CN114890149A

CN114890149A - Mud bar stacker crane operating system

Info

Publication number: CN114890149A
Application number: CN202210437088.8A
Authority: CN
Inventors: 佘家怡; 佘心怡; 佘树歆; 周艳妹
Original assignee: Jiangxi Jiaxin Ceramics Co ltd
Current assignee: Jiangxi Jiaxin Ceramics Co ltd
Priority date: 2022-04-26
Filing date: 2022-04-26
Publication date: 2022-08-12

Abstract

The invention provides an operating system of a mud bar stacker, which utilizes a hand-held device to control the mud bar stacker, can realize automatic stacking of mud bars produced by a mud cutting machine, and has the advantages of regular stacking and greatly improved stacking speed. The stacking cost of the mud strips is reduced, the stacking efficiency of the mud strips is improved, the stacking safety of the mud strips is enhanced, and the problems of difficulty, low speed and low efficiency of manual stacking are solved. Wherein, the hand-held device comprises a display, an input button module and a processor module; the display is positioned on the handheld device and used for displaying control information of the handheld device and execution information of the mud bar stacker; the input button module is positioned on the handheld device and used for providing a plurality of operation buttons for an operator to select the control buttons; and the processor module is used for controlling the mud bar stacker to perform grabbing, moving or transmitting actions after an operator presses the selected control button.

Description

Mud bar stacker crane operating system

Technical Field

The invention relates to the technical field of stacking machines, in particular to a mud bar stacking machine operating system.

Background

At present, mud strips produced by a mud cutter generally need to be stacked, and the existing stacker crane is of a large frame structure, so that manual stacking is often adopted for stacking, the manual stacking cost is high, the stacking speed is low, the working efficiency is low, and the operation safety is low; and because the structure of hacking machine is more complicated, lead to artifical transportation and put the difficulty, the pile up neatly efficiency is not high.

Disclosure of Invention

In view of the above-mentioned shortcomings of the prior art, the present invention aims to provide a mud stacker crane operation system, which is used for solving the problems of difficult manual stacking, slow speed and low efficiency.

In order to achieve the above objects and other related objects, the present invention provides a mud bar stacker operating system, comprising a hand-held device for controlling a mud bar stacker, wherein the hand-held device comprises a display, an input button module and a processor module;

the display is positioned on the handheld device and used for displaying control information of the handheld device and execution information of the mud strip stacking machine;

the input button module is positioned on the handheld device and used for providing a plurality of operation buttons for an operator to select the control buttons;

and the processor module is used for controlling the mud bar code stacker to perform grabbing, moving or transmitting actions after an operator presses the selected control button.

Optionally, the handset further comprises a programming module, wherein the programming module comprises a programming command bar, a command line selection area, a parameter setting area, a moving and page-turning area and a function button area;

the programming instruction column is used for inputting a basic instruction, a shaft control instruction and an IO instruction;

the instruction row selection area is used for identifying a current operation row and performing parameter setting, deleting and instruction adding operations of the current operation row;

the parameter setting area is used for setting position parameters, delay parameters, shaft movement speed and detection switch IO signals;

the moving and page turning area is used for moving the current operation line up and down or moving the current operation line in a page turning mode;

the function button area is used for debugging, adding, deleting, modifying, saving or clearing the programming instructions input by the current interface.

Optionally, the handset further comprises an IO debugging module, and the IO debugging module is configured to perform signal detection debugging on the input point or the output point.

Optionally, the handheld device further includes a manual debugging module, where the manual debugging module is configured to select an operation axis that needs to be manually debugged, debug the linkage speed, the moving direction, and the inch stepping distance of the selected operation axis, display a real-time position of the current axis in the operation process in real time, and reset, correct coordinates, and store the current position of the operation axis.

Optionally, the handset further comprises an alarm history module, and the alarm history module is configured to display a date when the current alarm information is sent, display a time when the current alarm information is sent, display a relationship between the current alarm and a last alarm, and display current alarm description information.

Optionally, the handset further comprises a system setting module, the system setting module comprises a user setting unit, and the user setting unit is used for switching users, setting real-time clock display, setting buzzer sound, setting liquid crystal display backlight sleep time, modifying login passwords, modifying encryption locks, and restoring factory settings.

Optionally, the system setting module further includes a storage point management unit, where the storage point management unit is configured to select stored information of the shaft position point to be checked, modify currently selected point information, and delete currently selected point information.

Optionally, the system setting module further includes a program management unit, and the program management unit is configured to input program information, copy the program information, and delete currently selected program information.

Optionally, the system setting module further comprises a chinese character keyboard description unit, and the chinese character keyboard description unit is used for an operator to input program information or control instructions.

Optionally, the system setting module further comprises a stacking parameter setting unit, and the stacking parameter setting unit is used for setting names of objects, setting the number of stacking layers, setting the number of code discs, setting heights of the objects, setting offset coordinates, setting rotation of a motor or a cylinder, setting current teaching, setting teaching coordinates, and saving current stacking parameter settings.

As mentioned above, the invention provides a mud bar stacker operating system, which has the following beneficial effects: the mud bar stacking machine is controlled by the hand-held device, so that automatic stacking of mud bars produced by the mud cutting machine can be realized, the stacking is tidy, and the stacking speed is greatly improved. The stacking cost of the mud strips is reduced, the stacking efficiency of the mud strips is improved, the stacking safety of the mud strips is enhanced, and the problems of difficulty in manual stacking, low speed and low efficiency are solved. Wherein, the hand-held device comprises a display, an input button module and a processor module; the display is positioned on the handheld device and used for displaying control information of the handheld device and execution information of the mud bar stacker; the input button module is positioned on the handheld device and used for providing a plurality of operation buttons for an operator to select the control buttons; and the processor module is used for controlling the mud bar stacker to perform grabbing, moving or transmitting actions after the operator presses the selected control button.

Drawings

FIG. 1 is a schematic view of a handset according to one embodiment;

FIG. 2 is a schematic diagram of a booting interface of a handset according to an embodiment;

FIG. 3 is a schematic diagram of a programming module according to an embodiment;

FIG. 4 is a diagram of a manual debug module provided by an embodiment;

FIG. 5 is a diagram illustrating a user setup unit according to an embodiment;

FIG. 6 is a diagram of an illustrative Chinese keyboard unit according to one embodiment;

fig. 7 is a schematic diagram of a palletizing parameter setting unit according to an embodiment.

Detailed Description

The following embodiments of the present invention are provided by way of specific examples, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the features in the following embodiments and examples may be combined with each other without conflict.

It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than the number, shape and size of the components in practical implementation, and the type, number and ratio of the components in practical implementation can be changed freely, and the layout of the components can be more complicated.

The invention provides a mud bar stacker operating system, which comprises: the gripper is used for controlling the mud bar stacker, and comprises a display, an input button module and a processor module; the display is positioned on the handheld device and used for displaying control information of the handheld device and execution information of the mud bar stacker; an input button module, located on the handset, for providing a plurality of operating buttons for an operator to select a control button; and the processor module is used for controlling the mud bar stacker to perform grabbing, moving or transmitting actions after an operator presses the selected control button. The schematic diagram of the hand-held device is shown in fig. 1, wherein (i) a key switch is shown, and the switch is toggled to the left to have a common authority and only can operate a starting interface; the switch is shifted to the right to be the authority of the administrator; indicating a pulse potentiometer, and carrying out manual fine adjustment operation in a manual debugging state; selecting a program instruction to be edited in a free programming state; thirdly, an emergency stop button is shown, and when the emergency stop button is pressed down, the manipulator stops running; and the display screen is used for human-computer interaction of an operator, such as selection of a control button or input of instruction information. Start START indicates that the manipulator enters the START state from the pause/STOP state after being depressed at the power-on interface. STOP STOP means that in the starting interface, the starting interface is pressed to be switched to a pause state; when the [ pause ] state is set, the press switches to the [ stop ] state. RESET means that at the power-on interface, a RESET operation is performed after a press. X-represents manual commissioning, X-axis left shift 1: when the numeric keyboard is input, the number is 1. X + represents manual commissioning, X-axis right shift 2: when the numeric keyboard is input, the number is 2. Y-represents manual commissioning, Y-axis left shift 3: when the numeric keyboard is input, the number is 3. Y + represents manual commissioning, Y-axis right shift 4: when the numeric keyboard is input, the number is 4. Z-represents manual commissioning, Z-axis left shift 5: when the numeric keyboard is input, the number 5. Z + represents manual commissioning, Z-axis right shift 6: when the numeric keyboard is input, number 6. A-represents manual fitting, A axis left shift 7: when the numeric keyboard is input, the number is 7. A + represents manual commissioning, the A axis is shifted to the right by 8: when the number keyboard is input, number 8. B + represents manual commissioning, B-axis left shift 9: when the numeric keyboard is input, the number 9. B + represents manual commissioning, B-axis right shift 0: when the numeric keyboard is input, the number is 0. C-represents manual commissioning, with the C axis shifted to the left. C + represents manual commissioning, with the C axis shifted to the right. The manual/automatic M/A indicates that in the starting interface, a mechanical hand manually switches function keys and an automatic function key. And upward indicates that in the free programming interface, the program middle selection bar moves upwards by one bar. And downward indicates that in the free programming interface, the program selects a bar to move downwards. OK indicates an OK button, and when the [ OK ] button appears on the interface, the current button is active. EXIT EXIT represents an EXIT key, and when a [ return/cancel ] button appears on the interface, the current key is valid; in the automatic operation mode, the off-duty shutdown function is triggered by pressing (after the current product is finished, the shutdown is automatically reset). O/. means that the option button is pressed on the [ free programming ] interface to start a single debugger. When the system gives an alarm, the alarm can be removed by pressing. F1 shows a function key F1, pressed to switch to [ power on interface ]. F2 denotes a function key F2, pressed to switch to [ free programming ]. F3 denotes a function key F3, pressed to switch to [ IO debug ]. F4 denotes a function key F4, and is pressed to switch to [ manual debug ]. F5 denotes a function key F5, and the switch to [ system setting ] is pressed.

According to the above description, in an exemplary embodiment, after the handset is powered on, the power-on interface displayed on the display is as shown in fig. 2. Wherein the set yield represents the number of processing tasks in the current production parameter. The completed yield representation indicates the number of completed processing tasks in the current production parameter. And the status bar displays an alarm sign for indicating the emergency stop of the manipulator. The current tier numbers represent the current palletizing process to the next in tier numbers. The autorun program display indicates that the currently running program is displayed, and the blue background bar identifies the currently running program instruction line. The position information display indicates X, Y, Z, O the axis real-time position. The return to zero button indicates that the robot returns to the origin after being pressed. The starting button indicates that when the manipulator is reset, the manipulator is switched to a free running state by pressing the button; if not, popping up a reset prompt box, and confirming the reset operation of the manipulator. The pause button indicates that the robot is switched to a pause state after being pressed. The stop button indicates that the robot is switched to a stop state after being pressed. The single step-cycle button indicates a robot single step mode and a cycle mode switching button. The speed level indicates the overall speed adjustment of the program run. In this embodiment, the handset [ power-on interface ] function interface has the following conventions: 1) the common user authority can only operate the related functions of the [ starting interface ]. 2) The interfaces switched to the functions of manual debugging, system setting and alarm history do not need to return to zero, and the interfaces switched to other interfaces and the manipulator need to return to zero before running. 3) The handset can be switched to other function interfaces when in a stop state.

According to the above description, in an exemplary embodiment, the handset further comprises a programming module, where the programming module includes a programming command bar, a command line selecting area, a parameter setting area, a moving and page-turning area, and a function button area; the programming instruction column is used for inputting a basic instruction, a shaft control instruction and an IO instruction; the instruction line selection area is used for identifying a current operation line and performing parameter setting, deleting and instruction adding operations of the current operation line; the parameter setting area is used for setting position parameters, delay parameters, shaft movement speed and detection switch IO signals; the moving and page turning area is used for moving the current operation line up and down or moving the current operation line in a page turning mode; the function button area is used for debugging, adding, deleting, modifying, saving or clearing the programming instructions input by the current interface. The display interface of the programming module is shown in fig. 3. Wherein the basic instruction comprises a functional instruction of the control program: for example: [ main program start ], [ main program end ], [ delay ], [ subprogram ], [ jump instruction ], [ loop end ], [ judge condition ] [ else ], and [ judge end ]. The axis control command comprises a control sequence axis motion command: for example [ X-axis-horizontal ], [ Z-axis-vertical ], [ Y-axis-front-back ], [ O-axis-material ], [ stacking position XYZ ], [ unstacking position XYZ ], [ axis motion ]. The IO instruction comprises a control program input and output point control instruction. In this embodiment, the handset [ free programming ] function interface has the following conventions: 1) the blue indicator bar identifies the current operating line and can be used for modifying and setting the current line parameters. 2) The reset program is a program written first before starting, and in the absolute value mode, the zero return and the reset can be reset through the reset program, and the reset action is written according to the actual reset process. 3) The free programming takes the [ program start ] as the first instruction and the [ program end ] as the last instruction. 4) When the linkage instruction function is needed, the serial number of the current instruction line is clicked, the serial numbers of the instruction lines needing linkage are the same by long pressing, and the serial number of the linkage instruction is displayed in red. 5) The [ debug ] button is only valid when the program is saved and not modified. 6) When the current program behavior is empty, the blue indicator bar blinks so that new program instructions can be inserted. 7) The program instruction line is up to 200 lines. 8) Free programming judgment condition description: a) i decision → set IO Port number → set high low (1/0) level active. For example, if IO port is set to 15 and the low level is active, then when X15 has a low level signal, it is determined that the statement in the statement is executed, otherwise it is not executed. Otherwise, the statement works the same. b) R determination → setting R number (not more than 8) → setting cycle number. For example, the number R is set to 2, the loop times is set to 3, when the main program is circularly executed for 3 times, the R judgment becomes effective, the content in the judgment is executed, otherwise, the execution is not executed. Otherwise, the statement works the same.

According to the above description, in an exemplary embodiment, the handset further includes an IO debugging module, and the IO debugging module is configured to perform signal detection debugging on the input point or the output point. The [ IO debugging ] functional interface is mainly divided into [ input point ] and [ output point ] sub-modules. (1) The [ input point ] module comprises two interfaces of an input point 1 and an input point 2. Different IO can carry out input signal detection debugging. (2) The [ output point ] module also comprises two interfaces of an output point 1 and an output point 2. In this embodiment, the handset [ IO debug ] function interface has the following conventions: 1) blue is indicated as a default state, i.e., signal not enabled; red indicates signal enable and low is active. 2) The [ local IO ] and [ input point ] are view use and cannot be operated. 3) The name, normally open and normally closed and time selection of the input point of the [ input point ] interface can be modified in an [ IO setting ] module in [ system setting ]. 4) The output point can click the corresponding button to control the output signal point. 5) The [ output point ] can only modify the name, which is modified in the [ IO settings ] block in the [ system settings ].

According to the above description, in an exemplary embodiment, the handset further includes a manual debugging module, where the manual debugging module is configured to select an operation axis that needs to be manually debugged, debug the linkage speed, the moving direction, and the inching stepping distance of the selected operation axis, display a real-time position of the current axis in the operation process in real time, and reset, correct coordinates of the current operation axis, and store the current position of the current operation axis. The display interface for manual debugging is shown in fig. 4. Wherein, the X axis represents that the current manual debugging operation axis is the X axis. The Z axis represents that the current manual debugging operation axis is the Z axis. The Y-axis represents that the current manual debugging operation axis is the Y-axis. And the O axis represents that the current manual debugging operation axis is the O axis. The speed represents the linkage speed, can be adjusted according to +/-sign, and can also be input by clicking a speed frame through a numeric keyboard. Left shift (up shift) indicates that the current axis is left (up) shifted. A shift right (down) indicates that the current axis is shifted to the right (down). The step represents the inching step distance, the unit is mm, the step can be adjusted according to +/-sign, and the speed frame can be clicked to carry out the input of a numeric keyboard. Left shift (up shift) indicates that the current axis is left (up) shifted. A shift right (down) indicates that the current axis is shifted to the right (down). The pulse number display indicates the number of pulses displayed during the current shaft operation. The real-time position display indicates the real-time position display (by default equal to the number of pulses/100) during the current shaft operation. The reset means that the current operation axis is returned to the origin. The coordinate correction means that the current axis coordinate can be corrected according to the actual situation after being pressed (this function corresponds to the electronic gear ratio). Saving means saving the current point position, and checking can be performed on a [ storage point management ] interface. In this embodiment, the handset [ manual debug ] function interface has the following conventions: 1) when the position is at the safety limit point, if the robot continues to move towards the direction of the limit point, the robot enters an alarm prompting state and displays that the manipulator exceeds the soft limit. 2) Pressing a pulse hand wheel on the manual debugging interface can switch to the manual debugging-fine adjusting interface, the mechanical arm can be subjected to slow fine adjustment, and the number of pulses sent by the hand wheel rotating one grid system is the number in the stepping of the graph 4. 3) Pressing the pulse hand wheel on the manual debugging interface can switch to the manual debugging-fine adjusting interface, and pressing the pulse hand wheel again on the manual debugging-fine adjusting interface can quit the manual debugging-fine adjusting interface and return to the manual debugging interface.

According to the above description, in an exemplary embodiment, the handset further includes an alarm history module, and the alarm history module is configured to display a date when the current alarm information is sent, display a time when the current alarm information is sent, display a relationship between the current alarm and a latest alarm, and display current alarm description information. The date column shows the date of the current alarm information transmission. The time column represents the time when the current alarm information is sent. The current value represents the relationship between the current alarm and the last alarm, and is 1 if the current value is the same as the last alarm, or is 0 if the current value is not the last alarm. The description indicates that the current alarm description information is displayed. Next/previous indicates alarm page switching, previous/next. In this embodiment, the handset [ alarm history ] function interface has the following conventions: 1) 20 alarm messages can be stored. 2) Under [ Administrator ] authority, a [ clear ] button is displayed: click [ clear ], can clear the alarm message. 3) When alarm information is generated, the display change of the alarm state column appears. 4) Meanwhile, the buzzer buzzes, and all the buttons are invalid. 5) When the alarm is not emergency alarm, clicking the clearing button to remove the alarm and the buzzer; when the alarm is emergency alarm, the [ clear ] button is clicked to remove the buzzer, when the emergency alarm is removed, the alarm disappears, the interface is switched to the main interface, and the manipulator needs to return to the original point again. 6) After the alarm is released, the button is valid.

According to the above description, in an exemplary embodiment, the handset further includes a system setting module, and the system setting module includes a user setting unit, where the user setting unit is configured to switch users, set a real-time clock display, set a buzzer sound, set a liquid crystal display backlight sleep time, modify a login password, modify an encryption lock, and restore factory settings. A functional interface diagram of the user setting unit is shown in fig. 5. Wherein the switching user means [ general user/administrator ] user switching function. Clock setting means setting a real time clock display. The buzzer indicates that the buzzer sounds on or off when the button is pressed. The backlight time represents a set liquid crystal display backlight sleep time. Modifying the password means that the administrator user may modify the login password. And modifying the encryption lock means modifying the encryption time of the controller, and generating an unlocking password by the password generator. The factory-restored setting indicates restoration to a default state at the time of factory shipment.

According to the above description, in an exemplary embodiment, the system setting module further includes a storage point management unit, and the storage point management unit is configured to select stored information of the shaft position point to be checked, modify currently selected point information, and delete currently selected point information. The axis selection column represents stored information for selecting the axis position points to be viewed. Modifying means modifying the current selected point information. The deletion means deleting the currently selected point information. Returning means returning to the upper [ system setup ] interface. The next page indicates a jump to the next page. The storage point information column indicates, for example, an X-axis 01 point: 01: number N: point name (P1); x: position point information blue square: the current point (01) is selected. In this embodiment, the handset [ storage point management ] function interface has the following conventions: 1) each axis can store 75 position point information separately. 2) After the current point is deleted, the subsequent storage group information moves forward in sequence. 3) If the Chinese names are the same, the point is overwritten.

According to the above description, in an exemplary embodiment, the system setting module further includes a program management unit, and the program management unit is configured to input program information, copy program information, and delete currently selected program information. Wherein the program information indicates that 01: numbering; n represents a program name; s represents a program. USB copy means click into USB program copy interface, can two-way copy program: 1) USB flash disk controller 2) controller USB flash disk. Deletion means deletion of the currently selected program information. The return means a return to the previous layer [ system setup ] interface. In this embodiment, the handset [ program management ] function interface has the following conventions: 1) The program saved in the interface can store 15 main programs, 5 subprograms and 200 instructions at most. 2) After the current program is deleted, the information of the subsequent stored programs moves forward in sequence.

According to the above description, in an exemplary embodiment, the system setting module further includes a chinese character keyboard description unit, and the chinese character keyboard description unit is used for an operator to input program information or a control instruction. The functional interface of the chinese keyboard caption unit is shown in fig. 6. Wherein, the full spelling function indicates that the input of full spelling, numbers, English symbols and the like is supported. Backspace indicates that a character or number is deleted. Enter indicates brushing the content at the cursor. Delete indicates no function is set. CapsLock indicates that the button turns red after clicking, at which point the letters are capitalized. OK indicates that the input is completed and the input content is saved. ESC indicates exit from keyboard. The previous page represents clicking on the switchable content to the previous page. The next page represents clicking the switchable content to the next page.

According to the above description, in an exemplary embodiment, the system setting module further includes a palletizing parameter setting unit for setting a name of an object, setting a number of stacked layers, setting a number of pallets, setting a height of the object, setting an offset coordinate, setting a rotation of a motor or a cylinder, setting a current teaching, setting a teaching coordinate, and saving a current palletizing parameter setting. A functional interface schematic of the palletizing parameter setting unit is shown in fig. 7. The offset coordinate X represents the X-coordinate offset of the second code wheel relative to the first code wheel after the first code wheel is finished. The offset coordinate Y represents the Y-coordinate offset of the second code wheel relative to the first code wheel after the first code wheel is complete. The rotation mode means that the motor means that no provision is required. The cylinder means that if set as a cylinder, the port number of the connected cylinder needs to be set below. The current teaching indicates the number of circulating layers, and the number of circulating layers is set according to the requirement of the teaching. The number of teaching layers indicates the current teaching of the next layer. The number of transverse positions indicates the number of transverse positions in the code disc. The longitudinal number represents the number of the code wheel which is longitudinally arranged. The teaching coordinates represent coordinates of three horizontal positions of the teaching tray: 1) position 1: the X axis is close to the direction of the original point, the Y axis is close to the position of the original point, and the Z axis is far from the position of the original point. 2) Position 2: x axis-direction far from the origin, Y axis-position near the origin, and Z axis-position far from the origin. 3) Position 3: x-axis-direction away from origin, Y-axis-position away from origin, and Z-axis-position away from origin. 4) Waiting point offset value: before moving to the teaching coordinates, the robot moves to a waiting position. Saving means saving the current palletization parameter settings. Returning means returning to the upper layer [ system setup ] interface. In this embodiment, the handset [ bin parameter setting ] function interface has the following convention: 1) the parameters of the number in the transverse direction and the number in the longitudinal direction are required to be more than or equal to 1. 2) The X coordinate of the position 2 is more than or equal to the X coordinate of the position 1; the Y coordinate of position 3 is greater than or equal to the Y coordinate of position 2. 3) The stacking parameter and the unstacking parameter have the same meaning, and are not described in detail herein. 4) And clicking the position coordinates, controlling X, Y, Z the position of each axis through a key module, and directly positioning the position coordinates of the teaching point after the position coordinates are determined. 5) In the figure, the dots are palletized IO, and are started in the function setting if the dots are started.

In conclusion, the invention provides the mud bar stacker operating system, the mud bar stacker is controlled by the handheld device, automatic stacking of mud bars produced by the mud cutter can be realized, stacking is tidy, and stacking speed is greatly improved. The stacking cost of the mud strips is reduced, the stacking efficiency of the mud strips is improved, the stacking safety of the mud strips is enhanced, and the problems of difficulty, low speed and low efficiency of manual stacking are solved. Wherein, the handset comprises a display, an input button module and a processor module; the display is positioned on the handheld device and used for displaying control information of the handheld device and execution information of the mud bar stacker; the input button module is positioned on the handheld device and used for providing a plurality of operation buttons for an operator to select the control buttons; and the processor module is used for controlling the mud bar stacker to perform grabbing, moving or transmitting actions after the operator presses the selected control button.

The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims

1. The utility model provides a mud bar buttress machine operating system which characterized in that, including: the gripper is used for controlling the mud bar stacker, and comprises a display, an input button module and a processor module;

the display is positioned on the handheld device and used for displaying control information of the handheld device and execution information of the mud bar stacker;

and the processor module is used for controlling the mud bar stacker to perform grabbing, moving or transmitting actions after an operator presses the selected control button.

2. The mudslide stacker operating system of claim 1 wherein the handset further comprises a programming module comprising a programming command bar, a command line selection area, a parameter setting area, a move and page flip area, a function button area;

the instruction line selection area is used for identifying a current operation line and performing parameter setting, deleting and instruction adding operations of the current operation line;

3. The mudstone stacker operating system of claim 1 wherein the handset further comprises an IO debug module for signal detection debugging of an input point or an output point.

4. The mudstone stacker operating system according to claim 1, wherein the hand-held device further comprises a manual debugging module, and the manual debugging module is configured to select an operating axis to be manually debugged, debug the linkage speed, the moving direction, and the inching stepping distance of the selected operating axis, display a real-time position of the current axis in the operating process in real time, and reset, correct coordinates, and store the current position of the operating axis.

5. A mudstone stacker operating system according to claim 1 wherein the handset further comprises an alarm history module for displaying the date the current alarm message was sent, the time the current alarm message was sent, the relationship between the current alarm and the last alarm, and current alarm description information.

6. The mudslide stacker operating system of claim 1 wherein the handset further comprises a system settings module, the system settings comprising a user settings unit for switching users, setting a real-time clock display, setting a buzzer sound, setting a liquid crystal screen backlight sleep time, modifying a login password, modifying an encryption lock, and restoring factory settings.

7. The mudslide stacker operating system of claim 6 wherein the system setup module further comprises a storage point management unit for selecting stored information for shaft position points to be viewed, modifying currently selected point information, and deleting currently selected point information.

8. A mudpack stacker operating system according to claim 6, wherein the system setup module further comprises a program management unit for inputting program information, making copies of program information, and deleting currently selected program information.

9. The mudstone stacker operating system of claim 6 wherein the system setup module further comprises a Chinese keyboard interpretation unit for an operator to input program information or control instructions.

10. A mudstone stacker operating system according to claim 6 wherein the system setting module further comprises a stacker parameter setting unit for setting the name of an article, setting the number of stacked layers, setting the number of code disks, setting the height of an article, setting offset coordinates, setting motor or cylinder rotation, setting current teaching, setting teaching coordinates and saving current stacker parameter settings.