Disk unloader and lifting control system thereof

Abstract

The invention discloses a tray unloader and a lifting control system thereof, and relates to the technical field of automatic control. The lifting control system of the tray unloader comprises a control system, a frequency converter, a lifting motor and a lifting table, the frequency converter is electrically connected with the lifting motor which is connected with the lifting table. Driving parameters are preset in the frequency converter, and the frequency converter is used for outputting driving signals to the lifting motor according to the driving parameters, so that the movement states when the lifting motor drives the lifting table to move comprise a plurality of states with different acceleration change rates; the lifting motor is further used for obtaining position information of the lifting table in real time. The control system is in communication connection with the lifting motor and the frequency converter and used for receiving the position information and adjusting driving parameters in real time according to the position information. The position information of the lifting table is received through the control system, so that the driving parameters in the frequency converter can be adjusted in real time, accurate control over the motion state of the lifting table is achieved, and therefore the lifting accuracy and stability of the lifting table in the tray unloader are improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of automatic control technology, and in particular to a tray unloading machine and a lifting control system thereof. Background Art

[0002] As the mainstream cigarette supply equipment for packaging units today, the tray unloader plays an important role in the production process. The tray unloader is used to lift the cigarette tray filled with filter rods to the tray turner. After the cigarette tray is turned over by the tray turner, the filter rods are stored in the cigarette warehouse to provide the required filter rods for multiple downstream cigarette making units.

[0003] In the prior art, a frequency converter is usually used to control the speed control mode of the lifting motor to achieve the lifting of the lifting platform on which the cigarette tray is placed in the tray unloading machine. However, the speed control mode of the lifting motor controlled by the frequency converter has the problem of insufficient control accuracy of the motion state of the lifting platform, resulting in a certain deviation in the height position of the cigarette tray each time it stops. The insufficient lifting height accuracy of the cigarette tray not only affects the operational flexibility of the tray unloading machine, but also causes a large number of horizontal and disordered filter rods to appear during transportation, increasing the manual intervention time of operators to eliminate filter rods that do not meet production quality standards, and also increases the probability of filter rods with quality and appearance problems being delivered to the cigarette making unit, burying hidden dangers for product quality. Summary of the invention

[0004] The present invention provides a tray unloader and a lifting control system thereof, so as to realize accurate control of the motion state of a lifting platform, thereby improving the lifting accuracy and stability of the lifting platform in the tray unloader.

[0005] A first aspect of the present invention provides a tray unloader lifting control system, the tray unloader lifting control system comprising: a control system, a frequency converter, a lifting motor and a lifting platform;

[0006] The frequency converter is electrically connected to the lifting motor, and the lifting motor is connected to the lifting platform; the frequency converter is preset with driving parameters, and the frequency converter is used to output a driving signal to the lifting motor according to the driving parameters so that the lifting motor drives the lifting platform to move in a motion state including multiple states with different acceleration change rates;

[0007] The lifting motor is also used to obtain the position information of the lifting platform in real time;

[0008] The control system is respectively connected to the lifting motor and the frequency converter for receiving the position information and adjusting the driving parameters in real time according to the position information.

[0009] Optionally, the driving parameters include a first driving parameter, a second driving parameter, a third driving parameter, a fourth driving parameter, a fifth driving parameter, a sixth driving parameter and a seventh driving parameter;

[0010] The frequency converter is used to output a first driving signal to the lifting motor according to the first driving parameter so that the lifting motor drives the lifting platform to move in a first motion state, and in the first motion state, the acceleration is greater than zero and increases with time;

[0011] The frequency converter is used to output a second drive signal to the lifting motor according to the second drive parameter so that the lifting motor drives the lifting platform to move in a second motion state, and in the second motion state, the acceleration is greater than zero and remains unchanged as time increases;

[0012] The frequency converter is used to output a third driving signal to the lifting motor according to the third driving parameter so that the lifting motor drives the lifting platform to move in a third motion state, in which the acceleration is greater than zero and decreases with time;

[0013] The frequency converter is used to output a fourth driving signal to the lifting motor according to the fourth driving parameter so that the lifting motor drives the lifting platform to move in a fourth motion state, in which the acceleration is zero;

[0014] The frequency converter is used to output a fifth driving signal to the lifting motor according to the fifth driving parameter so that the lifting motor drives the lifting platform to move in a fifth motion state, in which the acceleration is less than zero and decreases with time;

[0015] The frequency converter is used to output a sixth driving signal to the lifting motor according to the sixth driving parameter so that the lifting motor drives the lifting platform to move in a sixth motion state, in which the acceleration is less than zero and remains unchanged as time increases;

[0016] The frequency converter is used to output a seventh drive signal to the lifting motor according to the seventh drive parameter so that the lifting motor drives the lifting platform to move in a seventh motion state. In the seventh motion state, the acceleration is less than zero and increases with time.

[0017] Optionally, the control system is used to adjust the first driving parameter to a second driving parameter when determining that the lifting platform is located at a first position according to the position information;

[0018] The control system is used to adjust the second driving parameter to a third driving parameter when determining that the lifting platform is located at the second position according to the position information;

[0019] The control system is used to adjust the third driving parameter to a fourth driving parameter when determining that the lifting platform is located at a third position according to the position information;

[0020] The control system is used to adjust the fourth driving parameter to the fifth driving parameter when determining that the lifting platform is located at the fourth position according to the position information;

[0021] The control system is used to adjust the fifth driving parameter to a sixth driving parameter when determining that the lifting platform is located at the fifth position according to the position information;

[0022] The control system is used to adjust the sixth driving parameter to the seventh driving parameter when determining that the lifting platform is located at the sixth position according to the position information;

[0023] Wherein, the first position, the second position, the third position, the fourth position, the fifth position and the sixth position are arranged in sequence along the moving direction of the lifting platform.

[0024] Optionally, the driving parameters also include a stop parameter;

[0025] The control system is also used to adjust the driving parameter to a stop parameter when it is determined according to the position information that the lifting platform is at the highest position;

[0026] The frequency converter is used to output a stop driving signal to the lifting motor according to the stop parameter, so that the lifting motor drives the lifting platform to stop moving.

[0027] Optionally, the tray unloader lifting control system further comprises: a brake device;

[0028] The holding brake device is integrated into the lifting motor;

[0029] The frequency converter is also used to control the brake device to start when receiving the drive parameter adjusted to the stop parameter, so as to keep the lifting platform at the highest position.

[0030] Optionally, the control system further includes a human-computer interaction device;

[0031] The human-computer interaction device is connected to the control system for real-time display of the position information, receiving adjustment parameters and transmitting the adjustment parameters to the control system;

[0032] The control system is used for adjusting the driving parameter according to the adjustment parameter.

[0033] Optionally, the lifting motor includes a position sensor;

[0034] The position sensor is used to obtain the position information of the lifting platform in real time, and transmit the position information to the control system in real time.

[0035] Optionally, the position sensor comprises an encoder.

[0036] Optionally, the control system is connected to the frequency converter via a field bus communication.

[0037] A second aspect of the present invention provides a tray unloader, the tray unloader comprising: a lifting chain and a tray unloader lifting control system as described above;

[0038] The lifting platform is arranged on the lifting chain; the lifting motor is used for driving the lifting platform to move through the movement of the lifting chain.

[0039] The technical solution provided by the present invention is to set a control system, a frequency converter, a lifting motor and a lifting platform in the lifting control system of the tray unloader, and set the control system to communicate with the lifting motor and the frequency converter respectively, the frequency converter is electrically connected to the lifting motor, and the lifting motor is connected to the lifting platform, so that the control system can receive the position information of the lifting platform obtained by the lifting motor in real time, and can adjust the driving parameters in the frequency converter in real time according to the position information of the lifting platform, so that the frequency converter can output a driving signal to the lifting motor according to the driving parameters adjusted in real time, and the lifting motor can drive the lifting platform to move according to the driving signal adjusted in real time, wherein the motion state of the lifting platform includes a plurality of states with different acceleration change rates. By controlling the different acceleration change rates during the movement of the lifting platform according to the different positions of the lifting platform, the precise control of the motion state of the lifting platform is achieved, and the smooth acceleration change can reduce the vibration and impact during the movement of the lifting platform, improve the accuracy and stability of the lifting of the lifting platform, and at the same time, reduce the wear of mechanical parts in the tray unloader, optimize production efficiency, and improve the stability and service life of the lifting control system of the tray unloader, so that the tray unloader can stably provide the required filter rods for downstream equipment.

[0040] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0042] Figure 1 It is a structural schematic diagram of a tray unloader lifting control system provided by an embodiment of the present invention;

[0043] Figure 2It is a schematic diagram of a speed-time motion curve of a lifting platform provided by an embodiment of the present invention;

[0044] Figure 3 It is a schematic diagram of the structure of each position in the traveling direction of a lifting platform provided by an embodiment of the present invention;

[0045] Figure 4 It is a structural schematic diagram of another tray unloader lifting control system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0046] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0047] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0048] Figure 1 Schematic diagram of a lifting control system for a tray unloader provided by an embodiment of the present invention. Figure 1 As shown, the pallet unloader lifting control system includes a control system 1, a frequency converter 2, a lifting motor 3 and a lifting platform 4; the frequency converter 2 is electrically connected to the lifting motor 3, and the lifting motor 3 is connected to the lifting platform 4; the frequency converter 2 is preset with driving parameters, and the frequency converter 2 is used to output a driving signal to the lifting motor 3 according to the driving parameters so that the lifting motor 3 drives the lifting platform 4 to move. The motion state includes multiple states with different acceleration change rates; the lifting motor 3 is also used to obtain the position information of the lifting platform 4 in real time; the control system 1 is respectively communicated with the lifting motor 3 and the frequency converter 2, and is used to receive the position information and adjust the driving parameters in real time according to the position information.

[0049] Among them, the control system 1 can be specifically understood as a device for monitoring and adjusting the motion state of the lifting platform 4. By setting the control system 1 to communicate with the lifting motor 3, the control system 1 can receive the position information of the lifting platform 4 obtained by the lifting motor 3 in real time. At the same time, by setting the control system 1 to communicate with the frequency converter 2, the control system 1 can adjust the drive parameters in the frequency converter 2 in real time according to the acquired position information of the lifting platform 4, so as to achieve precise control of the motion state of the lifting platform 4. Exemplarily, the control system 1 can be a programmable logic controller (PLC), and the PLC control system can achieve precise control of the motion state of the lifting platform 4 by programming digital or analog input / output devices. The frequency converter 2 can be specifically understood as a device for controlling the operating mode of the lifting motor 3. The frequency converter 2 is electrically connected to the lifting motor 3, and the frequency converter 2 is preset with drive parameters, so that the frequency converter 2 can output a drive signal to the lifting motor 3 according to the drive parameters, so as to adjust the operating mode of the lifting motor 3. The lifting motor 3 can be specifically understood as a device for driving the lifting platform 4 to move. The lifting motor 3 is connected to the lifting platform 4 so that the lifting motor 3 can drive the lifting platform 4 to move in different motion states according to different driving signals input by the frequency converter 2. Exemplarily, the frequency converter 2 can be a LENZE frequency converter 8400. The LENZE frequency converter 8400 can more effectively adjust the operation mode of the lifting motor 3 through the signal loop integration technology, thereby improving the response speed and control accuracy of the lifting control system of the tray unloader. The lifting platform 4 can be located on the lifting chain. The lifting motor 3 drives the movement of the lifting chain through the mechanical transmission system according to the driving signal input by the frequency converter 2. When the lifting chain moves, the lifting platform 4 also rises or falls accordingly. Therefore, the operation mode of the lifting motor 3 can determine the lifting speed and height of the lifting platform 4. The lifting platform 4 can be specifically understood as a platform for placing cigarette trays in the tray unloader. The movement state of the lifting platform 4 during movement directly affects the accuracy and stability of cigarette tray transportation. At the same time, the lifting motor 3 can also obtain the position information of the lifting platform 4 in real time, and transmit it to the control system 1, so that the control system 1 can adjust the driving parameters in the inverter 2 and the movement state of the lifting platform 4 in real time according to the obtained position information of the lifting platform 4.

[0050] It can also be understood that when the lifting motor 3 drives the lifting platform 4 to move according to different driving parameters input by the frequency converter 2, the movement state of the lifting platform 4 includes multiple states with different acceleration change rates, that is, the control system 1 can adjust the driving parameters in the frequency converter 2 in real time according to the different position information of the lifting platform 4 to achieve precise control of the acceleration change rate of the movement of the lifting platform 4. By controlling the different acceleration change rates during the movement of the lifting platform according to the different positions of the lifting platform, precise control of the movement state of the lifting platform can be achieved. Smooth acceleration changes can reduce vibration and impact during the movement of the lifting platform, improve the accuracy and stability of the lifting of the lifting platform, and at the same time, reduce the wear of mechanical parts in the unloader, optimize production efficiency, and improve the stability and service life of the unloader lifting control system.

[0051] In this embodiment, a control system, a frequency converter, a lifting motor and a lifting platform are set in the lifting control system of the tray unloader, and the control system is respectively connected to the lifting motor and the frequency converter, the frequency converter is electrically connected to the lifting motor, and the lifting motor is connected to the lifting platform, so that the control system can receive the position information of the lifting platform obtained by the lifting motor in real time, and can adjust the driving parameters in the frequency converter in real time according to the position information of the lifting platform, so that the frequency converter can output a driving signal to the lifting motor according to the driving parameters adjusted in real time, and the lifting motor can drive the lifting platform to move according to the driving signal adjusted in real time, wherein the motion state of the lifting platform includes a plurality of states with different acceleration change rates. By controlling the different acceleration change rates during the movement of the lifting platform according to the different positions of the lifting platform, the precise control of the motion state of the lifting platform is achieved, and the smooth acceleration change can reduce the vibration and impact during the movement of the lifting platform, improve the accuracy and stability of the lifting of the lifting platform, and at the same time, reduce the wear of mechanical parts in the tray unloader, optimize production efficiency, and improve the stability and service life of the lifting control system of the tray unloader, so that the tray unloader can stably provide the required filter rods for the downstream equipment.

[0052] Optionally, the driving parameters include a first driving parameter, a second driving parameter, a third driving parameter, a fourth driving parameter, a fifth driving parameter, a sixth driving parameter and a seventh driving parameter; the frequency converter 2 is used to output a first driving signal to the lifting motor 3 according to the first driving parameter so that the lifting motor 3 drives the lifting platform 4 to move in a first motion state, and in the first motion state, the acceleration is greater than zero and increases with time; the frequency converter 2 is used to output a second driving signal to the lifting motor 3 according to the second driving parameter so that the lifting motor 3 drives the lifting platform 4 to move in a second motion state, and in the second motion state, the acceleration is greater than zero and remains unchanged as time increases; the frequency converter 2 is used to output a third driving signal to the lifting motor 3 according to the third driving parameter so that the lifting motor 3 drives the lifting platform 4 to move in a third motion state, and in the third motion state, the acceleration is greater than zero and decreases as time increases; the frequency converter 2 is used to output a fourth drive signal to the lifting motor 3 according to the fourth drive parameter so that the lifting motor 3 drives the lifting platform 4 to move in a fourth motion state, and in the fourth motion state, the acceleration is zero; the frequency converter 2 is used to output a fifth drive signal to the lifting motor 3 according to the fifth drive parameter so that the lifting motor 3 drives the lifting platform 4 to move in a fifth motion state, and in the fifth motion state, the acceleration is less than zero and decreases with time; the frequency converter 2 is used to output a sixth drive signal to the lifting motor 3 according to the sixth drive parameter so that the lifting motor 3 drives the lifting platform 4 to move in a sixth motion state, and in the sixth motion state, the acceleration is less than zero and remains unchanged with time; the frequency converter 2 is used to output a seventh drive signal to the lifting motor 3 according to the seventh drive parameter so that the lifting motor 3 drives the lifting platform 4 to move in a seventh motion state, and in the seventh motion state, the acceleration is less than zero and increases with time.

[0053] Specifically, multiple drive parameters are preset in the frequency converter 2, wherein the drive parameters include a first drive parameter, a second drive parameter, a third drive parameter, a fourth drive parameter, a fifth drive parameter, a sixth drive parameter and a seventh drive parameter, so that the control system 1 can adjust the drive parameters in the frequency converter 2 to any one of the first drive parameter, the second drive parameter, the third drive parameter, the fourth drive parameter, the fifth drive parameter, the sixth drive parameter and the seventh drive parameter in real time according to different position information of the lifting platform 4. When the driving parameter in the frequency converter 2 is the first driving parameter, the frequency converter 2 outputs the first driving signal to the lifting motor so that the lifting motor 3 drives the lifting platform 4 to move in the first motion state. When the driving parameter in the frequency converter 2 is the second driving parameter, the frequency converter 2 outputs the second driving signal to the lifting motor 3 so that the lifting motor 3 drives the lifting platform 4 to move in the second motion state. When the driving parameter in the frequency converter 2 is the third driving parameter, the frequency converter 2 outputs the third driving signal to the lifting motor 3 so that the lifting motor 3 drives the lifting platform 4 to move in the third motion state. When the driving parameter in the frequency converter 2 is the fourth driving parameter, the frequency converter 2 outputs the fourth driving signal to the lifting motor 3 so that the lifting motor 3 drives the lifting platform 4 to move in the fourth motion state. When the parameter is the fifth driving parameter, the frequency converter 2 outputs the fifth driving signal to the lifting motor 3 so that the lifting motor 3 drives the lifting platform 4 to move in the fifth motion state. When the driving parameter in the frequency converter 2 is the sixth driving parameter, the frequency converter 2 outputs the sixth driving signal to the lifting motor 3 so that the lifting motor 3 drives the lifting platform 4 to move in the sixth motion state. When the driving parameter in the frequency converter 2 is the seventh driving parameter, the frequency converter 2 outputs the seventh driving signal to the lifting motor 3 so that the lifting motor 3 drives the lifting platform 4 to move in the seventh motion state. When the lifting platform 4 moves in the first motion state, the second motion state, the third motion state, the fourth motion state, the fifth motion state, the sixth motion state or the seventh state, the acceleration change rate during the movement of the lifting platform 4 is different. Therefore, by adjusting the driving parameters of the frequency converter 2 in real time, it is possible to accurately control the different acceleration change rates during the movement of the lifting platform 4.

[0054] In an optional embodiment, Figure 2 Schematic diagram of a speed-time motion curve of a lifting platform provided by an embodiment of the present invention. Figure 2As shown, the motion curve includes AB curve segment, BC curve segment, CD curve segment, DE curve segment, EF curve segment, FG curve segment and GH curve segment. Among them, AB curve segment is the motion curve of the lifting platform 4 moving in the first motion state, BC curve segment is the motion curve of the lifting platform 4 moving in the second motion state, CD curve segment is the motion curve of the lifting platform 4 moving in the third motion state, DE curve segment is the motion curve of the lifting platform 4 moving in the fourth motion state, EF curve segment is the motion curve of the lifting platform 4 moving in the fifth motion state, FG curve segment is the motion curve of the lifting platform 4 moving in the sixth motion state, and GH curve segment is the motion curve of the lifting platform 4 moving in the seventh motion state. Continue to refer to Figure 2 When the lifting platform 4 moves in the first motion state, the acceleration of the lifting platform 4 is greater than zero and increases with time, when the lifting platform 4 moves in the second motion state, the acceleration of the lifting platform 4 is greater than zero and remains unchanged with time, when the lifting platform 4 moves in the third motion state, the acceleration of the lifting platform 4 is greater than zero and decreases with time, when the lifting platform 4 moves in the fourth motion state, the acceleration of the lifting platform 4 is zero, when the lifting platform 4 moves in the fifth motion state, the acceleration of the lifting platform 4 is less than zero and decreases with time, when the lifting platform 4 moves in the sixth motion state, the acceleration of the lifting platform 4 is less than zero and remains unchanged with time, when the lifting platform 4 moves in the seventh motion state, the acceleration of the lifting platform 4 is less than zero and increases with time.

[0055] It can be understood that by adjusting the driving parameters in the frequency converter 2 to the first driving parameter, the second driving parameter, the third driving parameter, the fourth driving parameter, the fifth driving parameter, the sixth driving parameter and the seventh driving parameter in sequence, the motion state of the lifting platform 4 during lifting can be to first accelerate and lift, during the process of accelerating and lifting, the acceleration is greater than zero and gradually increases with time, then maintains a constant acceleration, and finally the acceleration gradually decreases. When the speed of the lifting platform 4 reaches the maximum movement speed, the acceleration is reduced to zero. At this time, the lifting platform 4 maintains uniform motion. After a period of uniform motion, the lifting platform 4 begins to decelerate and lift. During the process of decelerating and lifting, the acceleration is less than zero and gradually increases with time, then maintains a constant acceleration, and finally the acceleration gradually decreases. When the lifting platform 4 reaches the highest position, the speed of the lifting platform is reduced to zero. Compared with the acceleration and deceleration process in which the lifting platform maintains a constant acceleration, the lifting platform adopts a dynamic acceleration and deceleration process in which the acceleration first increases, then remains unchanged, and finally decreases. This can make the movement of the lifting platform smoother, reduce vibration and impact, and help reduce mechanical wear and optimize production efficiency. At the same time, it can make the lifting of the lifting platform more stable and avoid the impact of sudden acceleration or deceleration on the stability of the tray unloader's lifting control system, so that the height of the lifting platform's stop position each time remains consistent, so that the tray unloader can stably provide the required filter rods to the downstream equipment, thereby improving the accuracy and stability of the lifting of the lifting platform in the tray unloader.

[0056] Optionally, the control system 1 is used to adjust the first driving parameter to the second driving parameter when it is determined that the lifting platform 4 is in the first position according to the position information; the control system 1 is used to adjust the second driving parameter to the third driving parameter when it is determined that the lifting platform 4 is in the second position according to the position information; the control system 1 is used to adjust the third driving parameter to the fourth driving parameter when it is determined that the lifting platform 4 is in the third position according to the position information; the control system 1 is used to adjust the fourth driving parameter to the fifth driving parameter when it is determined that the lifting platform 4 is in the fourth position according to the position information; the control system 1 is used to adjust the fifth driving parameter to the sixth driving parameter when it is determined that the lifting platform 4 is in the fifth position according to the position information; the control system 1 is used to adjust the sixth driving parameter to the seventh driving parameter when it is determined that the lifting platform 4 is in the sixth position according to the position information; wherein the first position, the second position, the third position, the fourth position, the fifth position and the sixth position are arranged in sequence along the moving direction of the lifting platform 4.

[0057] Specifically, Figure 3As shown, the travel direction of the lifting platform 4 is sequentially provided with a first position a, a second position b, a third position c, a fourth position d, a fifth position e and a sixth position f. When the lifting platform 4 starts to lift, the frequency converter 2 outputs a first drive signal to the lifting motor 3 according to the first drive parameter. At this time, the lifting motor 3 drives the lifting platform 4 to lift in the first motion state. When the lifting platform 4 is lifted to the first position a in the first motion state, the lifting motor 3 can obtain the position information of the lifting platform 4 at this time in real time and transmit it to the control system 1. At this time, the control system 1 adjusts the first drive parameter in the frequency converter 2 to the second drive parameter according to the information that the lifting platform 4 is located at the first position a. The frequency converter 2 outputs a second drive signal to the lifting motor 3 according to the second drive parameter. At this time, the lifting motor 3 drives the lifting platform 4 to switch from lifting in the first motion state to lifting in the second motion state. Similarly, when the lifting platform 4 is lifted to the second position b in the second motion state, the control system 1 adjusts the second drive parameter in the frequency converter 2 to the third drive parameter according to the information that the lifting platform 4 is located at the second position b, and the frequency converter 2 outputs the third drive signal to the lifting motor 3 according to the third drive parameter. At this time, the lifting motor 3 drives the lifting platform 4 to lift in the third motion state. When the lifting platform 4 is lifted to the third position c in the third motion state, the control system 1 adjusts the third drive parameter in the frequency converter 2 to the fourth drive parameter according to the information that the lifting platform 4 is located at the third position c, and the frequency converter 2 outputs the fourth drive signal to the lifting motor 3 according to the fourth drive parameter. At this time, the lifting motor 3 drives the lifting platform 4 to lift in the fourth motion state. When the lifting platform 4 is lifted to the fourth position d in the fourth motion state, the control system 1 adjusts the fourth drive parameter in the frequency converter 2 to the fifth drive parameter according to the information that the lifting platform 4 is located at the fourth position d, and the frequency converter 2 outputs the fifth drive signal to the lifting motor 3 according to the fifth drive parameter. At this time, the lifting motor 3 drives the lifting platform 4 to lift in the fifth motion state. When the lifting platform 4 is lifted to the fifth position e in the fifth motion state, the control system 1 adjusts the fifth drive parameter in the frequency converter 2 to the sixth drive parameter according to the information that the lifting platform 4 is located at the fifth position e, and the frequency converter 2 outputs the sixth drive signal to the lifting motor 3 according to the sixth drive parameter. At this time, the lifting motor 3 drives the lifting platform 4 to be lifted in the sixth motion state. When the lifting platform 4 is lifted to the sixth position f in the sixth motion state, the control system 1 adjusts the sixth drive parameter in the frequency converter 2 to the seventh drive parameter according to the information that the lifting platform 4 is located at the sixth position f, and the frequency converter 2 outputs the seventh drive signal to the lifting motor 3 according to the seventh drive parameter. At this time, the lifting motor 3 drives the lifting platform 4 to be lifted in the seventh motion state.The position information of the lifting platform is acquired in real time through the lifting motor and transmitted to the control system through communication, so that the control system can adjust the driving parameters in the frequency converter in real time according to the acquired position information of the lifting platform, so that the lifting platform can switch the position of the motion state according to the preset needs, and lift in the first motion state, the second motion state, the third motion state, the fourth motion state, the fifth motion state, the sixth motion state and the seventh motion state in sequence, thereby realizing precise control of the motion state of the lifting platform and improving the lifting accuracy and stability of the lifting platform in the pallet unloader.

[0058] It can be understood that the first position, the second position, the third position, the fourth position, the fifth position and the sixth position can be set according to actual needs. Under the premise of ensuring that the lifting platform can be lifted stably, the embodiment of the present invention does not specifically limit the specific setting positions of the first position, the second position, the third position, the fourth position, the fifth position and the sixth position.

[0059] Optionally, the driving parameters also include stop parameters; the control system 1 is also used to adjust the driving parameters to stop parameters when determining that the lifting platform 4 is at the highest position based on the position information; the frequency converter 2 is used to output a stop driving signal to the lifting motor 3 based on the stop parameters, so that the lifting motor 3 drives the lifting platform 4 to stop moving.

[0060] For details, please continue to refer to Figure 3 , when the lifting platform 4 is lifted to the highest position g, the speed of the lifting platform 4 is reduced to zero, and the lifting platform 4 needs to stop moving at this time. Therefore, when the lifting platform 4 is lifted to the highest position g, the lifting motor 3 can obtain the position information of the lifting platform 4 at this time in real time and transmit it to the control system 1. At this time, the control system 1 adjusts the driving parameters in the frequency converter 2 to the stop parameters according to the information that the lifting platform 4 is at the highest position g. For example, it can be a zero parameter. The frequency converter 2 outputs a stop driving signal to the lifting motor 3 according to the stop parameters. At this time, the lifting motor 3 drives the lifting platform 4 to stop moving. By setting the stop parameters in the driving parameters of the frequency converter, it can be ensured that the lifting platform stops accurately when it reaches the highest position, so that the height of the position where the lifting platform stops moving each time is consistent, so that the tray unloader can stably provide the required filter rods for the downstream equipment, thereby improving the accuracy and stability of the lifting of the lifting platform in the tray unloader.

[0061] Optional, such as Figure 4 As shown, the unloader lifting control system also includes: a brake device 5; the brake device 5 is integrated in the lifting motor 3; the inverter 2 is also used to control the brake device 5 to start when receiving the drive parameter adjusted to the stop parameter, so as to keep the lifting platform 4 in the highest position.

[0062] Among them, the brake device 5 can be specifically understood as a braking device for fixing the position of the lifting platform 4 when the lifting platform 4 stops moving. When the driving parameters in the frequency converter 2 are adjusted to the stop parameters, the frequency converter 2 can control the brake device 5 to start. The brake device 5 is integrated in the lifting motor 3, and the operation of the lifting motor 3 is prevented by applying a braking torque, thereby ensuring that the lifting platform 4 remains stable at the highest position g and preventing the lifting platform 4 from accidentally moving or falling. The braking function of the brake device ensures the safe operation of the unloader lifting control system and the stability of the lifting of the lifting platform. At the same time, the brake device is directly controlled by the frequency converter to improve the operating efficiency and reliability of the unloader lifting control system.

[0063] Optional, continue to refer to Figure 4 The control system 1 also includes a human-machine interaction device 6; the human-machine interaction device 6 is connected to the control system 1 for communicating with each other, and is used for displaying position information in real time, receiving adjustment parameters, and transmitting the adjustment parameters to the control system 1; the control system 1 is used for adjusting the driving parameters according to the adjustment parameters.

[0064] The human-machine interaction device 6 can be specifically understood as a device for realizing information exchange and interaction between the operator and the control system 1. The human-machine interaction device 6 is connected to the control system 1 in communication. At the same time, the human-machine interaction device 6 can include a display unit and an input unit, wherein the display unit can display the position information of the lifting platform 4 received by the control system 1 in real time, so that the operator can understand the operation of the unloader lifting control system in real time. Exemplarily, the display unit can be a liquid crystal display or an LED display, which is used to display the position information of the lifting platform 4 in real time. The input unit is used for the operator to interact with the control system 1. Exemplarily, the input unit can be a keyboard, a mouse, or a corresponding touch control integrated in the display unit. The operator can input adjustment parameters through the input unit, and the human-machine interaction device 6 can transmit the adjustment parameters to the control system 1, so that the control system 1 can adjust the drive parameters in the inverter 2 according to the adjustment parameters. In an optional embodiment, the adjustment parameters may include the maximum movement speed of the lifting platform 4, the lowest position of the lifting platform 4, and the highest position of the lifting platform 4. By adjusting the parameters to adjust the drive parameters in the frequency converter 2, it is possible to ensure that the lifting platform 4 operates within a safe speed range and can accurately control the movement range of the lifting platform 4, thereby improving the accuracy and stability of the lifting of the lifting platform in the tray unloader. By setting up a human-computer interaction device, information transmission and interaction between the operator and the control system are realized, and the operability of the tray unloader lifting control system and the working efficiency of the tray unloader lifting control system are improved.

[0065] Optional, continue to refer to Figure 4 The lifting motor 3 includes a position sensor 7; the position sensor 7 is used to obtain the position information of the lifting platform 4 in real time, and transmit the position information to the control system 1 in real time.

[0066] Among them, the position sensor 7 can be specifically understood as a sensor integrated in the lifting motor 3, which is used to monitor the position of the lifting platform 4 in real time. Specifically, the position sensor 7 can obtain the position information of the lifting platform 4 in real time, and transmit the position information to the control system 1 in real time, so that the control system 1 can adjust the driving parameters in the inverter 2 according to the different position information of the lifting platform 4 in real time, thereby realizing precise control of the acceleration change rate of the lifting platform 4, reducing the vibration and impact during the movement of the lifting platform, and improving the accuracy and stability of the lifting of the lifting platform.

[0067] Optionally, the position sensor 7 includes an encoder.

[0068] Among them, the encoder can be specifically understood as a device that obtains the position information of the lifting platform 4 by measuring the rotation angle or linear displacement. Exemplarily, the encoder can include a rotary encoder and a sensor. Specifically, the encoder is integrated in the lifting motor 3 and connected to the motor shaft of the lifting motor 3. When the lifting motor 3 drives the lifting platform 4 to move, the encoder disk of the rotary encoder will rotate with the motor shaft of the lifting motor 3. The sensor can detect the mark on the encoder disk, such as the change of the grating or magnetic mark, so as to measure the position information of the lifting platform 4. At this time, the encoder can convert the measured position information into a digital signal or an analog signal output, so as to be able to transmit the position information of the lifting platform 4 to the control system 1, so that the control system 1 can adjust the drive parameters in the inverter 2 and the motion state of the lifting platform 4 in real time according to the acquired position information of the lifting platform 4, so as to achieve precise control of the acceleration change rate of the movement of the lifting platform 4 and improve the accuracy and stability of the lifting of the lifting platform.

[0069] In another optional embodiment, the position of the lifting platform 4 can be monitored in real time through an encoder with serial communication and sine-cosine signal feedback, and the position of the lifting platform 4 can be communicated to the control system 1. When the control system 1 determines that the position of the lifting platform 4 is close to the preset highest position based on the position information transmitted by the encoder, the control system 1 can adjust the driving parameters in the inverter 2 to stop parameters in advance to be able to achieve pre-shutdown of the lifting platform 4, ensuring that the lifting platform 4 can stop accurately at the preset highest position, thereby improving the accuracy and stability of the lifting of the lifting platform in the tray unloader.

[0070] Optionally, the control system 1 is connected to the frequency converter 2 via a field bus communication.

[0071] Among them, the field bus can be specifically understood as a communication system that connects the control system 1 and the frequency converter 2, and exchanges and communicates data between the control system 1 and the frequency converter 2. For example, the field bus can be ProfiBUS-DP. ProfiBUS-DP is a commonly used field bus communication protocol with the characteristics of high-speed transmission and high stability. The baud rate of ProfiBUS-DP communication can reach 12Mb / s, thereby realizing efficient and stable data transmission and communication connection between the control system 1 and the frequency converter 2. By connecting the control system and the frequency converter through the field bus communication, the control system can adjust the drive parameters in the frequency converter in real time, thereby realizing precise control of the motion state of the lifting platform, and improving the accuracy and stability of the lifting of the lifting platform.

[0072] Based on the same inventive concept, an embodiment of the present invention further provides a tray unloader, which includes a lifting chain and a tray unloader lifting control system of the above embodiment. The tray unloader lifting control system includes a control system, a frequency converter, a lifting motor and a lifting platform, the lifting platform is arranged on the lifting chain, and the lifting motor is used to drive the lifting platform to move through the movement of the lifting chain.

[0073] Therefore, the tray unloading machine provided in this embodiment has the structure and operation of the tray unloading machine lifting control system of the above embodiment, and can achieve the effect of the tray unloading machine lifting control system of the above embodiment. The similarities can be referred to the above description and will not be repeated here.

[0074] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in the present invention can be achieved, and this document does not limit this.

[0075] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A pallet unloader lifting control system, characterized in that: include: Control system, frequency converter, lifting motor and lifting platform; The frequency converter is electrically connected to the lifting motor, and the lifting motor is connected to the lifting platform; the frequency converter is preset with driving parameters, and the frequency converter is used to output a driving signal to the lifting motor according to the driving parameters so that the lifting motor drives the lifting platform to move in a motion state including multiple states with different acceleration change rates; The lifting motor is also used to obtain the position information of the lifting platform in real time; The control system is respectively connected to the lifting motor and the frequency converter for receiving the position information and adjusting the driving parameters in real time according to the position information.

2. The tray unloader lifting control system according to claim 1, characterized in that: The driving parameters include a first driving parameter, a second driving parameter, a third driving parameter, a fourth driving parameter, a fifth driving parameter, a sixth driving parameter and a seventh driving parameter; The frequency converter is used to output a first driving signal to the lifting motor according to the first driving parameter so that the lifting motor drives the lifting platform to move in a first motion state, and in the first motion state, the acceleration is greater than zero and increases with time; The frequency converter is used to output a second drive signal to the lifting motor according to the second drive parameter so that the lifting motor drives the lifting platform to move in a second motion state, and in the second motion state, the acceleration is greater than zero and remains unchanged as time increases; The frequency converter is used to output a third driving signal to the lifting motor according to the third driving parameter so that the lifting motor drives the lifting platform to move in a third motion state, in which the acceleration is greater than zero and decreases with time; The frequency converter is used to output a fourth driving signal to the lifting motor according to the fourth driving parameter so that the lifting motor drives the lifting platform to move in a fourth motion state, in which the acceleration is zero; The frequency converter is used to output a fifth driving signal to the lifting motor according to the fifth driving parameter so that the lifting motor drives the lifting platform to move in a fifth motion state, in which the acceleration is less than zero and decreases with time; The frequency converter is used to output a sixth driving signal to the lifting motor according to the sixth driving parameter so that the lifting motor drives the lifting platform to move in a sixth motion state, in which the acceleration is less than zero and remains unchanged as time increases; The frequency converter is used to output a seventh drive signal to the lifting motor according to the seventh drive parameter so that the lifting motor drives the lifting platform to move in a seventh motion state. In the seventh motion state, the acceleration is less than zero and increases with time.

3. The tray unloader lifting control system according to claim 2, characterized in that: The control system is used to adjust the first driving parameter to a second driving parameter when determining that the lifting platform is located at a first position according to the position information; The control system is used to adjust the second driving parameter to a third driving parameter when determining that the lifting platform is located at the second position according to the position information; The control system is used to adjust the third driving parameter to a fourth driving parameter when determining that the lifting platform is located at a third position according to the position information; The control system is used to adjust the fourth driving parameter to the fifth driving parameter when determining that the lifting platform is located at the fourth position according to the position information; The control system is used to adjust the fifth driving parameter to a sixth driving parameter when determining that the lifting platform is located at the fifth position according to the position information; The control system is used to adjust the sixth driving parameter to the seventh driving parameter when determining that the lifting platform is located at the sixth position according to the position information; Wherein, the first position, the second position, the third position, the fourth position, the fifth position and the sixth position are arranged in sequence along the moving direction of the lifting platform.

4. The tray unloader lifting control system according to claim 1, characterized in that: The driving parameters also include stop parameters; The control system is also used to adjust the driving parameter to a stop parameter when it is determined according to the position information that the lifting platform is at the highest position; The frequency converter is used to output a stop driving signal to the lifting motor according to the stop parameter, so that the lifting motor drives the lifting platform to stop moving.

5. The tray unloader lifting control system according to claim 4, characterized in that: The tray unloader lifting control system further includes: a brake device; The holding brake device is integrated into the lifting motor; The frequency converter is also used to control the brake device to start when receiving the drive parameter adjusted to the stop parameter, so as to keep the lifting platform at the highest position.

6. The tray unloader lifting control system according to claim 1, characterized in that: The control system also includes a human-computer interaction device; The human-computer interaction device is connected to the control system for real-time display of the position information, receiving adjustment parameters and transmitting the adjustment parameters to the control system; The control system is used for adjusting the driving parameter according to the adjustment parameter.

7. The tray unloader lifting control system according to claim 1, characterized in that: The lifting motor includes a position sensor; The position sensor is used to obtain the position information of the lifting platform in real time, and transmit the position information to the control system in real time.

8. The tray unloader lifting control system according to claim 7, characterized in that: The position sensor includes an encoder.

9. The tray unloader lifting control system according to claim 1, characterized in that: The control system is connected to the frequency converter via a field bus communication.

10. A tray unloading machine, characterized in that: include: A lifting chain and a pallet unloader lifting control system as claimed in any one of claims 1 to 9; The lifting platform is arranged on the lifting chain; the lifting motor is used for driving the lifting platform to move through the movement of the lifting chain.

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