Sash beam vegetation bag conveying device

Abstract

The invention belongs to the technical field of vegetation bag construction, and particularly relates to a lattice beam vegetation bag conveying device which comprises a rack, a material box is arranged on the rack, a pair of roll shafts is installed at the bottom of the material box, a winch is fixedly connected to the top end of the rack, and the free ends of two ropes on the winch are fixedly connected to the bottom of the material box. The bottoms of the two ends of the machine frame are each provided with a set of rolling wheels, a discharging port is formed in the bottom of one side of the material box, and a material pushing mechanism used for pushing the vegetation bags out of the discharging port one by one is arranged in the material box. Parts such as the rack, the material box, the roll shaft and the winch are matched with one another, vegetation bags can be rapidly and stably carried to different construction parts of a lattice beam, compared with traditional manual carrying, the working efficiency is greatly improved, the labor intensity is reduced, the vegetation bags are accurately pushed out one by one through the arrangement of the material pushing mechanism, and the labor intensity is reduced. Mutual interference and damage between the vegetation bags are avoided, and completeness of vegetation growth substances in the vegetation bags is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of vegetation bag construction, in particular to a sash beam vegetation bag conveying device. Background Art

[0002] In slope ecological protection projects, frame beam vegetation bag slope protection technology has been widely used in slope protection of deep cuttings on highways of all levels because of its good soil and water conservation and vegetation restoration effects.

[0003] The existing commonly used frame beam vegetation bag installation construction adopts a transportation method of manual cooperation with crane lifting. The crane legs are supported on the road at the bottom of the slope, and the vegetation bags are transported to the frame beam where the vegetation bags need to be installed. The vegetation bags are then unloaded manually and installed layer by layer in the frame beam. This is very labor-intensive and time-consuming. Therefore, a frame beam vegetation bag conveying device is proposed. Summary of the Invention

[0004] Based on the technical problems existing in the prior art, the present invention proposes a sash beam vegetation bag conveying device.

[0005] The present invention proposes a lattice beam plant bag conveying device, comprising a frame, a material box is provided on the frame, a pair of rollers capable of rolling along the frame are installed at the bottom of the material box, a winch is fixedly connected to the top of the frame, the free ends of two ropes on the winch are respectively fixedly connected to the bottom of the material box, a group of rollers are respectively installed at the bottom of both ends of the frame, a discharge port is opened at the bottom position of one side of the material box along the arrangement direction of the lattice beams, and a pushing mechanism for pushing the plant bags out from the discharge port one by one is provided in the material box; the device is carried to the lattice beam, and the bag is transported to the lattice beam according to the method of the present invention. The device is placed as shown in the figure, and then the vegetation bags are stacked in the material box. The rope is then reeled in by the winch, and the material box is pulled along the direction of the frame to transport the vegetation bags. The material box is controlled to stop at different construction positions of the lattice beam for unloading. During unloading, the stacked vegetation bags are pushed out one by one from the discharge port through the pushing mechanism, and the vegetation bags will fall into the corresponding construction positions of the lattice beam. When all construction positions of a certain column have been transported, the device is pushed to the construction position of the next column by the rollers along the horizontal direction, and then the above-mentioned transport and unloading operations are repeated.

[0006] Preferably, the pushing mechanism includes an L-shaped pushing plate, one end of which passes through the material box, and a servo motor is fixedly connected to the outside of the material box and is rotatably connected to a screw. The end of the screw is threadedly connected to a sleeve, and the other end of the sleeve is fixedly connected to the pushing plate. Synchronous wheels are respectively installed on the output shaft of the servo motor and the screw, and the two synchronous wheels are connected by a synchronous belt; one of the synchronous wheels is driven to rotate by the output shaft of the servo motor, and then the screw is driven to rotate through the transmission cooperation of the synchronous wheel and the synchronous belt. The screw will drive the sleeve through the threaded transmission to push the lowest vegetation bag out of the discharge port for unloading, and the other vegetation bags will fall on the top of the pushing plate. When the pushing plate is reset, the other vegetation bags will fall to the bottom of the material box.

[0007] Preferably, the material box is provided with multiple openings distributed at intervals on both sides, and the material box is elastically connected to a fixed plate on both sides, and a plurality of partitions corresponding to the openings are fixedly connected to the inner side of the fixed plate, and the top of the push plate is fixedly connected to a fixed frame, and the inner walls of the two sides of the fixed frame are respectively provided with multiple evenly distributed arc-shaped protrusions that can contact the fixed plate; when the push plate moves, it will synchronously drive the fixed frame to move, and the protrusions on the fixed frame will contact the fixed plate in turn and squeeze it, and under the action of elastic force, the two groups of partitions on both sides will simultaneously move repeatedly toward the middle. On the one hand, when the partition enters between two adjacent plant bags, it will support the plant bag, so that other plant bags above can be prevented from being pressed on the lowest plant bag, so that the plant bag being pushed out can be easily pushed out without interfering with other plant bags. On the other hand, since some plant bags may be in a skewed state when being moved into the material box, the position of the skewed plant bag can be corrected by repeatedly squeezing the corresponding plant bag by the partition.

[0008] Preferably, a plurality of guide pillars are fixedly connected on both sides of the material box, and the ends of the guide pillars pass through the fixed plate. A spring is also sleeved on the guide pillars, and the two ends of the spring are fixedly connected to the fixed plate and the material box respectively; when the protrusion is out of contact with the fixed plate, the elastic force of the spring can drive the fixed plate to accurately reset.

[0009] Preferably, the free end of the partition is a herringbone structure; since the end of the partition is a herringbone structure, on the one hand, it can facilitate the partition to better enter between two adjacent vegetation bags without causing damage to the vegetation bags, and when such a partition acts on a vegetation bag in a skewed state, it is easier to move the vegetation bag, thereby better achieving the correction effect.

[0010] Preferably, a frame beam vegetation bag conveying device also includes: a pressure acquisition module, installed at the position where the push plate and the sleeve are connected, for real-time monitoring of the vertical pressure applied by the stack of vegetation bags to the push plate; a current acquisition module, installed on the power supply circuit of the servo motor, for real-time monitoring of the working current of the servo motor; a photoelectric counter, embedded in the contact side of the push plate and the vegetation bag, for real-time monitoring of the number of vegetation bags output; generating a load attenuation coefficient and a residual load evaluation coefficient through the control module, and dynamically adjusting the power of the servo motor through the collaborative calculation of the load attenuation coefficient and the residual load evaluation coefficient.

[0011] Preferably, the output and input ends of the pressure acquisition module, the output and input ends of the current acquisition module, and the output and input ends of the photoelectric counter are electrically connected to the input and output ends of the control module respectively, and the output end of the control module is electrically connected to the input end of the servo motor.

[0012] Preferably, the control module dynamically adjusts the power of the servo motor by collaboratively calculating the load attenuation coefficient and the residual load evaluation coefficient in the following steps:

[0013] Real-time detection: The pressure acquisition module collects the vertical pressure exerted by the stack of vegetation bags on the push plate; the current acquisition module collects the working current of the servo motor; the photoelectric counter collects the number of vegetation bags output n;

[0014] Coefficient calculation: The control module calculates the load reduction coefficient λ and the residual load evaluation coefficient R;

[0015] Dynamic adjustment: If R≥0.95, maintain rated power output; if 0.8≤R<0.95, power is reduced to P new , P new is the dynamically adjusted motor power, P default The default output power, k2 is the power attenuation gain coefficient, if λ<0.6, emergency shutdown and fault alarm are triggered, if n=N, the motor power is automatically cut off.

[0016] Preferably, the generation logic of the load attenuation coefficient is:

[0017] S1. Obtain the actual pressure value of the push plate at different times during the operation of the conveying device through the pressure detection module, and calibrate the actual pressure value obtained at the pth time during the T time as p is a positive integer;

[0018] S2. Calculate the load attenuation coefficient. The calculation expression is:

[0019] Where, F0 is the base pressure of the push plate when it is unloaded, I0 is the working current of the servo motor when it is unloaded, and k1 is the pressure-current conversion coefficient. is the average current value within T time, and s is the number of sampling times within T time.

[0020] Preferably, the generation logic of the residual load evaluation coefficient is:

[0021] S1, obtain the number of vegetation bags n output within T time through the photoelectric counter;

[0022] S2. Calculate the residual load proportional factor: Calculate the efficiency correction term: ln(λ+0.2), and finally generate the residual load evaluation coefficient. The calculation expression is:

[0023] Compared with the prior art, the present invention provides a sash beam vegetation bag conveying device, which has the following beneficial effects:

[0024] 1. A lattice beam vegetation bag conveying device. The frame, material box, roller, winch and other components in the device cooperate with each other to quickly and stably transport vegetation bags to different construction locations of the lattice beam. Compared with traditional manual handling, it greatly improves work efficiency and reduces labor intensity. The setting of the pushing mechanism realizes the precise pushing of vegetation bags one by one, avoids mutual interference and damage between vegetation bags, and ensures the integrity of vegetation growth materials in the vegetation bags.

[0025] 2. A lattice beam plant bag conveyor. The openings, fixed plates, and partitions on both sides of the hopper not only support the plant bags, preventing them from exerting excessive pressure on those below, but also effectively correct any skewed bags, ensuring accurate and stable placement. The combination of guide posts and springs allows the fixed plates to quickly reset, ensuring continuous operation. The herringbone-shaped partition design further optimizes the protection and alignment of the plant bags.

[0026] 3. A frame beam vegetation bag conveying device, which is equipped with a pressure acquisition module, a current acquisition module, a photoelectric counter and a control module that work together to monitor the operating status of the device in real time. By calculating the load attenuation coefficient and the residual load evaluation coefficient, it can realize dynamic adjustment of the servo motor power. While ensuring the efficient operation of the device, it effectively avoids equipment failures caused by abnormal loads, reduces energy consumption, and further improves the reliability and intelligence of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the overall structure of a lattice beam vegetation bag conveying device proposed by the present invention;

[0028] Figure 2 This is a schematic diagram of a lattice beam vegetation bag conveying device proposed by the present invention in use on a lattice beam;

[0029] Figure 3 This is a schematic diagram of the material box structure of a lattice beam vegetation bag conveying device proposed by the present invention;

[0030] Figure 4 This is a schematic diagram of the internal structure of a material box of a lattice beam vegetation bag conveying device proposed by the present invention;

[0031] Figure 5 For the present invention Figure 4 A schematic diagram of the enlarged structure at point A;

[0032] Figure 6 This is a schematic diagram of the state of a push plate of a lattice beam vegetation bag conveying device proposed by the present invention pushing out a vegetation bag;

[0033] Figure 7 This is a system block diagram of a lattice beam vegetation bag conveying device proposed by the present invention.

[0034] In the figure: 1. Frame; 2. Material box; 3. Roller; 4. Winch; 5. Rope; 6. Discharge port; 7. Roller; 8. Push plate; 9. Servo motor; 10. Synchronous wheel; 11. Screw; 12. Synchronous belt; 13. Fixed plate; 14. Partition; 15. Guide column; 16. Spring; 17. Fixed frame; 18. Protrusion; 19. Opening; 20. Pressure acquisition module; 21. Current acquisition module; 22. Control module; 23. Sleeve. DETAILED DESCRIPTION

[0035] The technical solutions 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, rather than all the embodiments.

[0036] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0037] Reference Figure 1-Figure 7A lattice beam plant bag conveying device includes a frame 1, a material box 2 is provided on the frame 1, a pair of rollers 3 that can roll along the frame 1 are installed at the bottom of the material box 2, a winch 4 is fixedly connected to the top of the frame 1, the free ends of two ropes 5 on the winch 4 are respectively fixedly connected to the bottom of the material box 2, a group of rollers 7 are respectively installed at the bottom of both ends of the frame 1, a discharge port 6 is opened at the bottom position of one side of the material box 2 along the arrangement direction of the lattice beams, and a pushing mechanism for pushing the plant bags out of the discharge port 6 one by one is provided in the material box 2;

[0038] When in use, move the device to the frame beam and follow the Figure 2 The device is placed as shown, and then the vegetation bags are stacked in the material box 2. The rope 5 is then reeled in by the winch 4 to pull the material box 2 along the direction of the frame 1 to transport the vegetation bags. The material box 2 is controlled to stop at different construction locations of the lattice beam for unloading. During unloading, the stacked vegetation bags are pushed out one by one from the discharge port 6 by the pushing mechanism, and the vegetation bags will fall into the corresponding construction locations of the lattice beam. When all construction locations of a certain column have been transported, the device is pushed to the construction location of the next column by the roller 7 along the horizontal direction, and then the above-mentioned transport and unloading operations are repeated.

[0039] The pushing mechanism includes an L-shaped push plate 8, one end of which passes through the material box 2. A servo motor 9 is fixedly connected to the outside of the material box 2 and is rotatably connected to a screw 11. The end of the screw 11 is threadedly connected to a sleeve 23. The other end of the sleeve 23 is fixedly connected to the push plate 8. Synchronous wheels 10 are respectively installed on the output shaft of the servo motor 9 and the screw 11. The two synchronous wheels 10 are connected by a synchronous belt 12.

[0040] During use, the output shaft of the servo motor 9 drives one of the synchronous wheels 10 to rotate, and then the screw 11 is driven to rotate through the transmission cooperation of the synchronous wheel 10 and the synchronous belt 12. The screw 11 will drive the sleeve 23 through the threaded transmission to push the lowest vegetation bag out of the discharge port 6 for unloading, and the other vegetation bags will fall on the top of the push plate 8. When the push plate 8 is reset, the other vegetation bags will fall to the bottom of the material box 2.

[0041] Furthermore, a plurality of openings 19 are respectively provided on both sides of the material box 2 at intervals, and a fixing plate 13 is elastically connected to each side of the material box 2. A plurality of partitions 14 corresponding to the openings 19 are fixedly connected to the inner side of the fixing plate 13. A fixing frame 17 is fixedly connected to the top of the push plate 8. The inner walls of both sides of the fixing frame 17 are respectively provided with a plurality of evenly distributed arc-shaped protrusions 18 that can contact the fixing plate 13.

[0042] When in use, when the push plate 8 moves, it will synchronously drive the fixing frame 17 to move, and the protrusions 18 on the fixing frame 17 will contact the fixing plate 13 in turn and squeeze it, and under the action of elastic force, the two groups of partitions 14 on both sides will move repeatedly toward the middle at the same time. On the one hand, when the partition 14 enters between two adjacent vegetation bags, it will support the vegetation bag, so that other vegetation bags above will not be pressed on the lowest vegetation bag, so that the vegetation bag being pushed out will be easy to push out and will not interfere with other vegetation bags. On the other hand, since some vegetation bags may be in a skewed state when being moved to the material box 2, the position of the skewed vegetation bag can be corrected by repeatedly squeezing the corresponding vegetation bag by the partition 14.

[0043] Among them, a plurality of guide pillars 15 are fixedly connected to both sides of the material box 2, and the ends of the guide pillars 15 pass through the fixed plate 13. A spring 16 is also sleeved on the guide pillars 15, and the two ends of the spring 16 are fixedly connected to the fixed plate 13 and the material box 2 respectively;

[0044] During use, when the protrusion 18 is out of contact with the fixing plate 13 , the fixing plate 13 can be accurately reset by the elastic force of the spring 16 .

[0045] Furthermore, the free end of the partition 14 is a herringbone structure;

[0046] When in use, since the end of the partition 14 is a herringbone structure, on the one hand, it is convenient for the partition 14 to better enter between two adjacent vegetation bags without causing damage to the vegetation bags. Moreover, when such a partition 14 acts on a vegetation bag in a skewed state, it is easier for the vegetation bag to move, thereby better achieving the correction effect.

[0047] In another embodiment, a sash beam vegetation bag conveying device further includes:

[0048] The pressure collection module 20 is installed at the position where the push plate 8 and the sleeve 23 are connected, and is used to monitor the vertical pressure applied by the stack of vegetation bags to the push plate 8 in real time;

[0049] The current acquisition module 21 is installed on the power supply circuit of the servo motor 9 and is used to monitor the working current of the servo motor 9 in real time;

[0050] A photoelectric counter is embedded in the contact surface between the push plate 8 and the vegetation bag, and is used to monitor the number of vegetation bags output in real time;

[0051] The output and input of the pressure acquisition module 20, the output and input of the current acquisition module 21, and the output and input of the photoelectric counter are electrically connected to the input and output of the control module 22, respectively. The output of the control module 22 is electrically connected to the input of the servo motor 9.

[0052] Generate a load reduction coefficient and a residual load evaluation coefficient through the control module 22, and dynamically adjust the power of the servo motor 9 through the coordinated calculation of the load reduction coefficient and the residual load evaluation coefficient;

[0053] It should be noted that the pressure acquisition module 20 can be a thin film pressure sensor or other equipment that can monitor in real time the vertical pressure applied by the stack of vegetation bags to the push plate 8; the current acquisition module 21 can be a Hall effect current sensor or other equipment that can monitor in real time the working current of the servo motor 9; the control module 22 is an embedded controller (such as the STM32 series) with an integrated data fusion algorithm; therefore, the pressure acquisition module 20, the current acquisition module 21 and the control module 22 are not specifically limited here and can be selected according to actual needs.

[0054] In another embodiment, the control module 22 generates a load reduction coefficient and a residual load evaluation coefficient, and dynamically adjusts the power of the servo motor 9 by collaboratively calculating the load reduction coefficient and the residual load evaluation coefficient as follows:

[0055] Real-time detection: The pressure acquisition module 20 acquires the vertical pressure exerted by the stack of vegetation bags on the push plate 8; the current acquisition module 21 acquires the working current of the servo motor 9;

[0056] Coefficient calculation:

[0057] Load attenuation coefficient: The load attenuation coefficient λ characterizes the degree of efficiency attenuation of the mechanical transmission system and reflects the load transfer efficiency of the push plate 8 driving mechanism during the process of reducing the vegetation bags;

[0058] The generation logic of the load reduction coefficient is:

[0059] S1, the pressure detection module 20 obtains the actual pressure value of the push plate 8 at different times during the operation of the conveying device T, and the actual pressure value obtained at the pth time during the T time is calibrated as p is a positive integer;

[0060] S2. Calculate the load attenuation coefficient. The calculation expression is:

[0061] Where, F0 is the basic pressure of the push plate 8 when it is unloaded, I0 is the working current of the servo motor 9 when it is unloaded, and k1 is the pressure-current conversion coefficient. is the average current value within T time, and s is the number of sampling times within T time.

[0062] Residual load evaluation coefficient: The residual load evaluation coefficient R quantifies the attenuation characteristics of the driving force demand when the number of vegetation bags in the feed bin 2 is reduced, and accurately matches the nonlinear load attenuation curve when the number of vegetation bags is reduced;

[0063] The generation logic of the residual load evaluation coefficient is:

[0064] S1, obtain the number of vegetation bags n output within T time through the photoelectric counter;

[0065] S2. Calculate the residual load proportional factor: Calculate the efficiency correction term: ln(λ+0.2), and finally generate the residual load evaluation coefficient. The calculation expression is:

[0066] Dynamic adjustment: If R≥0.95, maintain rated power output; if 0.8≤R<0.95, power is reduced to P new , P new is the dynamically adjusted motor power, P default The default output power, k2 is the power attenuation gain coefficient, if λ<0.6, emergency shutdown and fault alarm are triggered, if n=N, the motor power is automatically cut off.

[0067] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A sash beam vegetation bag conveying device, comprising a frame (1), characterized in that: The frame (1) is provided with a material box (2), a pair of rollers (3) capable of rolling along the frame (1) are installed at the bottom of the material box (2), a winch (4) is fixedly connected to the top of the frame (1), the free ends of two ropes (5) on the winch (4) are respectively fixedly connected to the bottom of the material box (2), a group of rollers (7) are respectively installed at the bottom of both ends of the frame (1), a discharge port (6) is opened at the bottom position of one side of the material box (2) along the arrangement direction of the frame beams, and a pushing mechanism for pushing the vegetation bags out from the discharge port (6) one by one is provided in the material box (2).

2. A sash beam vegetation bag conveying device according to claim 1, characterized in that: The pushing mechanism comprises an L-shaped pushing plate (8), one end of which passes through a material box (2), a servo motor (9) being fixedly connected to the outside of the material box (2) and being rotatably connected to a screw rod (11), an end of the screw rod (11) being threadedly connected to a sleeve (23), the other end of the sleeve (23) being fixedly connected to the pushing plate (8), a synchronous wheel (10) being respectively mounted on the output shaft of the servo motor (9) and the screw rod (11), and the two synchronous wheels (10) being connected via a synchronous belt (12).

3. A sash beam vegetation bag conveying device according to claim 2, characterized in that: A plurality of openings (19) are respectively provided at intervals on both sides of the material box (2), a fixing plate (13) is elastically connected to both sides of the material box (2), a plurality of partitions (14) corresponding to the openings (19) are fixedly connected to the inner side of the fixing plate (13), a fixing frame (17) is fixedly connected to the top of the push plate (8), and a plurality of evenly distributed arc-shaped protrusions (18) capable of contacting the fixing plate (13) are respectively provided on the inner walls of both sides of the fixing frame (17).

4. A sash beam vegetation bag conveying device according to claim 3, characterized in that: A plurality of guide pillars (15) are fixedly connected to both sides of the material box (2), the ends of the guide pillars (15) pass through the fixed plate (13), and a spring (16) is sleeved on the guide pillars (15), with the two ends of the spring (16) fixedly connected to the fixed plate (13) and the material box (2), respectively.

5. The sash beam vegetation bag conveying device according to claim 3, characterized in that: The free end of the partition (14) is a herringbone structure.

6. The sash beam vegetation bag conveying device according to claim 2, characterized in that: Also includes: A pressure acquisition module (20) is installed at a position where the push plate (8) and the sleeve (23) are connected, and is used to monitor in real time the vertical pressure applied by the stack of vegetation bags to the push plate (8); A current acquisition module (21) is installed on the power supply circuit of the servo motor (9) and is used to monitor the operating current of the servo motor (9) in real time; A photoelectric counter is embedded in the contact surface between the push plate (8) and the vegetation bag, and is used to monitor the number n of vegetation bags output in real time; A load attenuation coefficient and a residual load evaluation coefficient are generated by a control module (22), and the power of the servo motor (9) is dynamically adjusted by collaborative calculation of the load attenuation coefficient and the residual load evaluation coefficient.

7. A sash beam vegetation bag conveying device according to claim 6, characterized in that: The output end and input end of the pressure acquisition module (20), the output end and input end of the current acquisition module (21), and the output end and input end of the photoelectric counter are electrically connected to the input end and output end of the control module (22), respectively. The output end of the control module (22) is electrically connected to the input end of the servo motor (9).

8. The sash beam vegetation bag conveying device according to claim 6, characterized in that: The control module (22) dynamically adjusts the power of the servo motor (9) by collaboratively calculating the load attenuation coefficient and the residual load evaluation coefficient. The execution steps are as follows: Real-time detection: the pressure acquisition module (20) acquires the vertical pressure exerted by the stack of vegetation bags on the push plate (8); the current acquisition module (21) acquires the working current of the servo motor (9); the photoelectric counter acquires the number n of vegetation bags output; Coefficient calculation: The control module (22) calculates the load attenuation coefficient λ and the residual load evaluation coefficient R; Dynamic adjustment: If R≥0.95, maintain rated power output; if 0.8≤R<0.95, the power is reduced to the dynamically adjusted motor power; if λ<0.6, emergency shutdown is performed and a fault alarm is triggered; if n=N, the motor power is automatically cut off, where N is the maximum capacity of the material box (2).

9. The sash beam vegetation bag conveying device according to claim 8, characterized in that: The generation logic of the load attenuation coefficient is: S1. Obtain the actual pressure values ​​of the push plate (8) at different times during the operation of the conveying device through the pressure detection module (20), and calibrate the actual pressure value obtained at the pth time during the time T as p=1,2,3,...,s; p is a positive integer; S2. Calculate the load attenuation coefficient. The calculation expression is: Where, F0 is the base pressure of the push plate (8) when it is unloaded, I0 is the working current of the servo motor (9) when it is unloaded, and k1 is the pressure-current conversion coefficient. is the average current value within T time, and s is the number of sampling times within T time.

10. The sash beam vegetation bag conveying device according to claim 8, characterized in that: The generation logic of the residual load evaluation coefficient is: S1, obtain the number of vegetation bags n output within T time through the photoelectric counter; S2. Calculate the residual load proportional factor: Calculate the efficiency correction term: ln(λ+0.2), and finally generate the residual load evaluation coefficient. The calculation expression is:

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