CN-121979309-A - Transfer control method and transfer device of hub transfer machine

CN121979309ACN 121979309 ACN121979309 ACN 121979309ACN-121979309-A

Abstract

The invention discloses a transfer control method and a transfer device for a hub transfer machine, and relates to the technical field of hub transfer. The method comprises the steps of collecting wheel hub size, positioning and device operation data, obtaining effective data through abnormal value removal, missing value supplement and filtering treatment, completing wheel hub size classification according to size threshold values, controlling a longitudinal and transverse conveying line to cooperatively realize directional transportation with a transfer machine, regulating motor rotating speed based on operation data in a differential mode, monitoring safety states in real time, and alarming and stopping when abnormal occurs. The device comprises a transportation system, a detection system, a controller and an alarm system, wherein the transportation system comprises components such as a longitudinal and transverse conveying line, a transfer machine and the like, the detection system integrates a grating, a positioning sensor and a safety sensor, and the device runs the control method. The invention solves the problems of data distortion, poor production line coordination, fixed speed regulation and insufficient safety protection in the prior art, improves the accuracy, stability and safety of hub transportation, and meets the flexible production requirement of hubs with multiple specifications.

Inventors

CHANG RONGLEI
ZHANG ZHEN
HAN QIANG
Xuan dongsheng
LI FUQIANG
CAO BO
SONG BOTAO
HAN YINGCHUN
YAN LICHAO

Assignees

秦皇岛信能能源设备有限公司

Dates

Publication Date: 20260505
Application Date: 20251226

Claims (9)

1. The transfer control method of the hub transfer machine is characterized by comprising the following steps of: Acquiring size data, positioning state data and device running state data of a hub in the transfer process in real time; Sequentially carrying out outlier removal, missing value supplementation and filtering treatment on the collected original data to obtain effective data for control decision; Based on the hub size data in the effective data, comparing the hub size data with a preset specification threshold value to finish the size specification classification of the hub; According to the screening result and a preset transfer path, controlling the transverse conveying line, the longitudinal conveying line and the transfer machine to cooperatively act so as to realize the directional transfer of the hubs; Based on the running state data in the effective data, the rotating speed of the power motor is regulated through differential control, so that the self-adaptive optimization of the transfer speed is realized; and monitoring the safety state in the transportation process in real time, and starting an alarm and controlling a machine to stop when an abnormality is detected.
2. The transfer control method of a hub transfer machine according to claim 1, wherein the outlier removal employs a z-score algorithm, specifically comprising: calculating the total mean value mu and the total standard deviation sigma of the original data through a formula Calculating a z-score value of each original data X; And setting anomaly judgment thresholds x and y, eliminating anomaly data of the z-score < x or z-score > y, and reserving effective data of the z-score in the [ x, y ] interval.
3. The transfer control method of a hub transfer machine according to claim 1, wherein the missing value supplement adopts a regression interpolation method, specifically comprising: Defining a self-variable X i ,X i as a sampling point sequence number of data acquisition, and corresponding to a time or position node in the transferring process; constructing a regression model of X i and a target variable based on the effective data after the abnormal values are removed, wherein the target variable comprises hub size data and device running state parameters; Identifying the missing position and the corresponding independent variable X k in the original data, substituting X k into a regression model to obtain an interpolation estimated value of the missing value, and supplementing the missing position by the estimated value.
4. The transfer control method of the hub transfer machine according to claim 1, wherein the filtering process adopts median filtering, and specifically comprises: Setting a sliding window with a fixed size, wherein the sliding window is 3-5 sampling points in size, and the sliding window size is dynamically adjusted according to the transfer speed; Sliding the sliding windows point by point along the data set after the missing values are supplemented, and sequencing all data in each sliding window; And selecting the ordered median as a filtering result of the central data point of the current sliding window, or removing the maximum value and the minimum value in the sliding window, then calculating the mean value as the filtering result, and removing accidental fluctuation noise.
5. The method for controlling transportation of a wheel hub transfer machine according to claim 1, wherein the size specification classification of the wheel hub specifically comprises: Presetting at least one group of hub size thresholds, wherein the thresholds comprise a hub diameter threshold and a hub width threshold, and the size of the thresholds is regulated according to the requirement of a target transportation specification; acquiring hub size data of a hub through a grating sensor, and comparing the hub size data with a preset threshold value; and when the actual size is smaller than or equal to the preset threshold value, the hub with the large specification is judged, and a corresponding classification mark and a transfer path instruction are generated.
6. The transfer control method of a hub transfer machine according to claim 1, wherein the directional transfer specifically includes: After receiving specification classification marks and transfer path instructions, controlling the opening and closing states of the corresponding electromagnetic clutches to realize power distribution of the transverse conveying line, the longitudinal conveying line and the transfer machine; if the linear transfer is required, controlling the transverse transfer line or the longitudinal transfer line to start, and transferring the driving hubs along a preset linear path; If steering and transferring are needed, the lifting motor is controlled to drive the transfer machine to rise to a preset height, then the power motor is used for driving the power chain wheel to rotate, the transfer chain is used for driving the driven chain wheel to operate, meanwhile, the direction switching of the transfer machine is realized through the transmission cooperation of the clutch rotor and the clutch stator, and after the direction switching is finished, the transfer machine is controlled to descend, so that the hub is accurately butted to the target production line.
7. The transfer control method of the hub transfer machine according to claim 1, wherein the adaptive optimization of the transfer speed specifically comprises: differential control establishes a mathematical model based on stator resistance, shaft stator inductance, pole pair number, permanent magnet flux linkage, moment of inertia and damping coefficient of the power motor; Combining the load torque and the real-time rotating speed data in the effective data, and accurately controlling the mechanical angular speed of the motor by adjusting the shaft stator voltage and the shaft stator voltage of the motor; According to the association relation between the mechanical angular speed of the motor and the actual transfer speed of the device, the transfer speeds of the transverse conveying line, the longitudinal conveying line and the transfer machine are adaptively adjusted, so that the transfer speed of the large-specification hub is lower than that of the small-specification hub, the transfer speed is automatically reduced when the load is increased, and the transfer stability is ensured.
8. The method for controlling the transfer of a hub transfer machine according to claim 1, wherein the alarming and controlling the stoppage specifically comprises: Monitoring whether the hub has clamping stagnation and offset in real time through a safety sensor, monitoring whether the hub accurately reaches a preset station through a positioning sensor, and secondarily checking whether the size data of the hub exceeds a safety range through a grating sensor; when any abnormal condition of clamping stagnation, positioning failure, abnormal size or motor overload is detected, the alarm braking system immediately sends out an audible and visual alarm signal; meanwhile, the controller sends a shutdown instruction to the power motor, and controls the clutch control system of the transfer machine to lock all electromagnetic clutches, so that the hub is prevented from shifting, and emergency shutdown is realized.
9. The transfer device of the hub transfer machine is characterized by comprising a conveying system, a detection system, a controller and an alarm system; The conveying system comprises a transverse conveying line, a longitudinal conveying line, a light blocking mask, a transfer machine and an electromagnetic clutch, wherein the transfer machine comprises a lifting motor, a power motor, a conveying chain, a driven sprocket and a power sprocket, and the electromagnetic clutch comprises a clutch rotor and a clutch stator; The detection system comprises a grating sensor, a positioning sensor and a safety sensor; The controller is used for controlling the transportation system, the detection system and the alarm system to realize data processing and coordinated control of the systems, the transverse conveying line and the longitudinal conveying line are used for realizing linear transportation of hubs, the light blocking mask is arranged on the outer sides of the grating sensor and the positioning sensor and used for shading light to improve accuracy of size measurement and positioning, the lifting motor is used for driving the lifting of the transportation chain, the power motor, the power sprocket, the transportation chain and the driven sprocket form a transmission mechanism to realize transportation of the hubs, the clutch rotor is fixedly connected with the driven sprocket, the clutch stator is coaxially connected with the power shaft and used for controlling power on-off of the transfer machine, the grating sensor is arranged at an inlet end of the transverse production line and used for collecting hub size data, the positioning sensor is respectively arranged at a butt joint station of the transverse production line, the longitudinal production line and the transfer machine and used for monitoring a positioning state of the hubs, and the safety sensor is arranged at the periphery of the transfer machine and used for monitoring a safety state in the transfer process; The transfer device operates the transfer control method according to any one of claims 1 to 8.

Description

Transfer control method and transfer device of hub transfer machine Technical Field The invention relates to the field of transfer machines, in particular to a transfer control method and a transfer device of a hub transfer machine. Background The transfer machine is core linking equipment in an automatic production and logistics system, realizes accurate transfer of materials among different stations, production lines or equipment mainly through cooperation of a mechanical executing mechanism and a driving control system, and is widely applied to automatic production lines in various manufacturing industries. In the field of hub production, the transfer machine bears hub transfer tasks from casting, machining to coating, assembling and other whole procedures, and is required to adapt to the heavy characteristics of 15-50kg of the hub and the multi-specification requirements of 14-24 inches, so that the transfer machine is key equipment for guaranteeing the production continuity of the hub. However, the transfer technology of the conventional hub transfer machine still has obvious defects that on one hand, the collected size data, positioning data and device running state data are easy to generate abnormal values, missing values and fluctuation noise due to high temperature, vibration impact and sensor interference in a hub transfer scene, on the other hand, the conventional hub transfer machine is mainly dependent on linear conveying of a single production line and manual auxiliary steering or fixed rail transfer design, the coordination of a transverse conveying line, a longitudinal conveying line and the transfer machine is poor, the power distribution is lack of accurate control, the steering line changing time is long, the efficiency is low, the positioning deviation is often more than +/-10 mm during butt joint, the hub shift, collision and even wheel clamping, wheel dropping and other risks are easily caused, and the production line stability and the hub production quality are seriously affected. Disclosure of Invention The invention aims to provide a transfer control method and a transfer device for a hub transfer machine, which aim to solve the problems of inaccurate data acquisition and poor co-transfer positioning between a plurality of production lines and the transfer machine in the prior art and ensure stable hub transfer and production quality. The technical scheme of the invention is as follows: A transfer control method of a hub transfer machine comprises the following steps: Acquiring size data, positioning state data and device running state data of a hub in the transfer process in real time; Sequentially carrying out outlier removal, missing value supplementation and filtering treatment on the collected original data to obtain effective data for control decision; Based on the hub size data in the effective data, comparing the hub size data with a preset specification threshold value to finish the size specification classification of the hub; According to the screening result and a preset transfer path, controlling the transverse conveying line, the longitudinal conveying line and the transfer machine to cooperatively act so as to realize the directional transfer of the hubs; Based on the running state data in the effective data, the rotating speed of the power motor is regulated through differential control, so that the self-adaptive optimization of the transfer speed is realized; and monitoring the safety state in the transportation process in real time, and starting an alarm and controlling a machine to stop when an abnormality is detected. In one possible implementation, the outlier removal employs a z-score algorithm, specifically including: calculating the total mean value mu and the total standard deviation sigma of the original data through a formula Calculating a z-score value of each original data X; And setting anomaly judgment thresholds x and y, eliminating anomaly data of the z-score < x or z-score > y, and reserving effective data of the z-score in the [ x, y ] interval. In one possible implementation manner, the missing value supplement adopts a regression interpolation method, which specifically includes: Defining independent variables Xi and Xi as sampling point serial numbers for data acquisition, and corresponding to time or position nodes in the transferring process; constructing a regression model of Xi and a target variable based on the effective data after abnormal values are removed, wherein the target variable comprises hub size data and device running state parameters; identifying the missing position and corresponding independent variable Xk in the original data, substituting Xk into a regression model to obtain an interpolation estimated value of the missing value, and supplementing the missing position by using the estimated value. In a possible implementation manner, the filtering process adopts median filtering, and specifically includes: Setting a sliding