CN110436182B - Method and device for controlling blanking of blanking equipment, storage medium and processor - Google Patents
Method and device for controlling blanking of blanking equipment, storage medium and processor Download PDFInfo
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- CN110436182B CN110436182B CN201910725542.8A CN201910725542A CN110436182B CN 110436182 B CN110436182 B CN 110436182B CN 201910725542 A CN201910725542 A CN 201910725542A CN 110436182 B CN110436182 B CN 110436182B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
Abstract
The application discloses a method and a device for controlling blanking of blanking equipment, a storage medium and a processor. The method comprises the following steps: when a target fixture is detected to be arranged above the blanking position of the fork plate, the target fixture is controlled to move downwards through a Z-axis motor, wherein a travel switch is mounted at the bottom of the target fixture, and a first preset angle is formed between the travel switch and the target fixture; when the angle formed by the target fixture and the travel switch is detected to be changed from a first preset angle to a second preset angle, controlling the target fixture to stop moving downwards; after the control target jig stops moving downward, the control target jig is opened to perform a blanking operation. Through the application, the problem that in the blanking process of a control clamp of a PACK off-line box machine in the related art, the blanking height of the clamp is determined by a proximity switch fixed at a well-adjusted position on a Z axis, so that the blanking process can only adapt to a fork plate with one height is solved.
Description
Technical Field
The application relates to the field of material assembly, in particular to a method and a device for controlling blanking of blanking equipment, a storage medium and a processor.
Background
PACK off-line box machine: the device is used for transporting the assembled battery pack on the assembly line from the line body to the fork plate on the ground.
In the related art, the work height of the PACK off-line box clamp is finally positioned by a proximity switch arranged on a Z axis, and the clamp discharging and descending height is determined by a proximity switch fixed at a well-adjusted position on the Z axis. Therefore, in the blanking method, the PACK off-line box machine can only adapt to the fork plate with one height, and if the fork plate with another height needs to be replaced, the accurate blanking operation on the fork plate can be realized only by readjusting the position of the proximity switch which is arranged on the Z axis and determines the placement height.
Therefore, the existing blanking method of the PACK offline box packing machine has the defects that the method cannot be compatible with fork plates with different heights at the same time, the time consumption is long in the process of switching and adapting to the fork plates with different heights, and the like.
In view of the above problems in the related art, no effective solution has been proposed.
Disclosure of Invention
The application mainly aims to provide a method and a device for controlling blanking of blanking equipment, a storage medium and a processor, so as to solve the problem that in the blanking process of a control clamp of a PACK off-line box machine in the related art, the blanking descending height of the clamp is determined by a proximity switch fixed at a well-adjusted position on a Z axis, so that the blanking process can only adapt to a fork plate with one height.
In order to achieve the above object, according to one aspect of the present application, there is provided a method of controlling blanking of a blanking apparatus. The method comprises the following steps: when a target fixture is detected to be arranged above the blanking position of the fork plate, the target fixture is controlled to move downwards through a Z-axis motor, wherein a travel switch is mounted at the bottom of the target fixture, and a first preset angle is formed between the travel switch and the target fixture; when the angle formed by the target fixture and the travel switch is detected to be changed from a first preset angle to a second preset angle, controlling the target fixture to stop moving downwards; after the control target jig stops moving downward, the control target jig is opened to perform a blanking operation.
Further, when the target clamp is detected to be arranged above the blanking position of the fork plate, before the target clamp is controlled to move downwards by the Z-axis motor, the method further comprises the following steps: controlling the target fixture to clamp the material from a Z-axis material taking position of the assembly line; and after the target fixture clamps the material, controlling the target fixture to move above the blanking position of the fork plate.
Further, controlling the target fixture to clamp the material from the Z-axis material taking position of the assembly line comprises: after the materials on the assembly line are detected to be in place, the X-axis motor controls the target clamp to move to the position above the materials; after the target fixture is positioned above the material, the target fixture is controlled to descend to a Z-axis material taking position through a Z-axis motor to clamp the material, wherein a proximity switch is arranged at the Z-axis material taking position to detect the descending position of the target fixture.
Further, after the control target jig is opened to perform the blanking operation after the control target jig stops moving downward, the method includes: controlling the target fixture to open for a predetermined time; after the preset time, controlling the target fixture to ascend to the Z-axis origin through a Z-axis motor and an X-axis motor; and when the target fixture is detected to move to the Z-axis origin, controlling the target fixture to be positioned at the Z-axis origin, wherein the Z-axis origin is provided with a proximity switch.
Further, after controlling the target jig to be positioned at the Z-axis origin upon detecting the target jig moving to the Z-axis origin, the method further includes: and the X-axis motor controls the target clamp to horizontally move to a material taking waiting position so as to clamp the material after the material is detected to be in place.
In order to achieve the above object, according to another aspect of the present application, there is provided an apparatus for controlling blanking of a blanking device. The device includes: the first control unit is used for controlling the target fixture to move downwards through a Z-axis motor when the target fixture is detected to be arranged above the blanking position of the fork plate, wherein a travel switch is mounted at the bottom of the target fixture, and a first preset angle is formed between the travel switch and the target fixture; the second control unit is used for controlling the target clamp to stop moving downwards when the fact that the angle formed by the target clamp and the travel switch is changed from the first preset angle to the second preset angle is detected; and the third control unit is used for controlling the target clamp to be opened to perform blanking operation after the control target clamp stops moving downwards.
In order to achieve the above object, according to another aspect of the present application, there is provided a storage medium including a stored program, wherein the program performs a method of controlling blanking of a blanking apparatus of any one of the above.
In order to achieve the above object, according to another aspect of the present application, there is provided a processor, a storage medium including a stored program, wherein the program performs a method of controlling blanking of a blanking apparatus of any one of the above.
Through the application, the following steps are adopted: when a target fixture is detected to be arranged above the blanking position of the fork plate, the target fixture is controlled to move downwards through a Z-axis motor, wherein a travel switch is mounted at the bottom of the target fixture, and a first preset angle is formed between the travel switch and the target fixture; when the angle formed by the target fixture and the travel switch is detected to be changed from a first preset angle to a second preset angle, controlling the target fixture to stop moving downwards; after the control target fixture stops moving downwards, the control target fixture is opened to perform blanking operation, the problem that in the blanking process of the control fixture for the PACK line box unloading machine in the related technology, as the blanking descending height of the fixture is determined by a proximity switch fixed at a well-adjusted position on the Z axis, the blanking process can only adapt to a fork plate with one height is solved, and the technical effect of improving the compatibility of the PACK line box unloading machine is further achieved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
fig. 1 is a flowchart of a method for controlling blanking of a blanking apparatus according to an embodiment of the present application;
fig. 2 is a schematic diagram showing a case where a plurality of proximity switches are provided in a PACK offline box equipment in the related art;
FIG. 3 is a schematic diagram of a clamp provided with a travel switch at the bottom in PACK off-line box-loading machine equipment provided according to an embodiment of the application; and
fig. 4 is a schematic diagram of an apparatus for controlling blanking of a blanking device according to an embodiment of the present application.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all 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 application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
For convenience of description, some terms or expressions referred to in the embodiments of the present application are explained below:
PACK off-line box machine: the device is used for transporting the assembled battery pack on the assembly line from the line body to the fork plate on the ground.
A proximity switch: the position switch can be operated without mechanical direct contact with a moving part, and when an object approaches the sensing surface of the switch to an action distance, the switch can be actuated without mechanical contact and any pressure, so that a direct current appliance is driven or a control instruction is provided for a computer device.
A travel switch: one type of position switch (also called limit switch) is a common low-current master control electrical appliance. The contact of the mechanical motion part is operated by the collision to realize the connection or disconnection of the control circuit, thereby achieving a certain control purpose.
According to an embodiment of the application, a method for controlling blanking of blanking equipment is provided.
Fig. 1 is a flowchart of a method for controlling blanking of a blanking apparatus according to an embodiment of the present application. As shown in fig. 1, the method comprises the steps of:
and S101, when a target clamp is detected to be arranged above the blanking position of the fork plate, controlling the target clamp to move downwards through a Z-axis motor, wherein a travel switch is installed at the bottom of the target clamp, and a first preset angle is formed between the travel switch and the target clamp.
In the above, in the related art, in the process of blanking the produced battery PACK, after the original blanking device (PACK offline box packing machine) uses the clamp to clamp the material (battery PACK), the material is moved to the position above the blanking position of the fork plate by the control of the X-axis walking motor, and then the clamp is controlled to descend by the Z-axis motor, because the height of the fork plate is fixed, a Z-axis blanking position proximity switch is arranged at the blanking position of the fork plate, as shown in fig. 2, fig. 2 is a schematic diagram of the arrangement condition of a plurality of proximity switches in the PACK offline box packing machine device in the related art, when the clamp descends to the position of the proximity switch, the Z-axis blanking position proximity switch senses and positions the clamp, and can trigger a signal to control the clamp to stop descending, so as to control the clamp to open at the stop position to lower the material onto the fork plate. However, in the conventional PACK offline box-discharging machine, because the position of the proximity switch at the Z-axis discharging position is fixed, the discharging process can be adapted to fork plates with different heights only by adjusting the position of the proximity switch in the discharging process.
It should be noted that, a plurality of proximity switches are arranged on the PACK offline box loading machine device, as shown in fig. 2, a proximity switch is arranged at the upper limit position of the Z axis, the origin position of the Z axis and the material taking position of the Z axis of the PACK offline box loading machine provided by this embodiment, and is used for positioning the fixture in real time.
In an embodiment that this application provided, when detecting that anchor clamps move to fork board place the Z axle and get the material top of position, through the decline of Z axle motor control anchor clamps, simultaneously, the bottom of anchor clamps is provided with a travel switch, and travel switch is a predetermined angle with the horizontal plane bottom of anchor clamps, marks as first predetermined angle.
And S102, controlling the target fixture to stop moving downwards when the fact that the angle formed by the target fixture and the travel switch is changed from the first preset angle to the second preset angle is detected.
When the clamp is controlled to descend through the Z-axis motor, and the clamp does not touch the fork plate, the first preset angle formed by the travel switch and the bottom of the clamp is unchanged, but when the change of the angle formed by the travel switch and the bottom of the clamp is detected, the fact that the travel switch has contacted the fork plate can be determined.
In an optional embodiment, when the angle formed by the clamp and the travel switch is changed from the first preset angle to the second preset angle, it can be determined that the clamp has reached the position above the fork plate capable of blanking the fork plate.
For example, the first preset angle is 30 °, and when the angle between the travel switch and the bottom of the clamp is detected to be 20 °, the clamp can be controlled to stop descending. The first preset angle and the second preset angle are set automatically according to different materials and the fork plate.
In another alternative embodiment, the clamp can be judged to have reached a preset distance above the fork plate for blanking operation as long as the travel switch action is detected.
And step S103, after the control target clamp stops moving downwards, the control target clamp is opened to carry out blanking operation.
Specifically, when the angle of the travel switch is changed to a second preset angle or when the start of the travel switch is detected, the Z-axis motor controls the clamp to stop descending and controls the clamp to be opened to perform blanking operation on the fork plate.
In the above, the position where the clamp can perform blanking is determined by the contact of the travel switch and the fork plate, so that the clamp can adapt to fork plates with different heights.
Optionally, when the target fixture is detected to be above the fork plate blanking position, before the target fixture is controlled to move downwards by the Z-axis motor, the method further includes: controlling the target fixture to clamp the material from a Z-axis material taking position of the assembly line; and after the target fixture clamps the material, controlling the target fixture to move above the blanking position of the fork plate.
Particularly, in the PACK off-line box machine equipment, the clamp is controlled by an X-axis walking motor and a Z-axis motor to clamp and place materials.
Above-mentioned, before carrying out the unloading operation to the material, at first need get the material to the Z axle of assembly line through X axle and Z axle motor control anchor clamps and get the material of material position clamp, the anchor clamps that have got the material of control again move to the fork board and place the top of material department. When the clamping materials are used for positioning the clamp, the proximity switches arranged on the equipment are used for realizing positioning operation.
Optionally, controlling the target fixture to pick up the material from the assembly line Z-axis take out position comprises: after the materials on the assembly line are detected to be in place, the X-axis motor controls the target clamp to move to the position above the materials; after the target fixture is positioned above the material, the target fixture is controlled to descend to a Z-axis material taking position through a Z-axis motor to clamp the material, wherein a proximity switch is arranged at the Z-axis material taking position to detect the descending position of the target fixture.
Above-mentioned ground, the action flow of PACK off-line box machine equipment includes: after the equipment is reset, the control clamp waits for materials on the assembly line to be in place by removing a waiting position point, when the materials on the assembly line are detected to be in place, the height of the Z-axis motor control clamp is kept at the Z-axis original point position, a Z-axis original point position access switch is arranged at the Z-axis original point position and used for triggering the X-axis motor control clamp to transversely move to the position above the materials of the assembly line when a target clamp is positioned to move to the Z-axis original point position, the clamp is positioned through the X axis, the Z-axis motor control clamp descends to the Z-axis material taking position after the positioning is finished, a Z-axis material taking position access switch is arranged at the Z-axis material taking position, and after the Z-axis material taking position access switch is positioned to the target clamp, a clamp cylinder is triggered to perform clamping action so as to clamp the materials on the assembly line.
In the whole device, regardless of whether the clamp is controlled to move to the clamping Z-axis material taking position or the blanking position, the position of the clamp is sensed by the proximity switches arranged on the Z-axis and the X-axis to position the clamp.
Optionally, after the control target jig is opened to perform the blanking operation after the control target jig stops moving downward, the method includes: controlling the target fixture to open for a predetermined time; after the preset time, controlling the target fixture to ascend to the Z-axis origin through a Z-axis motor and an X-axis motor; and when the target fixture is detected to move to the Z-axis origin, controlling the target fixture to be positioned at the Z-axis origin, wherein the Z-axis origin is provided with a proximity switch.
Specifically, when the fact that the clamp moves to a position above a fork plate blanking position is detected, the Z-axis motor control clamp starts to descend slowly, when the Z-axis motor control clamp descends to a position where a travel switch contacts with the fork plate to act, the Z-axis motor control clamp stops descending, a clamp cylinder for controlling the clamp to clamp and take materials is controlled to be opened, the clamp is opened and kept open for a preset time, preferably, the preset time is 2 seconds, after the preset time, the Z-axis motor and the X-axis motor control clamp move to a Z-axis origin, and meanwhile, the clamp is located through a proximity switch arranged at the Z-axis origin, wherein the travel switch is arranged at the bottom of the clamp as shown in fig. 3, and fig. 3 is a schematic diagram of the clamp provided with the travel switch at the bottom of the PACK offline box packing machine device according to the embodiment of the application.
Optionally, when it is detected that the target jig moves to the Z-axis origin, the method further includes, after controlling the target jig to be positioned at the Z-axis origin: and the X-axis motor controls the target clamp to horizontally move to a material taking waiting position so as to clamp the material after the material is detected to be in place.
Above-mentioned, after accomplishing a unloading process, resume anchor clamps to Z axle initial point back through Z axle and X axle motor, the operation is got to the material of getting again to the material of waiting for the material to target in place back again to the anchor clamps motion to assembly line material clamp department top once more.
According to the method for controlling blanking of the blanking equipment, when the target clamp is detected to be arranged above the blanking position of the fork plate, the target clamp is controlled to move downwards through the Z-axis motor, wherein the bottom of the target clamp is provided with the travel switch, and a first preset angle is formed between the travel switch and the target clamp; when the angle formed by the target fixture and the travel switch is detected to be changed from a first preset angle to a second preset angle, controlling the target fixture to stop moving downwards; after the control target fixture stops moving downwards, the control target fixture is opened to carry out blanking operation, and in the blanking process of the control fixture of the PACK off-line box machine, as the blanking descending height of the fixture is determined by a proximity switch which is fixed at a well-adjusted position on a Z shaft, the blanking process can only adapt to a fork plate with one height, thereby achieving the effect of improving the compatibility of the PACK off-line box machine equipment.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
The embodiment of the application also provides a device for controlling blanking of the blanking equipment, and it needs to be explained that the device for controlling blanking of the blanking equipment provided by the embodiment of the application can be used for executing the method for controlling blanking of the blanking equipment provided by the embodiment of the application. The Z device provided in the embodiments of the present application is described below.
Fig. 4 is a schematic diagram of an apparatus for controlling blanking of a blanking device according to an embodiment of the present application. As shown in fig. 4, the apparatus includes: the first control unit 401 is used for controlling the target fixture to move downwards through a Z-axis motor when the target fixture is detected to be arranged above the blanking position of the fork plate, wherein a travel switch is mounted at the bottom of the target fixture, and a first preset angle is formed between the travel switch and the target fixture; a second control unit 402, configured to control the target fixture to stop moving downward when detecting that the angle formed by the target fixture and the travel switch changes from the first preset angle to a second preset angle; and a third control unit 404 for controlling the target jig to be opened to perform a blanking operation after the control target jig stops moving downward.
The device for controlling blanking of the blanking equipment, provided by the embodiment of the application, is used for controlling a target clamp to move downwards through a Z-axis motor when the target clamp is detected to be arranged above a blanking position of a fork plate through a first control unit 401, wherein a travel switch is mounted at the bottom of the target clamp, and a first preset angle is formed between the travel switch and the target clamp; a second control unit 402, configured to control the target fixture to stop moving downward when detecting that the angle formed by the target fixture and the travel switch changes from the first preset angle to a second preset angle; the third control unit 404 is configured to control the target fixture to open for blanking operation after the target fixture stops moving downward, so that the problem that in the blanking process of the control fixture for the PACK offline box machine in the related art, the blanking descending height of the fixture is determined by a proximity switch fixed at a well-adjusted position on the Z axis, so that the blanking process can only adapt to a fork plate with one height is solved, and the effect of improving the compatibility of the PACK offline box machine is achieved.
Optionally, the apparatus further comprises: the detection unit is used for controlling the target fixture to clamp the material from the Z-axis material taking position of the assembly line before controlling the target fixture to move downwards through the Z-axis motor when the target fixture is detected to be arranged above the blanking position of the fork plate; and the fourth control unit is used for controlling the target fixture to move to the position above the blanking position of the fork plate after the target fixture clamps the material.
Optionally, the detection unit comprises: the moving subunit is used for controlling the target clamp to move to the position above the material through the X-axis motor after detecting that the material on the assembly line is in place; and the clamping sub-unit is used for controlling the target fixture to descend to a Z-axis material taking position through a Z-axis motor to clamp the material after the target fixture is positioned above the material, wherein a proximity switch is arranged at the Z-axis material taking position to detect the descending position of the target fixture.
Optionally, the apparatus comprises: the fifth control unit is used for controlling the target clamp to be opened for a preset time after the target clamp stops moving downwards and is opened to perform blanking operation; a sixth control unit for controlling the target jig to ascend to the Z-axis origin through the Z-axis motor and the X-axis motor after a predetermined time; and the eighth control unit is used for controlling the target fixture to be positioned at the Z-axis origin point when the target fixture is detected to move to the Z-axis origin point, wherein the Z-axis origin point is provided with a proximity switch.
Optionally, the apparatus further comprises: and the moving unit is used for controlling the target fixture to be positioned at the Z-axis origin point when the target fixture is detected to move to the Z-axis origin point, and the X-axis motor controls the target fixture to horizontally move to the material taking waiting position to detect that the material is in place, and then the material is clamped.
The device for controlling the blanking of the blanking equipment comprises a processor and a memory, wherein the first control unit 401, the second control unit 402, the third control unit 404 and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The inner core can be set to be one or more than one, and the problem that in the blanking process of the clamp controlled by the PACK off-line box machine through adjusting the inner core parameters, the blanking descending height of the clamp is determined through a proximity switch fixed at a well-adjusted position on the Z axis, so that the blanking process can only adapt to a fork plate with one height is solved.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
An embodiment of the present invention provides a storage medium having a program stored thereon, where the program, when executed by a processor, implements a method for controlling blanking of a blanking device.
The embodiment of the invention provides a processor, which is used for running a program, wherein the program runs to execute a method for controlling blanking of blanking equipment.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein the processor executes the program and realizes the following steps: when a target fixture is detected to be arranged above the blanking position of the fork plate, the target fixture is controlled to move downwards through a Z-axis motor, wherein a travel switch is mounted at the bottom of the target fixture, and a first preset angle is formed between the travel switch and the target fixture; when the angle formed by the target fixture and the travel switch is detected to be changed from a first preset angle to a second preset angle, controlling the target fixture to stop moving downwards; after the control target jig stops moving downward, the control target jig is opened to perform a blanking operation.
Optionally, when the target fixture is detected to be above the fork plate blanking position, before the target fixture is controlled to move downwards by the Z-axis motor, the method further includes: controlling the target fixture to clamp the material from a Z-axis material taking position of the assembly line; and after the target fixture clamps the material, controlling the target fixture to move above the blanking position of the fork plate.
Optionally, controlling the target fixture to pick up the material from the assembly line Z-axis take out position comprises: after the materials on the assembly line are detected to be in place, the X-axis motor controls the target clamp to move to the position above the materials; after the target fixture is positioned above the material, the target fixture is controlled to descend to a Z-axis material taking position through a Z-axis motor to clamp the material, wherein a proximity switch is arranged at the Z-axis material taking position to detect the descending position of the target fixture.
Optionally, after the control target jig is opened to perform the blanking operation after the control target jig stops moving downward, the method includes: controlling the target fixture to open for a predetermined time; after the preset time, controlling the target fixture to ascend to the Z-axis origin through a Z-axis motor and an X-axis motor; and when the target fixture is detected to move to the Z-axis origin, controlling the target fixture to be positioned at the Z-axis origin, wherein the Z-axis origin is provided with a proximity switch.
Optionally, when it is detected that the target jig moves to the Z-axis origin, the method further includes, after controlling the target jig to be positioned at the Z-axis origin: and the X-axis motor controls the target clamp to horizontally move to a material taking waiting position so as to clamp the material after the material is detected to be in place. The device herein may be a server, a PC, a PAD, a mobile phone, etc.
The present application further provides a computer program product adapted to perform a program for initializing the following method steps when executed on a data processing device: when a target fixture is detected to be arranged above the blanking position of the fork plate, the target fixture is controlled to move downwards through a Z-axis motor, wherein a travel switch is mounted at the bottom of the target fixture, and a first preset angle is formed between the travel switch and the target fixture; when the angle formed by the target fixture and the travel switch is detected to be changed from a first preset angle to a second preset angle, controlling the target fixture to stop moving downwards; after the control target jig stops moving downward, the control target jig is opened to perform a blanking operation.
Optionally, when the target fixture is detected to be above the fork plate blanking position, before the target fixture is controlled to move downwards by the Z-axis motor, the method further includes: controlling the target fixture to clamp the material from a Z-axis material taking position of the assembly line; and after the target fixture clamps the material, controlling the target fixture to move above the blanking position of the fork plate.
Optionally, controlling the target fixture to pick up the material from the assembly line Z-axis take out position comprises: after the materials on the assembly line are detected to be in place, the X-axis motor controls the target clamp to move to the position above the materials; after the target fixture is positioned above the material, the target fixture is controlled to descend to a Z-axis material taking position through a Z-axis motor to clamp the material, wherein a proximity switch is arranged at the Z-axis material taking position to detect the descending position of the target fixture.
Optionally, after the control target jig is opened to perform the blanking operation after the control target jig stops moving downward, the method includes: controlling the target fixture to open for a predetermined time; after the preset time, controlling the target fixture to ascend to the Z-axis origin through a Z-axis motor and an X-axis motor; and when the target fixture is detected to move to the Z-axis origin, controlling the target fixture to be positioned at the Z-axis origin, wherein the Z-axis origin is provided with a proximity switch.
Optionally, when it is detected that the target jig moves to the Z-axis origin, the method further includes, after controlling the target jig to be positioned at the Z-axis origin: and the X-axis motor controls the target clamp to horizontally move to a material taking waiting position so as to clamp the material after the material is detected to be in place.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (8)
1. A method for controlling blanking of blanking equipment is characterized by comprising the following steps:
when a target clamp is detected to be arranged above the blanking position of the fork plate, the target clamp is controlled to move downwards through a Z-axis motor, wherein a travel switch is mounted at the bottom of the target clamp, and a first preset angle is formed between the travel switch and the target clamp;
when the fact that the angle formed by the target fixture and the travel switch is changed from the first preset angle to a second preset angle is detected, controlling the target fixture to stop moving downwards;
after the target clamp is controlled to stop moving downwards, the target clamp is controlled to be opened to carry out blanking operation;
when a target clamp is detected to be arranged above the fork plate blanking position, before the target clamp is controlled to move downwards by a Z-axis motor, the method further comprises the following steps: controlling the target fixture to clamp the material from a Z-axis material taking position of the assembly line; and after the target fixture clamps the materials, controlling the target fixture to move to a position above the blanking position of the fork plate.
2. The method of claim 1, wherein controlling the target gripper to grip material from an in-line Z-axis take off location comprises:
after the materials on the assembly line are detected to be in place, the target clamp is controlled by an X-axis motor to move to the position above the materials;
after the target fixture is positioned above the material, the target fixture is controlled to descend to the Z-axis material taking position through the Z-axis motor to clamp the material, wherein a proximity switch is arranged at the Z-axis material taking position to detect the descending position of the target fixture.
3. The method according to claim 1, wherein after controlling the target jig to be opened for the blanking operation after controlling the target jig to stop the downward movement, the method comprises:
controlling the target clamp to be opened for a predetermined time;
after the preset time, controlling the target clamp to ascend to a Z-axis origin through the Z-axis motor and the X-axis motor;
and when the target fixture is detected to move to the Z-axis origin, controlling the target fixture to be positioned at the Z-axis origin, wherein the Z-axis origin is provided with a proximity switch.
4. The method of claim 3, upon detecting movement of the target fixture to the Z-origin, controlling the target fixture to be positioned after the Z-origin, the method further comprising: and the X-axis motor controls the target fixture to horizontally move to a material taking waiting position so as to clamp the material after detecting that the material is in place.
5. The utility model provides a device of control unloading equipment unloading which characterized in that includes:
the device comprises a first control unit, a second control unit and a third control unit, wherein the first control unit is used for controlling a target clamp to move downwards through a Z-axis motor when the target clamp is detected to be arranged above a blanking position of a fork plate, a travel switch is mounted at the bottom of the target clamp, and a first preset angle is formed between the travel switch and the target clamp;
the second control unit is used for controlling the target clamp to stop moving downwards when the fact that the angle formed by the target clamp and the travel switch is changed from the first preset angle to a second preset angle is detected;
the third control unit is used for controlling the target clamp to be opened to perform blanking operation after controlling the target clamp to stop moving downwards;
the device further comprises: the detection unit is used for controlling the target clamp to clamp the material from a Z-axis material taking position of the assembly line before controlling the target clamp to move downwards through a Z-axis motor when the target clamp is detected to be arranged above the blanking position of the fork plate; and the fourth control unit is used for controlling the target fixture to move to the position above the blanking position of the fork plate after the target fixture clamps the material.
6. The apparatus of claim 5, wherein the detection unit comprises:
the moving subunit is used for controlling the target clamp to move to the position above the material through an X-axis motor after the material on the assembly line is detected to be in place;
and the clamping sub-unit is used for controlling the target clamp to descend to the Z-axis material taking position through the Z-axis motor to clamp the material after the target clamp is positioned above the material, wherein a proximity switch is arranged at the Z-axis material taking position to detect the descending position of the target clamp.
7. A storage medium, characterized in that the storage medium comprises a stored program, wherein the program executes a method of controlling blanking of a blanking apparatus according to any one of claims 1 to 4.
8. A processor, characterized in that the processor is used for running a program, wherein the program is run to execute a method for controlling blanking of a blanking apparatus according to any one of claims 1 to 4.
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| CN201910725542.8A CN110436182B (en) | 2019-08-07 | 2019-08-07 | Method and device for controlling blanking of blanking equipment, storage medium and processor |
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| CN201910725542.8A CN110436182B (en) | 2019-08-07 | 2019-08-07 | Method and device for controlling blanking of blanking equipment, storage medium and processor |
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| JP5916320B2 (en) * | 2011-08-31 | 2016-05-11 | 株式会社ハイボット | Remote control device |
| JP5929271B2 (en) * | 2012-02-07 | 2016-06-01 | セイコーエプソン株式会社 | Robot hand and robot |
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| CN104401721B (en) * | 2014-10-31 | 2016-10-26 | 东莞市德瑞精密设备有限公司 | Soft package lithium battery chemical conversion handling equipment |
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| CN106743613A (en) * | 2016-12-26 | 2017-05-31 | 广东利迅达机器人系统股份有限公司 | A kind of rotary handling equipment of three axles transfer |
| CN107690377B (en) * | 2017-04-27 | 2021-07-09 | 深圳配天智能技术研究院有限公司 | Part grabbing method based on robot system, robot system and clamp |
| CN109591050A (en) * | 2017-09-30 | 2019-04-09 | 西门子公司 | Security tracking systems, device, method, storage medium and security system |
| CN109396053A (en) * | 2018-10-30 | 2019-03-01 | 福建省亿顺机械设备有限公司 | Intelligent sorting method |
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