Hydraulic drive type multi-angle overturning discharging device

Abstract

The invention provides a hydraulic drive type multi-angle overturning discharging device. The hydraulic drive type multi-angle overturning discharging device comprises a frame assembly. The conveying and overturning mechanism comprises an overturning frame body which is arranged at the top of the frame assembly, and a conveying assembly used for conveying a container containing materials is arranged on the overturning frame body; the two driving mechanisms are arranged on the two sides of the frame assembly correspondingly, each driving mechanism comprises a hydraulic cylinder, a driving toothed plate and a driving gear, the driving gears are rotationally arranged on the frame assembly and connected with the rotating shaft, and the hydraulic cylinders drive the driving gears to rotate through the driving toothed plates so as to drive the overturning frame bodies to overturn; and after it is detected that the materials reach the designated position, a control signal is sent to the driving mechanism so that the driving mechanism can reach the target overturning angle according to the target overturning speed. Through cooperative action of the hydraulic cylinder set, stepless overturning of 0-150 degrees is supported, and the hydraulic cylinder set can be suspended at any middle angle. The double hydraulic cylinders are synchronously controlled in a closed loop mode, inclination caused by uneven material distribution is avoided, and the overturning stability and reliability are effectively guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of material conveying, and particularly relates to a hydraulic-driven multi-angle turning and discharging device. Background Art

[0002] In the process of modern industrial production, the conveying and discharging of materials play a crucial role in production efficiency and product quality. Especially in some scenarios where it is necessary to turn and discharge a container filled with materials, traditional discharging methods often adopt manual handling or simple mechanical assistance. Manual operation is not only inefficient but also has problems such as high labor intensity and high safety hazards, making it difficult to meet the requirements of large-scale and automated production.

[0003] Some existing mechanical discharging devices mostly use a single drive structure or a complex transmission system to achieve the turning of the container. When facing containers of different weights and specifications, a single drive structure is difficult to ensure the stability and reliability of turning, and it is easy to have situations such as incomplete turning or excessive turning, resulting in problems such as material spillage and container damage. Although a complex transmission system can improve the accuracy of turning to a certain extent, it has a complex structure and numerous components, which not only increases the manufacturing cost and maintenance difficulty of the equipment but also easily leads to production interruption due to component wear and failure, reducing production efficiency. Summary of the Invention

[0004] In view of this, the present invention provides a hydraulic-driven multi-angle turning and discharging device, aiming to solve the problem of poor turning stability and reliability in the prior art.

[0005] The first aspect of the embodiment of the present invention provides a hydraulic-driven multi-angle turning and discharging device, including: A frame assembly; A conveying and turning mechanism, the conveying and turning mechanism includes a turning frame body, the turning frame body is arranged at the top of the frame assembly through a rotating shaft (12), and a transmission component for transmitting a container filled with materials is arranged on the turning frame body; Two driving mechanisms, the two driving mechanisms are respectively arranged on both sides of the frame assembly, the driving mechanism includes a hydraulic cylinder, a driving tooth plate and a driving gear, the hydraulic cylinder is arranged on one side of the frame assembly, the driving gear is connected to the upper end of the hydraulic cylinder, the driving gear is rotatably arranged on the frame assembly and connected to the rotating shaft, the driving tooth plate meshes with the driving gear, and the hydraulic cylinder drives the driving gear to rotate through the driving tooth plate to drive the turning frame body to turn; A driving control module, which obtains the target turning angle and target turning speed set by the user; after detecting that the material reaches the specified position, it sends a control signal to the driving mechanism so that the driving mechanism reaches the target turning angle at the target turning speed.

[0006] In a possible implementation, the device further includes a detection module for detecting the flipping angle of the flipping frame and the load change; The drive control module is used for.

[0007] For determining the control signal sent to the drive mechanism according to the flipping angle and the load change.

[0008] In a possible implementation, the drive control module is used for: Calculating the angle deviation and the deviation change rate according to the flipping angle; Determining the parameters of the fuzzy PID controller according to the angle deviation, the deviation change rate and the load change; Determining the control signal according to the fuzzy PID controller.

[0009] In a possible implementation, the detection module is further used for detecting the angular acceleration; the drive control module is used for: Determining the current working condition according to the target flipping angle, the target flipping speed, the flipping angle and the load change; Determining the acceleration feedforward compensation value according to the current working condition and the angular acceleration; Determining the control signal sent to the drive mechanism according to the acceleration feedforward compensation value, the flipping angle and the load change.

[0010] In a possible implementation, the drive control module is used for: Calculating the angle deviation and the deviation change rate according to the flipping angle; Determining the parameters of the fuzzy PID controller according to the angle deviation, the deviation change rate and the load change; Determining the control signal according to the acceleration feedforward compensation value and the fuzzy PID controller.

[0011] In a possible implementation, the frame assembly includes: Two support frames, the two support frames are symmetrically arranged, the conveying and flipping mechanism is arranged on the top of the two support frames, and the drive mechanism is arranged outside the support frames; A plurality of reinforcing beams, and the plurality of reinforcing beams are connected to the lower part between the two support frames.

[0012] In a possible implementation, a plurality of weight-reducing holes are provided on the support frames, cushion feet are arranged at the bottoms of the support frames, and reinforcing ribs are arranged between the reinforcing beams and the support frames.

[0013] In a possible implementation, the conveying and flipping frame includes: Two conveying cross beams, the two conveying cross beams are respectively arranged in parallel at the upper end of the frame assembly, a rotating shaft is arranged at the lower end of the conveying cross beam, and a transmission component is arranged on the conveying cross beam; Connecting beam, which is vertically connected between two conveying cross beams.

[0014] In a possible implementation, the transmission assembly includes: A plurality of conveying rollers, which are sequentially arranged in the length direction of the conveying cross beam and rotate; A conveying motor, which is fixed at one end of the conveying cross beam. The conveying motor is connected to the plurality of conveying rollers through a chain drive and is used to drive the plurality of conveying rollers to rotate synchronously.

[0015] In a possible implementation, a slide rail is longitudinally arranged on one side of the frame assembly, and the driving toothed plate is slidably arranged in the slide rail.

[0016] A hydraulic-driven multi-angle flipping and discharging device provided by an embodiment of the present invention includes a frame assembly; a conveying and flipping mechanism, the conveying and flipping mechanism includes a flipping frame body, the flipping frame body is arranged on the top of the frame assembly through a rotating shaft, and a transmission assembly for transmitting a container filled with materials is arranged on the flipping frame body; two driving mechanisms, the two driving mechanisms are respectively arranged on both sides of the frame assembly, the driving mechanism includes a hydraulic cylinder, a driving toothed plate and a driving gear, the hydraulic cylinder is arranged on one side of the frame assembly, the driving gear is connected to the upper end of the hydraulic cylinder, the driving gear is rotatably arranged on the frame assembly and is connected to the rotating shaft, the driving toothed plate meshes with the driving gear, and the hydraulic cylinder drives the driving gear to rotate through the driving toothed plate to drive the flipping frame body to flip; a driving control module, which obtains a target flipping angle and a target flipping speed set by the user; after detecting that the material reaches the specified position, a control signal is sent to the driving mechanism so that the driving mechanism reaches the target flipping angle at the target flipping speed. The present invention supports stepless flipping of 0-150° through the coordinated action of a hydraulic cylinder group and can pause at any intermediate angle. The double hydraulic cylinder closed-loop synchronous control avoids tilting caused by uneven material distribution and effectively ensures the flipping stability and reliability. Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 is the front view of the hydraulic-driven multi-angle flipping and discharging device provided by the embodiment of the present invention; Figure 2 is the side view of the hydraulic-driven multi-angle flipping and discharging device provided by the embodiment of the present invention; Figure 3 is the top view of the hydraulic-driven multi-angle flipping and discharging device provided by the embodiment of the present invention. Detailed implementation manners

[0019] In the following description, specific details such as specific system architectures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present invention. However, those skilled in the art should clearly understand that the present invention can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present invention.

[0020] Figure 1 is the front view of the hydraulic-driven multi-angle turning and discharging device provided by the embodiment of the present invention; Figure 2 is the side view of the hydraulic-driven multi-angle turning and discharging device provided by the embodiment of the present invention; Figure 3 is the top view of the hydraulic-driven multi-angle turning and discharging device provided by the embodiment of the present invention. As Figures 1 - 3 shown, in some embodiments, the hydraulic-driven multi-angle turning and discharging device includes: A hydraulic-driven turning and discharging device provided by the present invention will be described. A hydraulic-driven turning and discharging device includes a frame assembly, a conveying and turning mechanism, and two driving mechanisms. The conveying and turning mechanism includes a turning frame body, and the turning frame body is arranged on the top of the frame assembly through a rotating shaft 12. A conveying assembly for conveying a container filled with materials is arranged on the turning frame body; the two driving mechanisms are respectively arranged on both sides of the frame assembly. The driving mechanism includes a hydraulic cylinder 13, a driving tooth plate 14, and a driving gear 15. The hydraulic cylinder 13 is arranged on one side of the frame assembly. The driving gear 15 is connected to the upper end of the hydraulic cylinder 13. The driving gear 15 is rotatably arranged on the frame assembly and is connected to the rotating shaft 12. The driving tooth plate 14 meshes with the driving gear 15. The hydraulic cylinder 13 drives the driving gear 15 to rotate through the driving tooth plate 14 to drive the turning frame body to turn.

[0021] A hydraulic-driven turnover and blanking device provided by the present invention, compared with the prior art, adopts two drive mechanisms symmetrically arranged on both sides of the frame assembly. In each drive mechanism, the hydraulic cylinder 13 is in meshing transmission with the drive rack 14 and the drive gear 15, converting the linear motion of the hydraulic cylinder 13 into the rotational motion of the drive gear 15, thereby driving the turnover frame to turn. The bilateral synchronous drive mode can provide more balanced driving force compared with a single drive structure, ensuring that the turnover frame is evenly stressed during the turnover process. Even when facing containers filled with materials of different weights and specifications, it can maintain stable turnover, avoiding unstable phenomena such as tilting and jamming, and greatly improving the stability and reliability of turnover. At the same time, the meshing transmission between the drive rack 14 and the drive gear 15 has high transmission accuracy and reliability, reducing the problems of incomplete turnover or excessive turnover caused by transmission errors, and further ensuring the accuracy and stability of the blanking process. This device adopts the transmission mode of the hydraulic cylinder 13, the drive rack 14 and the drive gear 15. The hydraulic cylinder 13 is used as the power source and is directly connected to the drive rack 14, driving the rotating shaft 12 through gear meshing. The structure is compact and the number of components is greatly reduced. Compared with the traditional complex transmission system, it not only reduces the manufacturing cost of the equipment, but also reduces the maintenance points of the equipment due to the reduction of the number of components, reducing the maintenance difficulty and maintenance cost. A hydraulic-driven turnover and blanking device provided by the present invention improves the reliability and stability of the equipment operation and effectively solves the problem of the complex structure of the traditional blanking device.

[0022] The frame assembly includes two support frames 1 and several reinforcing beams 2. The two support frames 1 are symmetrically arranged. The two symmetrically arranged support frames 1 provide a stable installation foundation for the conveying and turnover mechanism and the drive mechanism. The symmetric structure makes the whole device more evenly stressed, can effectively disperse the gravity and driving force generated during the turnover of the turnover frame, avoid the situation of local stress concentration, greatly enhance the stability during the operation of the device, and ensure the safety and reliability of the turnover and blanking process. Several reinforcing beams 2 are connected to the lower part between the two support frames 1. A plurality of weight-reducing holes 3 are provided on the support frames 1, effectively reducing the overall weight of the device, reducing the material usage and manufacturing cost without affecting the strength and rigidity of the support frames 1. The bottom of the support frame 1 is provided with foot pads 4, which can effectively isolate the influence of uneven ground or vibration on the device and enhance the stability of the device. Reinforcing ribs 5 are arranged between the reinforcing beams 2 and the support frames 1, significantly enhancing the structural strength and rigidity of the connection part between the two. The reinforcing ribs 5 can effectively disperse and transmit stress, prevent the connection part from deforming or being damaged due to excessive stress, and further improve the overall stability and reliability of the frame assembly.

[0023] The conveying and tilting frame body includes two conveying cross beams 6 and a connecting beam 10. The two conveying cross beams 6 are respectively arranged in parallel at the upper end of the frame assembly, ensuring that the container filled with materials remains stable during the transmission process, avoiding the container from shaking and the materials from spilling due to the inclination or unevenness of the cross beam, and improving the safety and reliability of material transmission. The rotating shaft 12 is arranged at the lower end of the conveying cross beam 6, making the rotation of the tilting frame body smoother, reducing the friction and resistance during the tilting process, and cooperating with the coordinated action of the driving mechanisms on both sides, enabling precise and stable tilting actions to meet the blanking requirements under different working conditions. The connecting beam 10 is vertically connected between the two conveying cross beams 6. The connecting beam 10 and the conveying cross beam 6 form a stable frame structure, which can effectively resist the twisting and deformation of the frame body caused by external forces. When carrying heavy objects or performing tilting operations, it ensures that the frame body maintains a stable shape and avoids affecting the normal operation of the transmission components due to structural deformation.

[0024] The transmission component includes a plurality of conveying rollers 7 and a conveying motor 8. The plurality of conveying rollers 7 are sequentially arranged to rotate along the length direction of the conveying cross beam 6, providing a continuous and stable support and transmission surface for the container filled with materials. Compared with a single transmission surface, the plurality of conveying rollers 7 disperse the pressure of the container, effectively avoiding problems such as inclination and jamming of the container during transmission due to uneven force, and ensuring the smooth transmission of the container. The conveying motor 8 is fixed at one end of the conveying cross beam 6. The conveying motor 8 is connected to the plurality of conveying rollers 7 through chain drive, and is used to drive the plurality of conveying rollers 7 to rotate synchronously. This transmission method has high transmission accuracy and reliability, can ensure that the container has the same speed during transmission, and avoid phenomena such as misalignment and accumulation of the container during transmission due to different roller rotation speeds, thus ensuring the orderly progress of the blanking process.

[0025] A limiting block 9 is arranged at one end of the upper end surface of the conveying cross beam 6. The limiting block 9 can effectively prevent the container filled with materials from rushing out of the conveying cross beam 6 due to inertia, external force impact or too fast conveying speed during the transmission process. When the container is transmitted to a predetermined position and is about to be tilted for blanking, the limiting block 9 can timely block the container, avoiding its accidental slipping and causing material spillage, container damage, or even safety accidents, greatly improving the safety and reliability of the device operation. An arc-shaped concave surface 11 is arranged in the middle of the connecting beam 10. The arc-shaped concave surface 11 is adapted to the outer wall of the container filled with materials, ensuring the stability of the container during the tilting blanking process.

[0026] A slide rail 16 is longitudinally arranged on one side of the frame assembly, and the slide rail 16 is bolted to the frame assembly, and the driving gear plate 14 is slidably arranged in the slide rail 16. The slide rail 16 provides a motion guide for the driving gear plate 14, so that the driving gear plate 14 can only slide linearly along the direction of the slide rail 16 under the push of the hydraulic cylinder 13, effectively limiting the possible deviation or shaking during the movement. It ensures that the driving gear plate 14 and the driving gear 15 always maintain a stable and reliable meshing state, avoids poor gear meshing due to gear plate movement deviation, and thus ensures the accuracy and stability of the rotation of the driving gear 15, and finally enables the flip frame to be accurately flipped according to the predetermined trajectory and angle, improving the accuracy and reliability of the material unloading operation.

[0027] An auxiliary gear 17 is rotatably provided on one side of the frame assembly. The auxiliary gear 17 is located below the driving gear 15 and meshes with the driving toothed plate 14, forming a stable structure with double meshing up and down. When the hydraulic cylinder 13 pushes the driving toothed plate 14 to move, the auxiliary gear 17 can share part of the force on the driving toothed plate 14, effectively preventing the driving toothed plate 14 from deflecting or shaking during the force application process, and ensuring that the driving toothed plate 14 and the driving gear 15 always maintain a good meshing state. This stable meshing relationship allows the flip frame to be more evenly stressed during the flipping process and to operate more smoothly. Even when facing material containers of different weights and specifications, the accuracy and reliability of the flipping action can be guaranteed, greatly improving the stability and safety of the unloading operation.

[0028] In addition, after the auxiliary gear 17 participates in the meshing, the originally concentrated force is dispersed to multiple meshing points, which reduces the force intensity per unit area, reduces the friction loss between the components, extends the service life of the drive gear plate 14, the drive gear 15 and the auxiliary gear 17 itself, and reduces the maintenance cost and replacement frequency of the equipment.

[0029] A protective cover 18 is provided on one side of the frame assembly, and the drive gear plate 14, the drive gear 15 and the auxiliary gear 17 are all located inside the protective cover 18. The protective cover 18 effectively isolates the operator from direct contact with the high-speed drive gear plate 14, the drive gear 15 and the auxiliary gear 17, greatly reducing the risk of mechanical injury caused by the operation of the components. During the operation of the equipment, the meshing and rotation of the gears and the gear plates may cause parts to loosen and splash. The protective cover 18 can block these potential dangers, create a safe working environment for the operator, and ensure personal safety. At the same time, the protective cover 18 can also prevent external foreign matter from entering the transmission component area, avoid equipment failure or even safety accidents caused by foreign matter getting stuck, and ensure stable operation of the equipment.

[0030] In some embodiments, the drive control module obtains the target flipping angle and the target flipping speed set by the user; after detecting that the material reaches the specified position, it sends a control signal to the drive mechanism so that the drive mechanism reaches the target flipping angle at the target flipping speed.

[0031] In the embodiments of the present invention, the drive control module obtains the target flipping angle (infinitely adjustable from 0 to 150°) and the target flipping speed (typical value 0.1 - 5° / s) set by the user through the human-machine interface. The parameters are stored in the data block of the PLC.

[0032] Exemplarily, the control method of the present invention can be: (1) Initialization and preparation: Reset the flipping and discharging mechanism to the origin position, and set the flipping angle and flipping speed through the HMI.

[0033] (2) Material in-place detection: Confirm that the material reaches the specified position through the sensor to generate a trigger signal.

[0034] (3) Flipping action: The hydraulic cylinder is driven to flip at a preset speed through the PLC control, and the closed-loop control is feedback through a high-precision encoder to monitor the flipping angle in real time.

[0035] (4) Discharging: Keep stable after flipping in place, the material slides into the target position, and delay to confirm that the discharging is completed.

[0036] (5) Reset: Slowly return to the initial position and wait for the next operation.

[0037] In some embodiments, the device further includes a detection module, including an angle sensor and a pressure sensor, which are respectively used to detect the flipping angle of the flipping frame and the load change; the drive control module is used to. Used to determine the control signal sent to the drive mechanism according to the flipping angle and the load change. Specifically, the drive control module is used to: calculate the angle deviation and the deviation change rate according to the flipping angle; determine the parameters of the fuzzy PID controller according to the angle deviation, the deviation change rate and the load change; determine the control signal according to the fuzzy PID controller.

[0038] In the embodiments of the present invention, the angle deviation e, the deviation change rate ec and the load change ΔF are used as the inputs of the fuzzy controller and mapped into the fuzzy set.

[0039] Deviation e: Divided into 7 fuzzy subsets: {negative large, negative medium, negative small, zero, positive small, positive medium, positive large}; Deviation change rate ec: Divided into 7 fuzzy subsets: {negative large, negative medium, negative small, zero, positive small, positive medium, positive large}; Load change ΔF: Divided into 3 fuzzy subsets: {light, medium, heavy}.

[0040] Each fuzzy subset corresponds to a Gaussian or triangular membership function. For example, when the deviation e = 10°, it may belong to the "small positive" and "medium positive" subsets simultaneously, with membership degrees of 0.3 and 0.7 respectively.

[0041] Based on expert experience, preset rules are as follows: Rule 1: If e is "large positive", ec is "small positive", and ΔF is "heavy", then increase the proportional coefficient Kp, decrease the integral coefficient Ki, and maintain the derivative coefficient Kd; Rule 2: If e is "zero", ec is "large negative", and ΔF is "medium", then decrease Kp, increase Ki, and increase Kd.

[0042] Fuzzy inference: According to the fuzzy subsets of the current e, ec, and ΔF, activate the corresponding rules through "AND" and "OR" operations to obtain the fuzzy outputs of Kp, Ki, and Kd.

[0043] Defuzzification: Use the centroid method (such as weighted average) to convert the fuzzy output into an exact value.

[0044] Based on the adjusted PID parameters, calculate the control quantity of the driving mechanism.

[0045] Convert the control quantity u into an electrical signal (such as PWM pulse width or voltage value), and send it to the proportional valve or servo valve of the hydraulic cylinder to adjust the telescopic speed and displacement of the hydraulic cylinder, thereby controlling the flipping angle and speed of the flipping frame.

[0046] By using a pressure sensor to monitor the load change ΔF in real time, the fuzzy PID controller can dynamically adjust the PID parameters to compensate for the flipping moment fluctuation caused by uneven material distribution, ensuring that the flipping angle error ≤ ±0.5°.

[0047] When the deviation e is large, increase Kp to accelerate the response speed; when approaching the target angle, decrease Kp and increase Ki to eliminate the steady-state error and avoid overshoot. The two driving mechanisms independently receive control signals, and through real-time data comparison of the detection module, ensure that the action error of the double hydraulic cylinders ≤ ±1mm to prevent the frame from tilting.

[0048] Exemplarily, the flipping frame carries 500 kg of materials, and the target angle is flipped from 0° to 90°.

[0049] Control process: The angle sensor detects the current angle θ = 0°, and the pressure sensor detects the load ΔF = 500 kg; Calculate the deviation e = 90°, the deviation change rate ec = 0, and the drive control module activates the "fast response for large deviation" rule, increasing Kp to 1.5 times the initial value and decreasing Ki to 0.5 times the initial value; The hydraulic cylinder pushes the drive gear plate (14) at a high speed, and the drive gear (15) drives the rotating shaft to rotate; When θ approaches 80°, ec becomes negative (the deviation decreases), the module adjusts Kp to 0.8 times the initial value, and Ki increases to 1.2 times the initial value to slow down the flipping speed; When θ = 90° and ec ≈ 0, the control signal returns to zero, the hydraulic cylinder locks, and precise positioning is completed.

[0050] Through the cooperation of the detection module and fuzzy PID control, this mechanism realizes stepless flipping within the range of 0 - 150° and pauses at any angle, meeting the high-precision blanking requirements.

[0051] In some embodiments, the detection module further includes an angular acceleration sensor for detecting angular acceleration; the drive control module is used to: determine the current working condition according to the target flipping angle, target flipping speed, flipping angle, and load change; determine the acceleration feedforward compensation value according to the current working condition and angular acceleration; determine the control signal sent to the drive mechanism according to the acceleration feedforward compensation value, flipping angle, and load change. Specifically, the drive control module is used to: calculate the angle deviation and deviation change rate according to the flipping angle; determine the parameters of the fuzzy PID controller according to the angle deviation, deviation change rate, and load change; determine the control signal according to the acceleration feedforward compensation value and the fuzzy PID controller.

[0052] In the embodiments of the present invention, the working condition characteristics of the flipping process are comprehensively described by parameters in five dimensions: Spatial dimension: The target flipping angle can be adjusted steplessly within the range of 0 degrees to 180 degrees, and the adjustment accuracy reaches 0.1 degree.

[0053] Time dimension: The target flipping speed ranges from 0.1 degree / second to 30 degrees / second, and the speed resolution is 0.01 degree / second.

[0054] Position dimension: The current flipping angle is measured in real time within the range of 0 degrees to 180 degrees, and the measurement accuracy is as high as 0.005 degree.

[0055] Load dimension: The load change rate can detect changes within the range of ±50% of the rated load, and the detection accuracy is 0.5%.

[0056] Dynamic dimension: Angular acceleration, the measurement range is ±50 rad / s², and the resolution is 0.01 rad / s².

[0057] The original sensor data is processed by moving average filtering, with a filtering window size of 5 sampling points, effectively removing the influence of random noise. Key feature parameters such as the difference between the current angle and the target angle, the angle change rate, and the load change gradient are calculated from the preprocessed data. The calculated parameters are mapped into a preset fuzzy set. For example, the angle deviation is divided into fuzzy subsets such as "negative large", "negative medium", "negative small", "zero", "positive small", "positive medium", "positive large", etc., and the system calculates the membership degree of each parameter belonging to each fuzzy subset. A rule base containing fuzzy rules established based on expert experience is used to perform fusion reasoning on multiple parameters. For example, if the angle deviation is "positive large" and the angle change rate is "positive small", the corresponding control rule is triggered. The centroid method is used to defuzzify the fuzzy reasoning result, and finally the current working condition type is determined.

[0058] According to the characteristics of the flipping process, the entire working condition is divided into five stages: Startup stage: When the current angle is less than 10% of the target angle and the flipping speed is less than 30% of the target speed, the system enters the startup stage. At this time, the angular acceleration is greater than 0 and rises rapidly. The greater the load, the slower the angular acceleration rises.

[0059] Acceleration stage: When the angle is between 10% and 70% of the target angle and the speed continues to increase and approaches the target speed, the system enters the acceleration stage. At this time, the angular acceleration is greater than 0 but gradually decreases, and the load will affect the attenuation rate of the angular acceleration.

[0060] Constant speed stage: When the angle reaches 70% to 90% of the target angle and the speed basically remains at the target speed, the system enters the constant speed stage. At this time, the angular acceleration is close to 0, and the fluctuation range is within ±0.5 rad / s². The fluctuation of the load will affect the speed stability.

[0061] Deceleration stage: When the angle reaches 90% to 100% of the target angle and the speed gradually decreases and approaches 0, the system enters the deceleration stage. At this time, the angular acceleration is less than 0 and the absolute value gradually increases. The greater the load, the greater the absolute value of the angular acceleration.

[0062] Fine positioning stage: When the angle reaches or exceeds the target angle and the speed is almost 0, the system enters the fine positioning stage. At this time, the angular acceleration approaches 0, and the fluctuation range is within ±0.1 rad / s². The load will affect the positioning stability.

[0063] The moment of inertia model is corrected in real time according to the load change. When the load is light (change rate less than -10%), the moment of inertia decreases, and the feedforward compensation coefficient is correspondingly reduced by 15%; when the load is heavy (change rate greater than +10%), the moment of inertia increases, and the feedforward compensation coefficient is increased by 20%.

[0064] Through pre - conducted load tests, the system established a mapping table of load and moment of inertia and stored it in the Flash memory of the controller. During actual operation, the system can quickly find the corresponding moment of inertia value according to the current load condition, thereby achieving accurate feed - forward compensation.

[0065] Calculate the influence of the gravity component on the flipping process based on spatial geometric relationships. When the flipping frame is in the horizontal position (angle is 0 degrees), the gravity moment is zero and the feed - forward compensation is also zero; when the frame is in the vertical position (angle is 90 degrees), the gravity moment reaches the maximum value and the feed - forward compensation also reaches the peak accordingly.

[0066] Established a curve relationship between the angle and the gravity moment compensation, and used the piece - wise linear interpolation algorithm to calculate the gravity moment compensation value corresponding to the current angle in real - time, ensuring that the influence of gravity can be effectively offset throughout the flipping process.

[0067] Dynamically adjust the damping compensation coefficient according to the magnitude of the angular velocity. In the low - speed region (speed less than 5 degrees / second), the damping compensation coefficient is small, about 30% of the rated value, to reduce unnecessary damping effects; in the high - speed region (speed greater than 20 degrees / second), the damping compensation coefficient increases to 120% of the rated value, effectively suppressing the hydraulic shock phenomenon that may occur during high - speed flipping and improving the stability of the system.

[0068] Angle deviation: It is divided into 7 fuzzy subsets, namely "negative large", "negative medium", "negative small", "zero", "positive small", "positive medium", "positive large". Each fuzzy subset corresponds to a specific range of angle deviation.

[0069] Deviation change rate: It is also divided into 7 fuzzy subsets, used to describe the change speed of the angle deviation over time.

[0070] Load change: It is divided into 5 fuzzy subsets, namely "very small", "small", "medium", "large", "very large", used to reflect the degree of load change.

[0071] The fuzzy rules are formulated based on a large amount of experimental data and expert experience, and can automatically adjust the parameters of the PID controller according to different working conditions, enabling the system to always maintain the best control performance.

[0072] When the angular acceleration is greater than 0.5 rad / s² (acceleration state), the system will increase the proportional coefficient by 10% - 30% and the differential coefficient by 15% - 40% to enhance the system's response ability to rapid changes.

[0073] When the angular acceleration is less than - 0.5 rad / s² (deceleration state), the integral coefficient will be reduced by 20% - 50% to prevent the occurrence of integral saturation phenomenon and avoid system overshoot.

[0074] When the absolute value of the angular acceleration is less than 0.1 rad / s² (steady state), the system will restore the basic PID parameters to ensure the control accuracy of the system in the stable state.

[0075] Before the formal startup, the system will pre-calculate the initial feedforward compensation value according to the set target angle and the detected load weight to prepare for the startup process. At the same time, the system will initialize the parameters of the fuzzy PID controller to the startup mode parameter group to meet the control requirements of the startup stage.

[0076] In the startup acceleration stage, under the action of the feedforward compensation, the system provides the main driving force, which accounts for 60%-80% of the control signal, ensuring that the frame can start quickly. The fuzzy PID controller quickly responds to the angle deviation and dynamically adjusts the proportional coefficient and integral coefficient to make the acceleration process of the frame smoother. The angular acceleration sensor real-time monitors the acceleration state and provides feedback information for the feedforward compensation and fuzzy PID control to further optimize the control effect.

[0077] In the constant speed stage, the feedforward compensation is mainly used to offset the inertia and gravity effects of the system and maintain the constant speed movement of the frame. The fuzzy PID controller focuses on fine-tuning the control parameters to compensate for the influence of load fluctuations and external disturbances on the speed stability. The angular acceleration sensor continuously monitors the speed change. When the detected speed fluctuation exceeds a certain range, it triggers the controller to make corresponding adjustments.

[0078] In the deceleration stage, the feedforward compensation provides reverse braking force to help the frame decelerate quickly, and dynamically adjusts the braking force size according to the load condition. The fuzzy PID controller prevents the system from overshooting during the deceleration process by reducing the integral coefficient and precisely controls the speed curve of the deceleration process. The angular acceleration sensor real-time feedbacks the deceleration state to ensure that the deceleration process is smooth and meets the expectations.

[0079] In the fine positioning stage, the feedforward compensation gradually decreases, and the control focus is transferred to the fuzzy PID controller. The fuzzy PID controller eliminates the tiny angle deviation by finely adjusting the parameters to achieve high-precision positioning control. The angular acceleration sensor continuously monitors the micro-movement state of the frame and provides accurate feedback information for the controller to ensure that the frame finally stabilizes at the target position.

[0080] The hydraulic drive multi-angle flipping and blanking device provided in this embodiment can be used to execute the above method embodiment, and its implementation principle and technical effect are similar, which will not be elaborated here in this embodiment.

[0081] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A hydraulic-driven multi-angle flipping and discharging device, characterized in that Comprising: Frame assembly; A conveying and flipping mechanism, the conveying and flipping mechanism includes a flipping frame body, the flipping frame body is arranged on the top of the frame assembly through a rotating shaft (12), and a transmission component for transmitting a container filled with materials is arranged on the flipping frame body; Two driving mechanisms, the two driving mechanisms are respectively arranged on both sides of the frame assembly, the driving mechanism includes a hydraulic cylinder, a driving tooth plate and a driving gear, the hydraulic cylinder is arranged on one side of the frame assembly, the driving gear is connected to the upper end of the hydraulic cylinder, the driving gear is rotatably arranged on the frame assembly and connected to the rotating shaft, the driving tooth plate meshes with the driving gear, and the hydraulic cylinder drives the driving gear to rotate through the driving tooth plate to drive the flipping frame body to flip; A driving control module, which obtains the target flipping angle and target flipping speed set by the user; After detecting that the material reaches the specified position, a control signal is sent to the driving mechanism so that the driving mechanism reaches the target flipping angle at the target flipping speed.

2. The hydraulic drive type multi-angle turnover and blanking device according to claim 1, wherein The device further includes a detection module for detecting the flipping angle and load change of the flipping frame body; The driving control module is used for: Determining the control signal sent to the driving mechanism according to the flipping angle and load change.

3. The hydraulic drive type multi-angle turning and blanking device according to claim 2, wherein The driving control module is used for: Calculating the angle deviation and deviation change rate according to the flipping angle; Determining the parameters of the fuzzy PID controller according to the angle deviation, deviation change rate and load change; Determining the control signal according to the fuzzy PID controller.

4. The hydraulic drive type multi-angle turnover blanking device according to claim 2, wherein The detection module is further used for detecting the angular acceleration; the driving control module is used for: Determining the current working condition according to the target flipping angle, target flipping speed, flipping angle and load change; Determining the acceleration feedforward compensation value according to the current working condition and the angular acceleration; Determining the control signal sent to the driving mechanism according to the acceleration feedforward compensation value, the flipping angle and load change.

5. The hydraulic drive type multi-angle turnover and blanking device according to claim 4, wherein, The driving control module is used for: Calculating the angle deviation and deviation change rate according to the flipping angle; Determining the parameters of the fuzzy PID controller according to the angle deviation, deviation change rate and load change; Determining the control signal according to the acceleration feedforward compensation value and the fuzzy PID controller.

6. The hydraulic drive type multi-angle turnover blanking device according to claim 1, characterized in that The frame assembly includes: Two support frames, the two support frames are symmetrically arranged, the conveying and flipping mechanism is arranged on the top of the two support frames, and the driving mechanism is arranged outside the support frames; A plurality of reinforcing beams, and the plurality of reinforcing beams are connected to the lower part between the two support frames.

7. The hydraulic drive type multi-angle turnover and blanking device according to claim 6, characterized in that, A plurality of weight-reducing holes are formed in the support frame, a foot pad is arranged at the bottom of the support frame, and a reinforcing rib is arranged between the reinforcing beam and the support frame.

8. A hydraulic drive multi-angle turning and blanking device as claimed in claim 1, wherein, The conveying and flipping frame body includes: Two conveying cross beams, the two conveying cross beams are respectively arranged in parallel at the upper end of the frame assembly, the rotating shaft is arranged at the lower end of the conveying cross beam, and the transmission component is arranged on the conveying cross beam; A connecting beam, and the connecting beam is vertically connected between the two conveying cross beams.

9. The hydraulic drive type multi-angle turnover and blanking device according to claim 8, characterized in that, The transmission component includes: A plurality of conveying rollers, and a plurality of the conveying rollers are sequentially and rotatably arranged along the length direction of the conveying cross beam; A conveying motor, the conveying motor is fixed to one end of the conveying cross beam, and the conveying motor is connected to a plurality of the conveying rollers through chain drive for driving the plurality of the conveying rollers to rotate synchronously.

10. A hydraulic drive type multi-angle turnover blanking device as described in claim 1, characterized in that, A slide rail is longitudinally arranged on one side of the frame assembly, and the driving toothed plate is slidably arranged in the slide rail.

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