A waste door servo cylinder driving system and control method

Abstract

This application relates to a servo electric cylinder drive system and control method for a waste hopper cover door, belonging to the field of mechanical engineering. It addresses the problems of existing waste hopper cover door drive control methods being complex in structure, low in intelligence, and lacking reliable position holding and safety protection mechanisms. The method includes: upon receiving an opening / closing command, first unlocking the power-off holding safety lock; then driving the cover door to move via the servo electric cylinder; combining encoder displacement feedback with closed-loop adjustment of motor torque and speed; real-time monitoring of load torque and execution of a micro-reverse anti-jamming algorithm; using both encoder and proximity switch signals to determine the positioning status; upon positioning, mechanical locking is achieved by a reset spring driving a locking pin to engage with the drive shaft groove; if locking is incomplete, automatic retry is performed, ultimately entering the power-off holding state. This application achieves opening and closing control and intelligent locking of the waste hopper cover door through the above method, improving the overall system safety.

Description

Technical Field

[0001] This invention belongs to the field of mechanical engineering, specifically relating to a servo electric cylinder drive system and control method for a waste gate. Background Technology

[0002] Currently, in the waste disposal system of stamping production lines, the opening and closing control of the waste hopper cover is crucial for ensuring production safety and adapting to different mold processes. Traditional technology typically uses a hydraulic pump station to drive hydraulic cylinders to achieve the opening and closing of the waste hopper cover. To adjust the opening angle of the waste hopper cover to accommodate waste of different sizes, existing technology often requires complex components such as multiple limit switches and independent locking cylinders. Furthermore, existing hydraulic control methods lack a precise digital closed-loop feedback mechanism during execution, making it difficult to achieve high-precision position control of the waste hopper cover during operation, and prone to response lag or interference during the transition between stopping and locking. This not only affects the effective space utilization of the waste hopper but also, to some extent, restricts the improvement of the overall system safety performance, making it difficult to meet the high reliability requirements of modern automated production lines. In addition, existing technology lacks an effective position holding and mechanical self-locking structure in the event of a sudden power outage, pipeline leak, or power failure, further limiting the overall system safety.

[0003] The existing technology has the following drawbacks: the drive control method of the waste hopper cover door has a complex structure and low level of intelligence, and lacks reliable position holding and safety protection mechanisms. This is a shortcoming of the existing technology.

[0004] In view of this, it is very necessary to provide a waste gate servo electric cylinder drive system and control method to solve the above-mentioned defects in the prior art. Summary of the Invention

[0005] To address the technical problems of existing waste hopper cover door drive control methods being complex in structure and lacking in intelligence, as well as reliable position holding and safety protection mechanisms, this invention provides a waste door servo electric cylinder drive system and control method to solve the above-mentioned technical problems.

[0006] In a first aspect, the present invention provides a waste gate servo electric cylinder drive system, comprising: Electric cylinder, electric cylinder bracket, rotating shaft, support and spherical connector; The cylinder body of the electric cylinder is fixed on the electric cylinder bracket; The drive shaft of the electric cylinder is connected to the support set on the waste hopper cover door through a fisheye joint; The rotating shaft is fixedly connected to the waste hopper cover, and the rotating shaft is connected to the intermediate shaft support seat through a bearing; the intermediate shaft support seat is fixed to the waste hopper body by screws. The drive module of the electric cylinder is mounted on the cylinder body, and the drive module is connected to the drive shaft; The drive module also includes a power-off retention safety lock module, which includes a locking seat, a locking pin, a drive assembly, and a position detection assembly. The locking pin passes through the locking seat; The drive assembly includes a return spring and a solenoid valve, and drives the locking pin to move. The drive shaft surface is provided with a locking groove; The head end face of the locking pin is a wedge-shaped surface, and the groove wall of the locking groove is an inclined guide rail that matches the wedge-shaped surface.

[0007] The power-off safety lock module uses a spring reset and a solenoid valve to instantly trigger the locking pin to insert into the locking seat when power is off, forming a rigid mechanical connection to lock the electric cylinder drive shaft. The designed wedge-shaped surface and inclined guide rail generate a self-locking effect when force is applied, ensuring that the electric cylinder drive shaft is not pushed by external force when power is off, thereby achieving reliable position holding and safety protection.

[0008] The fisheye joint includes a ball head and a ball seat, wherein the ball head is fixedly connected to the end of the drive shaft by a pin, and the ball seat is hinged to the lug of the support. An open sleeve is also fitted onto the rotating shaft, which is mounted on the end plate to limit the axial displacement of the rotating shaft.

[0009] Secondly, the technical solution of the present invention also provides a servo electric cylinder drive control method for a waste hopper, including step S1: receiving a start command for opening or closing the waste hopper cover door, outputting an unlocking signal, driving the solenoid valve to act, overcoming the elastic force of the reset spring, and driving the locking pin to retract to the safe unlocking position. Step S2: Start the servo motor, drive the drive module to extend and retract the drive shaft, and drive the waste hopper cover door to rotate through the support; obtain the displacement feedback value of the encoder in the drive module in real time, calculate the displacement feedback value and compare it with the preset target opening and closing position, and adjust the output torque and speed of the servo motor based on the position deviation; Adjusting the output torque and speed of the servo motor based on position deviation specifically includes: The first reference point is set to the fully closed position of the waste hopper cover door, and the second reference point is set to the fully open position. A first safety window and a second safety window are constructed, centered on the first and second reference points respectively. When the displacement feedback value is within the range of the first safety window or the second safety window, it is determined that the locking preparation condition is met. When the displacement feedback value is not within the range of the first or second safety window, an exception handling procedure is executed, including: The waste hopper cover door is determined to be in an unsafe condition. Trigger an alarm signal and lock the current position of the drive shaft, prohibiting the execution of automatic operation mode until a manual fine-tuning command is received; Adjusting the output torque and speed of the servo motor based on position deviation includes: Real-time monitoring of the load torque of the servo motor; Set the blocking threshold; If the load torque exceeds the jamming threshold, the micro-retraction algorithm is executed: the output torque and speed of the servo motor are paused and adjusted, the servo motor is reversed, and the drive shaft is driven to retract the preset retraction distance. After a delay, the retraction is attempted again. The micro-backoff algorithm includes a loop counting determination step: Record the number of times the micro-rollback algorithm is executed; If the number of executions is less than the preset loop limit, return to step S1 to continue trying; If the number of executions reaches the preset cycle limit and the load torque still exceeds the jamming threshold, it is determined to be a serious jam and a shutdown alarm is triggered.

[0010] In this step, by constructing a safety window centered on a reference point for position determination, it is possible to accurately identify whether the waste hopper cover door is in a lockable ready state. When an abnormality is detected, the position is locked and an alarm is triggered in time, effectively preventing the waste hopper cover door from malfunctioning in unsafe areas. Combined with real-time load torque monitoring and a micro-retraction algorithm, the system automatically eliminates minor jamming during operation by using a slight retraction of the drive shaft for retry. In addition, a cycle counting mechanism distinguishes between instantaneous jamming and severe jamming. This significantly improves the system's adaptability and operational continuity under complex working conditions while ensuring that the equipment is protected from mechanical damage.

[0011] Step S3: Determine whether the waste hopper cover has reached the preset target opening and closing position. If yes, proceed to step S4; otherwise, return to step S2 to continue adjusting the output torque and speed of the servo motor. Determining whether the waste hopper cover door has reached the preset target opening / closing position includes: obtaining a first position signal through an encoder in the drive module; obtaining a second position signal through a non-contact proximity switch installed on the waste hopper body; and determining that the waste hopper cover door has reached the preset target opening / closing position when the first position signal and the second position signal simultaneously meet the preset logic conditions.

[0012] In this step, the encoder and non-contact proximity switch are used together to determine the position status of the waste hopper cover door. This enables redundant and mutual backup of position detection, improves the accuracy of target opening and closing position identification, prevents misjudgment due to single sensor failure, and ensures stable execution of control logic.

[0013] Step S4: Control the servo motor to stop running, cut off the unlocking signal, cut off the power to the solenoid valve, release the potential energy of the reset spring, drive the locking pin to move towards the drive shaft and engage in the locking groove, and perform the locking and holding action; Controlling the servo motor to stop running includes: Real-time monitoring of the torque change rate of the servo motor; Set the target stiffness coefficient; If the rate of change of torque is less than the preset first impact threshold, the target stiffness coefficient is maintained; if the rate of change of torque is greater than or equal to the preset first impact threshold, it is determined that a hard object impact has occurred, and the target stiffness coefficient is switched from a low stiffness state to a high stiffness state. The locking pin moves toward the drive shaft and engages with the locking groove, including: The wedge-shaped surface of the locking pin contacts the inclined guide rail of the locking groove; When an external impact force is applied to the drive shaft, the external impact force is decomposed into a horizontal component and a vertical component; The vertical component of the force increases the friction between the locking pin and the inclined guide rail.

[0014] In this step, the resistance to sudden external interference is enhanced by monitoring the torque change rate of the servo motor in real time and dynamically adjusting the target stiffness coefficient. Combined with the matching structure of the locking pin wedge surface and the locking groove inclined guide rail, the external impact force is decomposed into vertical component force to automatically increase the friction force, which can achieve a self-reinforcing holding effect in the locking state and improve the structural safety of the system under impact conditions.

[0015] Step S5: Monitor the displacement of the locking pin in real time. If the displacement meets the locking condition, cut off all drive signals and enter the power-off holding state.

[0016] If the displacement does not meet the locking condition, an unlocking retry procedure is executed, including: The unlock signal is output again, which drives the solenoid valve to retract the locking pin. Control the servo motor to drive the drive shaft to perform micro-amplitude reciprocating motion; The unlock signal is cut off again, causing the locking pin to move toward the drive shaft and attempt to engage with the locking groove.

[0017] In this step, if the locking is not in place, an unlocking retry process is executed. By controlling the micro-reciprocating motion of the drive shaft, the locking pin is repositioned, which can effectively solve the locking failure problem caused by position deviation and reduce the need for manual intervention.

[0018] The beneficial effects of this invention are as follows: The servo electric cylinder drive system and control method for a waste hopper door provided by this invention, by employing a servo electric cylinder as the actuator and combining it with a closed-loop control algorithm, solves the problems of complex structure and low control precision in traditional hydraulic systems, achieving precise adjustment and intelligent control of the opening and closing angle of the waste hopper cover door. By optimizing the linkage logic between drive and locking, the utilization rate of the waste hopper's internal space can be effectively improved, adapting to the discharge requirements of waste of different sizes. By introducing multiple safety monitoring mechanisms, including position window determination, load torque monitoring, and dual-signal arrival detection, reliable position can be maintained, improving the stability and safety of system operation and meeting the needs of high-reliability automated production.

[0019] Furthermore, the design principle of this invention is reliable, the structure is simple, and it has a very wide range of application prospects. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of a waste gate servo electric cylinder drive system provided by the present invention.

[0022] Figure 2 This is a schematic diagram of a power interruption holding safety lock module of a waste gate servo electric cylinder drive system provided by the present invention.

[0023] Figure 3 This is a schematic diagram of a fisheye connector in a waste gate servo electric cylinder drive system provided by the present invention.

[0024] Figure 4 This is a flowchart of a servo electric cylinder drive control method for a waste gate provided by the present invention.

[0025] Figure 5 This is a schematic diagram of the waste hopper cover door opening to 50° provided by the present invention.

[0026] 1-Electric cylinder, 2-Drive module, 3-Electric cylinder bracket, 4-Rotating shaft, 5-Support, 6-Fisheye connector, 7-Drive shaft, 8-Intermediate shaft support, 9-Open sleeve, 10-End plate, 21-Power-off retention safety lock module, 211-Locking seat, 212-Locking pin, 213-Drive assembly, 214-Position detection assembly, 2131-Reset spring, 2132-Solenoid valve, 61-Ball head rod, 62-Ball seat. Detailed Implementation

[0027] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this invention.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0029] Example 1: like Figures 1-3 As shown, an embodiment of the present invention provides a servo electric cylinder drive system for a waste gate, including an electric cylinder 1, a drive module 2, an electric cylinder bracket 3, a rotating shaft 4, a support 5, and a fisheye connector 6; Among them, the cylinder body of electric cylinder 1 is fixed on electric cylinder bracket 3; The drive shaft of the electric cylinder 1 is connected to the support 5 installed on the waste hopper cover door via a fisheye joint 6. The support 5 is installed on the waste hopper cover door. The rotating shaft 4 is fixedly connected to the waste hopper cover door, and the rotating shaft 4 is connected to the intermediate shaft support 8 through a bearing; the intermediate shaft support 8 is fixed to the waste hopper body by screws. The drive module 2 of the electric cylinder 1 is installed on the cylinder body of the electric cylinder 1, and the drive module 2 is connected to the drive shaft 7. The rotating shaft 4 is fixedly connected to the waste hopper cover door, and the rotating shaft 4 is connected to the intermediate shaft support 8 through a bearing. The intermediate shaft support 8 is fixed to the waste hopper body by screws. The baffle is installed on the waste hopper to ensure that the rotating shaft 4 runs smoothly.

[0030] The surface of drive shaft 7 is provided with a locking groove; The fisheye connector 6 includes a ball head rod 61 and a ball seat 62, wherein the ball head rod 61 is fixedly connected to the end of the drive shaft 7 by a pin, and the ball seat 62 is hinged to the lug of the support 5; An open sleeve 9 is also fitted on the rotating shaft 4, wherein the open sleeve 9 is installed on the end plate 10.

[0031] The drive module 2 also includes a power-off retention safety lock module 21, which includes a locking seat 211, a locking pin 212, a drive assembly 213, and a position detection assembly 214. Among them, the locking pin 212 passes through the locking seat 211; The drive assembly 213 includes a return spring 2131 and a solenoid valve 2132, and the drive assembly 213 drives the locking pin 212 to move. The head end face of the locking pin 212 is a wedge-shaped surface, and the groove wall of the locking groove is an inclined guide rail that matches the wedge-shaped surface.

[0032] Example 2: like Figure 4 and Figure 5 As shown, this embodiment also provides a servo electric cylinder drive control method for a waste hopper, including the following steps: Step S1: Receive the start command for opening or closing the waste hopper cover door, output the unlock signal, drive the solenoid valve to act, overcome the elastic force of the reset spring, and drive the locking pin to retract to the safe unlock position; Step S2: Start the servo motor, drive the drive module to extend and retract the drive shaft, and drive the waste hopper cover door to rotate through the support; obtain the displacement feedback value of the encoder in the drive module in real time, calculate the displacement feedback value and compare it with the preset target opening and closing position, and adjust the output torque and speed of the servo motor based on the position deviation; Step S3: Determine whether the waste hopper cover has reached the preset target opening and closing position. If yes, proceed to step S4; otherwise, return to step S2 to continue adjusting the output torque and speed of the servo motor. Step S4: Control the servo motor to stop running, cut off the unlocking signal, cut off the power to the solenoid valve, release the potential energy of the reset spring, drive the locking pin to move towards the drive shaft and engage in the locking groove, and perform the locking and holding action; Step S5: Monitor the displacement of the locking pin in real time. If the displacement meets the locking condition, cut off all drive signals and enter the power-off holding state.

[0033] In step S1, the core task is to establish the initial safety conditions for the operation of the waste hopper cover door. Upon receiving the start command, the mechanical locking state is first released to prepare for the subsequent electric cylinder drive. This step requires the recognition of external commands, the actuation of the solenoid valve, and the confirmation of the physical position of the locking pin to ensure that the waste hopper cover door enters a free movement state without mechanical interference.

[0034] In this embodiment, the system receives a start command from the host computer main control console or PLC main controller to open or close the waste hopper cover door. At this time, the control system is in standby mode, and the servo drive module and solenoid valve are both in a power-off holding state. After the system confirms receipt of the command, the controller first performs a self-test, checking the emergency stop circuit, servo enable status, and safety door lock status. After confirming that there are no fault alarms, the controller outputs an unlock signal, which is typically a 24V DC signal used to drive the intermediate relay or solid-state relay to close.

[0035] The unlocking signal drives the solenoid valve to operate. Specifically, when energized, the solenoid valve switches its internal valve core, cutting off the energy supply and changing the flow direction of the oil or air circuit. In this embodiment, hydraulic drive is used as the unlocking power source. Hydraulic oil enters the unlocking cylinder under the action of a high-pressure pump station, generating sufficient driving force to overcome the spring force of the return spring. Under the action of this driving force, the drive assembly drives the locking pin to retract backward against the spring force until it reaches the preset mechanical safety position.

[0036] It should be further explained that this embodiment employs a fail-safe mechanical locking pin structure based on energy conversion. The driving source for the locking pin consists of a powerful return spring and a small high-pressure solenoid valve / hydraulic drive shaft. The powerful return spring provides the locking force, while the small high-pressure solenoid valve / hydraulic drive shaft provides the unlocking force. Under normal conditions, the solenoid valve is de-energized, the spring releases its potential energy, forcibly extending the locking pin and physically locking the drive shaft, achieving fail-safe operation. Here, "normal conditions" refers to power outage / failure. When the servo is powered on and the system confirms safety, the hydraulic / pneumatic pressure output by the solenoid valve can push the locking pin back, compressing the spring.

[0037] Furthermore, to prevent mechanical damage caused by locking during startup, interlocking logic for the position sensor is introduced in this step. The system must read the signal from the locking pin position sensor. If the signal indicates that the pin has not retracted, it means the locking pin is stuck, triggering an alarm and prohibiting motor movement. Once the sensor reports that the pin has retracted, the system is allowed to proceed to the next step, thus establishing a robust timing logic.

[0038] Thus, step S1 controls the solenoid valve to operate by outputting an unlocking signal, thereby forcibly retracting the locking pin, releasing the mechanical interlock, and providing safe initial conditions for the extension and retraction of the servo cylinder.

[0039] In step S2, the core task is to drive the waste hopper cover door to perform reciprocating motion and to perform high-precision closed-loop control of the motion process based on real-time feedback data.

[0040] In this embodiment, the servo motor is activated after unlocking is confirmed. Upon receiving the start signal, the servo motor's rotor begins to rotate, controlling the drive module to drive the drive shaft in telescopic motion. The linear motion of the drive shaft is transmitted to the support via a fisheye connector, thereby causing the waste hopper cover door to rotate around the rotation axis. During the motion, the system acquires the displacement value fed back by the encoder within the drive module in real time. This displacement feedback value reflects the current actual extension or retraction length of the drive shaft. The system compares the displacement feedback value with the standard value corresponding to the preset target opening / closing position and calculates the difference between the two, i.e., the position deviation. Based on the magnitude and direction of the position deviation, the controller adjusts the output torque and speed of the servo motor using PID algorithms or other advanced control algorithms.

[0041] While the door is open and waiting for the waste to fall, the system enters a flexible door opening mode. At this time, the servo drive module does not enter a rigid pure position mode, and the target stiffness coefficient is set. The stiffness coefficient K is the ratio of the change in displacement to the change in required force, expressed as: ;in, The change in load force This represents the change in drive shaft displacement. When the encoder detects that the drive shaft has reached the predetermined receiving position, the motor does not stop, maintaining a small reverse torque. This is used to balance the weight and friction of the waste hopper cover, keeping the system in a semi-relaxed state. If a large piece of waste falls, the drive shaft is forced to move downwards. The system detects an increase in motor load torque. At this point, the servo system dynamically lowers the target position based on the force feedback model, allowing the drive shaft to make a slight follow-up contraction with the waste material. The dynamic equation can be described as: ; in, For rotational inertia, The damping coefficient is... For the motor rotation angle, For the motor output torque, This is the impact disturbance torque. By reducing... The system allows the motor rotation angle to change slightly under the action of impact disturbance torque, thereby absorbing impact energy and avoiding motor overload.

[0042] Furthermore, to prevent accidental shutdowns caused by scrap material jamming, this step employs an anti-jamming micro-retraction algorithm. First, jamming is detected by real-time monitoring of the motor torque T. If T suddenly exceeds a preset jamming threshold and the duration exceeds a set value, jamming is identified. Second, a micro-retraction strategy is implemented. Once jamming is detected, the system immediately executes a micro-retraction action, controlling the drive shaft to retract slightly. At this time, the servo stiffness K remains at a low level, allowing the mechanism to release stress. Finally, a retry is performed. After a preset delay, a second attempt is made to shut down at a lower speed. If the number of cycles N exceeds a preset value, a severe jam is identified, triggering an alarm and stopping the operation.

[0043] Thus, step S2 has constructed a dual closed-loop control system based on encoder feedback and torque monitoring. By introducing flexible control and anti-jamming strategies, it has achieved precise and adaptive control of the movement process of the waste hopper cover door, solving the problem of equipment damage caused by the impact of large pieces of waste falling.

[0044] In step S3, the core task is to logically determine the current position of the waste hopper cover door to decide whether to continue the adjustment action or enter the next stage of the locking process.

[0045] In this embodiment, the system continuously determines whether the waste hopper cover has reached the preset target opening / closing position. This determination logic is based on whether the position deviation calculated in step S2 is less than a preset threshold. If the determination result is yes, that is, the position deviation is within the allowable range and the waste hopper cover has reached the designated position, the process proceeds to step S4. If the determination result is no, the position deviation still exceeds the allowable range and the waste hopper cover has not yet reached the position, the system returns to step S2 and continues to perform the action of adjusting the output torque and speed of the servo motor until the reaching condition is met.

[0046] To improve the reliability of the determination, this embodiment adopts a dual-signal verification mechanism. A first position signal is obtained through the encoder inside the electric cylinder and a second position signal is obtained through a non-contact proximity switch installed on the waste hopper body. When the first position signal and the second position signal simultaneously meet the preset logic conditions, it is determined that the target position has been reached.

[0047] Furthermore, the system has two preset safety locking zones: a fully closed position and a fully open position. When the encoder value falls within these two safety locking zones, the system allows the mechanical locking pin to extend. If a power failure occurs outside the safety window, the mechanical locking pin will spring out due to spring action, but it will be blocked by the drive shaft surface and thus cannot engage. In this case, the system is locked in a dangerous state, and the drive shaft must be manually fine-tuned to the nearest safety window for the locking pin to engage properly.

[0048] Thus, step S3, through a closed-loop feedback logic judgment mechanism and safety window interlock, ensures that after the waste hopper cover door accurately reaches the target position and is within the safe area, subsequent mechanical locking actions are allowed to be triggered, thus guaranteeing the rigor and safety of the control process.

[0049] In step S4, the core task is to complete the cutting off of the power source and the execution of mechanical locking.

[0050] In this embodiment, after step S3 determines that the waste hopper cover door is in place, the servo motor is first stopped, the controller cuts off the drive pulses sent to the servo motor, the motor rotor stops rotating, and the drive shaft also stops moving. The unlocking signal is cut off, the solenoid valve loses its power supply, and its internal valve core returns to its initial position under the action of the return spring. At this time, the return spring releases its accumulated potential energy, driving the locking pin to move towards the drive shaft. Under the push of the spring force, the locking pin quickly engages in the preset locking groove on the surface of the drive shaft. This completely restricts the axial movement freedom of the drive shaft, thereby performing the locking and retaining action.

[0051] In this embodiment, the head end face of the locking pin is designed as a wedge-shaped surface, and the groove wall of the locking groove is a matching inclined guide rail. When an external impact force acts on the drive shaft, the impact force can be decomposed into a horizontal component and a vertical component. Among them, the vertical component further increases the normal pressure between the locking pin and the inclined guide rail, thereby generating a huge frictional force and achieving a locking effect that becomes stronger with each impact.

[0052] Specifically, let the wedge angle of the locking pin head be α, and the inclination angle of the inclined guide rail be β. When the drive shaft is subjected to a rightward impact force and attempts to move, the locking pin is subjected to the normal reaction force N of the inclined plane and the frictional force f. According to the static equilibrium condition, the resistance along the horizontal direction... It can be represented as: The normal force N is determined by the equilibrium in the vertical direction: ,in, The vertical component is generated by the weight of the locking pin and the preload of the spring.

[0053] Thus, step S4 achieves rigid fixation of the waste hopper cover door at the target position by cutting off the energy and using the reset spring to drive the mechanical interlock, releasing the brake pressure of the servo motor and improving the system's impact resistance and power failure retention capability.

[0054] In step S5, the core task is to confirm the final state of the mechanical locking and complete the final power-off and state maintenance of the system.

[0055] In this embodiment, the system monitors the displacement of the locking pin in real time to confirm whether the locking pin has fully entered the locking groove. The monitoring methods include a displacement sensor mounted on the locking pin, or a proximity switch that detects whether the tail of the locking pin is in position. If the detected displacement... The locking conditions are met, for example... When the displacement reaches the maximum designed stroke, or when the sensor detects that the locking pin head has crossed the center line of the groove, the locking is considered successful. To preset the locking position, the system cuts off all drive signals, including the servo motor enable signal and the solenoid valve control signal, putting the entire drive system into a passive state. At this time, the waste hopper cover door is held in place entirely by the mechanical structure, that is, the engagement between the locking pin and the locking groove remains stable. Even if there is an external power outage or a control system failure, the position of the waste hopper cover door will not change.

[0056] If, during monitoring, it is found that the displacement does not meet the locking conditions, for example, If vibration causes the locking pin to not be fully engaged, the system can execute an unlocking retry procedure, re-outputting the unlocking signal, fine-tuning the drive shaft position, and attempting to lock again until the conditions are met. This retry mechanism ensures the robustness of the system.

[0057] Thus, step S5 completes the closed-loop control of the waste hopper servo electric cylinder drive control process through status monitoring and signal cutoff, thereby achieving reliable power-off maintenance of the system.

[0058] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The methods disclosed in the embodiments are described simply because they correspond to the systems disclosed in the embodiments; relevant details can be found in the method section.

[0059] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0060] In the embodiments provided by this invention, it should be understood that the disclosed systems, methods, and approaches can be implemented in other ways. For example, the system embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between systems or units may be electrical, mechanical, or other forms.

[0061] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0062] In addition, the functional modules in the various embodiments of the present invention can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit.

[0063] Similarly, in the various embodiments of the present invention, each processing unit can be integrated into a functional module, or each processing unit can exist physically, or two or more processing units can be integrated into a functional module.

[0064] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0065] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0066] The above-disclosed embodiments are merely preferred embodiments of the present invention, but the present invention is not limited thereto. Any non-creative variations that can be conceived by those skilled in the art, as well as any improvements and modifications made without departing from the principles of the present invention, should fall within the protection scope of the present invention.

Claims

1. A servo electric cylinder drive system for a waste gate, characterized in that, Includes electric cylinder, electric cylinder bracket, rotating shaft, support and spherical connector; The cylinder body of the electric cylinder is fixed on the electric cylinder bracket; The drive shaft of the electric cylinder is connected to the support set on the waste hopper cover door through a fisheye joint; The rotating shaft is fixedly connected to the waste hopper cover, and the rotating shaft is connected to the intermediate shaft support seat through a bearing; the intermediate shaft support seat is fixed to the waste hopper body by screws. The drive module of the electric cylinder is mounted on the cylinder body, and the drive module is connected to the drive shaft; The drive module also includes a power-off retention safety lock module, which includes a locking seat, a locking pin, a drive assembly, and a position detection assembly. The locking pin passes through the locking seat; The drive assembly includes a return spring and a solenoid valve, and drives the locking pin to move. The head end face of the locking pin is a wedge-shaped surface, and the groove wall of the locking groove is an inclined guide rail that matches the wedge-shaped surface.

2. A waste gate servo cylinder drive system as described in claim 1, wherein, The fisheye joint includes a ball head and a ball seat, wherein the ball head is fixedly connected to the end of the drive shaft by a pin, and the ball seat is hinged to the lug of the support. An open sleeve is also fitted onto the rotating shaft, wherein the open sleeve is mounted on the end plate; The drive shaft surface is provided with a locking groove.

3. A method for driving and controlling a servo cylinder of a waste hopper, characterized by, Includes the following steps: Step S1: Receive the start command for opening or closing the waste hopper cover door, output the unlock signal, drive the solenoid valve to act, overcome the elastic force of the reset spring, and drive the locking pin to retract to the safe unlock position; Step S2: Start the servo motor, drive the drive module to extend and retract the drive shaft, and drive the waste hopper cover door to rotate through the support; obtain the displacement feedback value of the encoder in the drive module in real time, calculate the displacement feedback value and compare it with the preset target opening and closing position, and adjust the output torque and speed of the servo motor based on the position deviation; Step S3: Determine whether the waste hopper cover has reached the preset target opening and closing position. If yes, proceed to step S4; otherwise, return to step S2 to continue adjusting the output torque and speed of the servo motor. Step S4: Control the servo motor to stop running, cut off the unlocking signal, cut off the power to the solenoid valve, release the potential energy of the reset spring, drive the locking pin to move towards the drive shaft and engage in the locking groove, and perform the locking and holding action; Step S5: Monitor the displacement of the locking pin in real time. If the displacement meets the locking condition, cut off all drive signals and enter the power-off holding state.

4. The method of claim 3, wherein the method further comprises: In step S2, the output torque and speed of the servo motor are adjusted based on the position deviation, specifically including: The first reference point is set to the fully closed position of the waste hopper cover door, and the second reference point is set to the fully open position. A first safety window and a second safety window are constructed, centered on the first and second reference points respectively. When the displacement feedback value is within the range of the first safety window or the second safety window, it is determined that the locking preparation condition is met. When the displacement feedback value is not within the range of the first or second safety window, an exception handling procedure is executed, including: The waste hopper cover door is determined to be in an unsafe condition. An alarm signal is triggered, and the current position of the drive shaft is locked, disabling the automatic operation mode until a manual fine-tuning command is received.

5. The servo electric cylinder drive control method for a waste hopper according to claim 3, characterized in that, Step S2 also includes adjusting the output torque and speed of the servo motor based on the position deviation, including: Real-time monitoring of the load torque of the servo motor; Set the blocking threshold; If the load torque exceeds the jamming threshold, the micro-retraction algorithm is executed: the output torque and speed of the servo motor are paused and adjusted, the servo motor is reversed, and the drive shaft is driven to retract the preset retraction distance. After a delay, the retraction is attempted again.

6. The servo electric cylinder drive control method for a waste hopper according to claim 5, characterized in that, The micro-backoff algorithm includes a loop counting determination step: Record the number of times the micro-rollback algorithm is executed; If the number of executions is less than the preset loop limit, return to step S1 to continue trying; If the number of executions reaches the preset cycle limit and the load torque still exceeds the jamming threshold, it is determined to be a serious jam and a shutdown alarm is triggered.

7. The method of claim 3, wherein the method further comprises: In step S3, determining whether the waste hopper cover door has reached the preset target opening and closing position includes: obtaining a first position signal through the encoder in the drive module; obtaining a second position signal through a non-contact proximity switch installed on the waste hopper body; and determining that the waste hopper cover door has reached the preset target opening and closing position when the first position signal and the second position signal simultaneously meet the preset logic conditions.

8. The method of claim 3, wherein the method further comprises: In step S4, controlling the servo motor to stop running includes: Real-time monitoring of the torque change rate of the servo motor; Set the target stiffness coefficient; If the rate of change of torque is less than the preset first impact threshold, the target stiffness coefficient is maintained; if the rate of change of torque is greater than or equal to the preset first impact threshold, it is determined that a hard object impact has occurred, and the target stiffness coefficient is switched from a low stiffness state to a high stiffness state.

9. The method of claim 3, wherein the method further comprises: In step S4, the locking pin moves towards the drive shaft and engages with the locking groove, including: The wedge-shaped surface of the locking pin contacts the inclined guide rail of the locking groove; When an external impact force is applied to the drive shaft, the external impact force is decomposed into a horizontal component and a vertical component; The vertical component of the force increases the friction between the locking pin and the inclined guide rail.

10. The method of claim 3, wherein the method further comprises: In step S5, if the displacement does not meet the locking condition, an unlocking retry process is executed, including: The unlock signal is output again, which drives the solenoid valve to retract the locking pin. Control the servo motor to drive the drive shaft to perform micro-amplitude reciprocating motion; The unlock signal is cut off again, causing the locking pin to move toward the drive shaft and attempt to engage with the locking groove.

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