CN-122013375-A - Method for adjusting gripping arm pose of reciprocating bale plucker through weighing sensor

CN122013375ACN 122013375 ACN122013375 ACN 122013375ACN-122013375-A

Abstract

The invention discloses a method for adjusting the pose of a gripping arm of a reciprocating bale plucker through a weighing sensor, and belongs to the technical field of bale pluckers. The method comprises the steps of initial calibration, real-time acquisition, calculation of tension deviation, deviation judgment, adjustment control and the like. Firstly, reading the numerical values of weighing sensors at two ends when the grabbing arms are in a horizontal posture as a preset reference value, then collecting actual working tension values at two ends in real time in the working process, comparing the actual working tension values with the preset reference value to obtain tension deviation, finally judging the posture states of the two ends of the grabbing arms according to the tension deviation, controlling a lifting motor at the corresponding side to adjust the belt retraction amount, enabling the tension deviation to be close to zero, and realizing automatic adjustment and horizontal maintenance of the pose of the grabbing arms. According to the invention, the pose deviation is converted into a detectable force signal by utilizing the physical rule of working tension change at two ends when the grab arm is inclined, and the deviation is eliminated by closed loop feedback control, so that the problem of unstable lifting movement of the large-breadth grab arm is solved.

Inventors

ZHANG YIHE
LIANG HANG
WANG QUANCHENG
ZHANG CHONG
TIAN LIBIN

Assignees

青岛宏大纺织机械有限责任公司

Dates

Publication Date: 20260512
Application Date: 20251229

Claims (10)

1. The method for adjusting the gripping arm pose of the reciprocating bale plucker through the weighing sensor is characterized by comprising the following steps of: s1, initializing and calibrating, namely reading the numerical value of a weighing sensor at two ends of a grabbing arm when the grabbing arm is in a horizontal posture, and taking the numerical value as a preset reference value of working tension at two sides; S2, acquiring in real time, during the working process of the grabbing arm, acquiring actual working tension values of the left side and the right side of the grabbing arm in real time through weighing sensors respectively arranged at the two ends of the grabbing arm; S3, calculating tension deviation, namely comparing the acquired actual working tension values of the two sides with preset reference values of the corresponding sides respectively, and calculating to obtain tension deviation of the two sides; s4, deviation judging and adjusting control, namely judging the attitude states of the two ends of the gripping arms according to the positive and negative values and the magnitude of the tension deviation, and controlling the lifting motors at the corresponding sides to adjust the retraction amount of the belt so that the tension deviation at the two sides is close to zero, thereby realizing automatic adjustment and horizontal maintenance of the positions of the gripping arms.
2. A method for adjusting the pose of a gripper arm of a reciprocating bale plucker by means of a load cell according to claim 1, characterized in that step S1 comprises the following sub-steps: s11, respectively installing lifting motors at the left end and the right end of the grabbing arm, respectively installing two lifting motors above the frames at the same side, connecting each lifting motor with a winding shaft, and installing winding wheels on the winding shafts; S12, winding one end of the belt on a winding wheel, winding the belt around a fixed pulley from the upper part after the belt extends out, and winding a movable pulley from the lower part of the fixed pulley, wherein the movable pulley is fixed at the corresponding end above the grabbing arm; S13, connecting the tail end of the belt extending out by bypassing the movable pulley with a belt fixing part, connecting a weighing sensor above the belt fixing part, and connecting the weighing sensor with the frame, thereby completing the installation of the grabbing arm lifting mechanism; S14, adjusting the pose of the grabbing arm to enable the grabbing arm to be completely horizontal to the ground, and reading the numerical value of the left weighing sensor as a left preset reference value after the grabbing arm is completely stable Reading the numerical value of the right weighing sensor as a right preset reference value 。
3. A method for adjusting the pose of a gripper arm of a reciprocating bale plucker by means of a load cell according to claim 1, characterized in that step S2 comprises the following sub-steps: s21, when the grabbing arm grabs cotton, the left weighing sensor detects and outputs a left actual working tension value in real time ; S22, detecting and outputting the right actual working tension value in real time by the right weighing sensor ; S23, transmitting actual working tension values acquired by the weighing sensors at two sides to a control system in the form of an electric signal for subsequent tension deviation calculation.
4. The method for adjusting the gripping arm pose of a reciprocating bale plucker by a weighing sensor according to claim 1, wherein in step S3, the calculation formula of the tension deviation is: ; Wherein, the Is left tension deviation; The left actual working tension value is detected by a left weighing sensor in real time; Presetting a reference value for the left side; is the right tension deviation; The method comprises the steps that a right actual working tension value detected by a right weighing sensor in real time is obtained; And presetting a reference value for the right side.
5. A method for adjusting the pose of a gripper arm of a reciprocating bale plucker by means of a load cell as claimed in claim 4, wherein step S4 comprises the sub-steps of: s41, judging deviation of left side when When the left end of the grabbing arm is judged to be upwarp, and when When the left end of the grabbing arm is judged to sink; s42, judging the deviation of the right side when When the right end of the gripping arm is judged to be upturned, and when When the right end of the grabbing arm is judged to sink; and S43, controlling the lifting motor on the corresponding side to adjust according to the judging result, so that the tension deviation is close to zero, and adjusting the pose of the grabbing arm to be in a horizontal state.
6. The method for adjusting the gripping arm pose of a reciprocating bale plucker by a weighing sensor according to claim 5, wherein in step S43, the adjustment control amount of the lifting motor is calculated by adopting a proportional control algorithm, and a specific calculation formula is as follows: ; Wherein, the The actual control quantity is regulated for the left lifting motor; the actual control quantity is adjusted for the right lifting motor; is a proportionality coefficient; Is left tension deviation; Is the right-hand tension deviation.
7. The method for adjusting the gripping arm pose of a reciprocating bale plucker by a load cell according to claim 6, wherein the adjusting control manner in step S43 is as follows: When (when) When the left lifting motor is controlled to drive the winding wheel to rotate reversely, the belt is lengthened, the left end height of the grabbing arm is reduced, and when the belt is lengthened When the belt is in a short state, the left lifting motor is controlled to drive the winding wheel to rotate forwards, so that the belt is shortened, and the left end height of the grabbing arm is raised; When (when) When the belt is in use, the right lifting motor is controlled to drive the winding wheel to rotate reversely, so that the belt is lengthened, and the height of the right end of the grabbing arm is reduced; when (when) And when the belt is shortened, the right lifting motor is controlled to drive the winding wheel to rotate forwards, and the right end of the grabbing arm is lifted.
8. The method for adjusting the pose of a gripper arm of a reciprocating bale plucker by a load cell of claim 6, wherein said scaling factor The method is characterized by comprising the following steps of: S81, enabling the grabbing arms to be deliberately inclined by a preset angle, and recording tension change values detected by weighing sensors at two sides at the moment; s82, controlling the lifting motor to adjust the retraction amount of the belt, enabling the grabbing arm to recover to be horizontal, and recording the action amount of the lifting motor; S83, repeating the steps S81 and S82 for a plurality of times, and calculating and determining a proportion coefficient according to the tension change value recorded by a plurality of tests and the corresponding motor action quantity Is a value of (a).
9. The method for adjusting the gripping arm pose of a reciprocating bale plucker by a weighing sensor according to claim 1, wherein the method is characterized in that in step S4, the periodic sampling and feedback adjustment mode is adopted for control, and specifically: And (3) periodically executing the steps S2 to S4 according to a preset sampling period, acquiring tension data of the weighing sensors at the two sides in real time, calculating tension deviation, outputting adjustment control quantity, and enabling the tension at the two sides to gradually approach to a corresponding preset reference value, so that closed-loop automatic adjustment of the pose of the gripping arm is realized.
10. The method for adjusting the pose of the gripping arm of the reciprocating bale plucker through the weighing sensor according to claim 1, wherein a cotton pressing roller component, a beater component and a gripper suction cavity are uniformly arranged at the bottom of the gripping arm, the middle of the gripping arm is of a hollow air duct structure, the center of mass of the whole gripping arm is located at the position of the middle of the gripping arm, and the belt is respectively connected to the upper left corner and the upper right corner of the gripping arm through movable pulleys.

Description

Method for adjusting gripping arm pose of reciprocating bale plucker through weighing sensor Technical Field The invention belongs to the technical field of bale pluckers, and particularly relates to a method for adjusting the pose of a gripping arm of a reciprocating bale plucker through a weighing sensor. Background The blowing-carding process is an important process for processing cotton fibers in the textile industry, and the working performance of the reciprocating bale plucker is directly influenced by the process indexes and the product quality of all subsequent links as a starting device of the blowing-carding process. Along with the increasing demand of textile industry for high yield, various manufacturers generally adopt a mode of increasing the width of the grabbing arm of the plucker to improve the yield, so that the length of the grabbing arm is continuously increased. The gripping arm is used as a core working part of the reciprocating bale plucker, and frequent lifting movement is required in the working process to adapt to the change of the bale height. Because of the increase of the width of the grabbing arm, the two ends of the grabbing arm in the width direction can generate asynchronous motion states due to the influences of factors such as uneven load distribution, mechanical transmission errors or external disturbance in the lifting and descending processes, so that the grabbing arm shakes or inclines. When the pose of the grabbing arm deviates from the horizontal state, the contact between the beater part at the bottom of the grabbing arm and the surface of the cotton bale is uneven, so that the density and the thickness of grabbing cotton fibers are inconsistent, and further the uniformity and the process stability of cotton mixing in the follow-up blowing-carding process are affected. In the prior art, although the technical schemes of applying the weighing sensor to the bale plucker exist, the schemes mainly use the weighing sensor for detecting the weight of cotton in a cotton loading pound box or for weighing control of a quantitative output assembly, and cannot apply the weighing sensor to detection and adjustment of the pose of a grabbing arm. Meanwhile, the existing grabbing arm lifting control mode generally adopts a single-motor driving or double-motor synchronous driving scheme, the lifting motions at two ends cannot be independently adjusted, and an effective automatic deviation rectifying means is lacked when the grabbing arm inclines. Therefore, how to detect the pose state of the grabbing arm in real time and automatically adjust the pose state of the grabbing arm, so that the grabbing arm always keeps a horizontal pose in the working process, and the technical problem to be solved in the field is urgent. Disclosure of Invention In order to solve the problems in the background art, the invention provides a method for adjusting the gripping arm pose of a reciprocating bale plucker by a weighing sensor, which is characterized by comprising the following steps: s1, initializing and calibrating, namely reading the numerical value of a weighing sensor at two ends of a grabbing arm when the grabbing arm is in a horizontal posture, and taking the numerical value as a preset reference value of working tension at two sides; S2, acquiring in real time, during the working process of the grabbing arm, acquiring actual working tension values of the left side and the right side of the grabbing arm in real time through weighing sensors respectively arranged at the two ends of the grabbing arm; S3, calculating tension deviation, namely comparing the acquired actual working tension values of the two sides with preset reference values of the corresponding sides respectively, and calculating to obtain tension deviation of the two sides; s4, deviation judging and adjusting control, namely judging the attitude states of the two ends of the gripping arms according to the positive and negative values and the magnitude of the tension deviation, and controlling the lifting motors at the corresponding sides to adjust the retraction amount of the belt so that the tension deviation at the two sides is close to zero, thereby realizing automatic adjustment and horizontal maintenance of the positions of the gripping arms. Further, step S1 comprises the sub-steps of: s11, respectively installing lifting motors at the left end and the right end of the grabbing arm, respectively installing two lifting motors above the frames at the same side, connecting each lifting motor with a winding shaft, and installing winding wheels on the winding shafts; S12, winding one end of the belt on a winding wheel, winding the belt around a fixed pulley from the upper part after the belt extends out, and winding a movable pulley from the lower part of the fixed pulley, wherein the movable pulley is fixed at the corresponding end above the grabbing arm; S13, connecting the tail end of the belt extending out by bypassing