Automatic quantitative filling equipment and method of lincomycin waste liquid-based liquid fertilizer

Abstract

The application relates to an automatic quantitative filling equipment and method of lincomycin waste liquid-based liquid fertilizer, and belongs to the technical field of automatic quantitative packaging control. The equipment comprises the following steps: preliminarily setting the initial descending position of a hard filling pipe according to the bottom position of a packaging barrel; determining the dynamic lifting position of the filling pipe in the injection process according to the real-time liquid level height of the liquid fertilizer; determining the apparent flow rate of the liquid fertilizer according to the time change rate of the real-time stress value of a weighing tray; determining the false mass generated by the dynamic impact force based on the apparent flow rate, and calculating the real mass of the liquid fertilizer in the packaging barrel; combining the real mass and the apparent flow rate to establish the logical relationship between the target filling total mass and the real-time state, determining the closing trigger time of the proportional pinch valve, and completing the quantitative packaging. The application can accurately obtain the real mass of the liquid fertilizer in the packaging barrel, and effectively solves the weighing error problem caused by fluid dynamic impact and equipment mechanical shaking.

Description

Technical Field

[0001] This invention relates to the field of automatic quantitative packaging control technology, specifically to an automatic quantitative filling device and method for lincomycin waste liquid-based liquid fertilizer. Background Technology

[0002] Lincomycin waste liquid-based fertilizer is a novel agricultural fertilizer containing a large amount of mycelial residue and fermentation metabolites, with broad application prospects. However, from its own physical properties, it faces several challenges when used as an automatic quantitative packaging medium. The viscosity of this liquid fertilizer fluctuates significantly under different batches and temperature conditions, and it is prone to foaming when the liquid impacts the liquid surface. Traditional quantitative filling relies on fixed advance amount control to cut off the flow, which is difficult to adapt to dynamic changes in flow rate and viscosity. The impact force when the liquid falls can introduce false mass, causing significant weighing lag error and metering disturbance, which can easily lead to overfilling or underfilling problems. In addition, the conventional mechanical valve structure is prone to causing a large amount of suspended residue to accumulate in the dead corners of the flow channel.

[0003] To address the accuracy and applicability issues in the quantitative packaging of liquid fertilizers, dynamic control based on multi-source data linkage is one of the most effective methods to overcome the defects of traditional filling. Currently, the advanced approach to packaging such high-viscosity, easily foaming media involves introducing a linkage mechanism between weighing data and filling tube displacement. By maintaining a constant drop to eliminate dynamic impact forces, and in conjunction with flexible tube clamping and adaptive residual injection volume prediction algorithms, stable and high-precision quantitative control can be achieved. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic quantitative filling device and method for lincomycin waste liquid-based liquid fertilizer, in order to solve the following problems:

[0005] The quantitative packaging technology for lincomycin waste liquid-based liquid fertilizer has significant shortcomings in the face of false mass interference caused by the dynamic impact of liquid flow, as well as the difficulty in accurately predicting the amount of liquid in the stagnant liquid column and leakage caused by the fluctuation of medium viscosity and the lag of valve mechanical action. There is an urgent need to propose an automatic quantitative packaging control method and equipment for lincomycin waste liquid-based liquid fertilizer that can eliminate false mass caused by dynamic impact through the linkage of weighing data and filling pipe displacement, adapt to the viscosity changes of different batches, and dynamically calculate and predict the residual injection amount to achieve precise interception.

[0006] The technical solution of the present invention includes: (1) initially setting the initial descent position of the rigid filling tube according to the bottom position requirements of the packaging barrel;

[0007] (2) Determine the dynamic lifting position of the rigid filling tube during the liquid fertilizer injection process based on the real-time liquid level height of the liquid fertilizer;

[0008] (3) Based on the real-time force distribution of the weighing tray, the apparent flow rate of the liquid fertilizer is determined by the time change rate of the force values ​​at the current moment and the previous moment.

[0009] (4) Based on the apparent flow rate of the liquid fertilizer determined in step (3), determine the false mass generated by the dynamic impact force, and calculate the actual mass of the liquid fertilizer in the packaging barrel accordingly.

[0010] (5) Based on the actual liquid fertilizer mass and apparent flow rate determined in step (4), establish the logical relationship between the target total filling mass and the real-time status, and determine the closing triggering time of the proportional clamp valve to complete the quantitative packaging.

[0011] Furthermore, step (3) also includes the following steps:

[0012] (3.1) Determine the force value at the current moment based on the force condition of the high-precision strain gauge load cell at the bottom of the weighing tray. The rate of increase in force is defined as ,in This represents the force value at the previous moment. For time intervals;

[0013] (3.2) During a single packaging production cycle, the dynamic impact force generated by the falling liquid fertilizer ensures that the force value is always greater than the actual injected liquid mass, i.e. ,in To ensure the true quality of liquid fertilizer, It is the acceleration due to gravity. For dynamic impact force;

[0014] (3.3) The apparent flow rate of the liquid fertilizer is obtained, and the force increase rate is used as a characterization parameter of the apparent flow rate and input into the control system.

[0015] (3.4) Verify the validity of the force values ​​and eliminate the lateral interference data generated by the lateral swaying caused by the lifting and lowering of the rigid filling tube on the high-precision strain gauge weighing sensor.

[0016] Furthermore, step (4) also includes the following steps:

[0017] (4.1) Determine the velocity conversion factor corresponding to the constant height difference between the bottom of the rigid filling tube and the liquid surface based on the apparent flow velocity;

[0018] (4.2) Based on the physical constraint law of the constant height difference, the illusory mass generated by the dynamic impact force is derived by multiplying the apparent flow velocity by the velocity conversion factor;

[0019] (4.3) Subtract the false mass from the real-time force value to obtain the actual mass of liquid fertilizer in the packaging barrel.

[0020] Furthermore, step (5) also includes the following steps:

[0021] (5.1) Based on the fluid transmission law between the flexible silicone tube, the proportional clamp valve and the packaging barrel, deduce the leakage amount and the mass of the vacant liquid column during the closing process;

[0022] (5.2) The leakage during the closing process is determined by the relationship between the current apparent flow rate and the mechanical action time required for the proportional clamp valve to completely cut off the flexible silicone tube from the start of squeezing; the mass of the suspended liquid column is determined by the relationship between the apparent flow rate divided by the gravitational acceleration conversion factor of the liquid fertilizer and multiplied by the constant height difference.

[0023] Furthermore, the dynamic lifting position in step (2) includes:

[0024] a. Initial injection area: The space inside the packaging barrel, two centimeters from the bottom of the barrel;

[0025] b. Dynamic following zone: The area between the surface obtained by offsetting the bottom end of the rigid filling tube vertically upward and maintaining a distance of two centimeters from the real-time liquid surface and the initial injection zone.

[0026] Furthermore, the mass of the suspended liquid column is the total dynamic fluid mass that has passed the cut-off point, is falling freely within the pipe, and has not yet contacted the liquid surface inside the packaging barrel at the instant when the pressure head of the proportional pinch valve completely squeezes and closes the flexible silicone tube.

[0027] The leakage during the closing process is a compensation mass that is consistent with the mechanical action time required for the proportional pinch valve to completely cut off the flexible silicone tube from the start of compression.

[0028] Furthermore, the actual liquid fertilizer quality inside the packaging barrel is controlled by the dynamic lifting action of the rigid filling tube and the dynamic impact force rejection algorithm affected by the apparent flow rate.

[0029] Furthermore, a judgment transition region is set between the state corresponding to the difference between the target total filling mass and the actual liquid fertilizer mass;

[0030] The determination of the transition zone is based on the sum of the mass of the suspended liquid column and the leakage during the closing process of the proportional pinch valve. This allows for adaptive compensation for viscosity variations in different batches of liquid fertilizer without altering the physical support frame and flow channel integrity, thereby reducing or eliminating metering interference caused by unstable flow rates.

[0031] An automatic quantitative filling device for lincomycin waste liquid-based liquid fertilizer includes a frame and a weighing tray.

[0032] The equipment is equipped with fluid transmission pipelines, and a portion of the fluid transmission pipeline is externally squeezed and filled off using a proportional clamp valve.

[0033] The area where the fluid transmission pipeline is located includes a rigid guide zone and a flexible cut-off zone. The rigid guide zone is the space inside the rigid filling tube, and the flexible cut-off zone is the flow channel cut-off area obtained by the radial inward offset and compression of the flexible silicone tube wall by the motor-driven pressure head of the proportional clamp valve.

[0034] This invention provides an automatic quantitative filling device and method for lincomycin waste liquid-based fertilizer, which has the following improvements and advantages compared with the prior art:

[0035] 1. This invention determines the apparent flow rate of liquid fertilizer by analyzing the time change rate of the force value on the weighing tray, and calculates and eliminates false mass caused by the dynamic impact force of the falling liquid fertilizer. At the same time, the system verifies the validity of the force data and eliminates lateral interference data generated by the lateral swaying of the rigid filling tube during lifting and lowering, which affects the high-precision strain gauge weighing sensor. This mechanism can accurately obtain the true mass of liquid fertilizer in the packaging barrel and effectively solves the weighing error problem caused by fluid dynamic impact and equipment mechanical sway.

[0036] 2. This invention combines the fluid transmission characteristics between the flexible silicone tube, the proportional clamp valve, and the packaging drum, and calculates the leakage during the closing process caused by the mechanical action of the proportional clamp valve, as well as the mass of the suspended liquid column falling freely in the pipeline. The sum of the two is then introduced into the judgment transition zone. This design can adaptively compensate for viscosity changes in different batches of liquid fertilizer without changing the physical support frame and the integrity of the flow channel, thereby reducing or eliminating metering interference caused by unstable flow rate and ensuring the accurate achievement of the target total filling mass.

[0037] 3. This invention precisely controls the position of the rigid filling tube, setting an initial injection zone two centimeters from the bottom of the container, and controls the filling tube to shift vertically upward during the filling process, forming a dynamic following zone that always maintains a distance of two centimeters from the real-time liquid surface. This control method ensures that a constant height difference is maintained between the bottom of the rigid filling tube and the liquid surface. This constant height difference not only optimizes the fluid injection state, but also provides a reliable physical constraint for accurately deriving the dynamic impact force through the apparent flow rate and velocity conversion coefficient. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in this invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort:

[0039] Figure 1 This is a schematic diagram of the overall structure of the device;

[0040] Figure 2 This is a schematic diagram of the proportional pinch valve structure of the device;

[0041] Figure 3 This is a schematic diagram of the device frame and weighing pallet structure;

[0042] Figure 4 This is a flowchart of the automatic quantitative packaging control method for lincomycin waste liquid-based liquid fertilizer of the present invention.

[0043] In the diagram: Mechanical structural features are labeled as follows: 1. Frame; 2. Weighing pallet; 3. High-precision strain gauge load cell; 4. Packaging barrel; 5. Fluid transmission pipeline; 6. Flexible silicone tube; 7. Rigid filling tube; 8. Proportional clamp valve; 9. Motor-driven pressure head; 10. Linear guide rail; 11. Ball screw; 12. Servo motor; 13. Cantilever support; 14. Liquid fertilizer storage tank; 15. Rigid guide area; 16. Flexible cut-off area. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments.

[0045] Example 1:

[0046] Please see Figure 1-4 An automatic quantitative packaging control method for lincomycin waste liquid-based fertilizer includes the following steps:

[0047] (1) The initial descent position of the rigid filling tube 7 is initially set according to the bottom position requirements of the packaging barrel 4;

[0048] (2) Determine the dynamic lifting position of the rigid filling tube 7 during the liquid fertilizer injection process based on the real-time liquid level height of the liquid fertilizer;

[0049] (3) Based on the real-time force distribution of the weighing tray 2, the apparent flow rate of the liquid fertilizer is determined by the time change rate of the force values ​​at the current moment and the previous moment.

[0050] (4) Based on the apparent flow rate of the liquid fertilizer determined in step (3), determine the false mass generated by the dynamic impact force, and calculate the actual mass of the liquid fertilizer in the packaging barrel 4 accordingly.

[0051] (5) Based on the actual liquid fertilizer mass and apparent flow rate determined in step (4), establish the logical relationship between the target total filling mass and the real-time status, and determine the closing triggering time of the proportional clamp valve 8 to complete the quantitative packaging.

[0052] This embodiment is applied to the single-bucket quantitative filling of lincomycin waste liquid-based liquid fertilizer. Because the liquid fertilizer contains mycelial residue and fermentation metabolites, its viscosity varies in different batches and at different temperatures, and it is prone to forming foam when the liquid flow hits the liquid surface. Therefore, the control is carried out by linking the weighing data with the displacement of the filling tube. Before the packaging begins, the empty packaging barrel 4 is placed on the weighing tray 2, and the control system zeroes the output of the four high-precision strain gauge weighing sensors 3 and completes the deduction of the empty barrel tare weight.

[0053] In step (1), the servo motor 12 drives the ball screw 11 to rotate, so that the cantilever bracket 13 and the rigid filling tube 7 fixed at its end move downward along the linear guide rail 10. The bottom of the rigid filling tube 7 descends to a position 2 cm away from the bottom of the packaging barrel 4 as the initial descent position. This distance can be selected in the range of 1.5 cm to 3 cm, of which 2 cm is used to balance the initial liquid entry stability and prevent touching the bottom.

[0054] In step (2), after the proportional clamp valve 8 is opened, the liquid fertilizer enters the rigid filling tube 7 through the flexible silicone tube 6 and is injected into the packaging barrel 4. The control system reads the force value of the weighing tray 2 according to the predetermined sampling cycle, and calculates the real-time liquid level height based on the cumulative net weight change, or calculates the liquid level by combining the known cross-sectional area of ​​the packaging barrel 4 with the cumulative injection volume. The servo motor 12 is controlled to run synchronously in reverse so that the bottom of the rigid filling tube 7 is always kept 2 cm above the real-time liquid level, thereby stabilizing the liquid flow drop at a constant value.

[0055] In step (3), the control system continuously collects the force value at the current moment and the force value at the previous moment, calculates the force change rate per unit time, and uses the change rate as the characterization quantity of apparent velocity; here apparent velocity is not directly equivalent to volumetric flow rate, but refers to the comprehensive flow characterization parameter including the actual weight gain component and the additional force component of liquid flow impact.

[0056] In step (4), since the height difference between the bottom of the rigid filling tube 7 and the liquid surface remains constant, the final velocity of the liquid flow hitting the liquid surface can be regarded as a stable value. The dynamic impact force and the apparent flow velocity form an approximately linear relationship. The control system converts the apparent flow velocity into a false mass based on the pre-calibrated velocity conversion coefficient. Then, the false mass is subtracted from the real-time force value to obtain the real liquid fertilizer mass in the packaging barrel 4.

[0057] In step (5), the control system continuously compares the difference between the target total filling mass and the actual liquid fertilizer mass, and calculates in real time the leakage amount that will still enter the packaging barrel 4 during the closing process of the proportional pinch valve 8, as well as the mass of the vacant liquid column below the cut-off point and not yet in contact with the liquid surface at the moment when the valve is completely closed; when the difference reaches the sum of the leakage amount during the closing process and the mass of the vacant liquid column, the proportional pinch valve 8 is immediately triggered to perform the closing action. After the pinch valve is completely cut off, the servo motor 12 drives the rigid filling tube 7 to rise to the initial waiting position.

[0058] To make the control chain of steps (1) to (5) clearer, the data flow of the control system during the single-bucket filling process can be executed in the following order: read the real-time force value after the empty bucket is tare, and form the current sample value after summing and filtering; then obtain the force increase rate from the difference between two adjacent sample values ​​and the sampling period, and use it as the apparent flow rate input in step (3);

[0059] The liquid level height is then calculated based on the current corrected actual liquid fertilizer mass and used to drive the servo lifting in step (2). After the liquid level follows and the distance between the filling pipe and the liquid surface is kept constant, the control system then peels off the false mass corresponding to the dynamic impact in step (4). The target total filling mass, actual liquid fertilizer mass, leakage during the closing process and the mass of the vacant liquid column are simultaneously sent to the closing judgment module in step (5) and the closing command of the proportional clamp valve 8 is output.

[0060] In this embodiment, the real-time liquid level height is a process quantity used to maintain a constant drop, which is the vertical height of the current liquid level in the bucket relative to the reference plane at the bottom of the bucket. This quantity is not directly measured, but is indirectly calculated from the actual liquid fertilizer mass. Specifically, when the packaging bucket 4 is a bucket with a constant cross-section, the control system first calculates the cumulative volume based on the actual liquid fertilizer mass and the pre-stored density value, and then divides the cumulative volume by the effective cross-sectional area of ​​the bucket to obtain the liquid level height.

[0061] When packaging barrel 4 is a variable cross-section barrel, the control system calls the pre-stored barrel type mass-liquid level calibration table for table lookup and conversion; the pre-stored density value can be the density value measured before each batch of liquid fertilizer is put into production, or it can be the standard density value in the production database of that batch; when the density fluctuation of the same batch is small and the filling error is within the set range, it is also allowed to directly call the previous calibration value.

[0062] Among them, the logical relationship between the target total filling mass and the real-time status is the core judgment relationship used in step (5) to determine when to close the proportional pinch valve 8. Its logical meaning is: whether the mass that still needs to be added to the current barrel is less than or equal to the predicted residual injection amount that will continue to enter the packaging barrel 4 after the valve is closed; the predicted residual injection amount consists of two parts, one part is the leakage amount that continues to flow in during the closing process from the start of the proportional pinch valve 8 to the complete cut-off, and the other part is the mass of the suspended liquid column that is still falling below the cut-off point at the moment the valve is completely closed;

[0063] The control system recalculates the above two parts of mass in each sampling cycle and compares them with the remaining target mass; when the remaining target mass is greater than the predicted residual injection amount, the valve remains open; when the remaining target mass is equal to or less than the predicted residual injection amount, a closing command is output; thus, the triggering condition in step (5) has a clear physical basis and logical direction.

[0064] In terms of control implementation, to prevent individual abnormal sampling points from causing malfunctions in the lifting mechanism or clamp valve, the control system preferably uses the consistent results of two to three consecutive valid sampling cycles as the basis for execution. If the force value of a certain cycle is identified as an invalid point, the actual mass and closing determination will not be updated in that cycle, and only the control output of the previous valid cycle will be used. The above chain of steps will continue to be executed after subsequent sampling recovers to be valid.

[0065] To avoid the problem of unclear sequential dependence between steps (2) and (4), the liquid level estimation in this embodiment is performed in two levels: coarse estimation drive and correction drive. In the initial stage of filling, the control system allows the initial liquid level to be obtained by using the cumulative force value after tare or its converted volume, so that the rigid filling tube 7 can quickly leave the vicinity of the bottom of the barrel and enter the liquid level following state.

[0066] After the first stable real liquid fertilizer mass is output in step (4), the control system switches to use the corrected real liquid fertilizer mass as the only main input for liquid level conversion. The aforementioned coarse estimate is no longer used as the basis for closing the judgment. The coarse estimate of liquid level only serves the early smooth operation of the lifting mechanism, while the real liquid fertilizer mass serves the liquid level conversion, impact compensation closed loop and the interception judgment in step (5).

[0067] Because the distance between the rigid filling tube 7 and the liquid surface is maintained within a predetermined height difference once stabilized, a fixed data flow direction is formed between the apparent flow rate, spurious mass, actual liquid fertilizer mass, and the shutdown trigger threshold in each sampling cycle:

[0068] The force sampling first generates the apparent flow velocity, the apparent flow velocity then generates the false mass, the false mass and the real-time force are combined to form the real liquid fertilizer mass, and the real liquid fertilizer mass is sent back to the liquid level conversion and shutdown judgment module; making the causal sequence of steps (1) to (5) clearer, avoiding the long-term use of uncorrected instantaneous force as the real mass, and keeping the original control logic and equipment operation mode unchanged.

[0069] In the underlying logic of the control system, the data flow from step (1) to step (5) is encapsulated in a high-priority timed interrupt task; at the beginning of each sampling period, the system obtains the original force of the weighing sensor through the bus, and after median filtering, it is used as the input of step (3); the calculated real mass is immediately written into the shared memory variable, which is read by the lifting algorithm module of step (2) to calculate the servo pulse frequency.

[0070] The logic judgment module in step (5) evaluates whether a shutdown signal is triggered at the end of the same cycle; this serial interaction mode ensures the real-time performance of liquid level tracking and the synchronization of impact compensation, avoiding control phase lag caused by cross-cycle data calls.

[0071] The automatic quantitative packaging control method for lincomycin waste liquid-based fertilizer, step (3) further includes the following steps:

[0072] (3.1) Determine the force value at the current moment based on the force condition of the high-precision strain gauge load cell 3 at the bottom of the weighing pan 2. The rate of increase in force is defined as ,in This represents the force value at the previous moment. For time intervals;

[0073] (3.2) During a single packaging production cycle, the dynamic impact force generated by the falling liquid fertilizer ensures that the force value is always greater than the actual injected liquid mass, i.e. =Mreal·g+Fimpact, where Mreal is the actual mass of the liquid fertilizer, g is the gravitational acceleration, and Fimpact is the dynamic impact force;

[0074] (3.3) The apparent flow rate of the liquid fertilizer is obtained, and the force increase rate is used as the characterization parameter of the apparent flow rate and input into the control system;

[0075] (3.4) Verify the validity of the force values ​​and eliminate the lateral interference data caused by the lateral swaying of the rigid filling pipe 7 during lifting and lowering, which affects the high-precision strain gauge weighing sensor 3.

[0076] Step (3) is implemented using a weighing sampling unit consisting of four high-precision strain gauge load cells 3. The four sensors are respectively arranged at the four corners of the bottom of the frame 1. The sampling frequency can be set from 50 Hz to 500 Hz, with 100 Hz being the commonly used value. The control system reads the total force on the four sensors at time t and sums them to obtain the force value at the current time. Read the previous sample value at time t-1 Time interval For adjacent sampling periods;

[0077] The rate of increase in force is from reduce Divide by The unit can be Newtons per second or kilograms per second converted from gravity. For lincomycin waste liquid-based fertilizer, during the continuous injection phase, the force on the weighing tray 2 consists of two parts: one part is the gravitational component Mreal corresponding to the actual liquid fertilizer mass Mreal inside the packaging barrel 4 multiplied by g; the other part is the dynamic impact force Fimpact formed by the liquid flow striking the liquid surface inside the barrel at a certain final velocity. Therefore... satisfy Compared with ordinary low-foaming, low-viscosity media;

[0078] This implementation does not directly use the rate of increase in force as the true mass flow rate, but instead defines it as a characterization parameter of apparent velocity and inputs it into the control system. The weighing system sees the result of the superposition of the weight increase and the impact load at a single sampling moment. Only after subsequent analysis in combination with the constant drop condition can the true mass change be obtained.

[0079] In step (3.4), the control system performs a consistency check on the force data output by the four weighing sensors. When the deviation of the output of any corner sensor from the average value exceeds a set threshold, the sampling point is marked as a lateral interference point. The set threshold can be taken as the average value. to Common values Lateral disturbances are usually caused by slight lateral swaying of the rigid filling tube 7 during lifting, eccentric placement of the packaging drum 4, or ground vibration.

[0080] For the marked sampling points, the control system can use two consecutive valid sampling values ​​for linear interpolation, or use median filtering of three to five consecutive sampling values ​​to remove abnormal data. After the above processing, the force increase rate can stably reflect the apparent flow rate change of the liquid fertilizer, providing effective input data for subsequent false quality stripping and valve closure determination.

[0081] The automatic quantitative packaging control method for lincomycin waste liquid-based liquid fertilizer includes the following steps in step (4): (4.1) Determine the velocity conversion coefficient corresponding to the constant height difference between the bottom end of the rigid filling tube 7 and the liquid surface based on the apparent flow rate; (4.2) Based on the physical constraint law of the constant height difference, derive the false mass generated by the dynamic impact force by multiplying the apparent flow rate by the velocity conversion coefficient; (4.3) Subtract the false mass from the real-time force value to obtain the real liquid fertilizer mass in the packaging barrel 4.

[0082] The key to step (4) is to construct a stable physical boundary by using a constant height difference between the bottom end of the rigid filling tube 7 and the liquid surface; the constant height difference is preferably 2 cm, but can also be set in the range of 1 cm to 5 cm depending on the foam sensitivity, tube diameter and allowable filling cycle; since the height difference remains constant during filling, the free fall velocity of the liquid fertilizer after leaving the bottom end of the rigid filling tube 7 until it contacts the liquid surface can be calculated according to a predetermined velocity conversion factor, which is related to the gravitational acceleration, constant height difference and liquid flow stream shape correction factor;

[0083] For equipment using rigid filling tubes 7 with an inner diameter of 8 mm to 20 mm, the applicable velocity conversion factor can be obtained through no-load calibration and standard liquid test, and stored in the control system; in step (4.2), the control system multiplies the apparent flow rate obtained in step (3) by the velocity conversion factor to obtain a false mass equivalent to the dynamic impact force; here, the false mass refers to the mass equivalent that is additionally displayed on the weighing tray 2 due to the impact of the liquid flow, but has not yet been corresponding to the stable static mass inside the packaging barrel 4;

[0084] Since the liquid drop is locked to a constant value by the mechanical lifting action, the dynamic impact force and the apparent velocity are transformed from the original nonlinear relationship that changes with the liquid level into a calibrable linear or piecewise linear relationship. Therefore, the control system does not need to establish a complex fluid model to calculate the false mass in real time. In step (4.3), if the real-time force value is displayed in mass units, the control system directly subtracts the false mass from the real-time force value.

[0085] If the real-time force value is displayed in force units, the control system first converts it to mass equivalent and then performs the subtraction to output the actual liquid fertilizer mass in packaging barrel 4. After multiple batches of waste liquid-based liquid fertilizer tests, when the viscosity of the liquid fertilizer varies in the range of 50 mPa·s to 600 mPa·s, the actual mass curve obtained by this method is closer to the static weighing value after the valve is closed compared with the uncompensated value. This shows that the combination of constant height difference and impact rejection algorithm can reduce the weighing lag error caused by viscosity fluctuation.

[0086] In this embodiment, the method of obtaining the velocity conversion coefficient and the location of its use are further limited as follows: the velocity conversion coefficient is not an arbitrary empirical constant, but a proportional parameter used to map the apparent flow velocity obtained in step (3) to the mass equivalent of the impact additional load. Its essence is the impact compensation coefficient under a specific equipment structure, a specific constant height difference and a specific liquid flow bundle shape.

[0087] The input conditions for this coefficient include: the distance between the bottom of the filling tube and the liquid surface is maintained within the predetermined height difference, the diameter of the filling tube is fixed, the arrangement of the flexible silicone tube 6 and the proportional clamp valve 8 remains unchanged, and the weighing sampling frequency is kept at the set value; its output is the spurious mass increment corresponding to each unit of apparent flow rate, which is used to subsequently separate the impact component from the real-time force value.

[0088] The speed conversion factor can be determined in the following order:

[0089] The first step is to select the rigid filling tube specification 7, constant height difference, and sampling frequency of the target equipment, and to ensure that the lifting mechanism maintains a constant distance from the filling tube opening to the liquid surface during the calibration period.

[0090] The second step involves conducting multiple filling tests using a standard liquid with known density and viscosity and relatively stable flow. Apparent flow rate, real-time force values, and static mass after the valve is completely closed and left to stand are collected under multiple different valve opening degrees.

[0091] The third step is to use the static mass as the true mass benchmark for each set of test data, and then subtract the static mass from the real-time force value to obtain the impact-added mass equivalent under that set of working conditions.

[0092] The fourth step is to fit the impact-added mass equivalent under multiple working conditions with the corresponding apparent flow velocity to obtain linear coefficients or piecewise linear coefficients, and store the coefficient table in the control system. If a certain device needs to operate under multiple height differences from 1 cm to 5 cm, the control system can store a set of coefficients for each height difference, and call the corresponding value according to the currently set height difference when running.

[0093] The calculation process of step (4.2) is preferably executed in causal order: read the apparent flow rate after processing in step (3); then read the constant height difference identifier corresponding to the current filling process; retrieve the speed conversion coefficient corresponding to the height difference, filling tube specification and current flow rate range from the coefficient storage area; then map the apparent flow rate to the dummy mass;

[0094] The false quality is passed to the real quality correction module in step (4.3); if the apparent velocity falls within the linear range, a single coefficient is directly called; if the apparent velocity crosses the preset segmented range, the segmented coefficient of the corresponding range is called for conversion; the parameter source, search path and calculation destination are all clear and reproducible.

[0095] The criteria for determining false quality are further explained as follows: It is neither the mass of the liquid before it enters the packaging drum 4, nor the mass of the liquid actually remaining in the packaging drum 4, but rather the additional load equivalent that the weighing system displays instantaneously when the liquid flow impacts the liquid surface; the control system only uses it as a weighing compensation item and does not separately record it in the total filling volume.

[0096] The output of step (4) is only one thing, namely the corrected actual liquid fertilizer mass. This result is simultaneously sent to the liquid level conversion module, the shutdown judgment module, and the single-barrel filling quality recording module.

[0097] In engineering implementation, to ensure the long-term validity of the coefficients, the control system can also set recalibration conditions; when the inner diameter of the rigid filling tube 7 is changed, the constant height difference is adjusted, the flexible silicone tube 6 with different hardness is replaced, the sampling frequency is significantly changed, or the static recalculation error is found to continuously exceed the set upper limit, the system prompts to recalibrate the speed conversion coefficient; the above processing does not change the step definition, but further clarifies the physical meaning of the parameters, the acquisition method, and the position of their role in the control process; in order to achieve accurate removal of false mass in step (4.2), the control system adopts the following linear calculation model:

[0098]

[0099] in, For false quality, For apparent flow rate, This is a pre-stored speed conversion coefficient; this coefficient is loaded into memory based on the calibration data during program initialization. Through this explicit quantization mapping relationship, the system can convert the mechanical noise captured by the sensor into a mass compensation term in real time.

[0100] To further eliminate parameter uncertainties, speed conversion coefficients are used. It is preset in the control program to be at a constant height difference The relevant functions, their theoretical derivation values ​​are referenced. This ensures that the process of stripping away false quality has clear physical boundaries, avoiding compensation inaccuracies caused by viscosity fluctuations in different batches of media.

[0101] The automatic quantitative packaging control method for lincomycin waste liquid-based fertilizer, step (5) further includes the following steps:

[0102] (5.1) Based on the fluid transmission law between the flexible silicone tube 6, the proportional clamp valve 8 and the packaging barrel 4, deduce the leakage amount and the mass of the vacant liquid column during the closing process;

[0103] (5.2) Determine the leakage during the closing process based on the relationship between the current apparent flow rate and the mechanical action time required for the proportional pinch valve 8 to completely cut off the flexible silicone tube 6 from the start of extrusion; determine the mass of the suspended liquid column based on the relationship between the apparent flow rate divided by the gravitational acceleration conversion factor of the liquid fertilizer and multiplied by the constant height difference.

[0104] Step (5) is used to solve the problem that the fixed advance amount in the traditional quantitative filling closing command is not suitable for the flow rate changes of waste liquid-based liquid fertilizer; there is a mechanical action time between the proportional pinch valve 8 receiving the pressure head and the flexible silicone tube 6 being completely clamped, and the mechanical action time is usually 80 milliseconds to 300 milliseconds. The specific value can be obtained from the valve body factory parameters or online calibration; the leakage amount during the closing process is defined as the liquid mass that still flows into the packaging barrel 4 during the period from the start of the proportional pinch valve 8 squeezing to the complete cut-off; the control system reads the current apparent flow rate and multiplies it with the mechanical action time to obtain the leakage amount during the closing process under the current working conditions;

[0105] For the proportional pinch valve 8, whose flow rate decreases linearly during the closing process, it can also be corrected by averaging the current apparent flow rate and the apparent flow rate at the cutoff point and then multiplying it by the mechanical action time; the mass of the suspended liquid column has a specific meaning in this invention. It is not the mass of the static suspended liquid, but refers to the total mass of the dynamic fluid that has passed the cutoff point, is between the outlet of the rigid filling pipe 7 and the liquid surface inside the packaging barrel 4, and is falling freely without contacting the liquid surface at the moment when the proportional pinch valve 8 is fully closed.

[0106] Since the height difference between the bottom of the rigid filling tube 7 and the liquid surface remains constant, the flight time experienced by the liquid column during free fall can be obtained by the constant height difference and the gravitational acceleration conversion factor. The control system multiplies the apparent flow velocity by the gravitational acceleration conversion factor to obtain the mass of the suspended liquid column. The control system updates the leakage amount and the mass of the suspended liquid column during the closing process in each sampling cycle, and uses the sum of the two as the predicted residual injection amount.

[0107] When the difference between the target total filling mass and the actual liquid fertilizer mass equals the predicted residual injection volume, the proportional pinch valve 8 is immediately closed. This processing method allows the subsequent inflow volume from two different sources—valve mechanical delay and free liquid column below the cutoff point—to be uniformly included in the closure judgment, improving the quantitative consistency under different flow rates.

[0108] This embodiment further explains the prediction of residual injection volume using mechanical action time and gravitational acceleration conversion coefficient as follows: Mechanical action time refers to the actual duration from when the proportional pinch valve 8 issues a closing command from the control system until the flexible silicone tube 6 completely loses its fluid communication capability at the cut-off point.

[0109] This time is not a theoretical value, but a device parameter related to the valve drive method, pressure head stroke, silicone tube hardness, and installation compression. It can be determined through online calibration: trigger the closing command at a stable flow rate, and simultaneously record the moment the drive signal is emitted and the inflection point when the weighing signal stops increasing. The time difference between these two times is averaged after repeated iterations and used as the mechanical action time for the corresponding operating condition, stored in the control system. If the valve body, pressure head stroke, or flexible silicone tube specification 6 is changed, recalibration is required.

[0110] In this embodiment, the gravitational acceleration conversion factor is a proportional parameter used to convert a constant height difference into free fall flight time, that is, the fall time conversion factor corresponding to a unit height under gravity field conditions.

[0111] Since this invention only requires the control system to estimate how long the liquid column below the cutoff point at the moment of valve closure will need to fly before it all enters the packaging barrel 4, based on a fixed drop, this coefficient only serves as a time conversion function and is not used as the final control target output. This coefficient can be preset according to the standard gravity acceleration of the equipment installation area, or it can be uniformly written into the control program when the equipment leaves the factory. When the equipment is used in the same area, the control system prefers to call the fixed value and does not need to calculate it repeatedly for each barrel.

[0112] The processing flow of steps (5.1) to (5.2) is preferably performed in the following order: the control system reads the apparent flow rate and the corrected actual liquid fertilizer mass within the current sampling period; reads the mechanical action time parameters corresponding to the proportional pinch valve 8, and calculates the leakage amount that will still flow into the packaging barrel 4 during the closing process from the start of closing to complete cut-off.

[0113] Read the currently set constant height difference and the preset gravity acceleration conversion coefficient, convert the constant height difference into free fall flight time, and then combine it with the current apparent flow rate to determine the mass of the suspended liquid column; add the leakage amount during the closing process to the mass of the suspended liquid column to generate the predicted residual injection amount; send the predicted residual injection amount to the closing judgment module, compare it with the remaining target mass, and output the control result of keeping the valve open or closing it immediately; thus, step (5) is not a single empirical judgment, but a sequential calculation process driven by the current flow rate, valve time characteristics and fixed drop.

[0114] The role of the predicted residual injection volume in the control process is the closing trigger threshold. Its meaning is: if a closing command is issued at the current moment, the total mass that will continue to increase into the packaging barrel 4 from that moment until the liquid flow completely stops and falls into the packaging barrel 4. This amount consists of two parts: the leakage during the closing process and the mass of the vacant liquid column. The former corresponds to the continuous inflow when the valve is not fully closed, and the latter corresponds to the continued inflow when the valve is fully closed but the liquid column below the cutoff point has not yet fallen into the barrel.

[0115] The control system uses this predicted residual injection amount as a real-time substitute value for the shutdown advance amount. Therefore, when the remaining target mass is greater than this amount, filling continues, and when the remaining target mass is equal to or less than this amount, the shutdown action is performed.

[0116] To avoid valves closing prematurely or delayed due to individual sampling noise, the control system can activate a consistency check strategy when approaching the target total filling mass: a closing command is only output when the predicted residual injection amount calculated from 2 to 5 consecutive samplings is consistent with the remaining target mass.

[0117] If the results are inconsistent, the valve remains open and the calculation is repeated in the next sampling period. In this embodiment, dividing the apparent flow rate by the gravitational acceleration conversion factor of the liquid fertilizer and multiplying it by the constant height difference is essentially a time conversion logic completed in two segments.

[0118] The control system first uses a constant height difference and a gravity acceleration conversion factor to obtain the free fall flight time under the current set drop; among them, the gravity acceleration conversion factor only serves to map the vertical drop into the fall time.

[0119] The control system then correlates the flight time with the mass inflow intensity corresponding to the current apparent flow rate to obtain the dynamic fluid mass that will continue to fall into the packaging barrel 4 within the flight time window, and defines it as the vacant liquid column mass.

[0120] With this limitation, the model purpose, logical structure, and the relationship between valve delay and free fall compensation represented by step (5) are clearer; the specific formula is executed as follows:

[0121]

[0122] and

[0123]

[0124] in, For the mechanical motion time, To account for leakage during the shut-off process, For apparent flow rate, For the mechanical motion time, Let H be the mass of the suspended liquid column, and H be the constant height difference; This is the conversion factor for gravitational acceleration; when the difference between the target mass and the actual mass is less than or equal to... At that time, the flow interception action is performed; during this process, the gravitational acceleration conversion coefficient is... The physical meaning is defined as the characteristic velocity factor of the freely falling liquid column, and its value is based on... Calibration was performed to ensure the formula was accurate. It can accurately reflect the dynamic mass equivalent of the liquid column suspended between the cut-off point and the liquid surface, and realize the accurate prediction of the remaining amount at the end of filling.

[0125] The automatic quantitative packaging control method for lincomycin waste liquid-based fertilizer, the dynamic lifting positions in step (2) include:

[0126] a. Initial injection area: The space inside the packaging barrel 4, two centimeters from the bottom of the barrel;

[0127] b. Dynamic following zone: The area between the bottom end of the rigid filling tube 7, which is offset vertically upwards and kept two centimeters away from the real-time liquid surface, and the initial injection zone;

[0128] The dynamic lifting position consists of an initial injection zone and a dynamic following zone. The initial injection zone refers to the predetermined space area inside the packaging barrel 4, about 2 cm from the bottom of the barrel. The rigid filling tube 7 stops in this area when filling begins, so that the initial liquid flow enters the packaging barrel 4 near the bottom of the barrel.

[0129] This setting can reduce the direct impact of liquid flow on the bottom and wall of the container when the container is empty, and reduce foaming and splashing; the dynamic following zone refers to the continuous position area formed by the bottom end of the rigid filling tube 7 moving upward in the vertical direction as the liquid level in the packaging container 4 rises. The lower boundary of this zone is the initial injection zone, and the upper boundary is the movement trajectory surface that is always 2 cm above the real-time liquid level; the control system can determine the real-time liquid level height in two ways;

[0130] One approach is to pre-input the geometric parameters of the packaging barrel 4 into the control system, calculate the volume based on the actual liquid fertilizer mass and density, and then estimate the liquid level height based on the cross-sectional area of ​​the barrel.

[0131] Another method is to store the packaging barrel model 4 and the corresponding mass-liquid level calibration table in the control system. When running, the liquid level height is obtained by looking up the table according to the current actual mass. Regardless of the method used, the control system drives the servo motor 12 according to the set lifting speed, so that the bottom end of the rigid filling tube 7 moves in the dynamic following area and keeps the distance between the tube opening and the liquid surface at 2 cm. The allowable deviation can be controlled within ±0.5 cm.

[0132] The setting of this dynamic lifting position is not only used to suppress foam, but also to provide a fixed falling height for subsequent dynamic impact force calculation. Therefore, there is a corresponding relationship between its mechanical action and weighing analysis. For packaging barrels of different specifications 4, the initial injection zone position can be reset according to the barrel bottom reference, while the control logic of the dynamic following zone remains unchanged, which makes it easy to switch packaging containers of different capacities on the same equipment.

[0133] The automatic quantitative packaging control method for lincomycin waste liquid-based liquid fertilizer is as follows: the mass of the suspended liquid column is the total dynamic fluid mass that has passed the cut-off point, is falling freely in the pipeline, and has not yet contacted the liquid surface inside the packaging barrel 4 at the moment when the pressure head of the proportional pinch valve 8 completely squeezes and closes the flexible silicone tube 6. The leakage during the closing process is the compensation mass that is consistent with the mechanical action time required for the proportional pinch valve 8 to completely cut off the flexible silicone tube 6 from the start of squeezing.

[0134] This embodiment further limits the mass of the suspended liquid column and the leakage during the closing process; the cutoff point corresponding to the mass of the suspended liquid column is located at the downstream boundary of the pressure head area of ​​the proportional clamp valve 8. When the pressure head of the proportional clamp valve 8 completely squeezes and closes the flexible silicone tube 6, the liquid above the cutoff point loses communication with the packaging barrel 4, and there is still liquid continuing to move downward between the cutoff point and the outlet of the rigid filling tube 7 and between the outlet and the liquid surface.

[0135] Considering that the internal flow channel of the rigid filling tube 7 is a continuous closed channel, the liquid below the cut-off point has a predetermined velocity at the moment of closing. Therefore, the mass of the liquid that subsequently enters the packaging barrel 4 should be included in the mass of the suspended liquid column. This definition is different from the conventional static suspended liquid column. It emphasizes the total mass of the dynamic liquid column downstream of the flow channel at the moment the valve is fully closed. The leakage during the closing process is expressed in the form of compensation mass, which is the continuous amount of liquid entering the barrel caused by the mechanical delay of the proportional pinch valve 8.

[0136] After adopting the above definition, the control system processes the continuous inflow during the period when the valve is not fully closed and the continued falling flow below the cutoff point when the valve is fully closed, making the source of the two types of subsequent inflow quality clearer. For silicone tubes with different hardness grades and different clamp valve pressure head strokes, the mechanical action time and cutoff point position can be updated through a single calibration, and the relevant calculation framework remains consistent.

[0137] An automatic quantitative packaging control method for lincomycin waste liquid-based liquid fertilizer: the actual liquid fertilizer quality in the packaging barrel 4 is controlled by the dynamic lifting action of the rigid filling tube 7 and the dynamic impact force rejection algorithm affected by the apparent flow rate.

[0138] The actual liquid fertilizer quality is not directly determined by the weighing tray 2, but is determined by the dynamic lifting action of the rigid filling tube 7 and the dynamic impact rejection algorithm. The dynamic lifting action of the rigid filling tube 7 is achieved by the servo motor 12, ball screw 11, cantilever bracket 13 and linear guide rail 10. Its function is to maintain the drop between the bottom of the rigid filling tube 7 and the real-time liquid surface at a predetermined value, preferably 2 cm.

[0139] The dynamic impact force elimination algorithm corrects the weighing reading in real time based on the liquid flow impact additional load calculated by the apparent flow velocity and the predetermined drop. If the dynamic lifting action is missing, the distance between the filling pipe and the liquid surface will continue to decrease as the liquid level rises. The liquid flow impact velocity and impact force will have time-varying characteristics, resulting in different false masses corresponding to the same apparent flow velocity at different liquid levels. The algorithm is difficult to use a uniform coefficient for calculation.

[0140] If only the dynamic lifting action is retained without impact rejection, the weighing system will still reach the target value prematurely due to the impact load during the medium-to-high flow rate stage, resulting in underloading.

[0141] Therefore, the control of the actual liquid fertilizer quality in this embodiment relies on the coordinated operation of two parts: one part stabilizes the impact conditions through mechanical position adjustment, and the other part separates the impact component from the real-time force value through apparent flow velocity analysis; the control system can use the corrected actual mass as the only effective mass variable to participate in liquid level calculation, valve closure determination and single tank mass recording;

[0142] In actual testing, when the target packaging weight was 20 kg and the viscosity of the liquid fertilizer batch fluctuated within a large range, the static reweighing deviation obtained by using this combination method was less than that obtained by not eliminating the impact force, indicating that true quality control no longer relies on the empirical lead time under a fixed viscosity.

[0143] An automatic quantitative packaging control method for lincomycin waste liquid-based liquid fertilizer is provided. A judgment transition zone is set between the state corresponding to the difference between the target total filling mass and the actual liquid fertilizer mass. The mass of the vacant liquid column and the leakage during the closing process of the proportional clamp valve 8 are introduced into the judgment transition zone. The viscosity changes of different batches of liquid fertilizer are adaptively compensated without changing the physical support frame and the integrity of the flow channel, thereby reducing or eliminating the metering interference caused by the unstable flow rate.

[0144] The transition zone is a pre-judgment interval set by the control system when approaching the target total filling mass; this interval is not a fixed mass value, but is based on the difference between the target total filling mass and the current actual liquid fertilizer mass, and is dynamically updated according to the current apparent flow rate.

[0145] The control system records the difference as the remaining target mass. When the remaining target mass is greater than the upper limit of the sum of the mass of the suspended liquid column and the leakage during the shutdown process, the proportional pinch valve 8 remains open. When the remaining target mass decreases to close to this sum, the system enters the judgment transition region. When the remaining target mass is equal to or less than this sum, the system outputs a shutdown command.

[0146] To prevent valve malfunctions caused by sampling noise, the transition zone can be set to a tolerance band of 0.5% to 5% above and below the predicted residual injection volume, with a commonly used value of 2%. After entering this zone, the control system increases the priority of the apparent flow rate update and performs a consistency comparison of the predicted residual injection volume for multiple consecutive sampling cycles. The flow is cut off only when the closing condition is met for 2 to 5 consecutive sampling cycles.

[0147] This design is applicable to viscosity variations in different batches of lincomycin waste liquid-based liquid fertilizer. When the flow rate is high, the leakage and the mass of the vacant liquid column increase simultaneously during the shutdown process, and the transition zone is moved forward accordingly. When the flow rate is low, both decrease, and the transition zone is moved backward accordingly. The entire adjustment process is achieved solely through control logic, without requiring changes to the structure of the frame 1, weighing tray 2, flexible silicone tube 6, and rigid filling tube 7, nor any changes to the inner wall morphology of the flow channel. Therefore, the physical support frame and the integrity of the flow channel remain unchanged.

[0148] This method incorporates the flow rate differences between different batches of liquid fertilizer into real-time calculations, reducing the problem of over- or under-flow when controlling the flow with fixed empirical values.

[0149] The transition region can be logically divided into three continuous state segments: the observation sub-region, the consistency verification sub-region, and the execution sub-region. The observation sub-region is used to identify whether the remaining target quality is close to the predicted residual injection amount. After entering this sub-region, the control system does not act immediately, but increases the sampling validity verification and apparent flow rate update frequency.

[0150] The consistency check sub-region is used to continuously compare whether the closing condition is consistently met within multiple sampling periods. If the comparison result changes, the valve remains open and sampling continues. The execution sub-region corresponds to the state where the remaining target mass is consistently less than or equal to the predicted residual injection amount, at which point a closing command is output.

[0151] The purpose of setting up this area is not to change the total filling mass itself, but to reserve an orderly judgment space for flow rate fluctuations, weighing transient noise and valve action discreteness when approaching the cutoff point; the causal relationship it represents is: because a single sampling point is more susceptible to impact compensation error and valve response fluctuation when near the filling end point, the system first enters observation and verification, and then enters execution, thereby reducing the probability of premature closure and delayed closure;

[0152] Therefore, the transition region is no longer just an abstract interval concept, but a control logic module with clear input quantities, state divisions and output directions; its inputs are the remaining target mass, the leakage amount during the closing process, the mass of the vacant liquid column and the predicted residual injection amount formed, and its output is only the determination result of whether the valve remains open or is closed.

[0153] Example 2:

[0154] Please see Figure 1-3 An automatic quantitative filling device for lincomycin waste liquid-based liquid fertilizer includes a frame 1 and a weighing tray 2. The device is equipped with a fluid transmission pipeline 5. A portion of the fluid transmission pipeline 5 is externally squeezed and filled by a proportional clamp valve 8. The portion of the fluid transmission pipeline 5 includes a rigid guide area 15 and a flexible cut-off area 16. The rigid guide area 15 is the space inside the rigid filling tube 7, and the flexible cut-off area 16 is the flow channel cut-off area obtained by the radial inward offset and compression of the wall of the flexible silicone tube 6 by the motor-driven pressure head 9 of the proportional clamp valve 8.

[0155] The automatic quantitative filling equipment includes a frame 1, a weighing tray 2, a fluid transmission pipeline 5, a proportional clamp valve 8, a drive lifting mechanism, and a control system; the frame 1 is an integral load-bearing component, with its bottom fixedly connected to the ground; the weighing tray 2 is located on the upper part of the frame 1 and is supported by four high-precision strain gauge weighing sensors 3, which are used to place the packaging barrels 4 and collect real-time force values ​​during the packaging process;

[0156] The fluid transmission pipeline 5 connects the liquid fertilizer storage tank 14 and the packaging barrel 4. Its upstream part is a flexible silicone tube 6, and its downstream part is a rigid filling tube 7. The rigid filling tube 7 is made of stainless steel, with a smooth inner surface and a vertically arranged axis. It is used to guide the liquid fertilizer into the packaging barrel 4. The space inside the tube is defined as the rigid guiding area 15.

[0157] The middle section of the flexible silicone tube 6 is sleeved on the pressure head of the proportional clamp valve 8. The proportional clamp valve 8 is fixedly installed on the side wall of the frame 1. The valve body is equipped with a motor-driven pressure head 9. After receiving the control signal, the pressure head shifts radially inward to squeeze the flexible silicone tube 6, causing the inner cavity of the flexible silicone tube 6 to gradually shrink until it is completely closed. The flow channel cut-off area formed by this pressure is defined as the flexible cut-off area 16.

[0158] Compared with the valve core type mechanical valve, the liquid contact boundary of the flexible cut-off zone 16 is formed by the inner wall of the silicone tube, so the fluid does not directly contact the internal moving parts of the valve body, which can reduce the accumulation of mycelial residue and fermentation deposits in the dead corner of the valve cavity; the lifting mechanism of the equipment consists of a linear guide rail 10, a ball screw 11, a servo motor 12 and a cantilever bracket 13. The cantilever bracket 13 fixes the rigid filling tube 7 and drives it to rise and fall in the vertical direction to achieve dynamic position control corresponding to the liquid level;

[0159] The control system is electrically connected to the weighing sensor, servo motor 12 and proportional pinch valve 8, and is used to perform apparent flow rate calculation, dynamic impact force rejection, true quality judgment and valve closing timing control; the rigid guide zone 15 and the flexible cut-off zone 16 are structurally continuously connected, and respectively undertake the functions of stabilizing the liquid flow attitude and rapid cut-off compensation in control, which is suitable for quantitative packaging of liquid media such as lincomycin waste liquid-based liquid fertilizer with large viscosity changes and containing suspended residues.

[0160] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. An automatic quantitative packaging control method for lincomycin waste liquid-based liquid fertilizer, characterized in that: Includes the following steps: (1) The initial descent position of the rigid filling tube (7) is initially set according to the bottom position requirements of the packaging barrel (4); (2) Determine the dynamic lifting position of the rigid filling tube (7) during the liquid fertilizer injection process based on the real-time liquid level height of the liquid fertilizer; (3) Based on the real-time force distribution of the weighing tray (2), the apparent flow rate of the liquid fertilizer is determined by the time change rate of the force values ​​at the current moment and the previous moment. (4) Based on the apparent flow rate of the liquid fertilizer determined in step (3), determine the false mass generated by the dynamic impact force, and calculate the actual mass of the liquid fertilizer in the packaging barrel (4). (5) Based on the actual liquid fertilizer mass and apparent flow rate determined in step (4), establish the logical relationship between the target total filling mass and the real-time status, and determine the closing triggering time of the proportional clamp valve (8) to complete the quantitative packaging.

2. The automatic quantitative packaging control method for lincomycin waste liquid-based liquid fertilizer according to claim 1, characterized in that: Step (3) also includes the following steps: (3.1) Determine the force value at the current moment based on the force condition of the high-precision strain gauge load cell (3) at the bottom of the weighing tray (2). The rate of increase in force is defined as ,in This represents the force value at the previous moment. For time intervals; (3.2) During a single packaging production cycle, the dynamic impact force generated by the falling liquid fertilizer ensures that the force value is always greater than the actual injected liquid mass, i.e. ,in To ensure the true quality of liquid fertilizer, It is the acceleration due to gravity. For dynamic impact force; (3.3) The apparent flow rate of the liquid fertilizer is obtained, and the force increase rate is used as a characterization parameter of the apparent flow rate and input into the control system. (3.4) Verify the validity of the force values ​​and eliminate the lateral interference data generated by the lateral swaying caused by the lifting and lowering of the rigid filling tube (7) on the high-precision strain gauge weighing sensor (3).

3. The automatic quantitative packaging control method for lincomycin waste liquid-based liquid fertilizer according to claim 1, characterized in that: Step (4) also includes the following steps: (4.1) Determine the velocity conversion factor corresponding to the constant height difference between the bottom end of the rigid filling tube (7) and the liquid surface based on the apparent flow rate; (4.2) Based on the physical constraint law of the constant height difference, the illusory mass generated by the dynamic impact force is derived by multiplying the apparent flow velocity by the velocity conversion factor; (4.3) Subtract the false mass from the real-time force value to obtain the actual liquid fertilizer mass inside the packaging barrel (4).

4. The automatic quantitative packaging control method for lincomycin waste liquid-based liquid fertilizer according to claim 1, characterized in that: Step (5) further includes the following steps: (5.1) Based on the fluid transmission law between the flexible silicone tube (6), the proportional clamp valve (8) and the packaging barrel (4), the leakage amount and the mass of the vacant liquid column during the closing process are derived. (5.2) The leakage during the closing process is determined by the relationship between the current apparent flow rate and the mechanical action time required for the proportional clamp valve (8) to completely cut off the flexible silicone tube (6) from the start of squeezing; the mass of the suspended liquid column is determined by the relationship between the apparent flow rate divided by the gravitational acceleration conversion factor of the liquid fertilizer and multiplied by the constant height difference.

5. The automatic quantitative packaging control method for lincomycin waste liquid-based liquid fertilizer according to claim 1, characterized in that: The dynamic boosting position in step (2) includes: a. Initial injection area: The space inside the packaging barrel (4) two centimeters from the bottom of the barrel; b. Dynamic following area: The area between the bottom end of the rigid filling tube (7) offsets vertically upwards, maintaining a distance of two centimeters from the real-time liquid surface and the initial injection area.

6. The automatic quantitative packaging control method for lincomycin waste liquid-based liquid fertilizer according to claim 4, characterized in that: The mass of the suspended liquid column is the total dynamic fluid mass that has passed the cut-off point, is falling freely inside the pipe, and has not yet contacted the liquid surface inside the packaging barrel (4) at the instant when the pressure head of the proportional pinch valve (8) completely squeezes and closes the flexible silicone tube (6). The leakage during the closing process is a compensation mass that is consistent with the mechanical action time required for the proportional pinch valve (8) to completely cut off the flexible silicone tube (6) from the start of squeezing.

7. The automatic quantitative packaging control method for lincomycin waste liquid-based liquid fertilizer according to claim 1, characterized in that: The actual liquid fertilizer quality inside the packaging barrel (4) is controlled by the dynamic lifting action of the rigid filling tube (7) and the dynamic impact force elimination algorithm affected by the apparent flow rate.

8. The automatic quantitative packaging control method for lincomycin waste liquid-based liquid fertilizer according to claim 4, characterized in that: A judgment transition area is set between the state corresponding to the difference between the target total filling mass and the actual liquid fertilizer mass; The sum of the mass of the suspended liquid column introduced into the transition zone and the leakage during the closing process of the proportional clamp valve (8) is used to adaptively compensate for the viscosity changes of different batches of liquid fertilizer without changing the physical support frame and the integrity of the flow channel, thereby reducing or eliminating the metering interference caused by unstable flow rate.

9. An automatic quantitative filling device for lincomycin waste liquid-based liquid fertilizer, comprising a frame (1) and a weighing tray (2), characterized in that: The equipment is equipped with a fluid transmission pipeline (5), and a portion of the fluid transmission pipeline (5) is externally squeezed and filled off by a proportional clamp valve (8); The area of ​​the fluid transmission pipeline (5) includes a rigid guide zone (15) and a flexible cut-off zone (16). The rigid guide zone (15) is the space inside the rigid filling tube (7), and the flexible cut-off zone (16) is the flow channel cut-off area obtained by the flexible silicone tube (6) being squeezed and closed radially inward by the motor-driven pressure head (9) of the proportional clamp valve (8).

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