inconvenient. If the pallet trolley speed needs adjustment during operation, it takes a considerable amount of time to adjust the discharge parameters. Furthermore, changes in pallet trolley speed or mechanical errors caused by mechanical compression or stretching after prolonged operation can lead to inaccurate material feeding, as the machines cannot adjust the material feeding timing according to real-time speed, resulting in feeding too early or too late. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a speed adaptive control method for a pallet sorting machine and a pallet sorting machine, which solves the problem that the existing sorting machine does not have a real-time speed adjustment function, thereby overcoming the shortcomings of the prior art.

[0004] To address the aforementioned technical problems, this invention discloses a speed adaptive control method for a pallet sorting machine, used for feeding control of the pallet sorting machine. The pallet sorting machine includes multiple pallet carts, multiple electromagnet assemblies, a barcode scanner, a PLC controller, and a counting photoelectric sensor, and includes the following steps:

[0005] S1. When each pallet trolley passes in front of the counting photoelectric sensor, the counting photoelectric sensor will control the barcode scanning camera installed on the pallet trolley to read the barcode of the product on the current pallet trolley to obtain the target feeding port position of the corresponding product. At the same time, the counting photoelectric sensor will record the current position of the pallet trolley and increment it every time the counting photoelectric sensor is triggered.

[0006] S2. Based on the distance between the electromagnet assembly and the counting photoelectric sensor, the electromagnet assemblies are numbered from near to far, i.e., electromagnet assembly i, where i = 1, 2, ..., n; then each time the counting photoelectric sensor is triggered, the distance between electromagnet assembly i and the trolley in front of electromagnet assembly i is S[i] = X + (i-1)Y - KZ, where K is an unknown and a positive integer, X is the distance between the counting photoelectric sensor and electromagnet assembly i, Y is the spacing between adjacent electromagnet assemblies, and Z is the spacing between adjacent trolleys;

[0007] By combining S[i]=X+(i-1)Y-KZ with the inequality m0≤S[i]≤m1, the final solution yields the number of steps K and the distance S[i], which represents the number of counting steps required for the current pallet trolley to reach the target feeding port from the counting photoelectric sensor and the distance it needs to travel after reaching the target feeding port. Here, m0 is the minimum distance allowed between the current pallet trolley and the electromagnet component corresponding to the target feeding port when the current pallet trolley is feeding; and m1 is the maximum distance allowed between the current pallet trolley and the electromagnet component corresponding to the target feeding port when the current pallet trolley is feeding.

[0008] S3. The number of steps required for the current pallet trolley to travel from the trigger counting photoelectric sensor to the target drop point and the distance still needed to travel after reaching the target drop point are calculated by using step S2, so as to complete the positioning of the current pallet trolley;

[0009] S4. When the pallet trolley carrying materials reaches the designated number of steps, the PLC controller periodically scans to obtain the displacement S of the pallet trolley, and integrates the displacement S calculated in each scanning cycle to obtain the total displacement S of the pallet trolley after it has reached the designated number of steps. 积 According to S 积 The electromagnet assembly corresponding to the target feeding port is activated or retracted to complete the current pallet trolley feeding process;

[0010] S5. Based on the distance of the electromagnetic component corresponding to the target feeding port to the start of the current pallet trolley movement, calculate the current pallet trolley's travel speed V to reach its maximum value Vmax;

[0011] S6. Based on the calculated maximum value Vmax of the current pallet trolley's travel speed, the operator sets the current pallet trolley's travel speed V according to the real-time required travel speed. 设 The PLC controller will recalculate the current travel speed V according to step S4. 设 The total displacement S of the lower pallet trolley after it reaches the designated number of steps and continues to move. 积 And according to S 积 Adjust the start-up or retraction process of the electromagnet assembly corresponding to the target feeding port.

[0012] As an improvement of the present invention, in the step S2, there is only one solution or no solution for the number of counting steps K required for the current tray trolley to reach the target feeding port from the counting photoelectric sensor; when there is a solution, the number of steps required for the current tray trolley to reach the designated blanking port from triggering the counting photoelectric sensor is taken as the value of K, and S[i] is taken as X+(i - 1)Y - KZ; when there is no solution, let K increase incrementally from 0, and substitute the value of K into S[i]=X+(i - 1)Y - KZ in sequence. When K increases to the first time that S[i]<0, take the value of K at this time. At this time, the number of steps required for the current tray trolley to reach the designated blanking port from triggering the counting photoelectric sensor is taken as K - 1, and S[i] is taken as X+(i - 1)Y-(K - 1)Z; then continue to judge S[i]<m0. If it holds, the number of steps required for the current tray trolley to reach the target blanking port from triggering the counting photoelectric sensor is taken as K - 2, and S[i] is taken as X+(i - 1)Y-(K - 2)Z; if it does not hold, the number of steps required for the current tray trolley to reach the target blanking port from triggering the counting photoelectric sensor is taken as K - 1, and S[i] is taken as X+(i - 1)Y-(K - 1)Z.

[0013] As a further improvement of the present invention, in the step S4, according to S 积 The specific method for controlling the electromagnet assembly corresponding to the target feeding port is as follows: Obtain the displacement S of the tray trolley within the current single scanning period through S = V0*t0. After integrating the displacement S calculated for each scanning period, obtain the total displacement S of the current tray trolley continuing to travel after reaching the specified number of steps. 积 When S 积 ≥S[i]-b, start the electromagnet assembly corresponding to the target feeding port; when S 积 ≥S[i]+b1, retract the electromagnet assembly corresponding to the target feeding port, then the current feeding trolley will surely complete the feeding action accurately; where V0 is the speed of the tray trolley measured by the PLC controller within the current scanning period, t0 is the time required for the PLC controller to execute one scanning period, b is the set distance for the electromagnet assembly corresponding to the target feeding port to start acting on the current tray trolley, and b1 is the set distance for the electromagnet assembly corresponding to the target feeding port to retract from the current tray trolley.

[0014] As an improvement of the present invention, in step S5, when the distance b of the electromagnet component corresponding to the target feeding port to the current pallet trolley starting to move is greater than or equal to the limit value of b, the pallet trolley will definitely be pushed over. That is, the current pallet trolley's traveling speed satisfies V≤(bb limit value) / (t1+t0), and the pallet trolley will definitely be pushed over. Therefore, when b approaches Y, the current pallet trolley's traveling speed V reaches its maximum value Vmax, where b is the distance between the current pallet trolley and the electromagnet component corresponding to the target feeding port; the limit value of b is the minimum distance that the electromagnet corresponding to the target feeding port must travel to complete the movement of the current pallet trolley; t0 is the PLC scanning cycle; t1 is the time required for the electromagnet corresponding to the target feeding port to complete the movement; and Vmax is the maximum allowed traveling speed of the current pallet trolley.

[0015] As a further improvement of the present invention, in step S6, based on the calculated maximum travel speed Vmax of the current pallet trolley, the PLC controller will set the upper limit of the current pallet trolley's travel speed to Vmax, and the operator will set the current pallet trolley's travel speed Vset within the interval [0, Vmax] according to the real-time required travel speed.

[0016] As a further improvement of the present invention, in step S6, the current travel speed V of the pallet trolley is set by the operator. 设 The PLC controller uses S=V 设 *t0 obtains the displacement S' of the pallet trolley within a single scan cycle. By integrating the displacement S' calculated for each scan cycle, the total displacement S' of the pallet trolley after reaching the specified number of steps and continuing to move is obtained. 积 ', when S 积 When '≥S[i]-b, activate the electromagnet assembly corresponding to the target feeding port; when S 积 When '≥S[i]+b1, retrieve the electromagnet component corresponding to the target feeding port.

[0017] Furthermore, this invention also discloses a pallet sorting machine employing the aforementioned speed adaptive control method, comprising multiple pallet carts, multiple electromagnet assemblies, a barcode scanner, a PLC controller, and a counting photoelectric sensor. The multiple pallet carts are sequentially connected and rotate in a ring along a circular path. The counting photoelectric sensor is installed inside the ring path and sequentially positions all pallet carts. Each electromagnet assembly corresponds to a feeding port, and the electromagnet assembly controls the pallet cart to feed material into the corresponding feeding port. When each pallet cart passes the counting photoelectric sensor, the counting photoelectric sensor controls the barcode scanner to read the product barcode on the current pallet cart to obtain the target feeding port position. Simultaneously, the counting photoelectric sensor records the current position of the pallet cart and increments its value each time it is triggered.

[0018] With this design, the present invention has at least the following advantages:

[0019] The speed adaptive control method in this invention adjusts the timing of the pallet trolley's loading of goods in real time based on the trolley's travel speed measured in real time by the PLC controller. Furthermore, by strictly controlling the timing of the electromagnet assembly's action to ensure the pallet trolley's loading start and end actions are performed at preset positions, this overcomes the limitation of the equipment's inability to arbitrarily change speed, allowing for real-time speed adjustment within a certain speed range. This control method eliminates the need for manual parameter adjustments; no manual data measurement and calculation of the electromagnet's action timing are required. All action data parameters are automatically calculated and adjusted during equipment operation to precisely maintain the pallet trolley's loading. Attached Figure Description

[0020] The above is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] Figure 1 This is a schematic diagram of the simplest sorting machine model in the speed adaptive control method of this invention.

[0022] Figure 2 This is a flowchart illustrating the speed adaptive control method in an embodiment of the present invention.

[0023] Figure 3 This is a top view of the pallet sorting machine in an embodiment of the present invention.

[0024] Figure 4 This is a front view structural diagram of the pallet sorting machine in an embodiment of the present invention.

[0025] Meaning of reference numerals in the attached figures:

[0026] 1-Trolley; 2-Counting photoelectric sensor; 3-Bar scanning camera; 4-Control panel. Detailed Implementation

[0027] Examples of embodiments described in this invention are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar parts or parts having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the invention, and should not be construed as limiting the invention.

[0028] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0029] It should be stated in advance that the directional terms such as "inner side," "outer side," "upper," and "lower" in this embodiment are based on the current orientation shown in the accompanying drawings and are not intended to limit the orientation of the present invention. If the product orientation in the accompanying drawings changes, the directional terms can be adjusted accordingly. In this embodiment, "inner side" refers to the side of the product that is slightly off-center when placed horizontally, "outer side" refers to the side of the product that is slightly off-center when placed horizontally, and "upper" and "lower" refer to the upper and lower positions of the product when it is normally placed horizontally.

[0030] Combination Figure 1 and Figure 2 As shown, this embodiment specifically discloses a speed adaptive control method for a pallet sorting machine, which is used for feeding control of the pallet sorting machine.

[0031] Specifically, such as Figure 3 and Figure 4 As shown, the pallet sorting machine in this embodiment includes multiple pallet carts 1, multiple electromagnet assemblies, a barcode scanner 3, a PLC controller, and a counting photoelectric sensor 2. The multiple pallet carts 1 are connected in sequence and rotate in a ring along a circular chain. The chain is driven by a motor on one side of the chain, which rotates a sprocket meshed with the chain. The counting photoelectric sensor 2 is installed inside the ring. When the chain drives the pallet carts 1 past the counting photoelectric sensor 2, it triggers the sensor to send a positioning signal to the PLC controller. The sensor then sequentially positions all the pallet carts 1. Each electromagnet assembly corresponds to a feeding port. The counting photoelectric sensor 2 controls the barcode scanner 3, installed above the pallet cart 1, to read the barcode of the product on the current pallet cart 1 to obtain the target feeding port position for the corresponding product. The electromagnet assemblies control the pallet carts 1 to feed the product to the corresponding feeding port. Generally, the number of electromagnet assemblies and feeding ports is the same.

[0032] Specifically, the speed adaptive control method disclosed in this embodiment has the following steps:

[0033] S1. When each pallet trolley passes in front of the counting photoelectric sensor, the counting photoelectric sensor will control the barcode scanning camera installed on the pallet trolley to read the barcode of the product on the current pallet trolley to obtain the target feeding port position of the corresponding product. At the same time, the counting photoelectric sensor will record the current position of the pallet trolley and increment it every time the counting photoelectric sensor is triggered.

[0034] S2. Based on the distance between the electromagnet assembly and the counting photoelectric sensor, the electromagnet assemblies are numbered from near to far, i.e., electromagnet assembly i, where i = 1, 2, ..., n; then the distance between electromagnet assembly i and the pallet cart in front of electromagnet assembly i is S[i] = X + (i-1)Y - KZ, where K is an unknown and a positive integer, representing the number of counting steps required for the current pallet cart to reach the target feeding port from the counting photoelectric sensor; for example, in this embodiment, the number of pallet carts is set to 28 groups, such as Figure 1 As shown, the 28 pallet carts are connected in sequence to form a circle and are distributed in a ring. Figure 2 As shown, in the current state, the distance between tray trolley number 28 and electromagnet assembly number 3 is S. 28-3 =X+2Y; The distance S between tray trolley number 27 and electromagnet assembly number 3 is... 27-3 =X + 2Y - Z; The distance S between tray trolley number 26 and electromagnet assembly number 3 is... 26-3 =X + 2Y - 2Z; The distance S between tray trolley number 25 and electromagnet assembly number 3 is... 25-3 =X + 2Y - 3Z; In this embodiment, each time the counting photoelectric sensor is triggered, the pallet trolley moves forward one station. Therefore, taking pallet trolley number 28 as an example, when pallet trolley number 28 triggers the counting photoelectric sensor, it is exactly in front of the counting photoelectric sensor. Afterwards, each time the counting photoelectric sensor is triggered, pallet trolley number 28 will move forward one station. Combined with... Figure 2 As shown, only when the 28th pallet trolley reaches the original position of the 25th pallet trolley can it be ensured that the 28th pallet trolley is located between electromagnet assembly 2 and electromagnet assembly 3. At this time, the 28th pallet trolley will not affect the electromagnet assembly 2 from acting on other pallet trolleys. At the same time, the counting photoelectric sensor can be triggered. In this state, the 28th pallet trolley has moved forward 3 steps, that is, K=3.

[0035] It should be noted that in this embodiment, X is the distance between the counting photoelectric sensor and electromagnet assembly 1, Y is the spacing between adjacent electromagnet assemblies, and Z is the spacing between adjacent pallet carts. In this embodiment, after the pallet sorting machine is assembled, the distance X between the counting photoelectric sensor and electromagnet assembly 1, the spacing Y between adjacent electromagnet assemblies, and the spacing Z between adjacent pallet carts are all fixed values ​​and can be obtained through actual measurement.

[0036] Further, in this embodiment, when the 28th tray trolley is located between the 2nd and 3rd electromagnet assemblies, it is also necessary to consider whether the current position of the tray trolley can perform the feeding action in a timely manner. For this reason, in this embodiment, first, the minimum distance m0 and the maximum distance m1 when performing the feeding action on the current target feeding port can be set through the control panel. Then, by combining the inequality m0 ≤ S[i] ≤ m1, K is finally solved, and the solution of K has only one or no solution; where m0 is the minimum distance that the current tray trolley is allowed to be from the corresponding electromagnet assembly of the target feeding port when the current tray trolley performs feeding; m1 is the maximum distance that the current tray trolley is allowed to be from the corresponding electromagnet assembly of the target feeding port when the current tray trolley performs feeding; in this embodiment, m0 and m1 can be obtained according to conventional technical experience. For example, they can be obtained through testing under the rated operating speed condition of the tray sorting machine.

[0037] S3. When there is a solution, that is, when the counting photoelectric sensor is triggered, the tray trolley is exactly located between the target feeding port and the previous feeding port, and the current tray trolley is exactly between the minimum distance m0 and the maximum distance m1 of the target feeding port. Then, the number of steps required for the current tray trolley to reach the specified blanking port from the triggered counting photoelectric sensor takes the value of K, and S[i] takes X+(i - 1)Y - KZ;

[0038] When there is no solution, let K increase incrementally from 0, and substitute the value of K into S[i] = X+(i - 1)Y - KZ in turn. When K increases to the first time that S[i] < 0, take the value of K at this time. At this time, the number of steps required for the current tray trolley to reach the specified blanking port from the triggered counting photoelectric sensor is first taken as K - 1, and S[i] takes X+(i - 1)Y - (K - 1)Z; then continue to judge S[i] < m0. If the judgment holds, it means that after the tray trolley travels K - 1 steps from the triggered counting photoelectric sensor to reach the target blanking port, the position of the tray trolley cannot meet the minimum distance m0. Then, the number of steps required for the current tray trolley to reach the target blanking port from the triggered counting photoelectric sensor takes K - 2, and S[i] takes X+(i - 1)Y - (K - 2)Z; if the judgment does not hold, it means that after the tray trolley travels K - 1 steps from the triggered counting photoelectric sensor to reach the target blanking port, the position of the tray trolley can meet the minimum distance m0. Then, the number of steps p required for the current tray trolley to reach the target blanking port from the triggered counting photoelectric sensor takes K - 1, and S[i] takes X+(i - 1)Y - (K - 1)Z; through the above steps, it can be ensured that after the tray trolley travels the specified number of steps,

[0039] S4. Calculate the number of steps and distance required for the current tray trolley to reach the target feeding and blanking port from the triggered counting photoelectric sensor by adopting steps S2 to S3 to complete the positioning of the current tray trolley;

[0040] S5. The position of the pallet trolley can be initially determined by the counting photoelectric sensor. When the pallet trolley carrying material reaches a specified number of steps p, it indicates that it has reached the vicinity of the target feeding port. At this time, the PLC controller monitors and calculates the pallet trolley displacement in real time to accurately obtain the pallet trolley position. Specifically, in this embodiment, the displacement S of the pallet trolley in the current single scanning cycle is obtained by S = V0 * t0. By integrating the displacement S calculated in each scanning cycle, the total displacement S of the pallet trolley after reaching the specified number of steps is obtained. 积 When S 积 When S ≥ S[i] - b, start the electromagnet component corresponding to the target feeding port; when S ≥ S[i] + b1, retract the electromagnet component corresponding to the target feeding port, and the current feeding trolley will definitely complete the feeding action accurately.

[0041] Where V0 is the speed of the pallet trolley measured by the PLC controller in the current scanning cycle, t0 is the time required for the PLC controller to complete one scanning cycle, b is the distance from which the electromagnet component corresponding to the set target feeding port starts moving towards the current pallet trolley, and b1 is the distance from which the electromagnet component corresponding to the set target feeding port retracts towards the current pallet trolley.

[0042] Furthermore, in this embodiment, the judgment is made based on the distance b from the target feeding port corresponding electromagnet assembly to the current pallet trolley starting to move, as set in step S6. When the distance b from the target feeding port corresponding electromagnet assembly to the current pallet trolley starting to move is greater than or equal to the limit value of b, the pallet trolley will definitely be pushed over. That is, the current pallet trolley's travel speed satisfies V≤(bb limit value) / (t1+t0), and the pallet trolley will definitely be pushed over. Therefore, when b approaches Y, the current pallet trolley's travel speed V reaches its maximum value Vmax, where b is the distance between the current pallet trolley and the target feeding port corresponding electromagnet assembly; the limit value of b is the minimum distance that the target feeding port corresponding electromagnet must travel to complete the current pallet trolley's movement; t0 is the PLC scanning cycle; t1 is the time required for the target feeding port corresponding electromagnet to complete its movement; and Vmax is the current pallet trolley's maximum allowed travel speed.

[0043] Based on the maximum travel speed Vmax of the current pallet trolley calculated above, the PLC controller can set the upper limit of the current pallet trolley's travel speed to Vmax. Then, the operator can use the control panel 4 to set the parameters of the PLC controller, so that the PLC controller can change the current pallet trolley's travel speed within the range [0, Vmax] according to the real-time required travel speed. This will not affect the delivery of goods by the pallet trolley. By setting the travel speed of the pallet trolley within the range [0, Vmax], the speed adaptive control method of this embodiment can realize the delivery adjustment of the pallet sorting machine.

[0044] Furthermore, based on the current travel speed V of the pallet trolley set by the operator... 设 The PLC controller uses S=V 设 *t0 obtains the displacement S' of the pallet trolley within a single scan cycle. By integrating the displacement S' calculated for each scan cycle, the total displacement S' of the pallet trolley after reaching the specified number of steps and continuing to move is obtained. 积 ', when S 积 When '≥S[i]-b, activate the electromagnet assembly corresponding to the target feeding port; when S 积 When '≥S[i]+b1, the electromagnet component corresponding to the target feeding port is retrieved. Therefore, based on the adjustment of the pallet trolley's travel speed, the speed adaptive control method in this embodiment will automatically realize the adaptive adjustment of the pallet trolley's delivery control to meet the requirements of accurate delivery.

[0045] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications, equivalent changes, or alterations made by those skilled in the art using the disclosed technical content shall fall within the protection scope of the present invention.

Claims

1. A speed adaptive control method for a pallet sorting machine, used for feeding control of the pallet sorting machine, wherein the pallet sorting machine includes multiple pallet carts, multiple electromagnet assemblies, a barcode scanner, a PLC controller, and a counting photoelectric sensor, characterized in that, It includes the following steps: S1. When each tray cart passes in front of the counting optoelectronic sensor, the counting optoelectronic sensor will control the code scanning camera installed above the tray cart to read the product barcode on the current tray cart to obtain the position of the target feeding port where the corresponding product is to be delivered. At the same time, the counting optoelectronic sensor will record the position of the current tray cart and increment itself each time the counting optoelectronic sensor is triggered; S2. According to the distance between the electromagnet assembly and the counting optoelectronic sensor, the electromagnet assemblies are numbered from near to far, that is, the electromagnet assembly i, where i = 1, 2,..., n; then each time the counting optoelectronic sensor is triggered, the distance between the electromagnet assembly i and the tray cart in front of the electromagnet assembly i is S[i]=X+(i - 1)Y - KZ, where K is an unknown positive integer, X is the distance between the counting optoelectronic sensor and the electromagnet assembly 1, Y is the spacing between adjacent electromagnet assemblies, and Z is the spacing between adjacent tray carts; By combining S[i]=X+(i - 1)Y - KZ with the inequality m0≤S[i]≤m1; finally, the number of steps K and the distance S[i] are solved, which are the number of counting steps required for the current tray cart to reach the target feeding port from the counting optoelectronic sensor and the displacement that still needs to be advanced after the number of steps is reached; where m0 is the minimum distance allowed for the current tray cart to be from the electromagnet assembly corresponding to the target feeding port when the current tray cart is feeding; m1 is the maximum distance allowed for the current tray cart to be from the electromagnet assembly corresponding to the target feeding port when the current tray cart is feeding; S3. By using the number of steps and the distance obtained by calculation in step S2 for the current tray cart to reach the target dropping port from the triggered counting optoelectronic sensor, the positioning of the current tray cart is completed; S4. When the pallet trolley carrying materials reaches the designated number of steps, the PLC controller periodically scans to obtain the displacement S of the pallet trolley, and integrates the displacement S calculated in each scanning cycle to obtain the total displacement S of the pallet trolley after it has reached the designated number of steps. 积 According to S 积 The electromagnet assembly corresponding to the target feeding port is activated or retracted to complete the current pallet trolley feeding process; S5. Combining the distance at which the current tray cart starts to move corresponding to the set electromagnet assembly of the target feeding port, calculate that the traveling speed V of the current tray cart reaches the maximum value Vmax; S6. Based on the calculated maximum value Vmax of the current pallet trolley's travel speed, the operator sets the current pallet trolley's travel speed V according to the real-time required travel speed. 设 The PLC controller will recalculate the current travel speed V according to step S4. 设 The total displacement S of the lower pallet trolley after it reaches the specified number of steps and continues to move. 积 And according to S 积 Adjust the start-up or retraction process of the electromagnet assembly corresponding to the target feeding port.

2. The speed adaptive control method according to claim 1, characterized in that, In step S2, the solution of the number of counting steps K required for the current tray cart to reach the target feeding port from the counting optoelectronic sensor has only one solution or no solution; when there is a solution, the number of steps required for the current tray cart to reach the designated dropping port from the triggered counting optoelectronic sensor takes the value of K, and S[i] takes X+(i - 1)Y - KZ; when there is no solution, let K increment from 0, and substitute the value of K into S[i]=X+(i - 1)Y - KZ in turn. When K increments to the first time that S[i]<0, take the value of K at this time. At this time, the number of steps required for the current tray cart to reach the designated dropping port from the triggered counting optoelectronic sensor is taken as K - 1, and S[i] takes X+(i - 1)Y-(K - 1)Z; then continue to judge S[i]<m0. If it holds, the number of steps required for the current tray cart to reach the target dropping port from the triggered counting optoelectronic sensor takes K - 2, and S[i] takes X+(i - 1)Y-(K - 2)Z; if it does not hold, the number of steps required for the current tray cart to reach the target dropping port from the triggered counting optoelectronic sensor takes K - 1, and S[i] takes X+(i - 1)Y-(K - 1)Z.

3. The speed adaptive control method according to claim 1, characterized in that, In step S4, according to S 积 The specific method for controlling the electromagnet assembly corresponding to the target feeding port is as follows: The displacement S of the pallet trolley within the current single scanning cycle is obtained by S = V0 * t0. The total displacement S of the pallet trolley after reaching the specified number of steps is obtained by integrating the displacement S calculated for each scanning cycle. 积 When S 积 When S ≥ S[i] - b, activate the electromagnet assembly corresponding to the target feeding port; when S 积 When S[i]+b1 is greater than or equal to S[i]+b1, the electromagnet component corresponding to the target feeding port is retracted, and the current feeding trolley will definitely complete the feeding action accurately; where V0 is the speed of the pallet trolley measured by the PLC controller in the current scanning cycle, t0 is the time required for the PLC controller to complete one scanning cycle, b is the distance from which the electromagnet component corresponding to the target feeding port starts to move towards the current pallet trolley, and b1 is the distance from which the electromagnet component corresponding to the target feeding port retracts towards the current pallet trolley.

4. The speed adaptive control method according to claim 3, characterized in that, In step S5, when the distance b ≥ the limit value of the electromagnet component corresponding to the target feeding port to the current pallet trolley at the start of its movement, the pallet trolley will definitely be overturned. That is, if the current pallet trolley's travel speed satisfies V ≤ (bb limit value) / (t1+t0), the pallet trolley will definitely be overturned. Therefore, when b approaches Y, the current pallet trolley's travel speed V reaches its maximum value Vmax, where b is the distance between the current pallet trolley and the electromagnet component corresponding to the target feeding port; the limit value of b is the minimum distance that the electromagnet corresponding to the target feeding port must travel to complete the movement of the current pallet trolley; t0 is the PLC scanning cycle; t1 is the time required for the electromagnet corresponding to the target feeding port to complete its movement; and Vmax is the maximum allowable travel speed of the current pallet trolley.

5. The speed adaptive control method according to claim 4, characterized in that, In step S6, based on the calculated maximum travel speed Vmax of the current pallet trolley, the PLC controller sets the upper limit of the current pallet trolley's travel speed to Vmax. The operator sets the current pallet trolley's travel speed Vmax within the interval [0, Vmax] according to the real-time required travel speed.

6. The speed adaptive control method according to claim 5, characterized in that, In step S6, the current travel speed V of the pallet trolley is set by the operator. 设 The PLC controller uses S=V 设 *t0 obtains the displacement S' of the pallet trolley within a single scan cycle. By integrating the displacement S' calculated for each scan cycle, the total displacement S' of the pallet trolley after reaching the specified number of steps and continuing to move is obtained. 积 ', when S 积 When '≥S[i]-b, activate the electromagnet assembly corresponding to the target feeding port; when S 积 When '≥S[i]+b1, retrieve the electromagnet component corresponding to the target feeding port.

7. A pallet sorting machine employing the speed adaptive control method as described in any one of claims 1-6, comprising multiple pallet carts, multiple electromagnet assemblies, a barcode scanner, a PLC controller, and a counting photoelectric sensor, characterized in that, Multiple pallet carts are connected in sequence and rotate in a ring along a loop. A counting photoelectric sensor is installed inside the loop and sequentially positions all pallet carts. Each electromagnet assembly corresponds to a feeding port, controlling the pallet cart to feed material into the corresponding port. When each pallet cart passes the counting photoelectric sensor, the sensor controls a barcode scanner to read the product barcode on the current pallet cart to obtain the target feeding port position. Simultaneously, the counting photoelectric sensor records the current pallet cart position and increments its value each time it is triggered.

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