阅读说明：本技术 一种供料控制方法及系统及计算机设备及可读储存介质 (Material supply control method and system, computer equipment and readable storage medium ) 是由 张攀武 蒋巨峰 张世源 周桃兴 于 2021-06-30 设计创作，主要内容包括：本发明涉及自动化控制技术领域,尤其是指一种供料控制方法及系统及计算机设备及可读储存介质,包括以下步骤：A.把多个载料盘叠放后,由上升驱动机构驱动进行上升；B.位于最上方的载料盘到达供料位置后,上升驱动机构停止动作；C.机械手于位于最上方的载料盘上进行取料,直至把位于最上方的载料盘内所有物料取出完毕；D.接盘机构动作而取走空载的载料盘；E.重复步骤B-D；F.所有载料盘均被接盘机构取走,上升驱动机构复位。本发明通过把多个载料盘叠放后,由上升驱动机构驱动载料盘上升至供料位置,由机械手进行取料；在供料完毕以后,由接盘机构取走载料盘,然后上升驱动机构驱动载料盘上升,实现了连续供料的效果。(The invention relates to the technical field of automation control, in particular to a feeding control method and system, computer equipment and a readable storage medium, which comprises the following steps: A. after a plurality of material carrying discs are stacked, the material carrying discs are driven by a lifting driving mechanism to lift; B. after the material loading disc positioned at the top reaches the material supply position, the ascending driving mechanism stops acting; C. the manipulator takes materials from the uppermost tray until all materials in the uppermost tray are taken out; D. the tray receiving mechanism acts to take the unloaded material carrying tray away; E. repeating the steps B-D; F. all the material carrying discs are taken away by the disc receiving mechanism, and the lifting driving mechanism resets. According to the invention, after a plurality of material carrying discs are stacked, the material carrying discs are driven by the lifting driving mechanism to lift to the material feeding position, and the material is taken by the manipulator; after the feeding is finished, the material carrying plate is taken away by the material receiving plate mechanism, and then the lifting driving mechanism drives the material carrying plate to lift, so that the effect of continuous feeding is realized.)

1. A feed control method, comprising the steps of:

A. after a plurality of material carrying discs are stacked, the material carrying discs are driven by a lifting driving mechanism to lift;

B. after the material loading disc positioned at the top reaches the material supply position, the ascending driving mechanism stops acting;

C. the manipulator takes materials from the uppermost tray until all materials in the uppermost tray are taken out;

D. the tray receiving mechanism acts to take the unloaded material carrying tray away;

E. repeating the steps B-D;

F. all the material carrying discs are taken away by the disc receiving mechanism, and the lifting driving mechanism resets.

2. The feed control method according to claim 1, characterized in that: in the step D, specifically, the method includes:

D1. the tray receiving mechanism moves to one side of the unloaded material carrying tray;

D2. the pushing-out mechanism pushes the unloaded material carrying disc from the lifting driving mechanism into the receiving disc mechanism;

D3. the pushing mechanism resets, and then the receiving mechanism discharges the unloaded material carrying disc.

3. The feed control method according to claim 1, characterized in that: in the step C, the method specifically comprises:

C1. identifying and recording the position of the material when the manipulator takes the material;

C2. and after the last material in the uppermost material carrying tray is taken out by the mechanical handle, a signal is sent to the tray receiving mechanism.

4. The feed control method according to claim 1, characterized in that: in the step B, the method specifically comprises:

B1. the material loading tray positioned at the top rises until the inductor is triggered;

B2. the sensor sends a signal to the lifting driving mechanism to control the lifting driving mechanism to stop operating.

5. The feed control method according to claim 1, characterized in that: in step F, specifically, the method includes:

F1. when the ascending driving mechanism stops acting each time, sending a signal to an upper computer for recording;

F2. the upper computer compares the times a of sending signals by the ascending driving mechanism with the initial number b of the material loading discs;

if a is smaller than b, the ascending driving mechanism is judged to have a material carrying disc, and the ascending driving mechanism continues to drive the material carrying disc to ascend;

if a is equal to b, the material loading tray is judged to be completely taken away, and the lifting driving mechanism is reset.

6. A feed control system, characterized by: comprises that

The ascending module is used for driving the stacked material carrying trays to ascend and stopping the action after the uppermost material carrying tray reaches the material supplying position;

the manipulator module is used for taking out materials from the uppermost material carrying tray;

the receiving disc module is used for receiving the unloaded material carrying disc;

and the identification module is used for identifying whether the ascending driving module is provided with a material loading disc.

7. The feed control system of claim 6 wherein: the flange module comprises

The supporting module is used for moving to one side of the unloaded material loading tray;

and the pushing module is used for pushing the unloaded material carrying tray into the bearing module.

8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that: the processor, when executing the computer program, realizes the steps of the method of any one of claims 1 to 5.

9. A computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program, when executed by a processor, implementing the steps of the method of any one of claims 1 to 5.

Technical Field

The invention relates to the technical field of automation control, in particular to a feeding control method and system, computer equipment and a readable storage medium.

Background

Most of the existing devices for feeding adopt a charging tray to load materials, then the materials are picked up by a manipulator to be fed, and the materials on the charging tray are fed continuously by replacing the charging tray after being taken out. When the material tray is replaced, the material tray moving mechanism needs to be reset, so that the material tray moving mechanism can be realized, the production efficiency is reduced, and the continuous work is not facilitated

Disclosure of Invention

The invention provides a feeding control method and system, a computer device and a readable storage medium, which aim at the problems in the prior art.

In order to solve the technical problems, the invention adopts the following technical scheme:

the invention provides a feeding control method, which comprises the following steps:

A. after a plurality of material carrying discs are stacked, the material carrying discs are driven by a lifting driving mechanism to lift;

B. after the material loading disc positioned at the top reaches the material supply position, the ascending driving mechanism stops acting;

C. the manipulator takes materials from the uppermost tray until all materials in the uppermost tray are taken out;

D. the tray receiving mechanism acts to take the unloaded material carrying tray away;

E. repeating the steps B-D;

F. all the material carrying discs are taken away by the disc receiving mechanism, and the lifting driving mechanism resets.

Further, in step D, the method specifically includes:

D1. the tray receiving mechanism moves to one side of the unloaded material carrying tray;

D2. the pushing-out mechanism pushes the unloaded material carrying disc from the lifting driving mechanism into the receiving disc mechanism;

D3. the pushing mechanism resets, and then the receiving mechanism discharges the unloaded material carrying disc.

Further, in step C, the method specifically includes:

C1. identifying and recording the position of the material when the manipulator takes the material;

C2. and after the last material in the uppermost material carrying tray is taken out by the mechanical handle, a signal is sent to the tray receiving mechanism.

Further, in step B, the method specifically includes:

B1. the material loading tray positioned at the top rises until the inductor is triggered;

B2. the sensor sends a signal to the lifting driving mechanism to control the lifting driving mechanism to stop operating.

Further, in step F, the method specifically includes:

F1. when the ascending driving mechanism stops acting each time, sending a signal to an upper computer for recording;

F2. the upper computer compares the times a of sending signals by the ascending driving mechanism with the initial number b of the material loading discs;

if a is smaller than b, the ascending driving mechanism is judged to have a material carrying disc, and the ascending driving mechanism continues to drive the material carrying disc to ascend;

if a is equal to b, the material loading tray is judged to be completely taken away, and the lifting driving mechanism is reset.

The invention also provides a feeding control system, which comprises

The ascending module is used for driving the stacked material carrying trays to ascend and stopping the action after the uppermost material carrying tray reaches the material supplying position;

the manipulator module is used for taking out materials from the uppermost material carrying tray;

the receiving disc module is used for receiving the unloaded material carrying disc;

and the identification module is used for identifying whether the ascending driving module is provided with a material loading disc.

Further, the flange module comprises

The supporting module is used for moving to one side of the unloaded material loading tray;

and the pushing module is used for pushing the unloaded material carrying tray into the bearing module.

The invention also provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method when executing the computer program.

The invention also provides a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method as described above.

The invention has the beneficial effects that: according to the invention, after a plurality of material carrying discs are stacked, the material carrying discs are driven by the lifting driving mechanism to lift to the material feeding position, so that the material taking is conveniently carried out by a manipulator; after the feeding is finished, the material carrying disc is taken away by the disc receiving mechanism, and then the lifting driving mechanism drives the material carrying disc to lift, so that the effect of continuous feeding is achieved, and the working efficiency is improved.

Drawings

FIG. 1 is a flow chart of example 1.

FIG. 2 is a flowchart of step D of example 1.

FIG. 3 is a flowchart of step C of example 1.

FIG. 4 is a flowchart of step B of example 1.

FIG. 5 is a flowchart of step F of example 1.

Fig. 6 is a block diagram of the structure of embodiment 2.

Detailed Description

In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention. The present invention is described in detail below with reference to the attached drawings.

Example 1

As shown in fig. 1 to 5, the present embodiment provides a feeding control method, including the following steps:

A. after a plurality of material carrying discs are stacked, the material carrying discs are driven by a lifting driving mechanism to lift;

B. after the material loading disc positioned at the top reaches the material supply position, the ascending driving mechanism stops acting;

C. the manipulator takes materials from the uppermost tray until all materials in the uppermost tray are taken out;

D. the tray receiving mechanism acts to take the unloaded material carrying tray away;

E. repeating the steps B-D;

F. all the material carrying discs are taken away by the disc receiving mechanism, and the lifting driving mechanism resets.

The invention provides a control method, namely, a plurality of material carrying discs are sequentially stacked and then are lifted to a feeding position, a manipulator picks up the material in the uppermost material carrying disc, the empty material carrying disc is received by a disc receiving mechanism after the material carrying discs are picked up, and then the lifted driving mechanism drives the stacked material carrying discs to continuously lift until the next material carrying disc reaches the feeding position, so that the effect of continuous and uninterrupted feeding is realized, the reciprocating reset times of the lifted driving mechanism are reduced, and the production efficiency is favorably improved.

Specifically, in step D, the method specifically includes:

D1. the tray receiving mechanism moves to one side of the unloaded material carrying tray;

D2. the pushing-out mechanism pushes the unloaded material carrying disc from the lifting driving mechanism into the receiving disc mechanism;

D3. the pushing mechanism resets, and then the receiving mechanism discharges the unloaded material carrying disc.

After the material carrying tray positioned at the top is empty, the material carrying tray is moved to one side of the material carrying tray by the tray receiving mechanism, and then the material carrying tray is pushed into the tray receiving mechanism from the other side of the material carrying tray by the pushing-out mechanism, so that the material carrying tray is taken away smoothly, and the next material carrying tray can reach a feeding position to feed under the driving of the lifting driving mechanism.

Specifically, in step C, the method specifically includes:

C1. identifying and recording the position of the material when the manipulator takes the material, and sending the position information to an upper computer for recording;

C2. after the last material in the material carrying tray that the mechanical handle is located the top is taken out, when this information was received to the host computer, can send control signal to flange mechanism to drive flange mechanism and remove and to hold the material carrying tray to material carrying tray one side, realized taking off the effect of carrying the material carrying tray.

Specifically, in the step B, the method specifically includes:

B1. the material carrying tray positioned at the top is lifted until the triggering sensor, preferably a photoelectric switch, is triggered, and whether the material carrying tray moves to the feeding position can be quickly and accurately identified;

B2. the inductor sends a signal to the ascending driving mechanism to control the ascending driving mechanism to stop, so that the manipulator can take materials from the uppermost material carrying disc.

Specifically, in step F, the method specifically includes:

F1. when the ascending driving mechanism stops acting each time, sending a signal to an upper computer for recording;

F2. the upper computer compares the times a of sending signals by the ascending driving mechanism with the initial number b of the material loading discs;

if a is smaller than b, the ascending driving mechanism is judged to have a material carrying disc, and the ascending driving mechanism continues to drive the material carrying disc to ascend;

if a is equal to b, the material loading tray is judged to be completely taken away, and the lifting driving mechanism is reset.

Through the mode, whether the ascending driving mechanism is provided with the material carrying disc or not can be judged quickly by the upper computer, so that the ascending driving mechanism is controlled to reset in time to support and drive the next material carrying disc to carry out ascending feeding.

Example 2

As shown in fig. 6, this embodiment provides a feeding control system based on the method of embodiment 1, which specifically includes

The ascending module is used for driving the stacked material carrying trays to ascend and stopping the action after the uppermost material carrying tray reaches the material supplying position;

the manipulator module is used for taking out materials from the uppermost material carrying tray;

the receiving disc module is used for receiving the unloaded material carrying disc;

and the identification module is used for identifying whether the ascending driving module is provided with a material loading disc.

In this embodiment, the receiving tray module comprises

The supporting module is used for moving to one side of the unloaded material loading tray;

and the pushing module is used for pushing the unloaded material carrying tray into the bearing module.

Through the cooperation of the modules, the modules are respectively controlled to correspondingly cooperate with the mechanisms to feed the material carrying discs one by one, and the material carrying discs are taken out in time when the material carrying discs are empty, so that the reset period of the lifting driving mechanism is prolonged, and the production efficiency is favorably improved.

Example 3

The present embodiment provides a computer device, which includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method according to embodiment 1 when executing the computer program.

Example 4

The present embodiment provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of embodiment 1.

Although the present invention has been described with reference to the above preferred embodiments, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.