CN114348670A - Loading and unloading device and control method - Google Patents
Loading and unloading device and control method Download PDFInfo
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Abstract
The invention relates to a loading and unloading device and a control method, comprising the following steps: the machine body is provided with a sliding track; the material station is arranged on the sliding rail and can move along the sliding rail, the material station is used for placing the material placing bin and the material receiving bin, and a plurality of layers of material receiving frames which are distributed longitudinally are arranged in the material placing bin and the material receiving bin; the switching assembly is used for driving the material station to move along the sliding track so that the discharge bin or the material receiving bin corresponds to the conveying track; the lifting assembly is used for driving the material station to ascend or descend so that the material placing frames on the corresponding layers or the material receiving frames on the corresponding layers correspond to the conveying tracks. The beneficial effect of this scheme does: the automatic feeding of device can be realized, the labor cost is saved, and the device processing efficiency is improved.
Description
Technical Field
The invention relates to the technical field of circuit board manufacturing, in particular to a feeding and discharging device and a control method.
Background
The circuit board is used as a basic component of electronic equipment, is a transmission carrier of current and signals, plays a very important role in the electronic equipment, and along with the rapid development of the electronic information industry in China, the circuit board industry also obtains a wider development space, so that the circuit board industry becomes one of the key development fields of the electronic information industry in China.
Various processing equipment can be used in the course of working of circuit board, and the circuit board need be arranged in and processes on the processing equipment, and current processing equipment needs the manual work to place the circuit board in the processing position, and the cost of labor is higher, and operating personnel contacts the circuit board and causes the damage to the circuit board easily, influences product quality.
Disclosure of Invention
The invention aims to at least solve one of the technical problems in the prior art, and provides a loading and unloading device and a control method, which can improve the production efficiency.
According to the technical scheme, the feeding and discharging device is arranged on one side of a workbench, a conveying track is arranged on the workbench, and the feeding and discharging device comprises: the machine body is provided with a sliding track which is vertically distributed with the conveying track; the material station is arranged on the sliding rail and can move along the sliding rail, and is used for placing a material discharging bin and a material receiving bin which are distributed along the front-back direction, wherein a plurality of material discharging frames which are distributed along the longitudinal direction are arranged in the material discharging bin, and a plurality of material receiving frames which are distributed along the longitudinal direction are arranged in the material receiving bin; the pushing assembly is arranged on the machine body, and the pushing assembly and the conveying rail are respectively positioned on two opposite sides of the material station; the switching assembly is arranged on the machine body and connected with the material station, and is used for driving the material station to move along the sliding track so that the material discharge bin or the material receiving bin corresponds to the conveying track; the lifting assembly is arranged on the machine body and located below the sliding track, and the lifting assembly is used for driving the material station to ascend or descend so that the material placing frames on the corresponding layers or the material receiving frames on the corresponding layers correspond to the conveying track.
According to unloader, be provided with first detection sensor and second detection sensor on the material station, first detection sensor is used for placing the detection to the blowing storehouse, and the second detection sensor is used for placing the detection to receiving the material storehouse.
According to the loading and unloading device, the first detection sensor and the second detection sensor adopt infrared sensors, optical coupling sensors, weighing sensors or micro switches.
According to the loading and unloading device, one side of the material station is provided with a third detection sensor, and the third detection sensor is used for carrying out position detection on the material station.
The technical scheme of the invention also comprises a feeding and discharging control method which is applied to the feeding and discharging device and comprises the following steps:
determining that the material station is located at a first working position and a first height position, wherein the first working position is used for representing the position of the discharging bin corresponding to the conveying track, and the first height position is used for representing the position of a first layer of discharging frames in the discharging bin corresponding to the conveying track;
pushing the material placed on the first layer of material placing frame to the conveying track through the material pushing assembly; the material station is moved to a second working position through the switching assembly, and the second working position is used for representing the position of the collecting bin corresponding to the conveying track;
determining that the receiving rack receives the materials conveyed from the conveying track; the material station is moved to the first working position through the switching assembly, and the material station is lifted to a second height position through the lifting assembly, and the second height position is used for representing the position, corresponding to the conveying track, of a second layer of material placing frames in the material placing bin.
According to the feeding and discharging control method, the step of determining that the material station is located at a first working position and a first height position comprises the following steps: determining that the discharge bin and the receiving bin are placed on a material station; detecting the current positions of the discharge bin and the receiving bin to obtain first position data; detecting the current position of the material station to obtain second position data; when the first position data and the second position data are matched, determining that the material station is at a first working position; detecting the current height of the material station to obtain first height data; and when the first height data is equal to the first preset target data, determining that the material station is at a first height position.
According to the feeding and discharging control method, the material station is determined to be at a first working position and a first height position, and at least one of the following steps is also included: when the first position data and the second position data are not suitable, the material station is moved to a first working position through the switching component according to the first position data and the second position data; or when the first height data is smaller than or larger than first preset target data, the material station is moved to the first height position through the lifting assembly according to the difference value between the first height data and the target data.
According to the feeding and discharging control method, a fourth detection sensor is arranged on one side of the conveying track, and the receiving rack is determined to receive the materials conveyed from the conveying track, and the method comprises the following steps: detecting the material of the conveying track through a fourth detection sensor to obtain a first detection signal; and determining that the receiving rack receives the materials conveyed from the conveying track according to the first detection signal.
According to the feeding and discharging control method, the material station is lifted to a second height position through the lifting assembly, and the method comprises the following steps: acquiring a preset height difference value; determining a second height position according to the first height position and the height difference value; and lifting the material station to a second height position through the lifting assembly.
The invention has the beneficial effects that: determining the position of a first layer of discharging frames of a material station in a discharging bin, which corresponds to a conveying track; pushing the material placed on the first layer of material placing frame to the conveying track through the material pushing assembly; moving the material station to the position, corresponding to the conveying track, of a first layer of material placing frame of the material receiving bin through the switching assembly; confirm to receive the material frame and receive the material of carrying from the transfer orbit, can realize unloading in batches, need not artifical unloading, can save the cost of labor, and then can improve the production quality of device processing.
Drawings
The invention is further described below with reference to the accompanying drawings and examples;
FIG. 1 is a schematic structural diagram according to an embodiment of the present invention;
FIG. 2 is a flow chart according to an embodiment of the present invention;
FIG. 3 is a detailed flow diagram according to an embodiment of the present invention;
FIG. 4 is a schematic view of an embodiment in accordance with the present invention;
FIG. 5 is yet another schematic diagram according to an embodiment of the present invention;
FIG. 6 is a flow chart showing further details according to an embodiment of the present invention;
FIG. 7 is another schematic diagram according to an embodiment of the present invention;
FIG. 8 is a further schematic diagram in accordance with an embodiment of the present invention;
FIG. 9 is a flow chart showing further details according to an embodiment of the present invention;
reference numerals: comprises a machine body 100, a material station 200, a material discharging bin 210, a material discharging frame 211, a material receiving bin 220, a material receiving frame 221, a workbench 300 and a conveying track 400.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, unless otherwise explicitly defined, terms such as set, etc. should be broadly construed, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the detailed contents of the technical solutions.
Referring to fig. 1, the invention discloses a loading and unloading device, which comprises a machine body 100, a material station 200, a material pushing assembly, a switching assembly and a lifting assembly. Wherein the machine body 100 is provided with a sliding track which is vertically distributed with the conveying track 400; the material station 200 is arranged on the sliding rail and can move along the sliding rail, the material station 200 is used for placing a material placing bin 210 and a material receiving bin 220 which are distributed along the front-back direction, a plurality of layers of material placing frames 211 distributed along the longitudinal direction are arranged in the material placing bin 210, and a plurality of layers of material receiving frames 221 distributed along the longitudinal direction are arranged in the material receiving bin 220; the pushing assembly is mounted on the machine body 100, the pushing assembly and the conveying rail 400 are respectively located on two opposite sides of the material station 200, the pushing assembly is used for pushing the material on the material placing frame 211 to the conveying rail 400, and the conveying rail 400 is used for conveying the material to a designated position to wait for processing; the switching assembly is mounted on the machine body 100 and connected with the material station 200, and is used for driving the material station 200 to move along the sliding track, so that the discharge bin 210 or the receiving bin 220 corresponds to the conveying track 400; the lifting assembly is installed on the machine body 100 and located below the sliding rail, and the lifting assembly is used for driving the material station 200 to ascend or descend, so that the material placing frame 211 of the corresponding layer or the material receiving frame 221 of the corresponding layer corresponds to the conveying rail 400.
It can be understood that the position of the material station 200 is adjusted along the sliding track by the switching assembly, so that the discharge bin 210 is aligned with the conveying track 400, the discharge bin 210 is provided with a plurality of discharge frames 211 distributed at intervals along the vertical direction, the discharge frames 211 are used for placing materials to be processed, such as PCB boards, the discharge frames 211 of the designated layer are made to correspond to the conveying track 400 by ascending or descending of the lifting assembly, after it is determined that the discharge bin 210 of the designated layer is aligned with the conveying track 400, the materials on the discharge frames 211 of the designated layer are pushed onto the conveying track 400 by the material pushing assembly, and the materials to be processed can be conveyed to the designated position by the conveying track 400, for example, the materials to be processed are conveyed to the workbench 300; adjusting the position of the material station 200 along the sliding track by the switching assembly such that the receiving bin 220 is aligned with the conveying track 400; the receiving bin 220 is provided with a plurality of receiving frames 221 which are distributed at intervals along the vertical direction, and the receiving frames 221 are used for placing processed materials; after the receiving rack 221 of the designated layer is aligned with the conveying track 400, the processed material can be conveyed to the designated layer of the receiving rack 221 by using the speed of the output track or by using the clamping device of the material station 200.
The loading and unloading device determines the position of a first layer of loading frame, which is positioned in a loading bin, of a material station, corresponding to a conveying track; pushing the material placed on the first layer of material placing frame to the conveying track through the material pushing assembly; moving the material station to the position, corresponding to the conveying track, of a first layer of material placing frame of the material receiving bin through the switching assembly; confirm to receive the material frame and receive the material of carrying from the transfer orbit, can realize unloading in batches, need not artifical unloading, can save the cost of labor, and then can improve the production quality of device processing.
In an embodiment, a first detection sensor for performing placement detection on the discharge bin 210 and a second detection sensor for performing placement detection on the receiving bin 220 may be disposed on the material station 200. For example, the first detection sensor and the second detection sensor may be infrared sensors, optical coupling sensors, weighing sensors or micro switches, etc. for detecting the condition that the receiving bin 220 or the receiving bin 210 is loaded with materials, and may be used for judging the positions of the receiving bin 210 and the receiving bin 220 in the material station, for example, the first detection sensor and the second detection sensor may be weighing sensors, and when the receiving bin 220 and the receiving bin 210 are not placed in the material station, the values detected by the first detection sensor and the second detection sensor are both zero; when blowing storehouse 210 and receipts storehouse 220 placed the material station, the numerical value that first detection sensor and second detection sensor detected all has great difference, because the blowing frame 211 in blowing storehouse 210 generally places the material of treating processing of batch, the numerical value that weighing sensor detected is great, and receive the material frame 221 of receiving storehouse 220 and generally by vacant, after treating that the material is processed, the unloading is to appointed receipts material frame 221, the numerical value that weighing sensor detected is less, the numerical value that detects through the sensor can judge the position of blowing storehouse 210 and receipts storehouse 220 in the material station.
In an embodiment, the first detection sensor and the second detection sensor may employ an infrared sensor, an optical coupling sensor, a weighing sensor, or a micro switch, etc. for detecting the condition that the receiving bin 220 or the discharging bin 210 is loaded with the material.
In an embodiment, one side of the material station 200 is provided with a third detection sensor, the third detection sensor is used for detecting the position of the material station 200, there are three positions of the material station 200, the three positions are respectively that the discharge bin 210 is aligned with the conveying track 400, the material receiving bin 220 corresponds to the conveying track 400, and neither the discharge bin 210 nor the material receiving bin 220 is aligned with the conveying track 400. As an example, the third detecting sensor detects that the discharge bin 210 is aligned with the conveying rail 400, and the feeding preparation can be performed; for example, if the third detecting sensor detects that the receiving bin 220 is aligned with the conveying track 400, the discharging preparation can be performed, and the third detecting sensor detects that the discharging bin 210 or the receiving bin 220 is not aligned with the conveying track 400, the position of the material station 200 can be adjusted along the sliding track by the switching component, so that the discharging bin 210 or the receiving bin 220 is aligned with the conveying track 400.
As shown in fig. 2, a method for controlling feeding and discharging includes the following steps:
s100, determining that the material station 200 is located at a first working position and a first height position, wherein the first working position is used for representing the position of the discharge bin 210 corresponding to the conveying track 400, and the first height position is used for representing the position of a first layer of discharge bin 211 in the discharge bin 210 corresponding to the conveying track 400;
s200, pushing the materials placed on the first-layer material placing frame 211 to the conveying track 400 through a material pushing assembly;
s300, moving the material station 200 to a second working position through the switching component, wherein the second working position is used for indicating a position of the collecting bin 220 corresponding to the conveying track 400;
s400, determining that the material receiving frame 221 receives the materials conveyed from the conveying track 400;
s500, moving the material station 200 to the first working position through the switching component, and lifting the material station 200 to a second height position through the lifting component, where the second height position is used to represent a position of the second layer of the material discharge frame 211 in the material discharge bin 210 corresponding to the conveying track 400.
Detailed implementations of the above steps are described below in various embodiments, as shown in FIG. 3.
S100, determining that the material station 200 is located at a first working position and a first height position, where the first working position is used to represent a position of the discharge bin 210 corresponding to the conveying track 400, and the first height position is used to represent a position of a first layer of discharge bins 211 in the discharge bin 210 corresponding to the conveying track 400, specifically including:
s110, determining that the discharge bin 210 and the receiving bin 220 are placed on the material station 200;
s120, detecting the current positions of the discharging bin 210 and the receiving bin 220 to obtain first position data;
s130, detecting the current position of the material station 200 to obtain second position data;
s140, when the first position data and the second position data are matched, determining that the material station 200 is at a first working position;
in an embodiment, the first working position is used to represent the position of the discharge bin 210 corresponding to the conveying track 400, and when the first position data and the second position data are matched, the following two situations are included: the first position data of the discharge bin 210 and the receiving bin 220 is that the discharge bin 210 is located on the left side of the material station 200, the receiving bin 220 is located on the right side of the material station 200, the second position data of the material station 200 is that the discharge bin 210 is located on the left side of the material station 200, and the receiving bin 220 is located on the right side of the material station 200, so that the discharge bin 210 and the conveying track 400 are aligned, as shown in fig. 4, when the first position data and the second position data are matched; the first position data of the discharging bin 210 and the receiving bin 220 is that the discharging bin 210 is located on the right side of the material station 200, the receiving bin 220 is located on the left side of the material station 200, the second position data of the material station 200 is that the discharging bin 210 is located on the right side of the material station 200, and the receiving bin 220 is located on the left side of the material station 200, so that the discharging bin 210 and the conveying track 400 are aligned, as shown in fig. 5, when the first position data and the second position data are matched.
In an embodiment, when the first position data and the second position data are not suitable, the material station 200 is moved to the first working position through the switching component according to the first position data and the second position data;
s150, detecting the current height of the material station 200 to obtain first height data;
and S160, when the first height data is equal to the first preset target data, determining that the material station 200 is at the first height position.
In an embodiment, when the first height data is smaller or larger than the first preset target data, the material station 200 is moved to the first height position by the lifting assembly according to a difference between the first height data and the target data.
S300, moving the material station 200 to a second working position through the switching component, where the second working position is used to characterize the position of the collecting bin 220 corresponding to the conveying track 400, as shown in fig. 6, specifically including;
s310, determining that the discharge bin 210 and the receiving bin 220 are placed on the material station 200;
s320, detecting the current positions of the discharging bin 210 and the receiving bin 220 to obtain third position data;
s330, detecting the current position of the material station 200 to obtain fourth position data;
s340, when the third position data and the fourth position data are matched, determining that the material station 200 is in a second working position;
in an embodiment, the second working position is used to characterize the position of the collecting bin 220 corresponding to the conveying track 400, and when the third position data and the fourth position data are matched, the following two situations are included: the first position data of the discharge bin 210 and the receiving bin 220 is that the discharge bin 210 is located at the left side of the material station 200, the receiving bin 220 is located at the right side of the material station 200, the second position data of the material station 200 is that the discharge bin 210 is located at the left side of the material station 200, and the receiving bin 220 is located at the right side of the material station 200, so that the receiving bin 220 and the conveying track 400 are aligned, as shown in fig. 7, when the third position data and the fourth position data are matched; the first position data of the material placing bin 210 and the material receiving bin 220 is that the material placing bin 210 is located on the right side of the material station 200, the material receiving bin 220 is located on the left side of the material station 200, the second position data of the material station 200 is that the material placing bin 210 is located on the right side of the material station 200, and the material receiving bin 220 is located on the left side of the material station 200, so that the material receiving bin 220 and the conveying track 400 are aligned, as shown in fig. 8, when the third position data and the fourth position data are matched.
In an embodiment, when the third position data and the fourth position data are not suitable, the material station 200 is moved to the second working position through the switching component according to the third position data and the fourth position data;
s350, detecting the current height of the material station 200 to obtain third height data;
and S360, when the third height data is equal to the third preset target data, determining that the material station 200 is at a third height position.
In an embodiment, the emptying bins 210 or the receiving bins 220 are numbered sequentially, for example, sequentially increasing from bottom to top, the third preset target data may be the height of any one layer of the receiving bins 220, for example, the third preset target data may be the height of the first layer of the receiving bins 220, and when the third height data is equal to the height of the first layer of the receiving bins 220, the material station 200 is determined to be at the third height position.
In an embodiment, when the third height data is smaller than or larger than the third preset target data, the material station 200 is moved to the third height position by the lifting assembly according to a difference between the third height data and the target data.
S400, determining that the material receiving frame 221 receives the materials conveyed from the conveying track 400;
in an embodiment, a fourth detection sensor is disposed on one side of the conveying track 400, and the fourth detection sensor detects the material on the conveying track 400 to obtain a first detection signal; based on the first detection signal, it is determined that the material receiving rack 221 receives the material conveyed from the conveying track 400. The fourth detection sensor may adopt an infrared sensor, an optical coupler sensor, a weighing sensor or a micro switch, etc. for determining that the material receiving rack 221 receives the material conveyed from the conveying track 400, for example, when the infrared sensor detects the material on the conveying track 400, the following first signal and second signal are obtained, when the material discharging bin 210 loads the material, the first signal detected by the conveying track 400, and the second signal detected by the conveying track 400 after the material is processed, the second signal is the first detection signal at this time, and the material receiving rack 221 can be determined to receive the material conveyed from the conveying track 400 according to the second signal.
S500, moving the material station 200 to the first working position through the switching component, and lifting the material station 200 to the second height position through the lifting component, where the second height position is used to represent a position of the second layer of the discharging frame 211 in the discharging bin 210 corresponding to the conveying track 400, as shown in fig. 9, specifically including:
s510, moving the material station 200 to a first working position through a switching assembly;
s520, detecting the current height of the material station 200 to obtain second height data;
and S530, when the second height data is equal to the second preset target data, determining that the material station 200 is at a second height position.
In an embodiment, the emptying bins 210 or the receiving bins 220 are numbered sequentially, for example, the numbers increase sequentially from bottom to top, the second preset target data may be heights of other layers of the emptying bins 220 except the first preset target data, for example, the second preset target data may be a height of a second layer of the receiving bins 220, and when the second height data is equal to the height of the first layer of the receiving bins 220, the material station 200 is determined to be at the second height position.
In an embodiment, when the second height data is smaller than or larger than the second preset target data, the material station 200 is moved to the second height position by the lifting assembly according to a difference between the second height data and the target data.
The feeding and discharging modes are respectively provided with a receiving bin 220 and a discharging bin 210, the discharging bin 210 feeds materials, and the materials to be processed are conveyed to the appointed processing position through a conveying track 400; the material receiving bin 220 is used for discharging materials, receives the processed materials, can realize batch charging and discharging, does not need manual charging and positioning, can save labor cost, and further can improve the production quality of device processing.
In addition, the invention also includes that in the discharging and receiving processes, only one of the receiving bin 220 or the discharging bin 210 is appointed to work, for example, the discharging bin 210 is appointed to work, wherein the discharging frame 211 in the discharging bin 210 is respectively used for placing the materials to be charged, and the discharging frame 211 is idle, and the idle discharging frame 211 is used for receiving the processed materials. For example, the material placing frames 211 for placing materials in the material placing bin 210 and the material placing frames 211 that are idle are arranged at intervals, and different material placing frames 211 are aligned to the conveying track 400 through the lifting group, so that the material placing bin is controlled to perform material loading and unloading.
It should be recognized that the method steps in embodiments of the present invention may be embodied or carried out by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer readable memory. The method may use standard programming techniques. Each program may be implemented in a high level procedural or object oriented programming language to communicate with a computer system. However, the program(s) can be implemented in assembly or machine language, if desired. In any case, the language may be a compiled or interpreted language. Furthermore, the program can be run on a programmed application specific integrated circuit for this purpose.
Further, the operations of processes described herein can be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The processes described herein (or variations and/or combinations thereof) may be performed under the control of one or more computer systems configured with executable instructions, and may be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications) collectively executed on one or more processors, by hardware, or combinations thereof. The computer program includes a plurality of instructions executable by one or more processors.
Further, the method may be implemented in any type of computing platform operatively connected to a suitable interface, including but not limited to a personal computer, mini computer, mainframe, workstation, networked or distributed computing environment, separate or integrated computer platform, or in communication with a charged particle tool or other imaging device, and the like. Aspects of the invention may be embodied in machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, optically read and/or write storage medium, RAM, ROM, or the like, such that it may be read by a programmable computer, which when read by the storage medium or device, is operative to configure and operate the computer to perform the procedures described herein. Further, the machine-readable code, or portions thereof, may be transmitted over a wired or wireless network. The invention described herein includes these and other different types of non-transitory computer-readable storage media when such media include instructions or programs that implement the steps described above in conjunction with a microprocessor or other data processor. The invention also includes the computer itself when programmed according to the methods and techniques described herein.
A computer program can be applied to input data to perform the functions described herein to transform the input data to generate output data that is stored to non-volatile memory. The output information may also be applied to one or more output devices, such as a display. In a preferred embodiment of the invention, the transformed data represents physical and tangible objects, including particular visual depictions of physical and tangible objects produced on a display.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (9)
1. The utility model provides a go up unloader, sets up the one side at workstation (300), install delivery track (400) on workstation (300), its characterized in that includes:
the machine body (100) is provided with a sliding track, and the sliding track is vertically distributed with the conveying track (400);
the material station (200) is arranged on the sliding rail and can move along the sliding rail, the material station (200) is used for placing a material discharging bin (210) and a material receiving bin (220) which are distributed along the front-back direction, a plurality of layers of material discharging frames (211) which are distributed along the longitudinal direction are arranged in the material discharging bin (210), and a plurality of layers of material receiving frames (221) which are distributed along the longitudinal direction are arranged in the material receiving bin (220);
the pushing assembly is arranged on the machine body (100), and the pushing assembly and the conveying track (400) are respectively positioned at two opposite sides of the material station (200);
the switching assembly is mounted on the machine body (100) and connected with the material station (200), and is used for driving the material station (200) to move along the sliding track, so that the material discharge bin (210) or the material receiving bin (220) corresponds to the conveying track (400);
the lifting assembly is mounted on the machine body (100) and located below the sliding track, and is used for driving the material station (200) to ascend or descend so that the material placing frames (211) of the corresponding layers or the material receiving frames (221) of the corresponding layers correspond to the conveying track (400).
2. The loading and unloading device according to claim 1, wherein a first detection sensor and a second detection sensor are arranged on the material station (200), the first detection sensor is used for carrying out placement detection on the material discharge bin (210), and the second detection sensor is used for carrying out placement detection on the material collection bin (220).
3. The loading and unloading device of claim 2, wherein the first detection sensor and the second detection sensor are infrared sensors, optical coupling sensors, weighing sensors or micro switches.
4. The loading and unloading device according to any one of claims 1 to 3, wherein a third detection sensor is arranged on one side of the material station (200) and used for detecting the position of the material station (200).
5. A loading and unloading control method is applied to the loading and unloading device of any one of claims 1 to 4, and is characterized by comprising the following steps:
determining that the station (200) is in a first working position and a first height position, the first working position being used for representing the position of the discharge bin (210) corresponding to the conveying track (400), and the first height position being used for representing the position of a first layer of discharge bins in the discharge bin (210) corresponding to the conveying track (400);
pushing the material placed on the first layer of material placing frames to the conveying track (400) through the material pushing assembly;
-moving the station (200) by means of the switching assembly to a second working position for characterizing the position of the receiving bin (220) corresponding to the conveying track (400);
determining that the material receiving rack (221) receives the material conveyed from the conveying track (400);
moving the material station (200) to the first working position through the switching assembly, and lifting the material station (200) to a second height position through the lifting assembly, wherein the second height position is used for representing the position of a second layer of discharging frames in the discharging bin (210) corresponding to the conveying track (400).
6. The method for controlling feeding and discharging of claim 5, wherein the determining that the material station (200) is at the first working position and the first height position comprises:
determining that the discharge bin (210) and the receiving bin (220) are placed on the material station (200);
detecting the current positions of the discharge bin (210) and the receiving bin (220) to obtain first position data;
detecting the current position of the material station (200) to obtain second position data;
when the first position data and the second position data are matched, determining that the material station (200) is in a first working position;
detecting the current height of the material station (200) to obtain first height data;
when the first height data is equal to first preset target data, determining that the material station (200) is at a first height position.
7. The method for controlling feeding and discharging of claim 6, wherein said determining that said station (200) is in a first working position and a first height position further comprises at least one of:
when the first position data and the second position data are not suitable, moving the material station (200) to the first working position through the switching component according to the first position data and the second position data;
or when the first height data is smaller than or larger than first preset target data, moving the material station (200) to the first height position through the lifting assembly according to the difference value between the first height data and the target data.
8. The feeding and discharging control method according to claim 5, wherein a fourth detection sensor is arranged on one side of the conveying track (400), and the determining that the material receiving rack (221) receives the material conveyed from the conveying track (400) comprises:
detecting the materials of the conveying track (400) through the fourth detection sensor to obtain a first detection signal;
according to the first detection signal, the material receiving rack (221) is determined to receive the materials conveyed from the conveying track (400).
9. The loading and unloading control method according to claim 5, wherein the lifting the material station (200) to a second height position by the lifting assembly comprises:
acquiring a preset height difference value;
determining a second height position according to the first height position and the height difference value;
lifting the material station (200) to the second height position by the lifting assembly.
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| CN114348670B (en) | 2024-07-16 |
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