Bag breaking garbage can and garbage carrying method thereof based on garbage load adjustment

Abstract

The invention relates to the field of garbage recycling, in particular to a bag breaking garbage can and a garbage carrying method based on garbage load adjustment. According to the scheme, after debugging is completed, only corresponding data need to be called in the running process, so that the calculation amount during running can be reduced, and the running efficiency is improved; moreover, according to the scheme, the shaping data table in the corresponding load interval is called based on the current garbage weight, the adaptation degree is higher, and the problems of too fast and slow acceleration and deceleration and shaking are not prone to occurring.

Description

Technical Field

[0001] The invention relates to the field of garbage recycling, and in particular to a bag-breaking garbage bin and a garbage transporting method thereof based on garbage load regulation. Background Art

[0002] At present, with the popularization of garbage classification, garbage bin products are also blooming everywhere. With the development of intelligence, a device that can automatically break kitchen waste (or kitchen) garbage bags has also appeared in the market. For example, the prior patent with the publication number "CN115676171A" records an automatic bag-breaking household garbage classification box and its bag-lifting device, wherein the bag-lifting device includes a mobile bracket and a clamping mechanism arranged on the mobile bracket and capable of moving in the transverse direction and the longitudinal direction. The clamping mechanism includes a clamping seat and two rollers rotatably arranged on the clamping seat; the two rollers can rotate forward and reverse relative to the clamping seat, and the rolling surfaces of the two rollers are arranged close to each other and the rotation direction is always opposite. This bag-lifting device can be compatible with various shapes of garbage bags, and the bag body of the garbage bag clamped by the two rollers is very stable. It is realized by a movable slide rail in the transverse direction and the movable plate thereon; in its specific scheme, the transverse movable plate can be driven by a cylinder or a motor through a screw pair, and the lifting drive member and the clamping mechanism thereon can be driven to move transversely during the transverse movement along the transverse slide rail. The lifting drive member can be a lifting cylinder or a lifting motor connected to a screw rod drive, and the lifting drive member can drive the clamping mechanism to move up and down.

[0003] Using cylinder-driven displacement is a conventional solution, but it has problems such as the position movement cannot be precisely controlled, the movement speed of the cylinder drive changes rapidly, and garbage is easily scattered; and the pneumatic control solution has many air pipes, solenoid valves, etc., the production and installation process is complicated, and on-site after-sales maintenance is inconvenient.

[0004] In contrast, the use of stepper motor control has higher stability. The stepper motor control method is divided into three steps to ensure accurate positioning and smooth start and stop. The first step is the acceleration start stage. According to the relationship between power P, speed V and tension F, P = FV, when the motor output power P is constant, reducing the speed V can increase the tension F, which can increase the torque F in this case. The second step is the uniform speed operation stage, which runs at a uniform speed according to the final target speed of the final acceleration. The third step is the deceleration stop stage, and its process is exactly the opposite of acceleration.

[0005] The existing stepper motor control methods include the following three methods for the first and third step acceleration and deceleration control:

[0006] 1. Such as Figure 1 The "trapezoidal" acceleration and deceleration shown in the figure refers to the acceleration and deceleration in a straight line (acceleration and deceleration from the starting speed to the target speed).

[0007] Accelerate / decelerate at a certain ratio.

[0008] 2. For example Figure 2 The "exponential" acceleration and deceleration shown in the figure refers to acceleration and deceleration in the form of exponential functions.

[0009] 3. Such as Figure 3 The "S-shaped" acceleration / deceleration shown. The acceleration / deceleration starts slowly and then gradually increases.

[0010] When the acceleration / deceleration is near the end, the speed slows down again, making the movement more stable. The types of S-shaped acceleration and deceleration include Sin curve, quadratic curve, cyclic curve, and cubic curve.

[0011] The advantages and disadvantages of the three curves are compared as follows:

[0012] The first type, the trapezoidal curve, is characterized by simple algorithm, less time, fast response, high efficiency, and easy implementation. However, the uniform acceleration and uniform deceleration stages do not conform to the speed change law of the stepper motor, and cannot smoothly transition at the speed change and uniform speed turning points. Therefore, this algorithm is mainly used in occasions where the requirements for the speed increase and decrease process are not high.

[0013] The second type, the exponential curve overcomes the problem of unstable speed of trapezoidal acceleration and deceleration, and the motion accuracy is improved, but the initial acceleration is large, which easily causes impact on mechanical parts. There is still a sudden acceleration and deceleration at the starting point of acceleration and deceleration, which limits the increase in acceleration.

[0014] The third type, S-curve acceleration and deceleration, is a control strategy with good flexibility. It can fully exert the performance of the motor and reduce impact vibration. However, the implementation process is relatively complicated, the amount of calculation is relatively large, and the acceleration and deceleration efficiency is not high.

[0015] Moreover, in recycling bins, due to the different quantities and weights of garbage delivered each time, the same garbage transportation method cannot adapt to different load capacities. Of course, the equipment can execute the control curve equation at the maximum load capacities, but when the load capacities are different and the same set of control curve equations are used, problems such as unstable acceleration and deceleration and garbage shaking off are bound to occur. Summary of the invention

[0016] In order to solve the above problems, the first purpose of the present invention is to provide a garbage transportation method based on garbage load adjustment. After debugging, this scheme only needs to call the corresponding data during operation, which can reduce the amount of calculation during operation and improve the operation efficiency; furthermore, this scheme is also based on the current garbage weight, so as to call the corresponding load range of the integer data table, the adaptability is higher, and it is not easy to have the problem of too fast or too slow acceleration and deceleration, and shaking.

[0017] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions:

[0018] The garbage transport method based on garbage load regulation includes a bag rolling mechanism for clamping garbage bags, the bag rolling mechanism is arranged on a moving pair, and the moving pair is controlled and operated by a stepping motor, and is characterized in that:

[0019] Step 1, construct the control curve equation of the stepper motor;

[0020] Step 2, divide the load of the bag rolling mechanism into multiple intervals, and adjust the control curve equation corresponding to each load interval; Step 3, corresponding to each load interval, run the corresponding control curve equation to obtain the single-chip microcomputer frequency in each step of the stepping motor; thereby generating a shaping data table of the single-chip microcomputer frequency adapted to each interval;

[0021] Step 4, obtaining the weight of the garbage bag through a weighing device, and determining the load range corresponding to the weight of the garbage bag;

[0022] Step 5: The bag rolling mechanism clamps the garbage bag, and the single chip microcomputer retrieves the parameters in the corresponding shaping data table according to the load range corresponding to the weight of the garbage bag to control the operation of the stepper motor.

[0023] The present invention adopts the above technical solution, which relates to a garbage transport method based on garbage load adjustment, in which after the bag rolling mechanism clamps the garbage bag, the bag rolling mechanism and the garbage bag thereon are controlled to move horizontally and / or vertically. In this solution, when setting the equipment, the bag rolling mechanism is first divided into multiple load intervals according to the load amount, and the control curve equation is adjusted for each load interval, so as to generate a shaping data table of the single-chip microcomputer frequency adapted to each interval.

[0024] When the equipment is running, it is necessary to first obtain the weight of the garbage bag through the weighing device to determine the load range corresponding to the weight of the garbage bag; then the bag rolling mechanism clamps the garbage bag, and the microcontroller calls the parameters in the corresponding shaping data table to control the operation of the stepper motor.

[0025] After debugging, this solution only needs to retrieve the corresponding data during operation, which can reduce the amount of calculation during operation and improve operation efficiency. Furthermore, this solution is also based on the current garbage weight to retrieve the corresponding integer data table in the load range, which has higher adaptability and is less likely to have problems such as excessive acceleration and deceleration, as well as shaking.

[0026] In a specific implementation scheme, in step 1, an "S"-shaped control curve is used to divide the total stroke into an acceleration section, a uniform speed section and a deceleration section, wherein the control curves of the stepper motor in the acceleration section and the deceleration section are symmetrical; in the acceleration section and the deceleration section of the "S"-shaped control curve, the transformation of the logistic distribution function is used to construct the curve equation.

[0027] 3. The garbage transport method based on garbage load regulation according to claim 2 is characterized in that: in step 1, the transformation of the logistic distribution function is used to construct the following curve equation:

[0028]

[0029] In the formula,

[0030] X, represents the index in the loop calculation process, starting from 1;

[0031] Num, represents half of the total number of acceleration points N, that is, N / 2;

[0032] Fcurrent, which represents a single frequency value for each X value;

[0033] Fmin, represents the acceleration starting frequency;

[0034] Fmax, represents the final frequency of acceleration;

[0035] Flexible, which means the S-curve is stretched and changed;

[0036] In step 2, the load of the bag rolling mechanism is divided into multiple intervals, and the S-shaped curve corresponding to each load interval is stretched and adjusted to obtain multiple curve waveform diagrams of the curve equation of each load interval;

[0037] In step 3, corresponding to each load interval, the curve equation corresponding to the curve waveform diagram of appropriate curvature is selected, and the curve equation is run to obtain the microcontroller frequency in each step of the stepper motor; thereby generating a shaped data table of the microcontroller frequency adapted to each interval.

[0038] The motor control method in this scheme combines the transformation of the logistic distribution function based on the traditional "S"-shaped control method, and innovatively obtains the curve equation of the control method, and stretches and changes the S-shaped curve in the constructed curve equation, and selects the curve equation corresponding to the line waveform of the appropriate curvature (select appropriate acceleration and low noise) to generate the shaping data table of the single-chip computer frequency. In this way, when the equipment is running, the single-chip computer directly calls the parameters in the shaping data table to control the operation of the stepper motor, that is, in the debugging process before the equipment is operated, it is first transformed according to the logistic distribution function, and combined with the curve adjustment to generate the shaping data table, which can be directly called when the stepper motor is running.

[0039] In a more specific solution, in step 2, the values ​​X, Num, Fmin and Fmax in the curve equation are set corresponding to the maximum load value in each load interval, and the unknown quantity is set as Flexible according to actual measurement and / or engineering software simulation; and the curve waveform diagrams under different Flexible values ​​are obtained;

[0040] In step 3, select a suitable Flexible value according to the curvature of the acceleration and deceleration sections of the curve waveform; run the curve equation under the Flexible value, obtain the MCU frequency Fcurrent under each X value, and generate a shaping data table of the MCU frequency.

[0041] Specifically, the transformation based on the logistic distribution function in this scheme constructs the curve equation, and then divides it into multiple intervals according to the load of the bag rolling mechanism. In each load interval, the known variables in the curve equation, X, Num, Fmin and Fmax, are set according to the maximum load value, and the S-shaped curve is adjusted to stretch the variable parameter Flexible. The Flexible value corresponding to the curve waveform with a more suitable curvature is selected from the curve waveform diagram under different Flexible values, and the shaping data table of the microcontroller frequency in each load interval is obtained by running.

[0042] As a preferred embodiment, in step 1, the total number of steps in the "S" type control curve Step = N, the number of curve points of the acceleration and deceleration segment and the deceleration segment M is defined, and the initial value of the operation step counter StepCnt = 0

[0043] In step 5, the operation steps of the stepper motor are:

[0044] Step 5.1, acceleration stage, the step counter StepCnt++ of the stepper motor, check the acceleration and deceleration table Fre[StepCnt] until StepCnt = M;

[0045] Step 5.2, uniform speed segment, the number of running steps in the uniform speed segment is StepCnt = (N-2M);

[0046] Step 5.3, deceleration stage, the step counter of the stepper motor StepCnt--, check the acceleration and deceleration table Fre[StepCnt] until StepCnt=0;

[0047] Step 5.4, end.

[0048] In this scheme, the total number of running steps in the "S" type control curve is Step=N, where N is the maximum value of X. In the total number of running steps Step=N, the number of points in the acceleration section and the deceleration section are both M, and the number of running steps in the uniform speed section is StepCnt=(N-2M).

[0049] Preferably, the moving pair comprises a transverse moving pair and a longitudinal moving pair, and the stepping motors of the transverse moving pair and the longitudinal moving pair both adopt the above control method.

[0050] Preferably, the stepper motor of the longitudinal moving pair adopts a motor driver with an overcurrent detection function; when the resistance of the bag rolling mechanism becomes larger during the downward movement, the stepper motor is blocked, and the stepper motor driver generates an alarm output due to overcurrent and stops working; the alarm signal is connected to the single-chip control circuit, and the CPU detects the alarm information, then cuts off the power and resets the motor driver. In the scheme here, the stepper motor adopts a motor driver with an overcurrent detection function, which can generate an alarm output and stop working when the running resistance is large. On the one hand, it protects the upper and lower telescopic mechanisms to prevent damage and deformation, and on the other hand, it can judge the approximate height of the garbage stack.

[0051] The second purpose of the invention is to provide a bag-breaking garbage bin, comprising a frame and a bag-breaking mechanism mounted on the frame, and a bag-rolling mechanism disposed inside the bin above the bag-breaking mechanism; the characteristic is that the bag-rolling mechanism adopts the above-mentioned garbage transport method based on garbage load adjustment. The scheme realizes garbage transport and bag breaking through the cooperation of the bag-rolling mechanism and the bag-breaking mechanism.

[0052] In a specific implementation scheme: the bag breaking mechanism includes a temporary storage plate, bag breaking teeth and a driving member, the temporary storage plate is slidably connected to the frame, the bag breaking teeth are fixedly connected to the end of the temporary storage plate with the tooth tips facing upward and protruding from the temporary storage plate, the driving member is installed on the frame, and the driving member is used to drive the temporary storage plate to slide on the frame so that the temporary storage plate switches between the extended and retracted states; the weighing device is arranged on the temporary storage plate.

[0053] When the equipment is running, the temporary storage plate is in an extended state and is used to receive the garbage bag; at this time, the weighing device can obtain the weight of the garbage bag and determine the load range corresponding to the weight of the garbage bag; then the bag rolling mechanism clamps the garbage bag, and the single-chip microcomputer calls the parameters in the corresponding shaping data table to control the operation of the stepper motor. When the bag rolling mechanism controls the garbage bag to go up, the driving part can control the bag breaking teeth to break the bag at the same time, and the temporary storage plate opens so that the garbage in the bag can fall into the trash can. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is a schematic diagram of the “trapezoidal” acceleration and deceleration speed and acceleration curve.

[0055] Figure 2 It is a schematic diagram of “exponential” acceleration and deceleration speed and acceleration curve.

[0056] Figure 3 It is a schematic diagram of the “S-shaped” acceleration and deceleration speed and acceleration curve.

[0057] Figure 4 To call different curve table flow charts according to different loads.

[0058] Figure 5This is a schematic diagram of control curve 1.

[0059] Figure 6 This is a schematic diagram of control curve 2.

[0060] Figure 7 It is a schematic diagram of control curve 3.

[0061] Figure 8 This is the flow chart of acceleration, deceleration and constant speed control based on single chip microcomputer control.

[0062] Fig. 9 Schematic diagram of the control curve when Flexible=2.

[0063] Fig.10 Schematic diagram of the control curve when Flexible=4.

[0064] Fig.11 Schematic diagram of the control curve when Flexible=5.

[0065] Fig.12 Schematic diagram of the control curve when Flexible=6.

[0066] Fig.13 This is a screenshot of the integer data table when Flexible=4 and the MCU timer frequency is 1MHZ.

[0067] Fig.14 This is the flow chart of the vertical movement sub-action.

[0068] Fig.15 This is a schematic diagram of the internal structure of the bag-breaking trash can described in Example 2. DETAILED DESCRIPTION

[0069] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0070] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0071] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more, unless otherwise clearly specified.

[0072] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0073] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0074] Embodiment 1:

[0075] like Figures 4 to 14 As shown, the garbage transport method based on garbage load regulation in this embodiment includes a bag rolling mechanism 3 for clamping garbage bags, and the bag rolling mechanism 3 is arranged on a moving pair, and the moving pair is controlled and operated by a stepper motor; specifically, the moving pair includes a transverse moving pair and a longitudinal moving pair, and the stepper motors of the transverse moving pair and the longitudinal moving pair both adopt the above control method. The control method is as follows:

[0076] Step 1, construct the control curve equation of the stepper motor;

[0077] Step 2, divide the load of the bag rolling mechanism 3 into multiple intervals, and adjust the control curve equation corresponding to each load interval; Step 3, corresponding to each load interval, run the corresponding control curve equation to obtain the single-chip microcomputer frequency in each step of the stepping motor; thereby generating a shaping data table of the single-chip microcomputer frequency adapted to each interval;

[0078] Step 4, obtaining the weight of the garbage bag through a weighing device, and determining the load range corresponding to the weight of the garbage bag;

[0079] Step 5, the bag rolling mechanism 3 clamps the garbage bag, and the single chip microcomputer retrieves the parameters in the corresponding shaping data table according to the load interval corresponding to the weight of the garbage bag to control the operation of the stepper motor.

[0080] In the garbage transport method, after the bag rolling mechanism 3 clamps the garbage bag, it is used to control the lateral movement and / or longitudinal movement of the bag rolling mechanism 3 and the garbage bag thereon. In the scheme here, when the equipment is set, it is first divided into multiple load intervals according to the load amount of the bag rolling mechanism 3, and the control curve equation is adjusted for each load interval, so as to generate a shaped data table of the single-chip computer frequency adapted to each interval. When the equipment is running, it is necessary to first obtain the weight of the garbage bag through a weighing device to determine the load interval corresponding to the weight of the garbage bag; then the bag rolling mechanism 3 clamps the garbage bag, and the single-chip computer retrieves the parameters in the corresponding shaped data table to control the operation of the stepper motor. After debugging, this scheme only needs to retrieve the corresponding data during operation, which can reduce the amount of calculation during operation and improve the operation efficiency; furthermore, this scheme is also based on the current garbage weight, so as to retrieve the shaped data table in the corresponding load interval, which has a higher degree of adaptability and is not prone to problems such as excessively fast and slow acceleration and deceleration, as well as shaking.

[0081] For example, the above scheme Figure 4 As shown, the load of the bag rolling mechanism 3 is divided into three intervals, 0-1KG, 1-5KG and 5-10KG. During operation, after the box door is closed, the weighing device weighs the current garbage bag, and determines which load interval the garbage bag falls into based on its weight. The system determines and calls the corresponding control curve equation step by step, such as Figures 5 to 7 as shown in .

[0082] like Figure 3 In the illustrated implementation scheme, in step 1, an "S"-shaped control curve is used to divide the total stroke into an acceleration section, a uniform speed section, and a deceleration section, wherein the control curves of the stepper motor in the acceleration section and the deceleration section are symmetrical; in the acceleration section and the deceleration section of the "S"-shaped control curve, the transformation of the logistic distribution function is used to construct the curve equation.

[0083] In the specific scheme, the transformation of the logistic distribution function is used in step 1 to construct the following curve equation:

[0084]

[0085] In the formula,

[0086] X, represents the index in the loop calculation process, starting from 1;

[0087] Num, represents half of the total number of acceleration points N, that is, N / 2;

[0088] Fcurrent, which represents a single frequency value for each X value;

[0089] Fmin, represents the acceleration starting frequency;

[0090] Fmax, represents the final frequency of acceleration;

[0091] Flexible, which means the S-curve is stretched and changed;

[0092] In step 2, the load of the bag rolling mechanism 3 is divided into multiple intervals, and the S-shaped curve corresponding to each load interval is stretched and adjusted to obtain multiple curve waveforms of the curve equation of each load interval; specifically, the values ​​X, Num, Fmin and Fmax in the curve equation are set corresponding to the maximum load value in each load interval, and the unknown quantity is set as Flexible according to actual measurement and / or engineering software simulation; and the curve waveforms under different Flexible values ​​are obtained;

[0093] In step 3, corresponding to each load interval, the curve equation corresponding to the curve waveform with appropriate curvature is selected, and the curve equation is run to obtain the single-chip microcomputer frequency in each step of the stepper motor; thereby generating a shaped data table of the single-chip microcomputer frequency adapted to each interval; specifically, the appropriate Flexible value is selected according to the curvature of the acceleration section and the deceleration section of the curve waveform; under the determined value of Flexible, the curve equation is run to obtain the single-chip microcomputer frequency Fcurrent under each X value, and a shaped data table of the single-chip microcomputer frequency is generated.

[0094] Step 4, obtaining the weight of the garbage bag through a weighing device, and determining the load range corresponding to the weight of the garbage bag;

[0095] Step 5, the bag rolling mechanism 3 clamps the garbage bag, and the single chip microcomputer retrieves the parameters in the corresponding shaping data table according to the load interval corresponding to the weight of the garbage bag to control the operation of the stepper motor.

[0096] The motor control method in this scheme combines the transformation of the logistic distribution function based on the traditional "S"-shaped control method, and innovatively obtains the curve equation of the control method, and stretches and changes the S-shaped curve in the constructed curve equation, and selects the appropriate curvature, acceleration, and noise. The corresponding curve equation of the line waveform generates the shaping data table of the microcontroller frequency. In this way, when the device is running, the microcontroller directly calls the parameters in the shaping data table to control the operation of the stepper motor, that is, in the debugging process before the device is operated, the shaping data table is generated according to the transformation of the logistic distribution function and combined with the curve adjustment, which can be directly called when the stepper motor is running.

[0097] Specifically, the transformation based on the logistic distribution function in this scheme constructs the curve equation, and then divides it into multiple intervals according to the load of the bag rolling mechanism 3. The known variables in the curve equation, X, Num, Fmin and Fmax, are set according to the maximum load value in each load interval. The S-curve is adjusted to stretch the variable parameter Flexible. The Flexible value corresponding to the curve waveform with a more suitable curvature is selected from the curve waveform diagram under different Flexible values, and the shaping data table of the microcontroller frequency in each load interval is obtained by running.

[0098] In the specific implementation plan, it is assumed that the step angle of the motor is 1.8° and the subdivision multiple is 4, that is, 800 pulses are required for one circle. Therefore, the total number of acceleration points N is 800, which is just one circle of acceleration. The starting frequency is 600Hz, the final frequency is 4800Hz, and the microcontroller timer frequency is 1MHZ.

[0099] We also know that the speed n of the stepper motor is proportional to the operating frequency f, and the angle ω of the motor is proportional to the number of pulses. Therefore, controlling the number of pulses and the pulse frequency can accurately control the speed and position. In theory, the starting speed n1 and ending speed n2 of the stepper motor are:

[0100] The speed calculation formula is: n = frequency * 60 / [(360 ° / step angle) * subdivision multiple].

[0101] n1 = 600*60 / [(360 / 1.8)*4] = 45 rpm.

[0102] n2=4800*60 / [(360 / 1.8)*4]=360 rpm.

[0103] In summary, the known quantities in the final curve equation formula are:

[0104] X=1~800,num=800 / 2,Fmin=600Hz,Fmax=4800Hz, the unknown quantity is Flexible, and the quantity to be determined is Fcurrent, which represents a single frequency value for each X value. According to experience, the specific parameter value of the unknown quantity Flexible can only be obtained through testing in practice. After simulation with engineering software Matlab and actual verification, Flexible parameters between 3 and 5 are most suitable for this example, and the final parameter is 4. The following are S-curve graphs corresponding to different values. After the above parameters are substituted, the curve equation formula is:

[0105]

[0106] Different waveforms obtained by taking different Flexible values ​​are shown in the attached figure. Figure 9-12 As shown, Fig. 9The figure shown is when Flexible = 2, which is characterized by being relatively flat, jittery, and noisy; Fig.10 The figure shown is when Flexible = 4, which is characterized by appropriate curvature, moderate acceleration, and small impact vibration; Fig.11 The figure shown is when Flexible = 5, which is characterized by appropriate curvature, moderate acceleration, and small impact vibration; Fig.12 The graph shown is when Flexible=6, which is characterized by being steep and accelerating too fast.

[0107] Here, it is verified by this embodiment that the Flexible parameter between 3 and 5 is most suitable for this example. The final parameter is 4, and then the following can be obtained: Fig.13 The figure shows the integer data when Flexible=4 and the MCU timer frequency is 1MHZ.

[0108] like Figure 8 As shown, in step 1, the total number of steps in the "S" type control curve Step = N, the number of curve points of the addition and subtraction segment and the deceleration segment M is defined, and the initial value of the step counter StepCnt = 0

[0109] In step 5, the operation steps of the stepper motor are:

[0110] Step 5.1, acceleration stage, the step counter StepCnt++ of the stepper motor, check the acceleration and deceleration table Fre[StepCnt] until StepCnt = M;

[0111] Step 5.2, uniform speed segment, the number of running steps in the uniform speed segment is StepCnt = (N-2M);

[0112] Step 5.3, deceleration stage, the step counter of the stepper motor StepCnt--, check the acceleration and deceleration table Fre[StepCnt] until StepCnt=0;

[0113] Step 5.4, end.

[0114] In this scheme, the total number of running steps in the "S" type control curve is Step=N, where N is the maximum value of X. In the total number of running steps Step=N, the number of points in the acceleration section and the deceleration section are both M, and the number of running steps in the uniform speed section is StepCnt=(N-2M).

[0115] like Fig.14As shown, the stepper motor of the longitudinal moving pair adopts a motor driver with an overcurrent detection function; when the resistance of the bag rolling mechanism 3 becomes larger during the downward movement, the stepper motor is blocked, and the stepper motor driver generates an alarm output due to overcurrent and stops working; the alarm signal is connected to the single-chip control circuit, and the CPU detects the alarm information, then cuts off the power and resets the motor driver. In this scheme, the stepper motor adopts a motor driver with an overcurrent detection function, which can generate an alarm output and stop working when the running resistance is large. On the one hand, it protects the upper and lower telescopic mechanisms to prevent damage and deformation, and on the other hand, it can judge the approximate height of the garbage stack.

[0116] In summary, the technical effects that can be achieved by this invention are:

[0117] 1 In the control method, different control curves can be selected according to the garbage load weight. The shaped data table in the corresponding load range can be retrieved according to the current garbage weight. The adaptability is higher and it is less likely to have problems such as excessive acceleration and deceleration, as well as shaking.

[0118] 2 Aiming at the objective practical problems existing in the above-mentioned pneumatically controlled automatic bag breaking device, this patent uses a DC motor and a stepper motor for effective combination and controls them according to a certain action sequence, thereby replacing the pneumatic control while ensuring that the bag breaking effect remains unchanged.

[0119] 3. Control the up and down telescopic movement of the bag rolling mechanism 3, use the stepper motor for precise control, and use the driver with overcurrent detection alarm. When the garbage is piled too high and the bag rolling mechanism 3 is hard squeezed, the motor is stopped from moving downward in time to avoid deformation or damage of the up and down telescopic mechanism.

[0120] 4. When throwing the bag, the horizontal moving mechanism is precisely controlled by a stepper motor and moves smoothly to avoid the mechanism moving out of place or shaking, which may cause the residual garbage in the garbage bag to be easily scattered or not accurately released into other garbage cans.

[0121] Embodiment 2:

[0122] like Fig.15As shown, the second purpose of the invention is to provide a bag-breaking trash can, including a frame 1 and a bag-breaking mechanism 2 installed on the frame 1, and a bag-rolling mechanism 3 arranged inside the box body above the bag-breaking mechanism 2; the bag-rolling mechanism 3 adopts the garbage carrying method based on garbage load adjustment recorded in Example 1. This scheme realizes garbage transportation and bag breaking through the cooperation of the bag-rolling mechanism 3 and the bag-breaking mechanism. In a specific implementation scheme: the bag-breaking mechanism 2 includes a temporary storage plate 211, a bag-breaking tooth 212 and a driving member, the temporary storage plate 211 is slidably connected to the frame 1, the bag-breaking tooth 212 is fixedly connected to the end of the temporary storage plate 211 and the tooth tip faces upward and protrudes from the temporary storage plate 211, the driving member is installed on the frame 1, and the driving member is used to drive the temporary storage plate 211 to slide on the frame 1, so that the temporary storage plate 211 switches between the two states of extension and retraction; the weighing device is arranged on the temporary storage plate 211. When the equipment is running, the temporary storage plate 211 is in an extended state and is used to receive the garbage bag; at this time, the weighing device can obtain the weight of the garbage bag and determine the load range corresponding to the weight of the garbage bag; then the bag rolling mechanism 3 clamps the garbage bag, and the single-chip microcomputer retrieves the parameters in the corresponding shaping data table to control the operation of the stepper motor. When the bag rolling mechanism 3 controls the garbage bag to go up, the driving part can simultaneously control the bag breaking teeth 212 to break the bag, and the temporary storage plate 211 opens so that the garbage in the bag can fall into the garbage bin.

[0123] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0124] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and intent of the present invention.

Claims

1. A garbage transport method based on garbage load regulation, comprising a bag rolling mechanism (3) for clamping garbage bags, wherein the bag rolling mechanism (3) is arranged on a moving pair, and the moving pair is controlled and operated by a stepping motor, and is characterized in that: Step 1, construct the control curve equation of the stepper motor; Step 2, dividing the load of the bag rolling mechanism (3) into a plurality of intervals, and adjusting the control curve equation corresponding to each load interval; Step 3, corresponding to each load interval, running the corresponding control curve equation to obtain the single-chip microcomputer frequency in each step of the stepper motor; thereby generating a shaped data table of the single-chip microcomputer frequency adapted to each interval; Step 4, obtaining the weight of the garbage bag through a weighing device, and determining the load range corresponding to the weight of the garbage bag; Step 5, the bag rolling mechanism (3) clamps the garbage bag, and the single chip microcomputer retrieves the parameters in the corresponding shaping data table according to the load interval corresponding to the weight of the garbage bag to control the operation of the stepper motor.

2. The garbage transport method based on garbage load adjustment according to claim 1, characterized in that: In step 1, an "S"-shaped control curve is used to divide the total stroke into an acceleration section, a uniform speed section and a deceleration section, wherein the control curves of the stepper motor in the acceleration section and the deceleration section are symmetrical; in the acceleration section and the deceleration section of the "S"-shaped control curve, the transformation of the logistic distribution function is used to construct the curve equation.

3. The garbage transport method based on garbage load adjustment according to claim 2, characterized in that: In step 1, the transformation of the logistic distribution function is used to construct the following curve equation: In the formula, X, represents the index in the loop calculation process, starting from 1; Num, represents half of the total number of acceleration points N, that is, N / 2; Fcurrent, which represents a single frequency value for each X value; Fmin, represents the acceleration starting frequency; Fmax, represents the final frequency of acceleration; Flexible, which means the S-curve is stretched and changed; In step 2, the load of the bag rolling mechanism (3) is divided into a plurality of intervals, and the S-shaped curve corresponding to each load interval is stretched and adjusted to obtain a plurality of curve waveform diagrams of the curve equation of each load interval; In step 3, corresponding to each load interval, the curve equation corresponding to the curve waveform diagram of appropriate curvature is selected, and the curve equation is run to obtain the microcontroller frequency in each step of the stepper motor; thereby generating a shaped data table of the microcontroller frequency adapted to each interval.

4. The method for transporting garbage based on garbage load regulation according to claim 3, characterized in that: In step 2, the values ​​X, Num, Fmin and Fmax in the curve equation are set corresponding to the maximum load value in each load interval, and the unknown quantity is set to Flexible according to actual measurement and / or engineering software simulation; and the curve waveform diagrams under different Flexible values ​​are obtained; In step 3, select a suitable Flexible value according to the curvature of the acceleration and deceleration sections of the curve waveform; run the curve equation under the Flexible value, obtain the MCU frequency Fcurrent under each X value, and generate a shaping data table of the MCU frequency.

5. The garbage transport method based on garbage load adjustment according to claim 3, characterized in that: In step 1, the total number of steps in the "S" type control curve Step = N, the number of curve points of the acceleration and deceleration segments M is defined, and the initial value of the step counter StepCnt = 0 In step 5, the operation steps of the stepper motor are: Step 5.1, acceleration stage, the step counter StepCnt++ of the stepper motor, check the acceleration and deceleration table Fre[StepCnt] until StepCnt = M; Step 5.2, uniform speed segment, the number of running steps in the uniform speed segment is StepCnt = (N-2M); Step 5.3, deceleration stage, the step counter of the stepper motor StepCnt--, check the acceleration and deceleration table Fre[StepCnt] until StepCnt=0; Step 5.4, end.

6. The garbage transport method based on garbage load adjustment according to claim 1, characterized in that: The moving pair comprises a transverse moving pair and a longitudinal moving pair, and the stepping motors of the transverse moving pair and the longitudinal moving pair both adopt the above control method.

7. The garbage transport method based on garbage load adjustment according to claim 6, characterized in that: The stepper motor of the longitudinal moving pair adopts a motor driver with an overcurrent detection function; when the bag rolling mechanism (3) encounters greater resistance during the downward movement, the stepper motor is blocked, and the stepper motor driver generates an alarm output due to overcurrent and stops working; the alarm signal is connected to the single-chip microcomputer control circuit, the CPU detects the alarm information, and then cuts off the power and resets the motor driver.

8. A bag-breaking trash bin, comprising a frame (1), a bag-breaking mechanism (2) mounted on the frame (1), and a bag-rolling mechanism (3) disposed inside the bin above the bag-breaking mechanism (2); characterized in that: The bag rolling mechanism (3) adopts the garbage transport method based on garbage load adjustment as described in any one of claims 1 to 7.

9. The bag-breakable trash can according to claim 8, characterized in that: The bag breaking mechanism (2) comprises a temporary storage plate (211), bag breaking teeth (212) and a driving member; the temporary storage plate (211) is slidably connected to the frame (1); the bag breaking teeth (212) are fixedly connected to the end of the temporary storage plate (211) with the tooth tip facing upward and protruding from the temporary storage plate (211); the driving member is mounted on the frame (1); the driving member is used to drive the temporary storage plate (211) to slide on the frame (1) so that the temporary storage plate (211) switches between two states of extending and retracting; and the weighing device is arranged on the temporary storage plate (211).

Images