阅读说明：本技术 一种垃圾压缩设备的执行机构的控制方法及控制系统 (Control method and control system for actuating mechanism of garbage compression equipment ) 是由 蒋利兵 屈小平 龚丽花 于 2021-07-27 设计创作，主要内容包括：本发明公开了一种垃圾压缩设备的执行机构的控制方法,包括执行机构伸出到位和缩回到位的位置判断方法：所述执行机构包括与可编程控制器的输出端连接的提桶执行机构、翻桶执行机构、滑板执行机构、刮板执行机构,且所述执行机构分别对应连接独立的油缸；各执行机构的运行到位位置与对应油缸的运行到位位置保持同步一致；本发明也公开了一种包括所述执行机构的控制方法的垃圾压缩设备的控制方法,以及一种垃圾压缩设备的控制系统。本发明通过程序判断的执行机构控制方法,不需要位置感应开关,解决位置感应器易损坏或不可靠,导致垃圾压缩设备无法正常运行,影响垃圾中转站的垃圾压缩处理效率和转运效率的问题。(The invention discloses a control method of an actuating mechanism of garbage compression equipment, which comprises a position judgment method for the actuating mechanism to extend in place and retract in place, and comprises the following steps: the actuating mechanism comprises a bucket lifting actuating mechanism, a bucket turning actuating mechanism, a sliding plate actuating mechanism and a scraper actuating mechanism which are connected with the output end of the programmable controller, and the actuating mechanisms are respectively and correspondingly connected with independent oil cylinders; the operation in-place position of each actuating mechanism and the operation in-place position of the corresponding oil cylinder are kept synchronous and consistent; the invention also discloses a control method of the garbage compression equipment comprising the control method of the actuating mechanism and a control system of the garbage compression equipment. According to the control method of the actuating mechanism through program judgment, a position induction switch is not needed, and the problems that the garbage compression equipment cannot normally operate due to the fact that a position inductor is easy to damage or unreliable, and the garbage compression treatment efficiency and the transfer efficiency of the garbage transfer station are affected are solved.)

1. A control method of an actuating mechanism of garbage compression equipment is characterized by comprising a position judgment method for judging the extending-in-place and retracting-in-place of the actuating mechanism:

the actuating mechanism comprises a bucket lifting actuating mechanism, a bucket turning actuating mechanism, a sliding plate actuating mechanism and a scraper actuating mechanism which are connected with the output end of the programmable controller, and the actuating mechanisms are respectively and correspondingly connected with independent oil cylinders;

the corresponding relation that the operation in-place position of each actuating mechanism and the operation in-place position of the corresponding oil cylinder keep synchronous and consistent is as follows: the in-place extending and retracting of the oil cylinder of the bucket lifting actuating mechanism respectively represent that the bucket lifting actuating mechanism is in place and the bucket lowering actuating mechanism is in place; the barrel turning actuating mechanism is characterized in that the barrel turning actuating mechanism cylinder extends in place and retracts in place to respectively indicate that the barrel is turned in place and the vertical barrel is in place; the extension in-place and the retraction in-place of the oil cylinder of the sliding plate actuating mechanism respectively represent the retraction in-place and the advancing in-place of the sliding plate actuating mechanism; the extension and retraction of the oil cylinder of the scraper actuating mechanism are in place, which respectively indicate that the scraper actuating mechanism scrapes materials in place and opens in place;

the method for judging the positions of the actuating mechanism corresponding to the extending-in-place position and the retracting-in-place position of the oil cylinder comprises the following steps:

when the oil cylinder retracts to run, the stroke length satisfies that S is less than or equal to S₀While the operating pressure P at the time of retraction of the cylinder_rReach the working set pressure P_sSatisfies the filtering time L_tJudging that the oil cylinder is operated to be retracted in place;

when the oil cylinder extends to run, the stroke length meets the condition that S is more than or equal to S₃And the operating pressure P when the oil cylinder extends out_rReach the working set pressure P_sSatisfies the filtering time L_tJudging that the oil cylinder is operated to the extended in-place state;

when the stroke length of the oil cylinder meets S₀＜S＜S₃Judging that the oil cylinder is not in place;

wherein S is₀For the length of stroke of the cylinder to retract into position, S₃The length of the stroke of the oil cylinder extending in place, L_tIs the pressure filter time.

2. The method for controlling the actuator of a refuse compression installation according to claim 1, characterized in that the method for controlling the actuator further comprises a method for controlling the speed of the operation of the actuator, comprising:

when the sliding plate actuating mechanism, the scraper plate actuating mechanism, the bucket lifting actuating mechanism and the bucket turning actuating mechanism are controlled to operate, the current stroke length of each oil cylinder connected with each actuating mechanism meets S₁＜S＜S₂Then the programmable controller writes the working speed N to the servo driver₁；

When the sliding plate actuating mechanism, the scraper actuating mechanism, the bucket lifting actuating mechanism and the bucket turning actuating mechanism are controlled to operate, the current stroke length of the oil cylinders connected with the actuating mechanisms in the retracting operation process meets the condition that S is less than or equal to S₁Or with associated actuatorsThe current stroke length of each oil cylinder during the extending operation meets the condition that S is more than or equal to S₂Then the programmable controller writes the deceleration speed N to the servo driver₂；

Wherein S is₁Is a critical point of the deceleration stroke length when the oil cylinder retracts to run, S₂The critical point of the length of the deceleration stroke when the oil cylinder extends and the working speed N of the extension and retraction of the oil cylinder of each actuating mechanism₁Respectively setting the speed reduction speed N of the extension and retraction of each actuating mechanism oil cylinder₂The settings are made separately.

3. The method for controlling the actuator of a refuse compression facility according to claim 1, wherein the method for controlling the actuator further comprises a method for determining an operational failure of the actuator cylinder:

the stroke length S is more than S when the oil cylinder retracts to operate₀While the cylinder operating pressure P_rReach the working set pressure P_sSatisfies the filtering time L_tJudging the fault that the retraction operation of the oil cylinder is blocked;

the stroke length S when the oil cylinder extends and operates is less than S₃While the cylinder operating pressure P_rReach the working set pressure P_sSatisfies the filtering time L_tJudging the fault that the extending operation of the oil cylinder is blocked;

when the control cylinder is extended or retracted to operate, the operating pressure P_rLess than the minimum operating detection pressure P_mSatisfies the filtering time L_tAnd judging that the oil supply of the oil cylinder is abnormal.

4. The method for controlling the actuator of a refuse compression installation according to claim 1, wherein the stroke length is calculated by:

when the cylinder is in extended operation, and P_m≤P_r＜P_sIf S is equal to S + S_a；

When the cylinder is retracted into operation, and P_m≤P_r＜P_sIf S is equal to S-S_a；

Wherein S is the current stroke length of the oil cylinder, S_aThe stroke distance, P, completed in unit time for one-time operation of the oil cylinder_mThe minimum operation detection pressure is met when the oil cylinder operates, t is unit time second, n is the actual speed fed back by the servo driver through a motor encoder, q is the flow of the hydraulic oil pump, d²The rod diameter area of the hydraulic oil cylinder.

5. A method of controlling an actuator of a refuse compression installation according to claim 1, characterised in that P is P_s-P_r≥2Mpa。

6. A control method of a garbage compression device is characterized in that the control method of an actuating mechanism of the garbage compression device according to any one of claims 1 to 5 is used for realizing garbage sealing box resetting, garbage scraping and garbage sealing.

7. A control system of a trash compression device using the method of controlling an actuator of a trash compression device of any one of claims 1-5, comprising an editable controller, a touch screen, a servo driver, a servo motor, a hydraulic oil pump, a motor encoder, a pressure sensor, a pail actuator, a can-tipping actuator, a slide actuator, a scraper actuator; the touch screen and the servo driver are in communication connection with the programmable controller, the servo driver is connected with a servo motor, the servo motor is respectively connected with a hydraulic oil pump and a motor encoder, the pressure sensor is installed on the hydraulic power station, and the pressure sensor and the motor encoder are connected to a signal input end of the servo driver; the touch screen is used for parameter setting, operation and operation monitoring of equipment; the pressure sensor is used for detecting the output pressure of the hydraulic oil pump; the motor encoder is used for detecting the actual rotating speed of the servo motor.

8. The control system of a trash compression device of claim 7, further comprising a remote controller, a weighing device, a vehicle detection sensor, a liquid level detection sensor, a killing system, an alarm, a brake resistor; the weighing device is in communication connection with the programmable controller, the remote controller, the vehicle detection sensor and the liquid level detection sensor are connected to the digital input end of the programmable controller, the killing system and the alarm are connected to the digital output end of the programmable controller, and the brake resistor is connected to the brake unit of the servo driver; the remote controller is used for controlling starting and stopping of the equipment and scraping operation; the vehicle detection sensor is used for detecting the garbage collection vehicle and realizing automatic judgment of primary scraping or circulating scraping; the weighing device is used for obtaining the current total weight of the garbage compression equipment, and subtracting the net weight value of the garbage compression equipment to obtain the current loading weight of the garbage compression equipment; the liquid level detection sensor is used for detecting the height of the liquid level of a pesticide box of the sterilizing system; the alarm is used for alarming the liquid level of the medicine chest; the brake resistor is used for controlling energy consumption generated when the servo motor is controlled to decelerate rapidly by the driver, and the servo driver is protected.

Technical Field

The invention relates to the technical field of garbage compression, in particular to a control method and a control system of an actuating mechanism of garbage compression equipment.

Background

The garbage compression equipment carries out feeding and compression treatment on garbage through related execution mechanisms, and inductive switches are arranged at two ends of each execution mechanism and used for detecting the fact that the execution mechanisms reach the positions of the two ends, so that safe interlocking operation of the execution mechanisms is guaranteed, and collision of the execution mechanisms is avoided. Because the operation environment that rubbish compression equipment was located is abominable, and position-sensing switch and control scheme often receive the corruption and damage easily, and the control scheme still is bitten by the mouse and is broken to and because the clearance that moves of actuating mechanism is big, hit bad position inductor easily, during rubbish compression processing, some rubbish pieces drop in position inductor, lead to the position inductor malfunctioning. The safe interlocking operation of the actuating mechanism of the garbage compression equipment mainly depends on the detection of the position sensor, so that the damage or the unreliable work of the position sensor causes the garbage compression equipment to be incapable of normally operating, the garbage compression treatment efficiency and the transfer efficiency of the garbage transfer station are influenced, and the equipment maintenance cost is increased;

moreover, each actuating mechanism of the garbage compression equipment is connected with and drives to operate through a hydraulic oil cylinder, when the actuating mechanisms operate to reach the positions of two ends, great mechanical impact noise exists, and particularly, for some compression actuating mechanisms which rotate from top to bottom to operate, when the actuating mechanisms operate to reach the lowest position of the lower end, the mechanical impact noise is larger due to the fact that no back pressure exists or the back pressure is small. Therefore, when the garbage compression equipment runs, not only is great mechanical impact noise generated, but also the mechanical actuator of the garbage compression equipment is easy to damage; at present, the running speed of an actuating mechanism is basically reduced by adding a back pressure valve or a throttle valve, but the speed cannot be adjusted in real time, so that the cost and the energy consumption are increased, and the running efficiency of garbage compression equipment is reduced;

in the prior art, in order to solve the above problems, the pressure of the actuating mechanism is respectively set through the proportional overflow valves, and the information of the in-place action of the actuating mechanism is judged by judging whether the pressure of the actuating mechanism reaches a set value, so as to realize automatic control without position sensors such as a travel switch or a proximity switch. The method can be only realized under an ideal environment, when the operation of the executing mechanism is blocked or the electromagnetic valve is blocked, the executing mechanism can not act, the pressure can also reach the set pressure of the system at the moment, the misjudgment of the action position of the system can easily occur, the control flow of garbage compression is influenced, and particularly when the system is in automatic control, the wrong action position can cause the executing mechanism to lose the protection of safe interlocking operation, so that the executing mechanism is collided and the equipment is damaged. The proportional overflow valve can only adjust the pressure output by the hydraulic oil pump, cannot adjust the flow output by the hydraulic oil pump, cannot adjust the running speed of the hydraulic oil pump in real time, and cannot solve the impact noise generated when the execution mechanism reaches the end point by reducing the running speed of the execution mechanism. Meanwhile, hydraulic flow can not be provided according to the requirements of hydraulic cylinders with different oil diameters, and for the hydraulic cylinder with smaller required flow, a throttling valve or a hydraulic element with similar function needs to be added independently to adjust the flow, so that energy consumption waste is caused, and when the throttling is too large, higher back pressure is generated, so that the pressure under the operation condition of the hydraulic cylinder approaches to the set pressure of the system, and the hydraulic cylinder of the system can be caused to operate in place to generate a misjudgment result, and the automatic operation and the operation reliability of equipment are influenced.

Disclosure of Invention

Technical problem to be solved

Based on the problems, the invention provides a control method and a control system for an actuating mechanism of a garbage compression device, which solve the problems that the garbage compression device cannot normally operate due to the fact that a position sensor is easy to damage or unreliable, and the garbage compression treatment efficiency and the transfer efficiency of a garbage transfer station are influenced.

(II) technical scheme

Based on the technical problem, the invention provides a control method of an actuating mechanism of garbage compression equipment, which comprises a position judgment method for the actuating mechanism to extend to the right position and retract to the right position:

the actuating mechanism comprises a bucket lifting actuating mechanism, a bucket turning actuating mechanism, a sliding plate actuating mechanism and a scraper actuating mechanism which are connected with the output end of the programmable controller, and the actuating mechanisms are respectively and correspondingly connected with independent oil cylinders;

the corresponding relation that the operation in-place position of each actuating mechanism and the operation in-place position of the corresponding oil cylinder keep synchronous and consistent is as follows: the in-place extending and retracting of the oil cylinder of the bucket lifting actuating mechanism respectively represent that the bucket lifting actuating mechanism is in place and the bucket lowering actuating mechanism is in place; the barrel turning actuating mechanism is characterized in that the barrel turning actuating mechanism cylinder extends in place and retracts in place to respectively indicate that the barrel is turned in place and the vertical barrel is in place; the extension in-place and the retraction in-place of the oil cylinder of the sliding plate actuating mechanism respectively represent the retraction in-place and the advancing in-place of the sliding plate actuating mechanism; the extension and retraction of the oil cylinder of the scraper actuating mechanism are in place, which respectively indicate that the scraper actuating mechanism scrapes materials in place and opens in place;

the method for judging the positions of the actuating mechanism corresponding to the extending-in-place position and the retracting-in-place position of the oil cylinder comprises the following steps:

when the oil cylinder retracts to run, the stroke length satisfies that S is less than or equal to S₀While the operating pressure P at the time of retraction of the cylinder_rReach the working set pressure P_sSatisfies the filtering time L_tJudging that the oil cylinder is operated to be retracted in place;

when the oil cylinder extends to run, the stroke length meets the condition that S is more than or equal to S₃And the operating pressure P when the oil cylinder extends out_rReach the working set pressure P_sSatisfies the filtering time L_tJudging that the oil cylinder is operated to the extended in-place state;

when the stroke length of the oil cylinder meets S₀＜S＜S₃Judging that the oil cylinder is not in place;

wherein S is₀For the length of stroke of the cylinder to retract into position, S₃The length of the stroke of the oil cylinder extending in place, L_tIs the pressure filter time.

Further, the control method of the actuator also comprises a speed control method for the operation of the actuator:

when the sliding plate actuating mechanism, the scraper plate actuating mechanism, the bucket lifting actuating mechanism and the bucket turning actuating mechanism are controlled to operate, the current stroke length of each oil cylinder connected with each actuating mechanism meets S₁＜S＜S₂Then the programmable controller writes the working speed N to the servo driver₁；

When controlling the slide plate actuating mechanism and the scraper plate to executeWhen the mechanism, the bucket lifting actuating mechanism and the bucket turning actuating mechanism operate, the current stroke length of the oil cylinder connected with each actuating mechanism when the oil cylinder retracts to operate meets the condition that S is less than or equal to S₁Or the current stroke length of the oil cylinder connected with each actuating mechanism when the oil cylinder extends to run meets the condition that S is more than or equal to S₂Then the programmable controller writes the deceleration speed N to the servo driver₂；

Wherein S is₁Is a critical point of the deceleration stroke length when the oil cylinder retracts to run, S₂The critical point of the length of the deceleration stroke when the oil cylinder extends and the working speed N of the extension and retraction of the oil cylinder of each actuating mechanism₁Respectively setting the speed reduction speed N of the extension and retraction of each actuating mechanism oil cylinder₂The settings are made separately.

Further, the control method of the actuating mechanism further comprises an actuating mechanism oil cylinder operation fault judgment method:

the stroke length S is more than S when the oil cylinder retracts to operate₀While the cylinder operating pressure P_rReach the working set pressure P_sSatisfies the filtering time L_tJudging the fault that the retraction operation of the oil cylinder is blocked;

the stroke length S when the oil cylinder extends and operates is less than S₃While the cylinder operating pressure P_rReach the working set pressure P_sSatisfies the filtering time L_tJudging the fault that the extending operation of the oil cylinder is blocked;

when the control cylinder is extended or retracted to operate, the operating pressure P_rLess than the minimum operating detection pressure P_mSatisfies the filtering time L_tAnd judging that the oil supply of the oil cylinder is abnormal.

Further, the method for calculating the stroke length comprises the following steps:

when the cylinder is in extended operation, and P_m≤P_r＜P_sIf S is equal to S + S_a；

When the cylinder is retracted into operation, and P_m≤P_r＜P_sIf S is equal to S-S_a；

S_a＝v×t，

Wherein S is the current stroke length of the oil cylinder, S_aThe stroke distance, P, completed in unit time for one-time operation of the oil cylinder_mThe minimum operation detection pressure is met when the oil cylinder operates, t is unit time second, n is the actual speed fed back by the servo driver through a motor encoder, q is the flow of the hydraulic oil pump, d²The rod diameter area of the hydraulic oil cylinder.

Further, P_s-P_r≥2Mpa。

The invention also discloses a control method of the garbage compression equipment, and the control method of the actuating mechanism of the garbage compression equipment is used for realizing the resetting of the garbage sealing box, the garbage scraping and the garbage sealing box.

The invention also discloses a control system of the garbage compression equipment, which adopts the control method of the actuating mechanism of the garbage compression equipment, and comprises an editable controller, a touch screen, a servo driver, a servo motor, a hydraulic oil pump, a motor encoder, a pressure sensor, a bucket lifting actuating mechanism, a bucket turning actuating mechanism, a sliding plate actuating mechanism and a scraper actuating mechanism; the touch screen and the servo driver are in communication connection with the programmable controller, the servo driver is connected with a servo motor, the servo motor is respectively connected with a hydraulic oil pump and a motor encoder, the pressure sensor is installed on the hydraulic power station, and the pressure sensor and the motor encoder are connected to a signal input end of the servo driver; the touch screen is used for parameter setting, operation and operation monitoring of equipment; the pressure sensor is used for detecting the output pressure of the hydraulic oil pump; the motor encoder is used for detecting the actual rotating speed of the servo motor.

Further, the device also comprises a remote controller, a weighing device, a vehicle detection sensor, a liquid level detection sensor, a killing system, an alarm and a brake resistor; the weighing device is in communication connection with the programmable controller, the remote controller, the vehicle detection sensor and the liquid level detection sensor are connected to the digital input end of the programmable controller, the killing system and the alarm are connected to the digital output end of the programmable controller, and the brake resistor is connected to the brake unit of the servo driver; the remote controller is used for controlling starting and stopping of the equipment and scraping operation; the vehicle detection sensor is used for detecting the garbage collection vehicle and realizing automatic judgment of primary scraping or circulating scraping; the weighing device is used for obtaining the current total weight of the garbage compression equipment, and subtracting the net weight value of the garbage compression equipment to obtain the current loading weight of the garbage compression equipment; the liquid level detection sensor is used for detecting the height of the liquid level of a pesticide box of the sterilizing system; the alarm is used for alarming the liquid level of the medicine chest; the brake resistor is used for controlling energy consumption generated when the servo motor is controlled to decelerate rapidly by the driver, and the servo driver is protected.

(III) advantageous effects

The technical scheme of the invention has the following advantages:

(1) according to the invention, a position induction switch is not needed, the in-place position of the operation of the actuating mechanism is synchronized according to the in-place position of the operation of the oil cylinder of the actuating mechanism, and the in-place position of the oil cylinder is detected by a program judgment method of the stroke length and the working pressure of the oil cylinder, so that the in-place position of the actuating mechanism is determined, the problem that the garbage compression equipment cannot normally operate due to the fact that a position inductor is easy to damage or unreliable is solved, the circuit is simplified, the installation time is saved, the equipment failure rate is reduced, the reliability of the operation of the equipment is improved, the accuracy is improved, the operation efficiency of the equipment is improved, and the equipment investment cost is reduced;

(2) according to the invention, whether the actuating mechanism enters the deceleration stroke area is judged through the stroke length of the oil cylinder, and then the actuating mechanism is controlled to decelerate in the designated slow stroke area through a program, so that the problems of mechanical and hydraulic impact and noise caused by the operation of the actuating mechanism are solved;

(3) according to the invention, the control instruction is directly sent and the data is read to the servo driver by using communication, so that A/D and D/A analog quantity conversion processing modules of a control system are saved, an analog quantity intermediate conversion processing link is avoided, the control response speed is high, the control precision is high, and the anti-interference capability is strong;

(4) the touch screen can manually correct the current position state, stroke length, pressure and speed of each actuating mechanism oil cylinder of the garbage compression equipment, so that the equipment is very flexible and convenient to debug.

Drawings

The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and not to be construed as limiting the invention in any way, and in which:

FIG. 1 is a schematic view of a control system of a refuse compression installation according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart illustrating a box sealing reset control method according to an embodiment of the present invention;

fig. 3 is a schematic flow chart of a garbage scraping and pressing control method according to an embodiment of the present invention;

fig. 4 is a flowchart illustrating a box sealing control method according to an embodiment of the present invention.

Detailed Description

The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

As shown in fig. 1, the control system of the garbage compressing apparatus includes an editable controller, a touch screen, a remote controller, a servo driver, a servo motor, a hydraulic oil pump, a motor encoder, a brake resistor, a weighing device, a pressure sensor, a vehicle detection sensor, a liquid level detection sensor, a barrel lifting actuator, a barrel turning actuator, a slide plate actuator, a scraper actuator, a killing system, and an alarm; the programmable controller is a core device of the control system, and a logic control program and a control method of the control system are solidified. The programmable controller Ethernet port communication port is connected with the touch screen Ethernet port through a network cable, the touch screen is used for parameter setting, operation and operation monitoring of the equipment, the operation monitoring comprises monitoring and displaying of operation data, states, curves and fault information of the equipment, and manual correction is further carried out on the current position state and the stroke length of each executing mechanism of the garbage compression equipment. And an RS485 communication port of the programmable controller is respectively connected with the weighing device and an RS485 communication port of the servo driver and is used for reading weight data of the weighing device and writing in a servo drive control instruction and reading operation data. The driver control instruction at least comprises a start-stop instruction, a reset instruction, a pressure giving instruction and a speed giving instruction, and the driver operation data at least comprises an operation state, a fault state, motor speed feedback, pressure feedback, speed feedback and motor temperature. The remote controller, the vehicle detection sensor and the liquid level detection sensor are connected to the digital input end of the programmable controller, and the bucket lifting actuating mechanism, the bucket turning actuating mechanism, the sliding plate actuating mechanism, the scraper plate actuating mechanism, the killing system and the alarm are connected to the digital output end of the programmable controller. The remote controller is used for controlling the starting and stopping of the equipment and the scraping operation. The vehicle detection sensor is used for detecting the garbage collection dumping car, and automatic judgment of primary scraping or circulating scraping is achieved. The liquid level detection sensor is used for detecting the height of the liquid level of a medicine box of the sterilizing system, when the liquid level of the medicine box is lower than a set height, the sterilizing system stops sterilizing work, and meanwhile, the alarm sends an alarm to prompt a medicine adding signal. The weighing device is used for obtaining the current total weight of the garbage compression equipment, and subtracting the net weight value of the garbage compression equipment to obtain the current loading weight of the garbage compression equipment. The power input end of the servo driver is connected to an AC380V mains supply through a power line, the output end of the servo driver is connected with the power input end of the servo motor through a power shielding line and used for controlling rotation of the servo motor, the servo motor is respectively connected with the hydraulic oil pump and the motor encoder, the pressure sensor is installed on the hydraulic power station and used for detecting output pressure of the hydraulic oil pump, and the motor encoder is used for detecting actual rotating speed of the servo motor. The feedback signals of the pressure sensor and the motor codes are connected to the signal input end of the servo driver through a signal shielding wire. The servo driver receives a start-stop instruction, a pressure giving instruction and a speed giving instruction of the programmable controller through the communication interface, controls the operation and the rotation speed of the servo motor at the same time, adjusts and controls the output pressure and the output flow of the hydraulic oil pump, realizes the automatic adjustment of the speed of the servo motor through feedback signals of the motor encoder and the pressure sensor, and realizes the accurate control of the pressure and the flow output of the hydraulic oil pump. The brake resistor is connected to a brake unit of the servo driver and used for controlling energy consumption generated when the servo motor is rapidly decelerated by the driver so as to protect the driver. The bucket lifting actuating mechanism, the bucket turning actuating mechanism, the sliding plate actuating mechanism, the scraper plate actuating mechanism, the killing system and the alarm are controlled by the output end of the programmable controller. The barrel lifting executing mechanism, the barrel turning executing mechanism, the sliding plate executing mechanism and the scraper executing mechanism are respectively connected with independent oil cylinders, the hydraulic oil cylinders are powered by hydraulic oil pumps in operation, the forward operation pressure and the reverse operation pressure and speed parameters of the barrel lifting executing mechanism, the barrel turning executing mechanism, the sliding plate executing mechanism and the scraper executing mechanism can be respectively and independently set through a touch screen, and the parameters are all stored in a permanent storage register of the programmable controller. When the operation of each actuating mechanism is controlled, the programmable controller automatically sends a current pressure and speed given control instruction to the servo driver according to the set parameters, and simultaneously controls the operation of the servo motor and the hydraulic oil pump, when the operation pressure reaches the set pressure, the servo driver automatically adjusts and reduces the rotating speed of the servo motor and the hydraulic oil pump according to the pressure feedback value, and the lowest control speed is used for maintaining the reaching of the set pressure. The sterilization system is used for sterilizing the garbage blocks, and the alarm is used for warning and fault prompting of the system.

When the garbage compression equipment is operated, the safety interlocking operation conditions of the execution mechanisms and the automatic scraping and pressing work flow sequence of the garbage compression equipment all need to judge the position state of the execution mechanisms in place. The invention provides a garbage compression device, which omits a position detection sensor of each actuating mechanism, and therefore, provides a control method of the actuating mechanism of the garbage compression device, which comprises a position judgment method for the actuating mechanism to extend to the right position and retract to the right position, a speed control method for the operation of the actuating mechanism and a fault judgment method for the operation of the actuating mechanism.

The in-place position state of the actuating mechanism of the garbage compression equipment comprises the following steps: the bucket lifting and descending of the bucket lifting actuating mechanism are in place, the bucket turning and vertical bucket turning of the bucket turning actuating mechanism are in place, the forward and backward movement of the sliding plate actuating mechanism are in place, and the opening and scraping of the scraper plate actuating mechanism are in place; the barrel lifting actuating mechanism, the barrel turning actuating mechanism, the sliding plate actuating mechanism and the scraper actuating mechanism are respectively and rigidly and fixedly connected with the corresponding oil cylinders, the operating positions of the actuating mechanisms and the operating positions of the oil cylinders are in the same proportion, and the in-place state of each actuating mechanism and the in-place state of the oil cylinders are in synchronous consistency, so that the in-place position state of the corresponding actuating mechanism can be judged by judging the in-place position state of the oil cylinder. The oil cylinder comprises an in-place extending state and an in-place retracting state during operation, and the in-place position state of the oil cylinder corresponding to each actuating mechanism and the in-place position state of each actuating mechanism are in a corresponding relation: the in-place extending and retracting of the oil cylinder of the bucket lifting actuating mechanism respectively represent that the bucket lifting actuating mechanism is in place and the bucket lowering actuating mechanism is in place; the barrel turning actuating mechanism is characterized in that the barrel turning actuating mechanism cylinder extends in place and retracts in place to respectively indicate that the barrel is turned in place and the vertical barrel is in place; the extension in-place and the retraction in-place of the oil cylinder of the sliding plate actuating mechanism respectively represent the retraction in-place and the advancing in-place of the sliding plate actuating mechanism; the extension in place and the retraction in place of the oil cylinder of the scraper actuating mechanism respectively represent that the scraper actuating mechanism scrapes materials in place and opens in place. The method for judging the position of the actuator extending to the right position and retracting to the right position, the method for controlling the running speed of the actuator and the method for judging the fault of the operation of the actuator are respectively converted into a method for judging the position of the actuator cylinder extending to the right position and retracting to the right position, a method for controlling the running speed of the actuator cylinder and a method for judging the fault of the operation of the actuator cylinder.

The control system respectively sets proper working set pressure P for the extension and retraction of the oil cylinders of the bucket lifting actuating mechanism, the bucket turning actuating mechanism, the sliding plate actuating mechanism and the scraper actuating mechanism_sWorking speed N₁Low speed N₂And the working set pressure P for extending and retracting the oil cylinders of the actuating mechanisms in place_sOperating pressure P for extending and retracting of oil cylinder of actuating mechanism_rIs equal to or greater than 2MPa, i.e. P_s-P_rThe pressure is more than or equal to 2Mpa, so that the pressure when the oil cylinder extends and retracts is reliably distinguished and identified from the pressure when the oil cylinder is in place, and the misjudgment that the position is influenced by an interference pressure signal generated by the operating pressure of the actuating mechanism is avoided.

The method for calculating the stroke length of each actuating mechanism comprises the following steps: when the oil cylinder is in extended operationAnd P is_m≤P_r＜P_sIf S is equal to S + S_a(ii) a When the cylinder is retracted into operation, and P_m≤P_r＜P_sIf S is equal to S-S_aS is the current stroke of the cylinder, P_mThe pressure is detected for the minimum operation which is met when the oil cylinder operates, so that the oil supply for the operation of the oil cylinder is confirmed to be normal, and the calculation result of the stroke of the oil cylinder which is influenced by the fact that the oil cylinder does not operate due to the fact that an oil pump is damaged or an electromagnetic reversing valve is not opened and the like can be avoided. S_aThe distance of stroke completed in unit time for one-time operation of the oil cylinder, S_aV × t, whereint is unit time second, n is actual speed fed back by the servo driver through a motor encoder, q is flow of the hydraulic oil pump, and d²The rod diameter area of the hydraulic oil cylinder.

Dividing the stroke length of the oil cylinder into a plurality of reference points S₀、S₁、S₂、S₃Wherein the stroke length of the oil cylinder retracting in place is the starting point S₀The length of the stroke of the oil cylinder extending in place is the terminal point S₃(ii) a The deceleration stroke area when the oil cylinder retracts is S less than or equal to S₁The deceleration stroke area of the oil cylinder in the extending operation is S ≥ S₂。

The method for judging the positions of the oil cylinder of the actuating mechanism extending to the right position and retracting to the right position comprises the following steps: (1) when the oil cylinder retracts to run, the stroke length satisfies that S is less than or equal to S₀While the operating pressure P at the time of retraction of the cylinder_rReach the working set pressure P_sSatisfies the filtering time L_tIf so, judging that the oil cylinder operates to the retracted state, marking the current position state of the oil cylinder retracted in place as '1', and writing the current position state into a permanent storage data register of the programmable controller; (2) when the oil cylinder extends to run, the stroke length meets the condition that S is more than or equal to S₃And the operating pressure P when the oil cylinder extends out_rReach the working set pressure P_sSatisfies the filtering time L_tJudging that the oil cylinder is in the in-place state, marking the current state of the oil cylinder in the in-place state as '2', and writing the state into the programmable controllerA permanent save data register of the system; (3) when the stroke length of the oil cylinder meets S₀＜S＜S₃And if the oil cylinder is not in place, marking the current position state of the oil cylinder as '0' and writing the current position state into a permanent storage data register of the programmable controller. By the position judgment method, a position sensor of the garbage compression equipment is omitted, the installation cost and time of the garbage compression equipment are saved, the circuit is simplified, the equipment failure rate is reduced, and the operation working efficiency of the equipment is improved.

The method for judging the operation fault of the oil cylinder of the actuating mechanism comprises the following steps: (1) the stroke length S is more than S when the oil cylinder retracts to operate₀While the cylinder operating pressure P_rReach the working set pressure P_sSatisfies the filtering time P_rJudging the fault that the retraction operation of the oil cylinder is blocked; (2) the stroke length S when the oil cylinder extends and operates is less than S₃While the cylinder operating pressure P_rReach the working set pressure P_sSatisfies the filtering time L_tJudging the fault that the extending operation of the oil cylinder is blocked; l is_tEliminating the instantaneously disturbed pressure signal for the pressure filtering time; (3) when the control cylinder is extended or retracted to operate, the operating pressure P_rLess than the minimum operating detection pressure P_mSatisfies the filtering time L_tAnd judging that the oil supply of the oil cylinder is abnormal. When the oil cylinder has a fault in operation, the system automatically stops equipment control, the alarm gives out a fault alarm sound and the touch screen displays corresponding fault information.

The speed control method for the operation of the oil cylinder of the actuating mechanism comprises the following steps: (1) when the sliding plate actuating mechanism, the scraper plate actuating mechanism, the bucket lifting actuating mechanism and the bucket turning actuating mechanism are controlled to operate, the current stroke length of each oil cylinder connected with each actuating mechanism meets S₁＜S＜S₂Then the programmable controller writes the working speed N to the servo driver₁Operating speed N of extension and retraction of cylinders of each actuator₁Setting is carried out respectively; (2) when the sliding plate actuating mechanism, the scraper actuating mechanism, the bucket lifting actuating mechanism and the bucket turning actuating mechanism are controlled to operate, the current stroke length of the oil cylinders connected with the actuating mechanisms in the retracting operation process meets the condition that S is less than or equal to S₁Or each actuator is connected withThe current stroke length of the connected oil cylinders in the extending operation meets the condition that S is more than or equal to S₂Then the programmable controller writes the deceleration speed N to the drive₂Deceleration rate N of extension and retraction of cylinders of each actuator₂The setting is respectively carried out, the running speed of the servo motor is reduced through real-time adjustment, the real-time output flow and the running speed of the hydraulic oil pump are reduced, the reduction of mechanical and hydraulic impact and noise is realized, and the purpose and the effect of buffering when the running of the actuating mechanism and the running of the oil cylinder are close to a starting point or a terminal point are realized.

Based on the control system of the garbage compression equipment, the basic operation of the garbage compression equipment is realized by using the control method of the actuating mechanism of the garbage compression equipment, the control method comprises a box sealing reset control method, a garbage scraping control method and a box sealing control method, and the specific steps are as follows:

s1, the box sealing reset control method, as shown in fig. 2, includes:

s1.1, the state of the garbage compression equipment to be subjected to box sealing reset in a back transfer mode is a box sealing state, a sliding plate actuating mechanism moves forward to a proper position in the box sealing state, and a scraper plate actuating mechanism scrapes materials to a proper position;

s1.2, pressing down 'box sealing reset', controlling the sliding plate actuating mechanism to retreat, judging whether the sliding plate actuating mechanism retreats in place or not by the position judging method, and entering the step S1.3 after retreating in place;

s1.3, controlling the scraper executing mechanism to be opened, judging whether the scraper executing mechanism is opened in place or not by the position judging method, stopping running until the scraper executing mechanism is opened in place, and at the moment, enabling the garbage compression equipment to be in a box sealing reset state to prepare for dumping of the garbage compression equipment.

S2, the garbage scraping and pressing control method is as shown in figure 3:

the garbage scraping and pressing process is that the garbage can filled with garbage is lifted to a designated position through a lifting bucket and a bucket turning actuating mechanism of the garbage compression equipment and then poured into a feeding bin of the garbage compression box, or the loaded garbage is poured into the feeding bin of the garbage compression box through a garbage collection vehicle in a self-discharging manner, the garbage poured into the feeding bin is extruded to the rear end of the garbage compression box through a sliding plate and a scraper actuating mechanism of the garbage compression equipment, and the feeding bin is the front end of the garbage compression box. The garbage scraping is divided into primary scraping and cyclic scraping control, a garbage scraping command is pressed, and a primary scraping or cyclic scraping control flow is automatically judged and determined by a vehicle detection sensor;

s2.1, starting one-key scraping, executing one-time scraping control when a vehicle detection sensor does not detect a signal of the garbage collection vehicle, and entering the step S2.2; when the vehicle detection sensor detects that a garbage collection signal exists, executing circulating scraping and pressing control, and entering step S2.3;

s2.2, primary scraping and pressing control:

s2.2.1, controlling the lifting of the pail actuating mechanism, judging whether the pail actuating mechanism is in place by the position judgment method, and entering step S2.2.2 after the pail is in place;

s2.2.2, controlling the barrel turning actuator to turn the barrel, judging whether the barrel turning actuator turns the barrel in place by the position judgment method, and entering the step S2.2.3 after the barrel is turned in place;

s2.2.3, controlling the barrel turning actuator to erect the barrel, judging whether the barrel turning actuator erects the barrel in place by the position judging method, and entering step S2.2.4 after the barrel erects in place;

s2.2.4, controlling the bucket descending of the bucket actuator, judging whether the bucket actuator descends in place or not by the position judgment method, and entering step S2.2.5 after descending in place;

s2.2.5, obtaining the current garbage loading weight WT through a weighing device;

s2.2.6, controlling the slide plate actuating mechanism to move forward, judging whether the slide plate actuating mechanism moves forward in place or not by the position judging method, and entering a step S2.2.7 after the slide plate actuating mechanism moves forward in place;

s2.2.7, controlling the scraper blade executing mechanism to scrape materials, judging whether the scraper blade executing mechanism scrapes the materials in place through the position judging method, and entering the step S2.2.8 after the materials are scraped in place;

s2.2.8, controlling the slide plate actuator to retreat, judging whether the slide plate actuator retreats in place by the position judging method, and entering step S2.2.9 after retreating in place;

s2.2.9, judging whether WT is more than or equal to WT1, if so, automatically maintaining pressure and controlling, and then entering step S2.2.10, otherwise, directly entering step S2.2.10;

s2.2.10, controlling the scraper actuating mechanism to open, and judging whether the scraper actuating mechanism is opened in place by the position judging method until one scraping is finished after the scraper actuating mechanism is opened in place;

s2.3, circulating scraping pressure control

S2.3.1, obtaining the current garbage loading weight WT through a weighing device;

s2.3.2, controlling the slide plate actuating mechanism to move forward, judging whether the slide plate actuating mechanism moves forward in place or not by the position judging method, and entering a step S2.3.3 after the slide plate actuating mechanism moves forward in place;

s2.3.3, controlling the scraper blade executing mechanism to scrape materials, judging whether the scraper blade executing mechanism scrapes the materials in place through the position judging method, and entering the step S2.3.4 after the materials are scraped in place;

s2.3.4, controlling the slide plate actuator to retreat, judging whether the slide plate actuator retreats in place by the position judging method, and entering step S2.3.5 after retreating in place;

s2.3.5, judging whether WT is more than or equal to WT1, if so, automatically maintaining pressure and controlling, and then entering step S2.3.6, otherwise, directly entering step S2.3.6;

s2.3.6, controlling the scraper actuating mechanism to open, judging whether the scraper actuating mechanism is opened in place by the position judging method, and returning to step S2.3.1 after the scraper actuating mechanism is opened in place.

The automatic hold pressure control described in steps S2.2.9 and S2.3.5 is: obtaining the current garbage loading weight WT of the garbage compression box through the weighing device, automatically skipping the pressure maintaining control process when WT is less than WT1, automatically entering the pressure maintaining control process when WT is more than or equal to WT1, and simultaneously writing the current pressure maintaining pressure P into the servo driver by the programmable controller_bRegulating the output pressure of the hydraulic oil pump when the pressure reaches the holding pressure P_bAnd continuously satisfies the pressure maintaining time B_tAnd the pressure maintaining process is finished, the pressure maintaining control process is quitted, and the next control process is continued, wherein WT1 is the weight of the garbage which is judged whether to automatically intervene the pressure maintaining control flow in the garbage scraping and pressing process.

In addition, automatic killing is carried out in the primary scraping and pressing process and the circulating scraping and pressing process, the killing system automatically and circularly kills according to the set killing time and the killing interval period, and the killing system automatically stops running when the primary scraping and pressing and the circulating scraping and pressing are stopped. When the liquid level of the disinfectant is lower than the alarm liquid level, the system sends out a medicine shortage alarm prompt and stops the disinfectant operation.

S3, a box sealing control method is shown in FIG. 4:

s3.1, when a 'sealing box' button is pressed down or one-time scraping is finished, obtaining the weight WT of the current garbage load through a weighing device, when the WT is larger than or equal to WT2, sending a transfer prompt through an alarm and a touch screen, and automatically carrying out a box sealing control process, wherein WT2 limits the weight for the garbage load;

s3.2, controlling the sliding plate actuating mechanism to move forward, judging whether the sliding plate actuating mechanism moves forward in place or not by the position judging method, and entering the step S3.3 after the sliding plate actuating mechanism moves forward in place;

and S3.3, controlling the scraper blade executing mechanism to scrape materials, judging whether the scraper blade executing mechanism scrapes the materials in place or not by the position judging method, sealing the box after the scraping is in place, and transferring the garbage compression equipment after the sealing.

In summary, the control method and the control system for the actuating mechanism of the garbage compression equipment have the following advantages:

(1) according to the invention, a position induction switch is not needed, the in-place position of the operation of the actuating mechanism is synchronized according to the in-place position of the operation of the oil cylinder of the actuating mechanism, and the in-place position of the oil cylinder is detected by a program judgment method of the stroke length and the working pressure of the oil cylinder, so that the in-place position of the actuating mechanism is determined, the problem that the garbage compression equipment cannot normally operate due to the fact that a position inductor is easy to damage or unreliable is solved, the circuit is simplified, the installation time is saved, the equipment failure rate is reduced, the reliability of the operation of the equipment is improved, the accuracy is improved, the operation efficiency of the equipment is improved, and the equipment investment cost is reduced;

(2) according to the invention, whether the actuating mechanism enters the deceleration stroke area is judged through the stroke length of the oil cylinder, and then the actuating mechanism is controlled to decelerate in the designated slow stroke area through a program, so that the problems of mechanical and hydraulic impact and noise caused by the operation of the actuating mechanism are solved;

(3) according to the invention, the control instruction is directly sent and the data is read to the servo driver by using communication, so that A/D and D/A analog quantity conversion processing modules of a control system are saved, an analog quantity intermediate conversion processing link is avoided, the control response speed is high, the control precision is high, and the anti-interference capability is strong;

(4) the touch screen can manually correct the current position state, stroke length, pressure and speed of each actuating mechanism oil cylinder of the garbage compression equipment, so that the equipment is very flexible and convenient to debug.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.