Online high-speed waste collection control system for box pasting

Abstract

The embodiment of the utility model discloses an online high-speed waste collection control system for box pasting. The system comprises a material detection subsystem and a waste collection subsystem, the material detection subsystem comprises a first controller and a waste kicking device, and the first controller is connected with the waste kicking device; the waste collecting subsystem comprises a second controller and a waste collecting device, and the second controller is connected with the first controller and the waste collecting device. When the first controller judges that the materials have defects according to a material incoming signal generated by the material detection subsystem in real time, a first conveying distance signal of the material conveying belt recorded in real time and a defect detection result signal of the waste collection subsystem, the first controller sends a waste kicking instruction to the waste kicking device and the second controller, and waste is removed and collected. According to the embodiment of the utility model, defective materials in a high-speed machine are prevented from being mixed into subsequent production links, so that the yield of products is improved, the reduction of the overall production speed caused by retention of the defective materials on a production line is avoided, and the production efficiency is further improved.

Description

Technical Field

[0001] This utility model relates to conveyor belt waste removal technology, and more particularly to a high-speed waste collection control system for online box gluing. Background Technology

[0002] In the printing production process, defective materials are inevitably produced. When defective materials are produced, they need to be removed by a waste removal device.

[0003] In the traditional printing industry, when the printing press is running at low speeds (around 200 m / min), photoelectric sensors are commonly used as the source of rejection signals. At low speeds, the relative accuracy of photoelectric sensors is low, and they are easily interfered with, which in turn affects the accuracy of rejection and subsequent processing steps.

[0004] When the machine is running at high speed (450 m / min and above), the photoelectric sensor may not be able to trigger the rejection action in time due to insufficient response speed. This results in defective materials not being accurately removed and being mixed into subsequent processing stages, affecting product quality. It also increases the risk of accidental rejection, further impacting production efficiency and product qualification rate. Utility Model Content

[0005] This invention provides a high-speed waste collection control system for online box gluing, to solve the problem that traditional sensing devices are easily interfered with and cannot meet the waste removal requirements during high-speed operation of printing presses.

[0006] This utility model embodiment provides a high-speed waste collection and control system for online box gluing, including a material detection subsystem and a waste collection subsystem;

[0007] The material detection subsystem includes a first controller and a waste removal device, with the first controller connected to the waste removal device;

[0008] The waste collection subsystem includes a second controller and a waste collection device, with the second controller connected to both the first controller and the waste collection device.

[0009] The first controller sends waste removal commands to the waste removal device and the second controller respectively;

[0010] According to the scrap kicking instruction, the scrap kicking device performs scrap kicking operation on the scrap kicking station on the material conveyor belt, so as to transfer the material as waste to the waste conveyor belt;

[0011] The second controller generates a waste collection instruction based on the waste removal instruction and sends it to the waste collection device; the waste collection device performs a waste collection operation on the waste material according to the waste collection instruction, so as to collect the waste material onto the paper receiving platform.

[0012] Optionally, the material detection subsystem also includes a first encoder and a photoelectric sensor; the first controller is also connected to the first encoder and the photoelectric sensor respectively;

[0013] The first encoder records the first conveying distance signal of the material conveyor belt in real time;

[0014] Photoelectric sensors detect materials on the material conveyor belt in real time and generate material arrival signals.

[0015] The first controller determines the material's conveying position on the material conveyor belt based on the first conveying distance signal and the material arrival signal, and generates a scrap kicking command when defective material is conveyed to the scrap kicking station on the material conveyor belt.

[0016] Optionally, the material inspection subsystem also includes a defect detection device; the first controller is also connected to the defect detection device.

[0017] The first controller generates a detection command when the material is conveyed to the detection station on the material conveyor belt and sends it to the defect detection device.

[0018] The defect detection device performs defect detection on the material according to the detection command and generates the detection result, which is then returned to the first controller.

[0019] The first controller determines whether the material has defects based on the detection results.

[0020] Optionally, the waste collection subsystem also includes a second encoder; the second controller is also connected to the second encoder.

[0021] The second encoder records the second conveying distance signal of the waste conveyor belt in real time.

[0022] The second controller uses the scrap kicking command as the scrap arrival signal. Based on the second conveying distance signal and the scrap arrival signal, it determines the conveying position of the scrap on the scrap conveyor belt and generates a scrap collection command when the scrap is conveyed to the scrap collection station on the scrap conveyor belt.

[0023] Optionally, the second encoder is a coaxial encoder.

[0024] Optionally, the coaxial encoder is secured to the end of the roller on the waste conveyor belt using a safety lock.

[0025] Optionally, the second controller and the coaxial encoder are connected by shielded twisted-pair cable, with a grounding wire in the shielded twisted-pair cable.

[0026] Optionally, the first controller is a microcontroller and the second controller is a programmable logic controller.

[0027] Optionally, the microcontroller's I / O ports can be connected to the high-speed input ports of the programmable logic controller.

[0028] Optionally, the waste collection device includes a servo driver and a motor; a second controller is connected to the servo driver, and the servo driver is connected to the motor;

[0029] The servo driver controls the motor to perform the waste collection action according to the waste collection command.

[0030] This embodiment of the invention improves overall product quality by removing defective materials at a scrap removal station through a material detection subsystem and a scrap collection subsystem. The material detection subsystem includes a first controller and a scrap removal device, with the first controller connected to the scrap removal device. The scrap collection subsystem includes a second controller and a scrap collection device, with the second controller connected to both the first controller and the scrap collection device. When the first controller determines that defective materials exist based on the material detection subsystem's real-time detection of materials on the material conveyor belt (generating a material arrival signal), real-time recording of the first conveying distance signal of the material conveyor belt, and the defect detection result signal from the scrap collection subsystem, it indicates the presence of defective materials. When a defect is detected, the first controller sends a scrap removal command to both the scrap removal device and the second controller. The scrap removal device, based on the command, scraps the defective material at the scrap removal station on the material conveyor belt, transferring it as waste to the waste conveyor belt, thereby improving the yield of finished products. The second controller, based on the scrap removal command, generates a waste collection command and sends it to the waste collection device. The waste collection device, based on the command, performs a waste collection operation, collecting the waste onto the paper receiving platform to prevent waste accumulation on the production line, thus preventing negative impacts on equipment operation, product quality, and production efficiency. This embodiment connects the first and second controllers, with the scrap removal command from the first controller also serving as a waste collection signal for the second controller to determine waste collection status. Compared to traditional photoelectric sensors for detecting incoming waste, this solution effectively adapts to scrap removal operations on high-speed machines (450M / Min and above), thereby improving product yield and preventing a decrease in overall production speed due to defective materials remaining on the production line, thus increasing production efficiency. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the structure of a high-speed waste collection control system for online box gluing provided in an embodiment of this utility model;

[0032] Figure 2 This is a partial structural schematic diagram of a high-speed waste collection control system for online gluing of boxes provided in an embodiment of this utility model. Detailed Implementation

[0033] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0034] Figure 1This is a schematic diagram of the structure of a high-speed waste collection control system for online box gluing provided in an embodiment of this utility model. Figure 2 This is a partial structural schematic diagram of a high-speed waste collection control system for online gluing of boxes provided in an embodiment of this utility model, as shown below. Figure 1 and Figure 2 As shown, the system includes: a material detection subsystem 100 and a waste collection subsystem 200;

[0035] The material detection subsystem 100 includes a first controller 20 and a waste removal device 10, wherein the first controller 20 is connected to the waste removal device 10;

[0036] The waste collection subsystem 200 includes a second controller 60 and a waste collection device 70, with the second controller 60 connected to the first controller 20 and the waste collection device 70 respectively.

[0037] The material detection subsystem 100 is used to detect materials on the material conveyor belt, determine whether the materials are defective, and determine the position of defective materials on the conveyor belt. The first controller 20 is used to receive signals from components such as the photoelectric sensor 40, the first encoder 30, and the defect detection device 50, and process and analyze these signals according to preset logic to determine whether the materials are defective and their position on the conveyor belt. The waste removal device 10 is used to apply force to the defective materials by mechanical or pneumatic means when the materials arrive at the waste removal station, causing them to detach from the material conveyor belt and transfer to the waste conveyor belt. The waste collection subsystem 200 is used to control the waste collection device 70 to collect the waste to the paper collection platform according to the position information of the waste on the waste conveyor belt. The second controller 60 is used to determine the conveying position of the waste on the waste conveyor belt, and when the waste arrives at the waste collection station, it generates a waste collection command and sends it to the waste collection device 70 to control the waste collection device 70 to perform the waste collection action. The waste collection device 70 is used to transfer the waste from the waste conveyor belt to the paper collection platform through mechanical structures such as the motor 72.

[0038] The first controller 20 sends waste removal commands to the waste removal device 10 and the second controller 60 respectively;

[0039] According to the scrap kicking instruction, the scrap kicking device 10 performs a scrap kicking operation on the scrap kicking station on the material conveyor belt, so as to transfer the material as waste to the waste conveyor belt.

[0040] The second controller 60 generates a waste collection instruction based on the waste removal instruction and sends it to the waste collection device 70; the waste collection device 70 performs a waste collection operation on the waste material according to the waste collection instruction, so as to collect the waste material onto the paper receiving platform.

[0041] The scrap removal instruction can be understood as a scrap removal instruction signal sent by the first controller 20 to the scrap removal device 10 and the second controller 60 when the first controller 20 detects a defect in the material and the material is about to reach the scrap removal station. The scrap removal instruction signal includes a scrap removal action sent by the scrap removal device 10 to the defective material at a specific location (scrap removal station). Simultaneously, the scrap removal instruction signal is also used to control the second controller 60 to generate a scrap collection instruction. The scrap removal station can be understood as the position on the material conveyor belt where the scrap removal device 10 removes the defective material. The scrap collection instruction can be understood as a scrap collection instruction signal generated by the second controller 60 and sent to the scrap collection device 70 before the scrap reaches the scrap collection station, based on the scrap removal instruction and the position information of the scrap on the scrap conveyor belt. The scrap collection instruction signal includes specific information for starting the scrap collection operation, such as the speed and running time of the scrap collection device 70.

[0042] Specifically, when the first controller 20 determines that the material has a defect and that the defective material is about to reach the scrap removal station based on the real-time material arrival signal generated by the photoelectric sensor 40, the real-time first conveying distance signal recorded by the first encoder 30, and the defect detection result signal from the defect detection device 50, the first controller 20 generates a scrap removal command and simultaneously sends it to the scrap removal device 10 and the second controller 60. Upon receiving the scrap removal command, the scrap removal device 10 executes the scrap removal action, blowing the defective material off the material conveyor belt and causing it to fall into the waste conveyor belt. Upon receiving the scrap removal command, the second controller 60 obtains the speed of the waste conveyor belt through the second encoder 80, and combines it with the time information in the scrap removal command (e.g., the time interval from receiving the scrap removal command to the present), calculates the current position of the waste material on the waste conveyor belt. When the waste material is about to reach the waste collection station, the second controller 60 generates a waste collection command according to the preset waste collection program logic and sends it to the waste collection device 70. After receiving the waste collection command, the waste collection device 70 recovers the waste material from the waste conveyor belt to the paper collection platform.

[0043] This embodiment of the invention improves overall product quality by removing defective materials at a scrap removal station through a material detection subsystem and a scrap collection subsystem. The material detection subsystem includes a first controller and a scrap removal device, with the first controller connected to the scrap removal device. The scrap collection subsystem includes a second controller and a scrap collection device, with the second controller connected to both the first controller and the scrap collection device. When the first controller determines that defective materials exist based on the material detection subsystem's real-time detection of materials on the material conveyor belt (generating a material arrival signal), real-time recording of the first conveying distance signal of the material conveyor belt, and the defect detection result signal from the scrap collection subsystem, it indicates the presence of defective materials. When a defect is detected, the first controller sends a scrap removal command to both the scrap removal device and the second controller. The scrap removal device, based on the command, scraps the defective material at the scrap removal station on the material conveyor belt, transferring it as waste to the waste conveyor belt, thereby improving the yield of finished products. The second controller, based on the scrap removal command, generates a waste collection command and sends it to the waste collection device. The waste collection device, based on the command, performs a waste collection operation, collecting the waste onto the paper receiving platform to prevent waste accumulation on the production line, thus preventing negative impacts on equipment operation, product quality, and production efficiency. This embodiment connects the first and second controllers, with the scrap removal command from the first controller also serving as a waste collection signal for the second controller to determine waste collection status. Compared to traditional photoelectric sensors for detecting incoming waste, this solution effectively adapts to scrap removal operations on high-speed machines (450M / Min and above), thereby improving product yield and preventing a decrease in overall production speed due to defective materials remaining on the production line, thus increasing production efficiency.

[0044] Optionally, the material detection subsystem 100 also includes a first encoder 30 and a photoelectric sensor 40; such as Figure 1 and Figure 2 As shown, the first controller 20 is also connected to the first encoder 30 and the photoelectric sensor 40 respectively; the first encoder 30 records the first conveying distance signal of the material conveyor belt in real time; the photoelectric sensor 40 detects the material on the material conveyor belt in real time to generate a material arrival signal; the first controller 20 determines the conveying position of the material on the material conveyor belt according to the first conveying distance signal and the material arrival signal, and generates a scrap kicking command when defective material is conveyed to the scrap kicking station on the material conveyor belt.

[0045] The first encoder 30 is used to measure the running distance of the material conveyor belt, thereby recording the distance information of the material moving on the conveyor belt in real time. The photoelectric sensor 40 is used to detect whether there is material passing on the material conveyor belt in real time based on the photoelectric effect principle. When the material blocks the light emitted by the photoelectric sensor 40, a material arrival signal is generated. The first conveying distance signal can be understood as a digital or pulse signal generated by the first encoder 30 according to the conveying speed of the material conveyor belt. This signal represents the distance information of the material moving on the conveyor belt from a certain reference point (such as the location of the photoelectric sensor 40). The material arrival signal can be understood as the positioning signal generated by the photoelectric sensor 40 when it detects that the material has passed through the detection area.

[0046] Specifically, the first encoder 30 is mechanically connected to the transmission components (such as rollers) of the material conveyor belt. When the rollers rotate, the first encoder 30 converts the rotational motion of the rollers into electrical pulse signals. Further, the pulse signals are converted into digital signals, namely the first conveying distance signal. Simultaneously, a photoelectric sensor 40 installed on one side of the material conveyor belt continuously detects the material on the conveyor belt. When the material moves with the conveyor belt and enters the detection area of ​​the photoelectric sensor 40, the photoelectric sensor 40 detects a change in light intensity and generates a material arrival signal. When the first controller 20 receives the material arrival signal, it marks the position of the material using the location of the photoelectric sensor 40 as a reference point and records the pulse signals transmitted from the first encoder 30 to calculate the material's movement distance relative to the reference point. When defective material is about to reach the scrap removal station, the first controller 20 generates and sends a scrap removal command to the scrap removal device 10, controlling the scrap removal device 10 to blow away the defective material. Simultaneously, it sends a command to the second controller 60 to control the waste collection device 70 to collect the defective material. Through coordinated work with the waste collection device 70, efficient waste collection is achieved.

[0047] Optionally, the material inspection subsystem 100 also includes a defect detection device 50; the first controller 20 is also connected to the defect detection device 50.

[0048] The first controller 20 generates a detection command when the material is conveyed to the detection station on the material conveyor belt and sends it to the defect detection device 50.

[0049] The defect detection device 50 performs defect detection on the material according to the detection command and generates the detection result and returns it to the first controller 20.

[0050] The first controller 20 determines whether there are defects in the material based on the detection results.

[0051] The defect detection device 50 is used to inspect materials for defects. For example, the defect detection device 50 may include image detection (such as using a high-definition camera to capture images of the material surface and detect the clarity and color deviation of printed patterns) and physical detection (such as using a laser to detect the thickness and flatness of the material) to accurately determine whether the material has quality problems. The detection station can be understood as the location on the material conveyor belt where the defect detection device 50 is placed. The detection command can be understood as containing various parameters and commands required to start the defect detection device 50, such as the detection mode and detection accuracy requirements. The detection result can be understood as feedback information about the material's quality status generated by the defect detection device 50 after detecting the material. For example, the detection result may be a binary value (such as "0" indicating no defects and "1" indicating defects) or a data packet containing a detailed description of the defect (such as "printed pattern color deviation, deviation value XX").

[0052] Specifically, when the material moves along the conveyor belt and arrives at the inspection station, the sensor installed at the inspection station (such as photoelectric sensor 40 or proximity switch) detects the material's position and sends a material signal to the first controller 20. Upon receiving the material signal, the first controller 20 sends a detection command to the defect detection device 50. The defect detection device 50 inspects the material and returns the inspection result to the first controller 20. The first controller 20 determines whether the material has defects based on the inspection result. Through the defect detection device 50, the first controller 20, and related sensors, the detection and judgment of the material are achieved, ensuring product quality.

[0053] For example, the detection result may be an image taken by a camera. After receiving the detection result, the first controller 20 determines whether there is a defect (such as blurry printing, color deviation, surface scratches, etc.) according to preset logic rules.

[0054] Optionally, the waste collection subsystem 200 also includes a second encoder 80; the second controller 60 is also connected to the second encoder 80;

[0055] The second encoder 80 records the second conveying distance signal of the waste conveyor belt in real time.

[0056] The second controller 60 uses the scrap kicking command as the scrap arrival signal, determines the conveying position of the scrap on the scrap conveyor belt based on the second conveying distance signal and the scrap arrival signal, and generates a scrap collection command when the scrap is conveyed to the scrap collection station on the scrap conveyor belt.

[0057] The second encoder 80 is used to measure the running distance of the waste conveyor belt and convert the movement of waste on the conveyor belt into a second conveying distance signal in the form of an electrical signal; the waste arrival signal can be understood as a trigger signal to start the waste collection preparation work.

[0058] Specifically, the second encoder 80 monitors the movement of the transmission components (such as rollers) of the waste conveyor belt. It converts the movement state of the transmission components into a second transmission distance signal, which the second controller 60 uses to determine the position of the waste on the waste conveyor belt. Upon receiving a waste removal command (i.e., a waste arrival signal) from the first controller 20, the second controller 60 calculates the distance the waste has traveled on the waste conveyor belt based on the second transmission distance signal, using the moment the command is received as the starting time. When the calculation indicates that the waste is about to reach the waste collection station, the second controller 60 generates a waste collection command according to the preset waste collection program logic, controlling the waste collection device 70 to collect the waste from the waste conveyor belt onto the paper collection platform, thus completing the waste collection operation and preventing problems such as waste leakage or equipment damage due to improper waste collection.

[0059] Optionally, the second encoder 80 is a coaxial encoder.

[0060] The coaxial encoder can be understood as the second encoder 80 being coaxially mounted with the transmission component (such as a roller) of the waste conveyor belt.

[0061] Specifically, the second encoder 80 (coaxial encoder) is coaxially mounted with the rollers of the waste conveyor belt. When the rollers of the waste conveyor belt rotate one revolution, the corresponding shaft of the second encoder 80 also rotates one revolution. A pulse signal is generated every time the shaft rotates a certain angle (e.g., 1 / 4 revolution or 1 / 8 revolution). By counting the pulse signals, the rotation angle or number of revolutions of the roller can be obtained. This rotation angle or number of revolutions is then converted into a linear distance via the roller diameter to obtain the second conveying distance signal, thereby achieving precise tracking of the material.

[0062] Optional, such as Figure 2 As shown, the coaxial encoder is fixed to the end of the roller of the waste conveyor belt with a safety lock.

[0063] Among them, a safety lock can be understood as a mechanical fixing device.

[0064] Specifically, the Ancoaxial encoder is fixed to the end of the roller of the waste conveyor belt with a safety lock to prevent the encoder from loosening, displacing or falling off due to vibration, rotational inertia or other external forces during equipment operation, thus ensuring the accuracy of the data acquisition position.

[0065] Optionally, the second controller 80 and the coaxial encoder are connected by a shielded twisted pair cable, with a grounding wire in the shielded twisted pair cable.

[0066] Shielded twisted pair cable can be understood as multiple pairs of insulated wires twisted together and wrapped with a metal shielding layer.

[0067] Specifically, a shielded twisted-pair cable is used between the second controller 80 and the coaxial encoder. When external electromagnetic waves radiate onto the shielding layer, the shielding layer will guide these electromagnetic waves to the grounding wire, improving the stability and reliability of the system and avoiding signal distortion or erroneous control caused by electromagnetic interference.

[0068] Optionally, the first controller 20 is a microcontroller, and the second controller 60 is a programmable logic controller.

[0069] Specifically, in the material inspection subsystem 100, the microcontroller is connected to the photoelectric sensor 40, the first encoder 30, and the defect detection device 50 via an input interface circuit, continuously monitoring the output signals of these devices. When the photoelectric sensor 40 detects material passing on the material conveyor belt, it sends a high-level signal to the microcontroller. Upon receiving the high-level signal, the microcontroller reads the first conveying distance signal transmitted by the first encoder 30. When the material reaches the inspection station, the microcontroller sends a detection command to the defect detection device 50 and determines whether the material has a defect based on the detection result sent by the defect detection device 50. If a defect exists, the microcontroller generates a scrapping command before the defective material reaches the scrapping station based on the current material position and preset scrapping conditions, and sends it to the scrapping device 10 and the programmable logic controller (PLC) via the output interface. Simultaneously, the PLC calculates the position of the scrap material on the scrap conveyor belt by combining the receipt time of the scrapping command and the second conveying distance signal. When the calculation results indicate that the waste is about to reach the waste collection station, the programmable logic controller generates a waste collection instruction according to the preset waste collection program logic, and controls the waste collection device 70 to collect the waste from the waste conveyor belt to the paper collection platform, thereby completing the waste collection operation.

[0070] Optionally, the microcontroller's I / O ports can be connected to the high-speed input ports of the programmable logic controller.

[0071] I / O ports can be understood as the input / output interfaces of a microcontroller.

[0072] Specifically, the signals sent from the microcontroller to the programmable logic controller (PLC) are transmitted through the I / O port, passed through shielded twisted-pair cables, and received via the high-speed input port. This prevents paper receiving anomalies caused by untimely responses from the PLC, such as the receiving platform not responding when materials arrive, or material accumulation due to lag in the receiving platform's operation. For example, when the scanning filter of the PLC's high-speed input port is 2µs and the measurement period is 10ms, the PLC can accurately capture signal changes sent by the microcontroller, thus responding promptly and ensuring the normal and orderly operation of the paper receiving process.

[0073] Optionally, the waste collection device includes a servo driver and a motor; a second controller is connected to the servo driver, and the servo driver is connected to the motor;

[0074] The servo driver controls the motor to perform the waste collection action according to the waste collection command.

[0075] Specifically, the servo driver receives a rejection signal from a second controller (e.g., a programmable logic controller).

[0076] Based on the waste collection signal, the servo driver adjusts the power supply voltage and current of the servo motor, thereby enabling the servo motor's speed and torque to reach the state set by the waste collection signal, so as to adapt to different material weights, sizes and waste collection speed requirements.

[0077] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, combinations, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments. Many other equivalent embodiments may be included without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A high-speed waste collection control system for online box gluing, characterized in that, Includes a material detection subsystem and a waste collection subsystem; The material detection subsystem includes a first controller and a waste removal device, wherein the first controller is connected to the waste removal device. The waste collection subsystem includes a second controller and a waste collection device, wherein the second controller is connected to the first controller and the waste collection device respectively. The first controller sends waste removal commands to the waste removal device and the second controller respectively; According to the waste removal instruction, the waste removal device performs a waste removal operation on the defective material conveyed to the waste removal station on the material conveyor belt, so as to transfer the material as waste to the waste conveyor belt. The second controller generates a waste collection instruction based on the waste removal instruction and sends it to the waste collection device; the waste collection device performs a waste collection operation on the waste material based on the waste collection instruction to collect the waste material onto the paper receiving platform.

2. The control system according to claim 1, characterized in that, The material detection subsystem further includes a first encoder and a photoelectric sensor; the first controller is also connected to the first encoder and the photoelectric sensor respectively. The first encoder records the first conveying distance signal of the material conveyor belt in real time; The photoelectric sensor detects the material on the material conveyor belt in real time and generates a material arrival signal. The first controller determines the material's conveying position on the material conveyor belt based on the first conveying distance signal and the material arrival signal, and generates the scrap kicking command when defective material is conveyed to the scrap kicking station on the material conveyor belt.

3. The control system according to claim 2, characterized in that, The material inspection subsystem also includes a defect detection device; the first controller is also connected to the defect detection device. When the material is conveyed to the inspection station on the material conveyor belt, the first controller generates an inspection command and sends it to the defect detection device. The defect detection device performs defect detection on the material according to the detection command and generates a detection result, which is then returned to the first controller. The first controller determines whether the material has defects based on the detection results.

4. The control system according to claim 1, characterized in that, The waste collection subsystem also includes a second encoder; the second controller is also connected to the second encoder. The second encoder records the second conveying distance signal of the waste conveyor belt in real time; The second controller uses the scrap kicking command as the scrap arrival signal, determines the conveying position of the scrap on the scrap conveyor belt based on the second conveying distance signal and the scrap arrival signal, and generates the scrap collection command when the scrap is conveyed to the scrap collection station on the scrap conveyor belt.

5. The control system according to claim 4, characterized in that, The second encoder is a coaxial encoder.

6. The control system according to claim 5, characterized in that, The coaxial encoder is fixed to the end of the roller of the waste conveyor belt using a safety lock.

7. The control system according to claim 5, characterized in that, The second controller and the coaxial encoder are connected by a shielded twisted pair cable, and the shielded twisted pair cable is provided with a grounding wire for grounding.

8. The control system according to claim 1, characterized in that, The first controller is a microcontroller, and the second controller is a programmable logic controller.

9. The control system according to claim 8, characterized in that, The I / O ports of the microcontroller are connected to the high-speed input ports of the programmable logic controller.

10. The control system according to claim 1, characterized in that, The waste collection device includes a servo driver and a motor; the second controller is connected to the servo driver, and the servo driver is connected to the motor; The servo driver controls the motor to perform the waste collection action according to the waste collection command.

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