CN108508802B - Material fitting method and device - Google Patents
Material fitting method and device Download PDFInfo
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- CN108508802B CN108508802B CN201810322052.9A CN201810322052A CN108508802B CN 108508802 B CN108508802 B CN 108508802B CN 201810322052 A CN201810322052 A CN 201810322052A CN 108508802 B CN108508802 B CN 108508802B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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Abstract
The invention discloses a kind of material fitting method and device, which includes: the state for obtaining each suction nozzle absorption first material of conveyer, and each suction nozzle of the conveyer is drawn the state of first material as the first ordered series of numbers；The state for carrying correspondingly with the suction nozzle and second material being set on station is obtained, carries the state of station setting second material correspondingly as the second ordered series of numbers with the suction nozzle for described；The each single item of each single item and corresponding second ordered series of numbers to the first ordered series of numbers carries out logic and operation, obtains third ordered series of numbers；First material and second material are matched according to the third ordered series of numbers.Material fitting method disclosed by the invention can carry out material matching according to the state of the material to be matched got, and without planning the motion profile of conveyer in advance, response is fast, and flexibility is high.
Description
Technical field
The present invention relates to automation fields, more particularly, to a kind of material fitting method and device.
Background technique
Two kinds of materials can be combined together by material adapting device, be not necessarily to manual operation, improved work efficiency, in electricity
Son, mechanical relevant industries are widely used.
Existing material fitting method firstly the need of material on clearly each station arrangement situation, further according to the row of material
Cloth situation plans the motion profile of conveyer, if material arrangement changes, needs to plan the motion profile of material again.
Existing material fitting method control logic is complicated, and execution cycle is long, and control flexibility is poor.
Summary of the invention
It is an object of the present invention to provide a kind of materials to cooperate speed fast, the high new solution of flexibility.
According to the first aspect of the invention, a kind of material fitting method is provided, comprising:
S1. each suction nozzle for obtaining conveyer draws the state of first material, by each suction nozzle of the conveyer
The state of first material is drawn as the first ordered series of numbers；Wherein, in first ordered series of numbers, " 0 " indicates that suction nozzle does not draw first
Material, " 1 " indicate that suction nozzle draws first material；In first ordered series of numbers at least subitem be " 1 " in the state of execute with
Lower step:
S2. obtain the state for carrying correspondingly with the suction nozzle and second material being set on station, will it is described with it is described
Suction nozzle carries the state of station setting second material as the second ordered series of numbers correspondingly；Wherein, in second ordered series of numbers,
" 0 " indicates to be provided with second material on station, and " 1 " indicates to be not provided with second material on station；
S3. each single item to the first ordered series of numbers and each single item of corresponding second ordered series of numbers carry out logic and operation, obtain third
Ordered series of numbers；
S4. first material and second material are matched according to the third ordered series of numbers.
Further, in the state that items are " 0 " in first ordered series of numbers, control suction nozzle draws the first object again
Material, re-execute the steps S1.
Further, the step S3 matches first material and second material according to the third ordered series of numbers, comprising:
If each single item of the third ordered series of numbers is " 0 ", controls the conveyer and carry out one work of transverse shifting
The distance of position, re-execute the steps S1；Otherwise,
Control suction nozzle longitudinal movement corresponding with " 1 " in third ordered series of numbers first material is matched to second material, then
The conveyer carries out the distance of one station of transverse shifting, re-execute the steps S1；
The transverse movement track of the conveyer is parallel to the orientation of the carrying station, the conveyer
The longitudinal movement track of suction nozzle is perpendicular to the carrying station.
Further, the vacuum pressure sensor on the suction nozzle by the way that the conveyer is arranged in obtains the transveyer
Each suction nozzle of structure draws the state of first material.
Further, it is obtained by the fibre optical sensor being arranged on the carrying station and the is arranged on the carrying station
The state of two materials.
According to the second aspect of the invention, a kind of material adapting device is provided, including:
Conveyer, the conveyer include suction nozzle, and the conveyer transports first material by the suction nozzle；
Station is carried, the carrying station is for fixing second material；
Controller, the controller includes memory and processor, wherein the memory is stored with computer program, institute
Stating when program is executed by the processor can be realized following steps:
S1. each suction nozzle for obtaining conveyer draws the state of first material, by each suction nozzle of the conveyer
The state of first material is drawn as the first ordered series of numbers；Wherein, in first ordered series of numbers, " 0 " indicates that suction nozzle does not draw first
Material, " 1 " indicate that suction nozzle draws first material；In first ordered series of numbers at least subitem be " 1 " in the state of execute with
Lower step:
S2. obtain the state for carrying correspondingly with the suction nozzle and second material being set on station, will it is described with it is described
The state of the one-to-one station setting second material of suction nozzle is as the second ordered series of numbers；Wherein, in second ordered series of numbers, " 0 " table
Show and be provided with second material on station, " 1 " indicates to be not provided with second material on station；
S3. each single item to first ordered series of numbers and each single item of corresponding second ordered series of numbers carry out logic and operation,
Obtain third ordered series of numbers；
S4. first material and second material are matched according to the third ordered series of numbers.
Further, the controller in the state that items are " 0 " in first ordered series of numbers, inhale again by control suction nozzle
First material is taken, S1 is re-execute the steps.
Further, the controller executes the step S3, matches first material and second according to the third ordered series of numbers
Material, comprising:
If each single item of the third ordered series of numbers is " 1 ", whole suction nozzle longitudinal movements are controlled with by first material
It is assigned to second material, then the distance of one station of conveyer transverse shifting, after suction nozzle draws first material again, weight
It is new to execute step S1；
If the subitem of the third ordered series of numbers is " 1 ", suction nozzle longitudinal movement corresponding with " 1 " in third ordered series of numbers is controlled
First material is matched to second material, the conveyer carries out the distance of one station of transverse shifting, re-executes step
Rapid S1；
If each single item of the third ordered series of numbers is " 0 ", controls the conveyer and carry out one work of transverse shifting
The distance of position, re-execute the steps S1；
The transverse movement track of the conveyer is parallel to the station orientation of the carrying station, the transveyer
Station of the longitudinal movement track of the suction nozzle of structure perpendicular to the carrying station.
Further, the controller passes through the vacuum pressure sensor being arranged on the suction nozzle of the conveyer and obtains
Each suction nozzle of the conveyer draws the state of first material.
Further, the controller passes through the fibre optical sensor acquisition carrying work being arranged on the carrying station
The state of second material is set on position.
According to one embodiment of the disclosure, material fitting method provided by the invention can be according to the shape of material to be cooperated
State determines the motion profile of conveyer, and response is fast, and flexibility is high.
By referring to the drawings to the detailed description of exemplary embodiment of the present invention, other feature of the invention and its
Advantage will become apparent.
Detailed description of the invention
It is combined in the description and the attached drawing for constituting part of specification shows the embodiment of the present invention, and even
With its explanation together principle for explaining the present invention.
Fig. 1 is a kind of flow chart of material fitting method provided by the invention.
Fig. 2 is the flow chart of another material fitting method provided by the invention.
Fig. 3 is the method flow diagram provided by the invention that first material and second material are matched according to third ordered series of numbers.
Fig. 4 is the structural schematic diagram of material adapting device provided by the invention.
Description of symbols:
1- conveyer；2- suction nozzle；3- fixed plate；4- first material；5- second material.
Specific embodiment
Carry out the various exemplary embodiments of detailed description of the present invention now with reference to attached drawing.It should also be noted that unless in addition having
Body explanation, the unlimited system of component and the positioned opposite of step, numerical expression and the numerical value otherwise illustrated in these embodiments is originally
The range of invention.
Be to the description only actually of at least one exemplary embodiment below it is illustrative, never as to the present invention
And its application or any restrictions used.
Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable
In the case of, the technology, method and apparatus should be considered as part of specification.
It is shown here and discuss all examples in, any occurrence should be construed as merely illustratively, without
It is as limitation.Therefore, other examples of exemplary embodiment can have different values.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, then in subsequent attached drawing does not need that it is further discussed.
It is the process of material fitting method provided by the invention that the present invention, which provides a kind of material fitting method and system, Fig. 1,
Figure.As shown in Figure 1, this method may include following steps:
S101. each suction nozzle for obtaining conveyer draws the state of first material, by each suction nozzle of the conveyer
The state of first material is drawn as the first ordered series of numbers；Wherein, in first ordered series of numbers, " 0 " indicates that suction nozzle does not draw the first object
Material, " 1 " indicate that suction nozzle draws first material.
Specifically, conveyer can draw first material by suction nozzle, but not each suction nozzle can successfully be drawn to the
One material, and empty suction nozzle can not then carry out material cooperation, therefore, need to acquire the feelings of each suction nozzle absorbing material of conveyer
Condition, so as to avoid conveyer according to the transport track for planning material conveyer the case where each suction nozzle absorbing material
Extra material interoperation is executed, to improve the working efficiency of conveyer.
The case where conveyer may include multiple suction nozzles, each suction nozzle absorbing material can be used as the first ordered series of numbers, the first ordered series of numbers
Such as it can be Q1, Q2, Q3..., QN, N is the total number of the suction nozzle of the conveyer.Wherein, each suction nozzle absorbing material
The case where correspond to one in first ordered series of numbers, for example, if QNCorresponding suction nozzle draws first material, then QNFor " 1 "；If
QNCorresponding suction nozzle does not draw first material, then QNFor " 0 ".Using the case where each suction nozzle absorbing material as the first ordered series of numbers, can
So that fitting method is simpler, operation faster, improves material cooperation efficiency.
S102. determine that at least subitem is " 1 " in first ordered series of numbers, then executes step S103.
Specifically, at least subitem is " 1 " in the first ordered series of numbers, indicate there is suction nozzle to draw first in material conveyer
Material improves the working efficiency of conveyer so as to avoid the operation of conveyer sky machine.
S103. the state for carrying correspondingly with the suction nozzle and second material being set on station is obtained, by this and the suction nozzle
The state of one-to-one carrying station setting second material is as the second ordered series of numbers；Wherein, in second ordered series of numbers, " 0 " is indicated
Second material is provided on station, " 1 " indicates to be not provided with second material on station.
Specifically, the suction nozzle and carrying station of conveyer correspond when conveyer moves to predeterminated position.
Carrying station can be used for carrying second material, but second material is respectively provided on not each carrying station, and empty
Station can not then carry out material cooperation, therefore, the case where second material is arranged in each carrying station need to be acquired, so as to according to every
The case where a carrying station setting second material, plans the transport track of material conveyer, and it is extra to avoid conveyer progress
Fitting operation, to improve the working efficiency of conveyer.
Carrying station can be it is multiple, with the suction nozzle carry correspondingly station setting second material the case where can be used as
Second ordered series of numbers, the second ordered series of numbers for example can be L1, L2, L3..., LN；Wherein, the feelings of each carrying station setting second material
Condition corresponds to one in first ordered series of numbers, and since the suction nozzle and carrying station of conveyer correspond, then the first ordered series of numbers is each
Item is also corresponded with the second ordered series of numbers items.For example, if LNSecond material is arranged in corresponding carrying station, then LNIt is 1；If
LNCorresponding carrying station is not provided with second material, then LNIt is 0；And Q1, Q2, Q3..., QNEvery and L1, L2,
L3..., LNItems are one-to-one relationship.The case where second material is arranged in each carrying station as the second ordered series of numbers,
It may make that fitting method is simpler, operation faster, improves cooperation efficiency.
1 second material should be at least provided on carrying station, that is to say, that 0 feelings are only not all in the second ordered series of numbers
Other operations are just executed under condition, so as to avoid the operation of conveyer sky machine, improve the working efficiency of conveyer.
S104. each single item to the first ordered series of numbers and each single item of corresponding second ordered series of numbers carry out logic and operation, obtain the
Three ordered series of numbers.
Specifically, logical AND be equivalent to " and ", the logical operator of logical AND for example can be " ∧ ", the fortune of logical AND
Calculating rule is:
0 ∧ 0=0；
0 ∧ 1=0；
1 ∧ 0=0；
1 ∧ 1=1.
Every in first ordered series of numbers is 0 or 1, and every in the second ordered series of numbers is 0 or 1, each single item to the first ordered series of numbers and corresponding
The each single item of second ordered series of numbers carries out logic and operation, available third ordered series of numbers, and every in third ordered series of numbers is 0 or 1.
Wherein, third ordered series of numbers can be X1, X2, X3..., XN；For example, if QNWith LNIt is 1, then is corresponding to it
XNIt also is 1；If QNWith LNIt is 0, then corresponding XNIt also is 1；If QNIt is 1, LNIt is 0, then corresponding XNIt is 0；If LNIt is 1,
QNIt is 0, then corresponding XNIt is 0.
S105. first material and second material are matched according to the third ordered series of numbers.
Specifically, " 1 " indicates conveyer when being located at the position in third ordered series of numbers, there is first material and corresponding on suction nozzle
It is provided with second material on carrying station, that is, first material can be matched with second material；" 0 " indicates in third ordered series of numbers
There is no material on suction nozzle and/or corresponding carrying station, that is, first material can not be matched with second material.Therefore, may be used
Select in third ordered series of numbers conveyer corresponding to " 1 " to carry out material matching, suction nozzle corresponding to " 0 " and carrying station then not into
The matching of row material.
The present embodiment provides a kind of material fitting methods, comprising: each suction nozzle for obtaining conveyer draws first material
State, each suction nozzle of the conveyer is drawn into the state of first material as the first ordered series of numbers；Wherein, described first
In ordered series of numbers, " 0 " indicates that suction nozzle does not draw first material, and " 1 " indicates that suction nozzle draws first material；In first ordered series of numbers extremely
Rare subitem is to execute following steps in the state of " 1 ": obtaining to carry correspondingly with the suction nozzle the is arranged on station
The state of two materials carries the state of station setting second material as the second number with the suction nozzle for described correspondingly
Column；Wherein, in second ordered series of numbers, " 0 " indicates to be provided with second material on station, and " 1 " indicates to be not provided with the on station
Two materials；The each single item of each single item and corresponding second ordered series of numbers to the first ordered series of numbers carries out logic and operation, obtains third ordered series of numbers；
First material and second material are matched according to the third ordered series of numbers.The material fitting method, can be according to the object to be matched got
The state of material carries out material matching, and without planning the motion profile of conveyer in advance, response is fast, and flexibility is high.
The present invention also provides a kind of material fitting methods.Fig. 2 is the stream of another material fitting method provided by the invention
Cheng Tu.As shown in Fig. 2, Fig. 2 can comprise the following steps that on the basis of Fig. 1
S201. in the state that items are " 0 " in first ordered series of numbers, control suction nozzle draws first material again, lays equal stress on
It is new to execute step S101.
Specifically, the first ordered series of numbers items are " 0 ", indicate that whole suction nozzles of conveyer are not drawn to the first object
Material, at this point, controllable suction nozzle draws first material again, so that conveyer at least transports 1 first material every time.
Material matching process provided in this embodiment is drawn first material by control suction nozzle, is realized to first material
Lasting feed, improve work efficiency.
Fig. 3 is the method flow diagram provided by the invention that first material and second material are matched according to third ordered series of numbers.Such as Fig. 3
Shown, S105 can comprise the following steps that
S301. judge whether each single item is " 0 " to third ordered series of numbers.
Specifically, can also partially be " 0 " in third ordered series of numbers every possible all " 0 ".
S302. if so, controlling the distance that the conveyer carries out one station of transverse shifting.
Specifically, therefore the quantity that the suction nozzle quantity of conveyer is less than carrying station in the present invention may make transveyer
Structure traverse cycle is moved to change the corresponding situation of the suction nozzle of conveyer with carrying station.If each single item of third ordered series of numbers is
" 0 " indicates when conveyer is in the position, is not able to carry out matched material on suction nozzle and corresponding carrying station,
At this point, the distance of controllable one station of conveyer transverse shifting.
S303. otherwise, suction nozzle longitudinal movement corresponding with " 1 " in third ordered series of numbers is controlled so that first material is matched to second
Material then executes S302.
If the subitem of third ordered series of numbers is " 0 ", suction nozzle and corresponding carrying work when conveyer is in the position are indicated
There is part to be able to carry out matched material on position, at this point, controllable suction nozzle longitudinal movement corresponding with " 1 " in third ordered series of numbers is to incite somebody to action
First material is matched to second material, and then the conveyer carries out the distance of one station of transverse shifting.
If each single item of third ordered series of numbers is " 1 ", suction nozzle and corresponding carrying when conveyer is in the position are indicated
Material on station can all correspond matching, at this point, controllable whole suction nozzle longitudinal movement is first material to be matched to
Second material, then the conveyer carries out the distance of one station of transverse shifting, re-execute the steps S101.
S304. determine that second material all cooperates with first material, otherwise, re-execute the steps S101.
Specifically, the recordable sum for transporting first material of conveyer, for example, share L on station if transporting
Second material, conveyer have transported and Q first material are matched with second material.Comparable conveyer transports the
The quantity Q of the one material and total L of second material, if the first material quantity that conveyer transports is less than second on carrying station
The quantity of material indicates that first material and second material do not exactly match, need to re-execute the steps S101；If conveyer is transported
The first material quantity Q sent is equal to the quantity of second material L on carrying station, indicates first material and second material whole
Match, then EP (end of program).
Wherein, the transverse movement track of the conveyer is parallel to the orientation of the carrying station, the conveyer
The longitudinal movement track of suction nozzle is perpendicular to the carrying station.
Specifically, the material fitting method of the present embodiment is the suction nozzle quantity for conveyer in reality less than carrying work
The case where position；Conveyer transverse shifting, can be changed conveyer suction nozzle with carry station corresponding situation, the present embodiment
In, conveyer one station of every transverse shifting, then the suction nozzle of conveyer corresponds to new carrying station again, and corresponding every
A new carrying station differs a station with corresponding former carrying station.Conveyer is mobile by traverse cycle, may make
Each carrying station has corresponding suction nozzle, and then may make the second material being arranged on each load carrier and have therewith
Corresponding first material.Wherein, conveyer is mobile by traverse cycle, is first to move along one of arragement direction, is moved to
After the end, then it is mobile to other end.
The longitudinal movement track of the suction nozzle of conveyer may make each suction nozzle of conveyer perpendicular to the carrying station
It can vertically move respectively to match first material and second material.
Material matching process provided in this embodiment, is combined by the transverse movement of conveyer with longitudinal movement, real
The matching to first material and second material is showed.
In step S101 as described above, such as it can be through the vacuum pressure on suction nozzle that the conveyer is arranged in
Each suction nozzle that force snesor obtains the conveyer draws the state of first material.
Settable vacuum pressure sensor is on suction nozzle to obtain the state of suction nozzle absorbing material.When work, the pressure of suction nozzle
It acts directly on the diaphragm of the vacuum pressure sensor, diaphragm is made to generate the micro-displacement directly proportional to suction nozzle pressure, keep this true
The resistance of pneumatics force snesor changes, and electronic circuit can be used and detect this variation, and converts one correspondence pressure of output
The standard signal of power.To obtain the state that each suction nozzle draws first material according to the signal.
Material fitting method provided in this embodiment obtains each suction nozzle by vacuum pressure sensor and draws first material
State improved work efficiency without manually checking.
In step S102 as described above, such as it can be and obtained by the fibre optical sensor being arranged on the carrying station
Take the state that second material is set on the carrying station.
Specifically, fibre optical sensor can emit light to the carrying station, and the light is reflected according to the carrying station
Situation judges the case where material is arranged in the carrying station, wherein if being provided with second material on the carrying station, is reflected back
Light luminance is lower, if being not provided with second material on the carrying station, the light luminance being reflected back is higher, according to detecting
Pressure signal, it may be determined that carrying station on be arranged second material state.
Material fitting method provided in this embodiment obtains second material on each carrying station by fibre optical sensor
State is improved work efficiency without manually checking.
The present invention also provides a kind of material adapting device, Fig. 4 is the structural representation of material adapting device provided by the invention
Figure.Material adapting device as shown in Figure 4, including: conveyer 1 carries station and controller.Conveyer 1 is used for
Transport first material 4；Carrying station is for fixing second material 5；Vacuum pressure is provided on each suction nozzle 2 of conveyer 1
Sensor, the vacuum pressure sensor are connect with controller；Carrying station on be provided with fibre optical sensor, the fibre optical sensor with
Controller connection；The controller is connect with conveyer 1.
Wherein, conveyer 1 can include: driving portion, multiple fixed plates 3 and multiple suction nozzles 2, multiple suction nozzles 2 pass through respectively
Fixed plate 3 is connect with the driving portion.
Specifically, the suction nozzle 2 of conveyer 1 for example can be vacuum slot, which can pass through seal pipe
It is controlled to a vacuum pump, when work, the air in suction nozzle can be pumped out by seal pipe, suction nozzle is made firmly to be adsorbed in first material table
Face, to carry out the carrying of article, transmitting.Multiple suction nozzles 2 are used for absorbing material, and driving portion is for driving the fixed plate 3 to generate
Laterally or vertically move.
Specifically, the driving portion for example can be electric cylinders.
The vacuum pressure sensor is used to detect on the suction nozzle 2 of conveyer 1 the case where drawing first material 4, and will adopt
The information collected is sent to the controller.
Specifically, the pressure of suction nozzle acts directly on the diaphragm of the vacuum pressure sensor, make diaphragm generation and suction nozzle
The directly proportional micro-displacement of pressure, makes the resistance of the vacuum pressure sensor change, and electronic circuit can be used and detect this change
Change, and converts the standard signal of the one corresponding pressure of output.First material is drawn to obtain each suction nozzle according to the signal
State.
Second material situation is arranged for detecting in the fibre optical sensor on carrying station corresponding with the suction nozzle 2, and will adopt
The information collected is sent to the controller.
Specifically, fibre optical sensor can emit light to the carrying station, and the light is reflected according to the carrying station
Situation judges the case where material is arranged in the carrying station, wherein if being provided with second material on the carrying station, is reflected back
Light luminance is lower, if being not provided with second material on the carrying station, the light luminance being reflected back is higher, according to detecting
Pressure signal, it may be determined that carrying station on be arranged second material state.
The controller includes memory and processor, and wherein the memory is stored with computer program, and the program is by this
Reason device can be realized step S101, S102, S103, S104 and the S105 being as above somebody's turn to do when executing, which is used for according to reception
To each suction nozzle 2 draw first material 4 the case where and it is each carrying station on be arranged second material 5 the case where control transveyer
Structure 1 is mobile, so that the second material 5 of first material 4 and carrying station carrying that conveyer 1 transports cooperates one by one.
Specifically, the controller for example can be programmable logic controller (PLC) (Programmable Logic
Controller, abbreviation PLC).
PLC is a kind of computer for being exclusively used in Industry Control, it may include: power supply, central processing unit, memory, input
Unit and output unit.
Wherein, power supply is used to convert alternating current to direct current required inside PLC, and current major part PLC is using switch
The power supply of formula regulated power supply；Central processing unit is by controller, arithmetic unit and register group at these circuits all concentrate on chip piece
On, it is connected by address bus, control bus with the input/output interface circuit of memory.Input unit is used for reception optical fiber
The information that sensor and vacuum pressure sensor are sent.Output unit is used to send signal to conveyer.
Although some specific embodiments of the invention are described in detail by example, the skill of this field
Art personnel it should be understood that example above merely to being illustrated, the range being not intended to be limiting of the invention.The skill of this field
Art personnel are it should be understood that can without departing from the scope and spirit of the present invention modify to above embodiments.This hair
Bright range is defined by the following claims.
Claims (8)
1. a kind of material fitting method characterized by comprising
S1. each suction nozzle for obtaining conveyer draws the state of first material, and each suction nozzle of the conveyer is drawn
The state of first material is as the first ordered series of numbers；Wherein, in first ordered series of numbers, " 0 " indicates that suction nozzle does not draw first material,
" 1 " indicates that suction nozzle draws first material；Following step is executed in the state that at least subitem is " 1 " in first ordered series of numbers
It is rapid:
S2. acquisition carries the state that second material is arranged on station with the suction nozzle correspondingly, will the described and suction nozzle
The state of one-to-one carrying station setting second material is as the second ordered series of numbers；Wherein, in second ordered series of numbers, " 0 " table
Show and be provided with second material on station, " 1 " indicates to be not provided with second material on station；
S3. each single item to the first ordered series of numbers and each single item of corresponding second ordered series of numbers carry out logic and operation respectively, obtain third
Ordered series of numbers；
S4. first material and second material are matched according to the third ordered series of numbers；
The step S3 matches first material and second material according to the third ordered series of numbers, comprising:
If each single item of the third ordered series of numbers is " 0 ", the distance of one station of conveyer transverse shifting is controlled,
It re-execute the steps S1；Otherwise,
Control suction nozzle longitudinal movement corresponding with " 1 " in the third ordered series of numbers first material is matched to second material, then
The distance for controlling one station of conveyer transverse shifting, re-execute the steps S1；
The transverse movement track of the conveyer is parallel to the orientation of the carrying station, the suction nozzle of the conveyer
Longitudinal movement track perpendicular to the carrying station.
2. the method according to claim 1, wherein in the state that items are " 0 " in first ordered series of numbers,
Control suction nozzle draws first material again, re-execute the steps S1.
3. the method according to claim 1, wherein passing through the vacuum being arranged on the suction nozzle of the conveyer
Pressure sensor obtains the state that the suction nozzle draws first material.
4. the method according to claim 1, wherein passing through the fibre optical sensor being arranged on the carrying station
Obtain the state that second material is set on the carrying station.
5. a kind of material adapting device characterized by comprising
Conveyer, the conveyer include suction nozzle, and the conveyer transports first material by the suction nozzle；
Station is carried, the carrying station is for fixing second material；
Controller, the controller includes memory and processor, wherein the memory is stored with computer program, the journey
Sequence performs the steps of when being executed by the processor
S1. each suction nozzle for obtaining conveyer draws the state of first material, and each suction nozzle of the conveyer is drawn
The state of first material is as the first ordered series of numbers；Wherein, in first ordered series of numbers, " 0 " indicates that suction nozzle does not draw first material,
" 1 " indicates that suction nozzle draws first material；Following step is executed in the state that at least subitem is " 1 " in first ordered series of numbers
It is rapid:
S2. acquisition carries the state that second material is arranged on station with the suction nozzle correspondingly, will the described and suction nozzle
The state of one-to-one station setting second material is as the second ordered series of numbers；Wherein, in second ordered series of numbers, " 0 " indicates work
It is provided with second material on position, " 1 " indicates to be not provided with second material on station；
S3. each single item to first ordered series of numbers and each single item of corresponding second ordered series of numbers carry out logic and operation, obtain
Third ordered series of numbers；
S4. first material and second material are matched according to the third ordered series of numbers；
The controller executes the step S3, matches first material and second material according to the third ordered series of numbers, comprising:
If each single item of the third ordered series of numbers is " 0 ", controls the conveyer and carry out one station of transverse shifting
Distance re-execute the steps S1；Otherwise,
Control suction nozzle longitudinal movement corresponding with " 1 " in third ordered series of numbers is then described first material is matched to second material
Conveyer carries out the distance of one station of transverse shifting, re-execute the steps S1；
The transverse movement track of the conveyer is parallel to the orientation of the carrying station, the suction nozzle of the conveyer
Longitudinal movement track perpendicular to the carrying station.
6. device according to claim 5, which is characterized in that controller items in first ordered series of numbers are
In the state of " 0 ", control suction nozzle draws first material again, re-execute the steps S1.
7. device according to claim 5, which is characterized in that the controller passes through the suction that the conveyer is arranged in
Each suction nozzle that vacuum pressure sensor on mouth obtains the conveyer draws the state of first material.
8. device according to claim 5, which is characterized in that the controller is by being arranged on the carrying station
Fibre optical sensor obtains the state that second material is arranged on the carrying station.
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| CN116184969B (en) * | 2023-04-24 | 2023-07-14 | 山东省滨州公路工程有限公司 | Production quality monitoring method and system for asphalt mixing station |
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