阅读说明：本技术 上料控制方法、上料装置以及可读存储介质 (Feeding control method, feeding device and readable storage medium ) 是由 焦立双 马佳琪 于 2021-06-30 设计创作，主要内容包括：本发明公开一种上料控制方法、上料装置以及可读存储介质,其中,所述上料控制方法用于自动上料装置,所述自动上料装置具有工作台以及设于所述工作台上的至少两个装料单元和至少两个放料板,所述上料控制方法包括：获取各所述放料板上物料的数量；以及当存在任意所述放料板上的物料数量大于或者等于预设数量时,从物料数量大于或者等于预设数量的放料板中选取一个放料板作为选取目标；控制多个所述装料单元移动至所述选取目标,以获取选取目标对应的放料板上的物料。本发明通过先获取各个放料板上的物料的数量,每个呈工作状态的装料单元均能够具有可抓取的物料,避免工装穴位产生空穴的问题。(The invention discloses a feeding control method, a feeding device and a readable storage medium, wherein the feeding control method is used for the automatic feeding device, the automatic feeding device is provided with a workbench, at least two feeding units and at least two discharging plates, and the at least two feeding units and the at least two discharging plates are arranged on the workbench, and the feeding control method comprises the following steps: acquiring the quantity of the materials on each material placing plate; when the quantity of the materials on any material placing plate is larger than or equal to the preset quantity, selecting one material placing plate from the material placing plates with the quantity of the materials larger than or equal to the preset quantity as a selection target; and controlling the plurality of loading units to move to the selection target so as to obtain the materials on the discharge plates corresponding to the selection target. According to the invention, the quantity of the materials on each discharging plate is obtained, each charging unit in a working state can be provided with the materials which can be grabbed, and the problem that cavities are generated in tool points is avoided.)

1. A feeding control method is used for an automatic feeding device, and is characterized in that the automatic feeding device is provided with a workbench, at least two feeding units and at least two discharging plates, wherein the at least two feeding units and the at least two discharging plates are arranged on the workbench, and the feeding control method comprises the following steps:

acquiring the quantity of the materials on each material placing plate; and

when the quantity of the materials on any material placing plate is larger than or equal to the preset quantity, selecting one material placing plate from the material placing plates with the quantity of the materials larger than or equal to the preset quantity as a selection target;

and controlling the plurality of loading units to move to the selection target so as to obtain the materials on the discharge plates corresponding to the selection target.

2. The feeding control method according to claim 1, wherein when the number of the feeding plates is greater than or equal to a preset number, the feeding plates are sequentially used as the selection targets according to the placing sequence of the feeding plates; or sequencing the discharging plates according to the quantity of the materials, and sequentially taking the discharging plates as the selection targets.

3. The charging control method according to claim 1, further comprising:

when the quantity of the materials on each material placing plate is less than a preset quantity, the sum of the quantity of the materials on each material placing plate is obtained; and

if the sum of the quantity of the materials on each material discharging plate is larger than or equal to the preset quantity, selecting the material discharging plate with the quantity of the materials larger than zero as a selection target, and controlling a plurality of material charging units to respectively move to any selection target so as to obtain the materials on the material discharging plate corresponding to the selection target.

4. The charging control method according to claim 1, further comprising:

and when the sum of the quantity of the materials on the discharging plates is smaller than the preset quantity, controlling the charging unit to stop executing the step of obtaining the materials on the discharging plates corresponding to the selected target.

5. The feeding control method as claimed in claim 4, wherein the automatic feeding device further comprises a material taking mechanism provided on the work table;

after the step of controlling the charging unit to stop obtaining the material on the discharging plate corresponding to the selected target is executed, the charging control method further includes:

and controlling the material taking mechanism to place materials on at least one material placing plate, and then executing the step of acquiring the quantity of the materials on each material placing plate.

6. The loading control method according to any one of claims 1 to 5, wherein in the step of obtaining the amount of the material on each of the material placing plates, the amount of the material on each of the material placing plates is obtained by polling.

7. A loading device, comprising:

a work table;

the at least two loading units are arranged on the workbench;

the at least two discharging plates are arranged on the workbench; and

a control device electrically connected to the charging unit for controlling the charging unit to perform the charging control method according to any one of claims 1 to 6.

8. The loading device according to claim 7, characterized in that it further comprises:

and the material taking mechanism is arranged on the workbench, is electrically connected with the control device and is used for placing materials to the material placing plate under the control of the control device.

9. The loading device according to claim 7, characterized in that it further comprises:

the work table is arranged on the working table, and the charging unit is used for transferring materials to the work table.

10. A readable storage medium, characterized in that the readable storage medium stores a loading control program of a loading device, and the loading control program of the loading device, when executed by a processor, implements the loading control method according to any one of claims 1 to 6.

Technical Field

The invention relates to the technical field of automatic control, in particular to a feeding control method, a feeding device and a readable storage medium.

Background

With the rise of the electronic industry, the demand of micro-electro-acoustic products is increasing, and the requirements on the performance of automation equipment are increasing. By combining an automation technology and a computer technology, a full-automatic device with high precision, high survival rate and high stability is a future development trend. The existing automation equipment grabs the material and places the material at the preset position, and because the quantity of the frock acupuncture points at the preset position is usually fixed, the quantity of the grabbing mechanism corresponding to each group of frock acupuncture points, so that the material can be placed into each group of frock acupuncture points. When grabbing the material and carrying out the material loading, the material quantity is probably uncertain in the blowing district of placing the material, and then leads to a plurality of mechanisms of grabbing when reaching the blowing district, in corresponding the blowing district, the part is grabbed the mechanism and is not supplied the material and snatchs, does not grab the mechanism of grabbing of getting the material and be vacant state and remove to the frock acupuncture point, leads to some frock acupuncture point to appear the cavity.

Disclosure of Invention

The invention mainly aims to provide a feeding control method, a feeding device and a readable storage medium, and aims to solve the problem that holes exist in part of tool acupuncture points in the existing feeding method.

In order to achieve the above object, the present invention provides a feeding control method for an automatic feeding device, the automatic feeding device having a workbench, and at least two feeding units and at least two discharging plates disposed on the workbench, the feeding control method comprising:

acquiring the quantity of the materials on each material placing plate; and

when the quantity of the materials on any material placing plate is larger than or equal to the preset quantity, selecting one material placing plate from the material placing plates with the quantity of the materials larger than or equal to the preset quantity as a selection target;

and controlling the plurality of loading units to move to the selection target so as to obtain the materials on the discharge plates corresponding to the selection target.

Optionally, when the number of the material placing plates is larger than or equal to the preset number, the material placing plates are sequentially used as the selection target according to the placing sequence of the material placing plates; or sequencing the discharging plates according to the quantity of the materials, and sequentially taking the discharging plates as the selection targets.

Optionally, the feeding control method further includes:

when the quantity of the materials on each material placing plate is less than a preset quantity, the sum of the quantity of the materials on each material placing plate is obtained; and

and if the sum of the quantity of the materials on each material discharging plate is greater than or equal to the preset quantity, selecting the material discharging plate with the quantity of the materials greater than zero as a selection target, and controlling a plurality of material charging units to respectively move to any selection target so as to obtain the materials on the material discharging plate corresponding to the selection target.

Optionally, the feeding control method further includes:

and when the sum of the quantity of the materials on the discharging plates is smaller than the preset quantity, controlling the charging unit to stop executing the step of obtaining the materials on the discharging plates corresponding to the selected target.

Optionally, the automatic feeding device further comprises a material taking mechanism arranged on the workbench;

after the step of controlling the charging unit to stop obtaining the material on the discharging plate corresponding to the selected target is executed, the charging control method further includes:

and controlling the material taking mechanism to place materials on at least one material placing plate, and then executing the step of acquiring the quantity of the materials on each material placing plate.

Optionally, in the step of obtaining the amount of the material on each of the material placing plates, the amount of the material on each of the material placing plates is obtained in a polling manner.

The invention also provides a feeding device, comprising:

a work table;

the at least two loading units are arranged on the workbench;

the at least two discharging plates are arranged on the workbench; and

and the control device is electrically connected with the charging unit and is used for controlling the charging unit to execute the charging control method.

Optionally, the feeding device further comprises:

and the material taking mechanism is arranged on the workbench, is electrically connected with the control device and is used for placing materials to the material placing plate under the control of the control device.

Optionally, the feeding device further comprises:

the work table is arranged on the working table, and the charging unit is used for transferring materials to the work table.

The invention further provides a readable storage medium, wherein the readable storage medium stores a feeding control program of the feeding device, and the feeding control program of the feeding device realizes the feeding control method when being executed by a processor.

According to the technical scheme, the quantity of the materials on each discharging plate is obtained, the discharging plates with the quantity of the materials larger than or equal to the preset quantity are selected as the selection targets, the charging units are controlled to grab the preset quantity of the materials from the corresponding selection targets, and the quantity of the materials in the selection targets is larger than or equal to the preset quantity, so that each charging unit in the working state can have the materials which can be grabbed, and the problem that cavities are generated in tool acupuncture points due to the fact that the charging units in the working state are empty is solved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a block diagram of an embodiment of a control system according to the present invention;

FIG. 2 is a schematic block diagram of a loading apparatus according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a loading unit and a discharge plate according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a feeding control method according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of another embodiment of a loading control method according to the present invention;

FIG. 6 is a schematic structural diagram of a feeding control method according to another embodiment of the present invention;

fig. 7 is a schematic structural diagram of an embodiment of the feeding device of the present invention.

The reference numbers illustrate:

the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.

In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

The invention provides a feeding control method, which is used for an automatic feeding device, wherein the automatic feeding device is provided with a workbench, at least two feeding units 205 and at least two discharging plates 201, and the at least two feeding units 205 and the at least two discharging plates 201 are arranged on the workbench, and the feeding control method is used for controlling the automatic feeding of the automatic feeding device. The loading unit 205 is configured to grab a material, and the loading unit 205 may grab the material in a manner of grasping or adsorbing, for convenience of description, the following description will take the loading unit 205 as a suction nozzle, and grab the material in an adsorbing manner as an example. The material placing plate 201 is used for placing materials, so that the materials can be placed at a position where the loading unit 205 can act, and the loading unit 205 can adsorb the materials. The number of the loading units 205 is multiple, the number of the discharging plates 201 is also multiple, and the number of the discharging plates 201 may be consistent with the number of the loading units 205. The feeding device may further comprise other functional modules, which will be explained in the specific embodiment.

Referring to fig. 1 and 2, the feeding device has a control device 100, the control device 100 has a processor 1001 and a memory 1002, the memory 1002 is used for storing a feeding control program of the feeding device, and the processor 1001 is used for calling the feeding control program stored in the memory 1002 and controlling the feeding device to operate.

Referring to fig. 3 and 4, in an embodiment, the feeding control method includes:

s10: the amount of the material on each of the material-placing plates 201 is obtained.

The control device 100 obtains the material quantity on each of the material placing plates 201, and sends the data of the material quantity to the processor 1001. The material is placed on each of the material placing plates 201, and the control device 100 may obtain the quantity of the material on each of the material placing plates 201 in a polling manner.

S20: when the quantity of the materials on any material placing plate 201 is larger than or equal to the preset quantity, selecting one material placing plate 201 from the material placing plates 201 with the quantity of the materials larger than or equal to the preset quantity as a selection target; and controlling a plurality of the material loading units 205 to move to the selected target so as to obtain the material on the material placing plate 201 corresponding to the selected target.

Referring to fig. 3, the preset number is the number of the loading units 205 currently in the working state, and if each of the loading units 205 is currently in the working state, the preset number is equal to the number of the loading units 205. As shown in fig. 3, taking the number of the discharging plates as 4 and the number of the loading units as 4 as an example, when the number of the materials on any discharging plate 201 is equal to the preset number, when the loading unit 205 grabs the materials, only the discharging plates 201 with the number of the materials larger than the preset number are grabbed. When the number of the material is larger than the preset number, at least two discharging plates 201 are provided, and any one of the discharging plates is used as a selection target. The control device 100 controls the material loading unit 205 to move to the selected target, and the material is grabbed from the material placing plate 201 corresponding to the selected target.

Because the material quantity all is greater than or equal to predetermined quantity on the blowing board 201 that the target was selected for a plurality of material loading units 205 snatched the material when material was snatched to material loading unit 205, the material of predetermined quantity all can be snatched to a plurality of material loading units 205 in the target of selecting that corresponds, and a plurality of material loading units 205 do not have the material not enough and the vacant that leads to, and then makes a plurality of material loading units 205 can load according to the mode of predetermineeing, avoids the problem in cavity. Alternatively, the above steps S10 to S20 may be performed in a loop until the material amount of each of the discharge plates 201 is less than the preset amount. The plurality of loading units 205 may grab the materials on the material placing plate 201 at the same time, or the plurality of loading units 205 may be controlled to sequentially operate and be controlled one by one according to the volume of the loading units 205 and the material placing distance on the material placing plate 201, so that the plurality of loading units 205 in the working state can grab the corresponding materials. The memory of the control device stores a control program for controlling the plurality of charging units 205.

In one embodiment, the loading unit 205 picks up the material of the selected target and places the material on the electronic device of the tooling acupoint 204. The tool acupuncture points 204 can be arranged on a workbench of the feeding device to realize the operations of discharging, grabbing and charging. Because the positions for placing the materials on the tool acupuncture points 204 are relatively constant, the positions of the tool acupuncture points 204 where the materials need to be placed correspond to the number of the charging units 205 in the working state, so that the charging units 205 in the working state can correspondingly place the materials in the corresponding tool acupuncture points 204 by grabbing the materials from the material placing plate 201 every time, and one-to-one material placing is realized. Because the number of the materials to be grabbed in each selected target is greater than or equal to the number of the loading units 205 in the working state, the number of the materials which can be grabbed by the loading units 205 in the working state corresponds to the tooling acupuncture points 204 where the materials need to be placed, and each action of the loading units 205 corresponds to one group of the tooling acupuncture points 204 to achieve placement of the materials, so that the problem that the tooling acupuncture points 204 are empty is solved. By reducing the empty space of the charging unit 205 during charging, the tool acupuncture points 204 corresponding to the charging unit 205 are prevented from having holes, so that the material installation efficiency of the electronic equipment can be improved, the steps of checking whether the holes exist in the electronic equipment are further reduced, the assembly efficiency is improved, and the assembly cost is reduced.

Optionally, when the number of the material placing plates 201 is greater than or equal to the preset number, the material placing plates 201 are sequentially used as the selection target according to the placing sequence of the material placing plates 201. Because the relative positions of the discharging plates 201 and the charging units 205 are determined, and the positions of the charging units 205 and the discharging plates 201 are also determined relatively, when the charging units 205 move to the selection targets to grab the materials, the discharging plates 201 with the material quantity larger than or equal to the preset quantity can be selected nearby as the selection targets, so that the complexity of the moving tracks of the charging units 205 is reduced. When the material placing plates 201 are used as the selection targets, the placing sequence of the material placing plates 201 with the material quantity larger than or equal to the preset quantity can be determined, only the material placing plates 201 with the material quantity larger than or equal to the preset quantity are determined as the sequence of the selection targets according to the placing sequence, and polling detection is not required to be carried out repeatedly.

In another embodiment, when there are at least two material placing plates 201 with the material quantity greater than or equal to the preset quantity, the material placing plates 201 are sorted according to the material quantity, the material placing plates 201 are sequentially used as the selection targets in an ascending order or a descending order, the material placing plates 201 with the material quantity greater than or equal to the preset quantity can be independently selected from the material placing plates 201 with the material quantity greater than or equal to the preset quantity by sorting the material placing plates 201 with the material quantity greater than or equal to the preset quantity, the material placing plates 201 with the material quantity greater than or equal to the preset quantity can be sequentially used as the selection targets in an ascending order or a descending order, further, the material quantity of each material placing plate 201 does not need to be detected each time, the selection targets are determined only from the material placing plates 201 with the material quantity greater than or equal to the preset quantity obtained after one round of polling, so as to avoid repeated polling detection, and simplify the control steps.

Referring to fig. 5, in an embodiment, the feeding control method further includes:

s30: when the quantity of the materials on each material placing plate 201 is less than the preset quantity, the sum of the quantities of the materials on each material placing plate 201 is obtained.

The control device 100 obtains the quantity of the materials on each of the material discharging plates 201, and when the quantity of the materials on each of the material discharging plates 201 is less than a preset quantity, and at this time, when the plurality of material loading units 205 in the working state are moved to the area where any one of the material discharging plates 201 is located to grab the materials, because the quantity of the materials is less than the preset quantity, the material loading units 205 are inevitably empty. Therefore, the amount of the material on each of the material placing plates 201 can be obtained in a polling manner, and the sum of the amounts of the material on each of the material placing plates 201 can be calculated.

S40: if the sum of the quantities of the materials on the material placing plates 201 is greater than or equal to a preset quantity, selecting the material placing plates 201 with the quantity of the materials greater than zero as a selection target, and controlling the plurality of material loading units 205 to respectively move to any of the selection targets so as to obtain the materials on the material placing plates 201 corresponding to the selection target.

When the sum of the number of the materials on each material placing plate 201 is calculated to be greater than or equal to the preset number, the plurality of material placing plates 201 with the number of the materials greater than zero are taken as the whole selection target, and the plurality of material loading units 205 in the working state are controlled to grab the materials from the plurality of material placing plates 201. When the selection target is determined, the material placing plates 201 with the material quantity larger than zero are selected, the material placing plates 201 with the material quantity equal to zero are no longer used as the selection target, and when each material loading unit 205 in the working state moves to the corresponding selection target, the material quantity on the corresponding selection target is larger than zero, so that each material loading unit 205 in the working state can have a corresponding grabbing object, and the empty placement of the material loading units 205 is avoided.

After a certain round of grabbing, polling detection is performed, and the number of the materials on a certain material placing plate 201 is reduced to zero, the materials are removed and are not taken as a selection target, and the rest material placing plates 201 are continuously taken as the selection target. After a certain round of grabbing, when the total amount of the materials on the plurality of material placing plates 201 is smaller than the preset amount through polling detection, the plurality of material loading units 205 in the working state continuously take the materials on the material placing plates 201, and the material loading units are empty, so that the grabbing operation is suspended. Optionally, when the sum of the amounts of the materials on the material placing plates 201 is smaller than a preset amount, the material loading unit 205 is controlled to stop executing the step of obtaining the materials on the material placing plates 201 corresponding to the selected target, so as to prevent the material loading unit 205 from being left empty.

Referring to fig. 2 and fig. 6, in an embodiment, the automatic feeding device further includes a material taking mechanism 202 disposed on the working platform 200; the material taking mechanism 202 is used for placing materials on the material placing plate 201 to be grabbed by the material loading unit 205.

After the step of controlling the loading unit 205 to stop obtaining the material on the discharging plate 201 corresponding to the selected target is executed, the loading control method further includes:

s50: after the material taking mechanism 202 is controlled to place the material on at least one of the material placing plates 201, step S10 is executed. The material taking mechanism 202 may be electrically connected to the control device 100, and when the total amount of the materials on the plurality of material placing plates 201 is smaller than the preset amount after polling detection, and when the plurality of material loading units 205 in the working state take the materials from the material placing plates 201, empty space may be generated due to insufficient materials, at this time, the material loading operation is stopped, and the material taking mechanism 202 places the materials on the material placing plates 201. The material taking device may supplement materials to each of the material placing plates 201 at the same time, or may supplement materials to only one or more of the material placing plates. After the material taking mechanism 202 replenishes the material on the material placing plates 201, the control device 100 polls the material placing plates 201 to obtain the material quantity on each material placing plate 201.

The feeding device can also be provided with a material belt 203 for conveying materials, and the material taking mechanism 202 can take the materials from the material belt 203 and place the materials on the material placing plate 201. The tape 203 may be disposed on the workbench, or may be disposed outside the workbench 200. The material placing plate 201 is a platform for placing materials, or a tray and the like.

After the material is replenished on the material discharging plates 201, polling may be performed on each material discharging plate 201, and when the number of the materials in which any material discharging plate 201 exists is greater than the preset number, it is determined to perform step S20. When the number of the materials on the material discharging plates 201 is not greater than the preset number, the sum of the materials on each material discharging plate 201 is calculated, and when it is determined that the sum of the materials on each material discharging plate 201 is greater than or equal to the preset number, the step S40 is executed. When the sum of the materials on the material discharging plates 201 is less than the preset number, the step S50 is executed. When the material loading unit 205 grabs the material from the material discharging plate 201 each time, the number of the materials which can be grabbed is larger than that of the material loading units 205 in the working state, so that the problem that the individual material loading units 205 are not empty when the material loading units 205 in the working state grab each time is solved, and further, the occurrence of cavities is avoided.

The invention further provides an embodiment of the feeding device on the basis of the feeding control method.

Referring to fig. 7, in an embodiment, the feeding device includes:

a work table 200; the work table 200 is used to provide a platform for mounting various functional components.

At least two loading units 205 arranged on the workbench 200; the loading unit 205 is configured to grasp the material to move the material from a preset position to a target position.

At least two discharging plates 201 arranged on the working table 200; the material placing plate 201 is used for placing materials for the grabbing operation of the material loading unit 205.

The control device 100, the control device 100 is electrically connected to the loading unit 205, and is configured to control the loading unit 205 to execute the loading control method according to any one of the embodiments. The control device 100 is provided with a processor 1001 and a memory 1002, the memory 1002 is used for storing a feeding control program, and the processor 1001 is used for calling the feeding control program to control the feeding unit 205 to grab the material from the material placing plate 201.

The number of the discharge plates 201 may correspond to the number of the loading units 205 in an operating state. So that when the loading units 205 in the working state respectively grab materials from the discharging plates 201, each loading unit 205 can have materials to grab.

The processor 1001 of the control device 100 calls the feeding control program in the memory 1002, obtains the quantity of the material on each material placing plate 201 in a polling manner, and determines to execute the feeding operation according to the quantity of the material on each material placing plate 201.

Since the number of the electronic devices is consistent with the number of the loading units 205 in the operating state when the materials are placed on the electronic devices, when it is determined that the number of the materials on the material discharging plate 201 is greater than or equal to the preset number, the loading units 205 are moved to the material discharging plate 201 with the number of the materials greater than or equal to the preset number to perform the grabbing operation, and when the number of the materials on the material discharging plate 201 is less than the preset number, the control device 100 controls the loading units 205 to move to the material discharging plates 201 with the number of the other materials greater than or equal to the preset number to continue the grabbing operation. Because the charging unit 205 that is in operating condition snatchs at every turn, the material quantity on the blowing board 201 that corresponds all is more than or equal to predetermined quantity, and each charging unit 205 that is in operating condition can snatch corresponding material, can not appear that charging unit 205 is vacant, when the charging unit 205 that is consistent with electronic equipment quantity removes electronic equipment department, can guarantee all can put the material on each electronic equipment, and then avoids electronic equipment to appear the problem in hole.

When the quantity of the materials on each of the discharging plates 201 is smaller than the preset quantity, the charging unit 205 in the working state may be empty when the material is taken from a single discharging plate 201. Therefore, the material quantity on each discharging plate 201 can be obtained in a polling manner, the total material quantity is calculated, when the total material quantity is greater than or equal to the preset quantity, the total material quantity on all the discharging plates 201 at present can still meet the condition that each charging unit 205 in the working state has materials for grabbing, and the discharging plates 201 with all the material quantities greater than zero are taken as a whole to control each charging unit 205 in the working state to grab the materials from the discharging plates 201 with the material quantity greater than zero. Since each loading unit 205 in the working state has an object to be grabbed, the empty loading unit 205 is not a problem.

When the quantity of the materials on the discharging plates 201 is reduced, the quantity of the materials on each discharging plate 201 can be obtained in a polling manner, and the total quantity of the materials is calculated, and when the total quantity of the materials is smaller than the preset quantity, it indicates that the total quantity of the materials on all the discharging plates 201 does not satisfy that the materials can be grabbed by each loading unit 205 in the working state, and at this time, when a plurality of loading units 205 in the working state grab the materials from the discharging plates 201 at the same time, there may be an empty position of each loading unit 205, so that the grabbing operation is stopped.

Optionally, the feeding device further includes a material taking mechanism 202 disposed on the working table 200, and the material taking mechanism 202 is electrically connected to the control device 100 and is configured to place a material on the material placing plate 201 under the control of the control device 100. The material taking mechanism 202 may place materials on any of the material placing plates 201, or place materials on at least two of the material placing plates 201, so that the material loading unit 205 can grab the materials. The feeding device can also be provided with a material belt 203 for conveying materials to the material taking mechanism 202.

When the sum of the materials on the discharging plates 201 is less than the preset number, the material taking mechanism 202 supplements the materials on the discharging plates 201 for the grabbing operation of the loading unit 205. After the material taking mechanism 202 finishes placing the material on the material placing plate 201, the processor 1001 of the control device 100 calls a material loading control program in the memory 1002 to execute a material loading control method.

Optionally, the feeding device further includes a tool acupoint 204 disposed on the working table 200, the tool acupoint 204 is used for placing an electronic device, and the loading unit 205 is used for transferring a material to the tool acupoint 204. The positions of the tool acupuncture points 204 are usually determined, each loading unit 205 can correspond to one tool acupuncture point 204, so that each loading unit 205 can correspondingly grab materials to one tool acupuncture point 204, the loading units 205 grab the materials in working states in each round, and the materials are placed on the corresponding number of tool acupuncture points 204, so that each tool acupuncture point 204 is guaranteed to complete the placement of the materials, and the occurrence of cavities is avoided.

The present invention further provides an embodiment of a readable storage medium, where a loading control program of a loading device is stored, and when the loading control program of the loading device is executed by the processor 1001, the loading control method according to any of the above embodiments is implemented.

The loading device comprises the processor 1001, a communication bus 1003, a user interface 1005, a network interface 1004 and a memory 1002. The communication bus 1003 is used to implement connection communication among these components. The user interface 1005 may include a Display screen (Display), and keys. The network interface 1004 may optionally include a standard wireless interface (e.g., a WI-FI interface for connecting to a wireless network). The memory 1002 stores a loading control program, and the memory 1002 may be a high-speed RAM memory 1002 or a non-volatile memory 1002 (e.g., a magnetic disk memory 1002). The memory 1002 may alternatively be a storage device separate from the processor 1001.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.

The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.