An Automatic Sleeve Conveying Method and System Based on Gravity Sliding and Adaptive Energy Saving

Abstract

This invention relates to the field of automated control technology for metal processing auxiliary equipment, specifically to an automatic sleeve conveying method and system based on gravity sliding and adaptive energy saving. It is applied to a sleeve conveyor roller system, which includes: a roller conveyor with a gradually decreasing height from the inlet end to the outlet end to form an inclination angle θ; several V-shaped conveyor rollers driven by a variable frequency reduction motor via a chain; a buffer baffle located at the outlet end; a first photoelectric switch and a second photoelectric switch arranged sequentially from far to near the buffer baffle along the conveying direction; and a controller. By employing a strategy of "power-off sliding as the main method and short-term supplementary force" in the intermittent sliding section, the actual motor running time is short, resulting in greater energy savings compared to a continuous drive scheme.

Description

Technical Field

[0001] This invention relates to the field of automated control technology for metal processing auxiliary equipment, specifically to an automatic sleeve conveying method and system based on gravity sliding and adaptive energy saving. Background Technology

[0002] In the aluminum strip bending and straightening unit, the sleeve transport roller conveyor is located next to the sleeve unloading trolley. After the uncoiler completes the uncoiling of a roll of material, the sleeve unloading trolley places the empty sleeve on the sleeve transport roller conveyor. In the existing technology, the operator needs to manually push the sleeve to the hoisting position outside the line, and then the overhead crane will transfer it to the storage rack, which has problems such as high labor consumption, low production efficiency, and personnel safety hazards.

[0003] Some improved solutions employ motor-driven roller conveyors for automatic transport, but typically use a constant speed or a simple acceleration followed by uniform speed control. These solutions have the following inherent drawbacks: high energy consumption, as the motor drives continuously throughout the entire process, resulting in significant electrical energy consumption, especially when the roller conveyor is inclined, failing to fully utilize gravitational potential energy; poor adaptability to differences in sleeve weight, as hollow sleeves may vary in weight due to residual aluminum strips in actual production; under constant driving force, lighter sleeves are prone to high-speed ejection from the roller conveyor or even falling off, while heavier sleeves are conveyed slowly or become stuck; significant impact upon stopping, as traditional solutions only have a photoelectric switch at the end point, cutting off the motor power upon arrival, leaving the sleeve to slide by inertia and impact the buffer baffle, resulting in a large impact force that can easily damage the baffle and deform the sleeve edges over long-term operation; and a lack of self-optimization capability, with fixed parameters that cannot automatically adjust based on actual conveying performance, leading to a large workload for on-site debugging. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the existing defects and provide an automatic sleeve conveying method and system based on gravity sliding and adaptive energy saving. This can solve the technical problems of high energy consumption, poor adaptability to sleeves of different weights, large stopping impact and inability to self-optimize in the prior art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an automatic sleeve conveying method based on gravity sliding and adaptive energy saving, applied to a sleeve conveyor roller system. The roller system includes: a V-shaped roller conveyor with a gradually decreasing height from the inlet end to the outlet end to form an inclination angle θ; several conveying rollers driven by a variable frequency reduction motor via a chain; a buffer baffle disposed at the outlet end; a first photoelectric switch and a second photoelectric switch arranged sequentially from far to near the buffer baffle along the conveying direction; and a controller. The method includes the following steps:

[0006] Step A: Sleeve mass identification and frictional resistance estimation

[0007] After the empty sleeve is placed at the roller conveyor inlet by the sleeve unloading trolley, the controller controls the reduction motor to operate at a preset short-time test current I. testThe drive roller conveyor rotates by a fixed small angular displacement Δθ, and the time Δt required from the start of power-on to the rotation passing Δθ is recorded. The controller, based on the motor's torque constant Kt, reduction ratio i, conveyor roller radius r, and the known equivalent moment of inertia J0 of the transmission system and the motor rotor itself, first calculates the equivalent moment of inertia J0 of the sleeve referred to the motor shaft. load Then, the equivalent moment of inertia is converted into the sleeve mass W; or, the controller stores a "Δt-W" mapping table obtained in advance through calibration tests, and the sleeve mass W is directly obtained by looking up the table; at the same time, the controller estimates the sleeve rolling resistance F based on W, the known tilt angle θ, and the equivalent friction coefficient μ between the roller surface and the sleeve. friction When F friction A negative value indicates that the component of gravity is sufficient to overcome friction, and the sleeve can slide down on its own; a positive value requires an additional driving force from the motor.

[0008] Step B: Adaptive Planning of the Three-Segment Target Velocity Curve

[0009] The controller is based on mass W and rolling resistance F. friction Preset maximum safe speed V max Minimum sustaining speed V min Based on the total length L of the roller conveyor and the positions of the photoelectric switches D1 and D2, a three-segment target speed curve is planned in real time, including:

[0010] Acceleration phase: Target acceleration a acc = (F drive_max - F friction ) / m, where m = W / g, F drive_max The maximum driving force that the motor can output; acceleration to the first speed threshold V1; acceleration distance L acc = V1² / (2·a acc );

[0011] Intermittent gliding phase: The target speed is maintained within the speed range [V] min Within [V1], where V min The preset minimum holding speed ranges from 0.2 to 0.4 m / s. Within this section, the controller alternates between "power-off free-slip" and "short-term supplementary drive" states for the motor, ensuring the average speed of the sleeve is not less than V. mid_target V mid_target = (V1+ V min ) / 2;

[0012] Deceleration and Stopping Section: Starting from the moment the first photoelectric switch is triggered by the sleeve, the controller applies reverse braking torque to the motor or reduces the output frequency, causing the sleeve to decelerate at a speed of a. decThe motor is de-energized when the second photoelectric switch is triggered; thereafter, the sleeve slides to make flexible contact with the buffer baffle using its remaining kinetic energy and gravity, with the contact speed not exceeding the preset stopping speed limit V. stop_limit V stop_limit The value range is 0.1~0.2 m / s;

[0013] Among them, V1 and a dec Dynamically adjusted based on mass W: when W is less than the light cylinder threshold W light When, V1 takes V max a dec Choose a smaller value within the range of 0.1~0.2 m / s² to fully utilize gravity gliding and avoid frequent motor starts and stops; when W is greater than the heavy cylinder threshold W heavy At that time, V1 automatically decreases to (0.5~0.7)×V max a dec Increase to 0.3~0.5 m / s², and at the same time issue a warning signal that "aluminum strip may remain on the sleeve, please check";

[0014] Step C: Execution of the acceleration segment

[0015] The controller starts the geared motor according to the calculated acceleration a. acc The drive sleeve accelerates while simultaneously acquiring real-time encoder pulses from the motor or position sensor signals from the roller conveyor; when the actual sleeve speed reaches V1 or the actual acceleration distance reaches L... acc When the acceleration phase ends, proceed to step D;

[0016] Step D: Execution of intermittent coasting segment

[0017] The controller cuts off the motor power, and the sleeve continues to slide forward relying on gravity or the kinetic energy it has already gained; the controller moves at a period of Δt. s Monitor the real-time velocity v(t), Δt of the sleeve s The value range is 50~200ms; when v(t) ≥ V min When v(t) < V, keep the motor powered off; min At that moment, the controller immediately switches on the motor power and outputs a compensating torque using PID control, causing the sleeve speed to reach a certain level within a short time T. pulse Internal recovery to V1, T pulse The value range is 0.2~0.5s, then the power is cut off again; repeat the above "sliding-force supplementation" process until the front end of the sleeve triggers the first photoelectric switch;

[0018] Step E: Execution of the deceleration and stopping phase

[0019] When the sleeve triggers the first photoelectric switch, the controller records the current speed v1. actual and according to the preset deceleration adec The system begins deceleration; the controller employs either frequency conversion deceleration or DC braking to achieve deceleration. Simultaneously, the controller monitors the sleeve speed, and when the sleeve triggers the second photoelectric switch, it immediately cuts off the motor power. Thereafter, the sleeve decelerates at a speed not exceeding V... stop _limit The speed and sliding distance D2 eventually come into flexible contact with the buffer baffle and come to a stop;

[0020] Step F: Self-learning parameter optimization and reset

[0021] A pressure sensor or contact switch installed at the buffer baffle sends a position signal to the controller, which records the actual stop position deviation ΔS for this conveying operation. The controller then adjusts the deceleration a for the next conveying operation based on ΔS. dec and / or the maximum stopping speed V stop_limit If ΔS is greater than the upper limit of the allowable deviation, it indicates that the deceleration was too early or too large. In the next conveying cycle, reduce 'a'. dec Or increase V stop_limit If ΔS is less than the lower limit of the allowable deviation, it indicates insufficient deceleration. In the next conveying cycle, increase a. dec Or reduce V stop_limit After multiple transmissions, the parameters automatically converge to the optimal value; the controller stores the transmission data in non-volatile memory and resets the system state to standby, waiting for the next sleeve.

[0022] Furthermore, another way to obtain the sleeve mass W in step A is to install a weighing sensor under at least two support rollers at the inlet end of the roller conveyor, and directly read W when the sleeve is stationary on the roller conveyor.

[0023] Furthermore, the dynamic determination formula for the first velocity threshold V1 in step B is as follows:

[0024] And when F friction When ≤ 0, V1 is in V max The larger value within the range of 80% to 100% is chosen to shorten the acceleration phase and allow the sleeve to enter the sliding energy-saving mode as quickly as possible. Maintaining the lower limit of 80% provides a control margin in situations with steep slopes or extremely light sleeves, preventing the sleeve from exceeding V due to continuous acceleration caused by gravity after entering the sliding phase. max .

[0025]

[0026] Furthermore, in step D, the "short-time supplementary force drive" employs a speed closed-loop PID control. The target speed is V1, and the deviation between the measured speed v(t) and V1 is input to the PID controller, which outputs the duty cycle or frequency, and the supplementary force duration T. pulse = k p • (V1 - v(t)) + integral term, ensuring that the overshoot is less than 5% during the speed recovery process.

[0027] Furthermore, it also includes abnormal operating condition handling procedures: when the speed of the sleeve during the conveying process remains below V... min If the motor fails to increase its speed after more than three consecutive attempts to apply additional force, the controller determines this as "jamming," immediately cuts off the motor power, and issues an audible and visual alarm; when the sleeve speed exceeds V... max When the speed reaches ×1.2, the controller determines that it is "overspeed and loss of control", immediately cuts off the motor power and activates the emergency braking device.

[0028] Furthermore, it also includes queue management steps for continuous conveying of multiple sleeves: the controller maintains a first-in-first-out conveying queue in its memory. When the first sleeve enters the deceleration and stopping section, the controller automatically starts to process the acceleration section of the second sleeve, while maintaining a safe distance of not less than 0.5 meters between the first and second sleeves. The controller monitors the distance in real time through a photoelectric switch. If the distance is less than the safe threshold, the acceleration of the second sleeve is temporarily suspended.

[0029] Furthermore, it also includes energy consumption statistics and optimization suggestion steps: the controller calculates the total motor energization time T for each transmission. on_total Total power consumption E consumed And compared with the preset standard energy consumption E standard Compare; when E consumed >E standard When ×1.2 is used, the controller will display a message on the local or host computer interface that suggests "checking the lubrication of the roller conveyor or cleaning foreign objects from the roller surface".

[0030] The present invention also provides an automatic sleeve conveying control system based on gravity sliding and adaptive energy saving, for implementing the method described in any of the above claims, comprising: an inclined V-shaped roller conveyor with an inclination angle θ of 1° to 5°; a variable frequency reduction motor and a chain drive mechanism connected to the conveying rollers in the roller conveyor; a buffer baffle at the sleeve end, covered with an elastic buffer layer on the sleeve-facing side; a first photoelectric switch and a second photoelectric switch spaced apart along the conveying direction, with a spacing of 0.3 to 0.8 meters between them; a sleeve quality detection unit, which is a motor current detection module or a weighing sensor installed under the inlet roller; a controller, which is a programmable logic controller or an embedded microcontroller, connected to the reduction motor, photoelectric switches, and quality detection unit, and configured to execute the method described in any of the above claims; and a human-machine interface connected to the controller for displaying sleeve quality, current speed, number of conveying operations, energy consumption statistics, and alarm information.

[0031] Compared with the prior art, the beneficial effects of the present invention are:

[0032] 1. By adopting a strategy of "power-off coasting as the main method and short-term supplementary power" in the intermittent coasting section, the actual running time of the motor is short, which is more energy-efficient than the full-range continuous drive scheme.

[0033] 2. The mass of the sleeve is accurately identified using the motor current method or weighing method, and the speed curve is dynamically planned accordingly. The lighter sleeve adopts a high-speed gliding mode to fully utilize gravitational potential energy; the heavier sleeve automatically reduces speed and increases deceleration, effectively avoiding problems such as the lighter sleeve running away and the heavier sleeve getting stuck. When an abnormally large sleeve mass is detected, a residual aluminum strip warning is proactively issued to assist in production management.

[0034] 3. By using a two-stage photoelectric switch in conjunction with active deceleration control, the speed at which the sleeve contacts the buffer baffle is less than 0.15 m / s. Compared with the traditional single-switch power-off inertial impact scheme (the impact speed is usually 0.3~0.5 m / s), the impact energy is reduced by more than 80%.

[0035] 4. The deceleration parameters are automatically adjusted based on the deviation of the stopping position each time. The system can automatically converge to the optimal parameters after 3 to 8 feeds, and the stopping accuracy is stable within ±2mm. There is no need for manual trial and error to adjust the PID parameters, which can adapt to the slow changes in on-site working conditions.

[0036] 5. It has functions such as abnormal alarm, queue scheduling, and energy consumption statistics, and can be integrated with the workshop MES system to achieve digital management and control.

[0037] 6. Only a small number of sensors and controllers need to be added to the existing inclined roller conveyor, resulting in low modification costs and easy promotion and application. Attached Figure Description

[0038] Figure 1 This is a side view of the system of the present invention.

[0039] Figure 2 This is a top view of the system of the present invention.

[0040] In the diagram: 1 roller conveyor, 2 variable frequency geared motor, 3 chain, 4 conveyor roller, 5 buffer baffle, 6 first photoelectric switch, 7 second photoelectric switch. Detailed Implementation

[0041] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. To make the technical solution and advantages of the present invention clearer, the core physical model and formula derivation on which the method relies will be explained first below.

[0042] Derivation of core formulas

[0043] (I) Derivation of the quality identification formula

[0044] The method for identifying the sleeve mass through motor current in step A of this invention is based on the motor's equation of motion and the law of conservation of energy. The derivation process is as follows:

[0045] 1. Relationship between motor output torque and moment of inertia

[0046] According to the equation of motion of the motor, the relationship between the output torque T and the angular acceleration α of the motor is as follows:

[0047]

[0048] Among them, J total This is the total rotational inertia of the system referred to the motor shaft.

[0049] 2. Torque and angular acceleration under known test conditions

[0050] The controller outputs a short-time test current I. test The electromagnetic torque generated by the motor is:

[0051]

[0052] After being amplified by reduction ratio ii, the equivalent torque acting on the motor shaft is:

[0053]

[0054] The time required for the motor shaft to rotate Δθ from rest is Δt. Assuming it is uniformly accelerated rotation, the angular acceleration is:

[0055]

[0056] 3. Calculation of the total moment of inertia of the system

[0057] Substituting the above into the equation of motion

[0058]

[0059] The total moment of inertia of the system is obtained by solving:

[0060]

[0061] 4. Extraction of the converted inertia of the sleeve

[0062] Total moment of inertia of the system J total It consists of two parts: the equivalent rotational inertia J0 inherent in the transmission system and the motor rotor itself (which can be pre-calibrated), and the equivalent rotational inertia J of the sleeve referred to the motor shaft. load .therefore:

[0063]

[0064] 5. Conversion of moment of inertia into linear motion mass

[0065] According to the law of conservation of energy, the kinetic energy of the sleeve in linear motion should be equal to its rotational kinetic energy referred to the motor shaft:

[0066]

[0067] Where, ω motor Let be the angular velocity of the motor shaft, and v be the linear velocity of the sleeve. Kinematic constraints are established between them using the conveyor roller radius r and the reduction ratio i.

[0068]

[0069] Substituting into the energy conservation equation:

[0070]

[0071] Eliminate ½ω on both sides 2 motor

[0072] have to:

[0073]

[0074] Therefore, the final formula for calculating the sleeve mass WW (i.e., mm) is:

[0075]

[0076] To compensate for the slight slippage that may occur between the sleeve and the roller surface during actual operation, a correction coefficient k (usually 0.9~1.1) pre-calibrated through experiments can be introduced, and the final mass value is W. corrected =k⋅W.

[0077] (II) Derivation of the rolling resistance estimation formula

[0078] The formula for estimating the rolling resistance of the sleeve in step A of this invention is based on the force analysis of an object on an inclined plane. Taking the sleeve as the research object, it is subjected to two main forces along the inclined plane of the roller conveyor:

[0079] The component of gravity along the inclined plane downwards: F g =W⋅g⋅sinθ, this force is the driving force for the sleeve to slide down;

[0080] Frictional resistance of the roller to the sleeve: F μ =μ⋅N=μ⋅W⋅g⋅cosθ, where N is the support reaction force of the roller on the sleeve, and μ is the equivalent friction coefficient.

[0081] The motor needs to provide net driving force F friction Subtract the component of gravity from the frictional resistance:

[0082]

[0083] When F friction When F > 0, it means the frictional resistance is greater than the component of gravity, and the sleeve cannot slide down on its own; an additional driving force from the motor is required for it to move.friction When the value is ≤0, it means that the gravitational force is sufficient to overcome the frictional resistance, and the sleeve can accelerate downwards on its own without the need for continuous motor drive.

[0084] A simplified method for calibrating the equivalent friction coefficient μ is as follows: Place a standard sleeve of known mass W0 on a stationary roller conveyor, slowly increase the inclination angle θ of the roller conveyor until the sleeve begins to slide down at a uniform speed, and record the critical angle θ at this point. c According to the force equilibrium condition W0⋅g⋅sinθ c =μ⋅W0⋅g⋅cosθ c Therefore, we can obtain: μ = tanθ c .

[0085] Example 1: The sleeve conveyor roller of a certain aluminum strip bending and straightening unit is 3.2 meters long, with an inclination angle θ = 2.5° and a V-shaped roller surface that matches the outer diameter of the sleeve. The reduction motor is a 0.75kW variable frequency motor with a reduction ratio i = 15, and the conveyor roller radius r = 0.04m. The first photoelectric switch is 1.0 meter away from the buffer baffle D1, and the second photoelectric switch is 0.3 meters away from the buffer baffle D2. Preset V max =0.8 m / s, V min =0.2 m / s, V stop_limit =0.15 m / s. After calibration, the equivalent friction coefficient μ=0.15, and the correction factor k=1.0.

[0086] (a) Sleeve quality identification

[0087] The empty sleeve (standard weight 45kg) is placed at the roller conveyor inlet end by the sleeve unloading trolley. The controller sends a short-time test current I. test =1.2A, record the time Δt=0.35s required for the motor to rotate from rest through Δθ=0.1 rad. Given the motor torque constant Kt=0.8 Nm / A, and the known equivalent moment of inertia J0=0.12 kg·m² of the transmission system and the motor rotor itself referred to the motor shaft.

[0088] First, calculate the total moment of inertia of the system:

[0089]

[0090] The equivalent moment of inertia of the sleeve referred to the motor shaft:

[0091]

[0092] Converted to sleeve mass:

[0093]

[0094] It matches the true value of 45kg well, with an error of less than 0.3%.

[0095] (II) Estimation of rolling resistance

[0096] Calculated based on the resistance formula:

[0097] Component of gravity: W⋅g⋅sinθ=45×9.8×sin2.5°≈19.2 N

[0098] Frictional resistance: μ⋅W⋅g⋅cosθ=0.15×45×9.8×cos2.5°≈66.1 N

[0099] Net resistance: F friction =66.1−19.2=46.9 N (positive value, which needs to be overcome by the motor).

[0100] (III) Velocity Curve Planning

[0101] The controller determines that the sleeve is normal based on a mass W=45kg (between the light sleeve threshold of 30kg and the heavy sleeve threshold of 60kg), and sets the acceleration a. acc =0.3 m / s², first velocity threshold V1=0.6 m / s, acceleration distance L acc =0.6² / (2×0.3) = 0.6 meters. Deceleration a during the deceleration phase. dec It is set to 0.25 m / s².

[0102] (iv) Conveying process

[0103] Acceleration phase: The motor drives the sleeve at a constant acceleration of 0.3 m / s², and after about 2 seconds the speed reaches 0.6 m / s, at which point the sleeve has moved forward about 0.6 meters.

[0104] Intermittent sliding phase: The motor is powered off, and the sleeve slides due to inertia. Because the rolling resistance is positive, the sleeve speed gradually decreases. When the speed drops to V... min When the speed reaches 0.2 m / s (approximately 1.5 seconds of coasting), the controller activates the motor for short-term boost, using PID control to restore the speed to 0.6 m / s within 0.3 seconds, before power is cut off again. This "coasting-boosting" cycle is repeated three times, triggering the first photoelectric switch at the front of the sleeve, at which point the actual speed is approximately 0.55 m / s.

[0105] Deceleration and Stopping Section: The controller begins deceleration at a rate of 0.25 m / s². After approximately 1.8 seconds, the sleeve triggers the second photoelectric switch. At this point, the speed has decreased to approximately 0.1 m / s, and the motor is immediately and completely de-energized. The sleeve slides for 0.3 meters at a speed below 0.1 m / s before making flexible contact with the buffer baffle and coming to a stop.

[0106] The total motor power-on time is approximately 2.9 seconds, the total transmission time is approximately 9.5 seconds, and the actual operating rate of the motor is approximately 30%, resulting in energy savings of approximately 40% compared to traditional full-process drive solutions.

[0107] (v) Self-learning optimization

[0108] After the first conveying, the sleeve stopped 5mm from the baffle (ΔS=+5mm). The controller determined that the deceleration was slightly premature and would adjust a during the next conveying. dec The speed was reduced from 0.25 m / s² to 0.23 m / s². After the second feed, the stopping position deviation decreased to +1 mm. After 5 feeds, the parameters converged, and the stopping deviation stabilized within ±2 mm.

[0109] Example 2 (Light Sleeve Scenario): When the sleeve mass is only 15kg (small aluminum alloy sleeve), the controller identifies the mass and calculates the rolling resistance. Gravity component: 15 × 9.8 × sin2.5° ≈ 6.4N, Friction force: 0.15 × 15 × 9.8 × cos2.5° ≈ 22.0N, F friction =22.0-6.4=15.6N, still a positive value, but due to its small mass, the motor driving force is sufficient for rapid acceleration. The controller sets V1 to V max =0.8 m / s, the motor is completely de-energized after the acceleration phase. Due to its small mass and moderate inertia, the sleeve slides a relatively long distance, requiring only one short-term supplementary force to reach the first photoelectric switch. Deceleration a during the deceleration phase. dec Taking the smaller value of 0.15 m / s², the sleeve stops flexibly. The actual motor running time is only about 3.1 seconds, with an energy saving rate of over 55%.

[0110] On a steeper roller conveyor (e.g., θ=4°), for a 15kg sleeve, the component of gravity is 10.2N, while the frictional force is still approximately 22.0N. friction =11.8N, still positive but smaller, resulting in higher sliding efficiency. If the roller conveyor tilt angle increases to make F friction If ≤0 (e.g., when θ≥arctan(0.15)≈8.5°), the sleeve can slide entirely by gravity, and the motor only needs to provide the initial speed during the acceleration phase, resulting in an energy saving rate of over 70%.

[0111] Example 3 (Abnormal Operating Condition): During a certain conveying operation, residual aluminum strip remained inside the sleeve. The controller, during the quality identification phase, measured an equivalent mass of 82 kg, exceeding the 60 kg heavy-duty sleeve threshold. The controller automatically reduced V1 from the normal 0.6 m / s to 0.4 m / s. dec The speed was increased to 0.4 m / s², and a message appeared on the HMI stating, "Aluminum strip may remain on the sleeve; please check." The conveying process was completed smoothly, with accurate stopping position and no impact.

[0112] All parts not disclosed in this invention are prior art, and their specific structures, materials, and working principles will not be described in detail. Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A method and system for automatic sleeve conveying based on gravity sliding and adaptive energy saving, applied to a sleeve conveyor roller system, the roller system comprising: A roller conveyor (1) whose height gradually decreases from the inlet end to the outlet end to form an inclined angle θ, a plurality of V-shaped conveying rollers (4) driven by a variable frequency reduction motor (2) via a chain (3), a buffer baffle (5) set at the outlet end, a first photoelectric switch (6) and a second photoelectric switch (7) arranged sequentially from far to near the buffer baffle along the conveying direction, and a controller; characterized in that the method includes the following steps: Step A: After the empty sleeve is placed at the inlet end, the controller identifies the mass W of the sleeve and estimates the rolling resistance F experienced by the sleeve. friction ; Step B: The controller determines the mass W and rolling resistance F. friction Plan a three-segment target velocity curve, including: with acceleration a acc During the acceleration phase of the drive, the target speed is maintained at the preset minimum sustained speed V. min The intermittent coasting segment between the first speed threshold V1 and the deceleration a dec The deceleration and stopping phase of the drive, where V1 and a dec Adjust dynamically based on quality W; Step C: Execute the acceleration phase to accelerate the sleeve to V1; Step D: Execute the intermittent coasting phase. The controller causes the motor to alternate between power-off free coasting and short-term supplementary drive states, maintaining the sleeve speed at no less than V. min until the sleeve triggers the first photoelectric switch; Step E: Execute the deceleration and stop phase. Starting from the sleeve triggering the first photoelectric switch, the controller causes the motor to apply braking torque to decelerate a. dec The motor is completely de-energized when the sleeve triggers the second photoelectric switch, and the sleeve slides to make flexible contact with the buffer baffle using its remaining kinetic energy. Step F: Record the sleeve stop position deviation, and adjust the deceleration parameters for the next conveying based on the deviation to achieve self-learning optimization.

2. The automatic sleeve conveying method based on gravity sliding and adaptive energy saving according to claim 1, characterized in that: The specific method for identifying quality W in step A is as follows: the controller uses a short-time test current I... test The drive motor rotates through a small angular displacement Δθ, and the required time Δt is recorded. Based on the motor torque constant Kt, reduction ratio i, conveyor roller radius r, and known equivalent moment of inertia J0, the equivalent moment of inertia J of the sleeve referred to the motor shaft is first calculated using the motor motion equation and the law of conservation of energy. load Then, the mass W is converted through kinematic relationships; or W can be read directly by a weighing sensor located below the roller conveyor.

3. The automatic sleeve conveying method based on gravity sliding and adaptive energy saving according to claim 1, characterized in that: The dynamic determination method of V1 in step B is as follows: when W is less than the light cylinder threshold, V1 takes the preset maximum safe speed V. max When W is greater than the heavy cylinder threshold, V1 decreases to (0.5~0.7)×V. max ; and when F friction When ≤ 0, V1 is in V max It takes values ​​within the range of 80% to 100%.

4. The automatic sleeve conveying method based on gravity sliding and adaptive energy saving according to claim 1, characterized in that: The short-time boost drive in step D uses speed closed-loop PID control. The target speed is V1, and the boost duration is dynamically adjusted according to the deviation between the current speed and V1, so that the overshoot during the speed recovery process is less than 5%.

5. The automatic sleeve conveying method based on gravity sliding and adaptive energy saving according to claim 1, characterized in that: It also includes abnormal handling steps: when the sleeve speed remains below V min If the motor fails to increase its speed even after continuous additional force beyond a preset number of cycles, it is considered jammed and an alarm will sound to stop the machine; when the sleeve speed exceeds V... max When the value is ×1.2, it is determined to be speeding and emergency braking is required.

6. The automatic sleeve conveying method based on gravity sliding and adaptive energy saving according to claim 1, characterized in that: It also includes queue management steps for continuous conveying of multiple sleeves: the controller maintains the conveying queue, controls the safe distance between adjacent sleeves, automatically starts the acceleration section of the second sleeve after the first sleeve enters the deceleration stop section, and monitors the distance through photoelectric switches. When the distance is less than the safe threshold, the acceleration is temporarily suspended.

7. The automatic sleeve conveying method based on gravity sliding and adaptive energy saving according to claim 1, characterized in that: It also includes an energy consumption statistics step: the controller counts the total power-on time and power consumption of the motor for each conveyor, compares it with the standard energy consumption, and prompts to check the condition of the roller conveyor when the energy consumption is abnormally high.

8. An automatic sleeve conveying control system for implementing the method according to any one of claims 1-7, characterized in that, include: The inclined roller conveyor (1) has an inclination angle of 1°~5°; Rotate several V-shaped conveyor rollers (4) set on the track (1); A transmission mechanism consisting of a variable frequency geared motor (2) and a chain (3); A buffer baffle (5) is located at the outlet end of the roller conveyor (1); A first photoelectric switch (6) and a second photoelectric switch (7) are arranged at intervals along the conveying direction; The sleeve quality detection unit is either a motor current detection module or a weighing sensor. The controller is connected to the motor, photoelectric switch, and quality detection unit, and is configured to perform the method described in any one of claims 1-7; The human-machine interface is used to display status, parameters, and alarm information.

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