CN116062374A - Feeding and discharging control method, automatic feeding equipment and storage medium - Google Patents
Feeding and discharging control method, automatic feeding equipment and storage medium Download PDFInfo
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- CN116062374A CN116062374A CN202310359791.6A CN202310359791A CN116062374A CN 116062374 A CN116062374 A CN 116062374A CN 202310359791 A CN202310359791 A CN 202310359791A CN 116062374 A CN116062374 A CN 116062374A
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- 238000000034 method Methods 0.000 title claims abstract description 48
- 238000003860 storage Methods 0.000 title claims abstract description 22
- 238000007599 discharging Methods 0.000 title claims description 18
- 238000012546 transfer Methods 0.000 claims abstract description 62
- 238000012545 processing Methods 0.000 claims abstract description 51
- 230000007246 mechanism Effects 0.000 claims abstract description 50
- 230000009471 action Effects 0.000 claims abstract description 30
- 230000008569 process Effects 0.000 claims description 14
- 230000007723 transport mechanism Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 14
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- 238000010586 diagram Methods 0.000 description 9
- 238000004590 computer program Methods 0.000 description 7
- 238000004891 communication Methods 0.000 description 6
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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
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/10—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface
- B65G15/12—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface with two or more endless belts
- B65G15/20—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface with two or more endless belts arranged side by side, e.g. for conveyance of flat articles in vertical position
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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
- B65G47/88—Separating or stopping elements, e.g. fingers
- B65G47/8807—Separating or stopping elements, e.g. fingers with one stop
- B65G47/8815—Reciprocating stop, moving up or down in the path of the article
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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
- B65G47/88—Separating or stopping elements, e.g. fingers
- B65G47/8807—Separating or stopping elements, e.g. fingers with one stop
- B65G47/883—Fixed stop
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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
- B65G47/88—Separating or stopping elements, e.g. fingers
- B65G47/8876—Separating or stopping elements, e.g. fingers with at least two stops acting as gates
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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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
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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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses a loading and unloading control method, automatic loading equipment and a storage medium, wherein the method comprises the following steps: controlling the sliding component to move so as to drive the hooking component to move; after detecting that the hooking component is positioned at the feeding hole, controlling the hooking component to execute hooking action; when detecting that a product to be processed exists on a feeding station, controlling the transfer mechanism to move to the feeding station, and controlling a first suction nozzle on the transfer mechanism to execute a suction action; and controlling the transfer mechanism to move to a processing platform, and processing the product to be processed through a processing assembly. The technical scheme of the invention can solve the problem that the existing automatic feeding equipment cannot limit the volume and the production efficiency of the equipment, and reduces the development cost of the equipment while improving the production efficiency.
Description
Technical Field
The invention relates to the technical field of metal processing, in particular to a loading and unloading control method, automatic loading equipment and a storage medium.
Background
Along with the continuous development of the times, the traditional working mode is developed towards the direction of intellectualization and mechanization, the automation technology is also more mature, the automatic feeding function is added in the aspect of product manufacturing and processing equipment, and the production and processing efficiency is improved.
The automatic feeding equipment takes out the product raw materials stored in the material box through the hooking device, and then transfers the product raw materials to the processing equipment for processing. Meanwhile, the automatic feeding equipment also has a discharging function, namely, the product is transported into a material box for storing the processed product through the hooking device. In order to improve production efficiency, the device is used for feeding and discharging respectively through the arrangement of different hooking devices. However, setting different hooking devices for feeding and discharging respectively improves the production efficiency, but also causes the overall occupied volume of the automatic feeding equipment to become large and the manufacturing cost to become high.
Disclosure of Invention
The embodiment of the application aims to solve the problem that the existing automatic feeding equipment cannot limit the volume of the equipment and improve the production efficiency.
The embodiment of the application provides a feeding and discharging control method, which is applied to automatic feeding equipment, the automatic feeding equipment comprises a hooking device, a transfer mechanism and a processing platform, the hooking device comprises a hooking component and a sliding component, the hooking component is positioned on the sliding component, and the feeding and discharging control method comprises the following steps of:
Controlling the sliding component to move so as to drive the hooking component to move;
after detecting that the hooking component is positioned at the feeding hole, controlling the hooking component to execute hooking action;
when detecting that a product to be processed exists on a feeding station, controlling the transfer mechanism to move to the feeding station, and controlling a first suction nozzle on the transfer mechanism to execute a suction action;
and controlling the transfer mechanism to move to a processing platform, and processing the product to be processed through a processing assembly.
Optionally, the sliding component includes a cylinder, a sliding rod and a sliding block, the sliding block is connected with the hooking component, and the step of controlling the sliding component to move so as to drive the hooking component to move includes:
detecting that a product to be processed exists at the position of a feed opening, and controlling the non-rod air cylinder to drive the sliding block to move along the sliding rod in a direction close to the position of the feed opening so as to drive a hooking component connected with the sliding block to move to the position of the feed opening in the direction close to the position of the feed opening;
or when receiving a feeding instruction, controlling the non-rod air cylinder to drive the sliding block to move along the sliding rod in a direction close to the position of the feeding port, so as to drive the hooking component connected with the sliding block to move to the position of the feeding port in a direction close to the position of the feeding port.
Optionally, the hooking device further comprises: the conveying assembly, the lifting cylinder and the first stop piece are positioned at the feeding station, and the first stop piece is higher than the conveying assembly; the lifting cylinder is connected with the base plate of the sliding component, and after detecting that the hooking component is positioned at the feeding hole, the step of controlling the hooking component to execute hooking action further comprises the following steps:
controlling the non-rod air cylinder to drive the sliding block to move to the position right above the conveying component along the sliding rod in a direction away from the position of the feeding port;
when the hooking component is detected to be right above the conveying component, the lifting cylinder is controlled to descend so as to drive the hooking component to move in a direction close to the conveying component;
controlling the hooking component to place the picked product to be processed on the conveying component when moving in the direction approaching to the conveying component;
when the product to be processed is detected to be placed on the conveying assembly, controlling the conveying assembly to move towards the first stop piece;
when the product to be processed on the conveying assembly is detected to be abutted against the first stop piece, the product to be processed is located on the feeding station.
Optionally, after the step of controlling the transfer mechanism to move to the processing platform and process the product to be processed through the processing assembly, the method further includes:
after detecting that the product to be processed is processed, detecting whether a second suction nozzle of the transfer mechanism is positioned right above the processing platform or not;
if yes, controlling a second suction nozzle of the transfer mechanism to execute a sucking action;
when the processed product exists in the blanking station, controlling the sliding component to move so as to drive the hooking component to move to the position of the blanking opening;
after detecting that the hooking component is positioned at the position of the blanking opening, controlling the hooking component to execute blanking action.
Optionally, the hooking device further comprises: the second stop piece is arranged opposite to the first stop piece, is positioned at the blanking station and is higher than the conveying assembly; after the step of controlling the second suction nozzle of the transfer mechanism to execute the suction action, the method further comprises the following steps:
controlling the transfer mechanism to place processed products onto the transfer assembly;
controlling the transfer assembly to move in the direction of the second stop;
And when the processed product is detected to be abutted against the second stop piece, the processed product is positioned at the blanking station.
Optionally, when the processed product exists in the blanking station, the step of controlling the sliding component to move so as to drive the hooking component to move to the position of the blanking port includes:
detecting whether a processed product exists in a blanking station or not, and detecting whether the hooking component is positioned right above the blanking station;
if yes, controlling the lifting cylinder to descend so as to drive the hooking component to move in a direction close to the blanking station;
picking up processed products on the blanking station;
when the picked processed product is detected, the lifting cylinder is controlled to rise to a preset height;
when the lifting cylinder is detected to be at the preset height, the non-bar cylinder is controlled to drive the sliding block to move to the position of the feed opening along the sliding rod in the direction close to the position of the feed opening.
Optionally, after detecting that the hooking component is at the position of the feed opening, the step of controlling the hooking component to execute the feeding action further includes:
detecting the stacking height of processed products in the blanking box;
And when the stacking height is larger than the preset height, sending alarm information to terminal equipment and sending a blanking pause signal to the hooking device.
Optionally, when the product to be processed is detected to exist on the feeding station, the step of controlling the transfer mechanism to move to the feeding station and controlling the first suction nozzle on the transfer mechanism to perform the suction action includes:
when detecting that a product to be processed exists on the feeding station, controlling the transfer mechanism to move in a direction close to the feeding station;
when the transfer mechanism is detected to reach the feeding station, a first suction nozzle on the transfer mechanism is controlled to suck the product to be processed on the feeding station.
In addition, in order to achieve the above object, the present invention also provides an automatic feeding device comprising: the device comprises a memory, a processor and a loading and unloading control program which is stored in the memory and can run on the processor, wherein the loading and unloading control program realizes the steps of the loading and unloading control method when being executed by the processor.
In addition, in order to achieve the above object, the present invention further provides a storage medium having stored thereon a loading and unloading control program, which when executed by a processor, implements the steps of the loading and unloading control method described above.
According to the technical scheme, the sliding component is controlled to move and meanwhile the hooking component is driven to move. After detecting that the hooking component is positioned at the feeding hole, controlling the hooking component to execute hooking action, and conveying the product to be processed to a feeding station through the conveying component. When detecting that the product to be processed exists on the feeding station, controlling the transfer mechanism to move to the feeding station, controlling the first suction nozzle on the transfer mechanism to execute a sucking action, and controlling the transfer mechanism to move to the processing platform for processing. After processing is finished, the processed product is transported to the conveying assembly, the processed product is transported to the blanking station through the conveying assembly, the hook material assembly is controlled to pick up the processed product on the blanking station and then move to the blanking port, and therefore feeding and blanking control is achieved through the same hook material device, production efficiency is improved, and meanwhile manufacturing cost of automatic feeding equipment is reduced.
Drawings
FIG. 1 is a schematic view of an embodiment of a hooking device according to the present invention;
FIG. 2 is a schematic view illustrating an internal structure of a hooking device according to an embodiment of the present invention after a side plate is hidden;
FIG. 3 is a schematic view of a sliding assembly of an embodiment of a hooking device according to the present invention;
FIG. 4 is a schematic view of a hooking device according to an embodiment of the present invention for picking and placing products in a magazine;
FIG. 5 is a schematic view of a conveyor assembly according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a hardware structure of the automatic feeding apparatus of the present invention;
fig. 7 is a flow chart of an embodiment of the feeding and discharging control method of the present invention.
Reference numerals illustrate:
the achievement of the objects, functional features and advantages of the present application will be further described with reference to embodiments, with reference to the accompanying drawings, which are only illustrations of one embodiment, but not all of the inventions.
Detailed Description
According to the technical scheme, the two stop assemblies are oppositely arranged in the transverse direction, and the two stop assemblies are in stop states higher than those of the adjacent conveying assemblies, so that when the conveying assemblies drive products to transversely move, the products furthest move to abut against the stop assemblies, and when the products are positioned on the hooking assemblies, the hooking assemblies can drive the products to rise to be higher than the two stop assemblies, namely, the processes of conveying the products to the conveying assemblies or conveying the products out of the conveying assemblies can not be blocked by the two stop assemblies. Thus, positioning of the product on the conveyor assembly can be achieved by controlling the direction of lateral movement of the conveyor assembly. When the unhooking component transfers and feeds unprocessed products onto the conveying component, the conveying component drives the stop component on one side of the product, when the unprocessed products are transferred and processed, the processed products can be placed on the conveying component close to the stop component on the other side, and then the conveying component is controlled to move reversely, so that the processed products are abutted against the stop component on the other side, and finally, the processed products are transferred and discharged through the unhooking component. Namely, the hooking device can continuously carry out the blanking of the processed product after the feeding of the unprocessed product is completed, thereby ensuring the continuous production of the processing part, improving the production efficiency of equipment, and simultaneously, the range of the hooking component transversely moving in the hooking device is not required to be increased, namely, the volume of the hooking device is not required to be increased, and the number of the hooking devices is not required to be increased.
In order that the above-described aspects may be better understood, exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
As shown in fig. 6, fig. 6 is a schematic structural diagram of a hardware running environment according to an embodiment of the present invention.
It should be noted that fig. 6 is a schematic structural diagram of a hardware operating environment of the automatic feeding device.
As shown in fig. 6, the automatic feeding apparatus may include: a processor 1001, such as a CPU, memory 1005, user interface 1003, network interface 1004, communication bus 1002. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the automated loading apparatus configuration shown in fig. 6 is not limiting of the automated loading apparatus and may include more or fewer components than shown, or certain components may be combined, or a different arrangement of components.
As shown in fig. 6, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a loading/unloading control program. The operating system is a program for managing and controlling hardware and software resources of the automatic feeding equipment, and the loading and unloading control program and other software or program are operated.
In the automatic feeding device shown in fig. 6, the user interface 1003 is mainly used for connecting a terminal, and performs data communication with the terminal; the network interface 1004 is mainly used for a background server and is in data communication with the background server; the processor 1001 may be configured to call a loading and unloading control program stored in the memory 1005.
In this embodiment, automatic feeding equipment includes: memory 1005, processor 1001 and store on the memory and can be on the control program of loading and unloading of the operation of the said processor, wherein:
when the processor 1001 calls the loading and unloading control program stored in the memory 1005, the following operations are performed:
Controlling the sliding component to move so as to drive the hooking component to move;
after detecting that the hooking component is positioned at the feeding hole, controlling the hooking component to execute hooking action;
when detecting that a product to be processed exists on a feeding station, controlling the transfer mechanism to move to the feeding station, and controlling a first suction nozzle on the transfer mechanism to execute a suction action;
and controlling the transfer mechanism to move to a processing platform, and processing the product to be processed through a processing assembly.
The technical solutions of the present application will be specifically described below by way of examples.
As shown in fig. 7, in a first embodiment of the present application, the loading and unloading control method of the present application is applied to an automatic loading device, where the automatic loading device includes a hooking device, a transfer mechanism, and a processing platform, in addition to a processor and a memory, and the hooking device includes a hooking component and a sliding component, and the hooking component is located on the sliding component.
Referring to fig. 1 and 2, in the present embodiment, the hooking device 10 includes a base 100, two conveying assemblies 200, a sliding assembly 300, a hooking assembly 400, and two stopping assemblies. Wherein, the two conveying assemblies 200 are oppositely disposed on the base 100, and are used for driving the product 20 to move laterally; the sliding component 300 is arranged on the base 100 and is positioned between the two conveying components 200; the hooking component 400 is disposed on the sliding component 300 and between the two conveying components 200, the sliding component 300 is used for driving the hooking component 400 to move transversely, the hooking component 400 can move up and down relative to the base 100, and the hooking component 400 is used for picking up the products 20 on the conveying components 200 or in the magazine 30; the two stop assemblies are disposed on the base 100 in a transverse direction, and each of the two stop assemblies has a stop state higher than that of the adjacent conveying assembly 200, and the two stop assemblies are used for limiting the product 20 on the conveying assembly 200. The feeding and discharging control method comprises the following steps:
Step S110, the sliding component is controlled to move so as to drive the hooking component to move.
In this embodiment, the hooking component 400 can move up and down relative to the base 100, and can move laterally under the driving of the sliding component 300; the sliding assembly 300 and the hooking assembly 400 are located between the two conveying assemblies 200, and the conveying assemblies 200 do not block the hooking assembly 400 from moving up and down and laterally. In the feeding process, the sliding component 300 can be controlled to move so as to drive the hooking component 400 to move.
Optionally, after the hooking component 400 moves laterally into the magazine 30, the products 20 in the magazine 30 are picked up, and the hooking component 400 falls down to the position where the products 20 are located right above the conveying components 200 and is placed on the two conveying components 200, and after the hooking component 400 releases the control of the products 20, the products 20 move laterally under the driving of the conveying components 200.
Optionally, referring to fig. 2 and 5, the hooking component 400 includes a supporting portion 410 connected to the sliding component 300, and a suction cup 420 connected to the supporting portion 410; in the horizontal direction, the suction cup 420 has a first position between the first stopper 500 and the stopper 620, and a second position protruding outside the stopper 620. The hooking component 400 is connected to the sliding component 300 through the supporting portion 410, so that the hooking component can be driven by the sliding component 300 to move transversely, and after the product 20 is adsorbed and fixed by the sucking disc 420, the product 20 can be driven to be transported. The suction cup 420 is located at a first position between the first stopper 500 and the stopper 620 when the product 20 is placed on the conveyor belt or when the product 20 is pulled off the conveyor belt; the suction cup 420 is required to extend into the magazine 30, i.e. is located at the second position outside the stop portion 620, when the product 20 is taken out from the magazine 30 or the product 20 is discharged into the magazine 30, and the distance that the suction nozzle extends out of the stop portion 620 can be set according to the distance between the hooking device 10 and the magazine 30.
Optionally, the sliding assembly 300 includes a base 310, a non-rod cylinder 320, a sliding rod 330 and a sliding block 340, where the sliding rod 330 is transversely disposed and juxtaposed with the non-rod cylinder 320 on the base 310, the sliding block 340 is connected with the hooking assembly 400, the sliding block 340 is movably disposed on the sliding rod 330, and the non-rod cylinder 320 can drive the sliding block 340 to move. The sliding block 340 is connected with the output end of the non-rod air cylinder 320, so that the non-rod air cylinder 320 can drive the sliding block 340 to move, the sliding rod 330 is arranged in parallel with the non-rod air cylinder 320, and when the sliding block 340 is connected with the sliding rod 330 and the non-rod air cylinder 320 drives the sliding block 340 to move, the sliding rod 330 plays a guiding role on the sliding block 340, so that the sliding block 340 transversely moves on the sliding rod 330. Therefore, preferably, the number of the sliding rods 330 may be two, which are respectively provided at opposite sides of the cylinder 320, to maintain smooth sliding of the sliding blocks 340, thereby enabling the hooking member 400 to maintain smooth movement during transferring of the product 20.
Alternatively, when the presence of the product to be processed at the position of the feed opening is detected, the control cylinder 320 drives the slider 340 to move along the sliding rod 330 in a direction approaching the position of the feed opening, so as to drive the hook assembly 400 connected with the slider 340 to move to the position of the feed opening in the direction approaching the position of the feed opening. Optionally, when receiving the feeding command, the control cylinder 320 drives the slider 340 to move along the sliding rod 330 in a direction close to the feeding port, so as to drive the hooking component 400 connected to the slider 340 to move to the feeding port in the direction close to the feeding port.
Optionally, the base 100 includes a bottom plate 110 and two side plates 120 disposed opposite to the bottom plate 110, the two conveying assemblies 200 are disposed on the two side plates 120, the conveying assemblies 200 include at least one driving wheel 210, at least one driven wheel 220, a conveying belt and a driving motor 230, the driving wheel 210 and the driven wheel 220 are rotatably connected to the inner sides of the side plates 120, the conveying belt is driven to be disposed on the driving wheel 210 and the driven wheel 220, the driving motor 230 is connected to the side plates 120 and is in driving connection with the driving wheel 210, and the conveying belt is used for driving the product 20 to move laterally.
Optionally, the number of the driving wheel 210 and the driven wheel 220 in the conveying assembly 200 is one, the driving wheel 210 and the driven wheel 220 are arranged at intervals in the transverse direction, the conveying belt is sleeved on the peripheries of the driving wheel 210 and the driven wheel 220, the driving connection between the driving wheel 210 and the driven wheel 220 is realized, and the conveying direction of the conveying belt is adjusted by controlling the steering of the driving wheel 210. Preferably, the tops of the driving wheel 210 and the driven wheel 220 are disposed at the same level, so that the conveyor belt portion above the driving wheel 210 and the driven wheel 220 is kept horizontal, that is, the product 20 is kept horizontally on the conveyor belt, so that the product 20 is convenient for transferring again.
Optionally, the number of the driving wheels 210 in the conveying assembly 200 is one, the number of the driven wheels 220 is two, the two driven wheels 220 are arranged at intervals in the transverse direction, the driving wheel 210 is arranged below the two driven wheels 220, the driving belt is sleeved on the peripheries of the two driven wheels 220 and the driving wheel 210, the driving connection between the driving wheel 210 and the two driven wheels 220 is realized, and the conveying direction of the conveying belt is adjusted by controlling the steering of the driving wheel 210. Similarly, the tops of the driven wheels 220 are preferably positioned at the same level to maintain the product 20 in a horizontal position on the conveyor.
The driving wheel 210 rotates after being driven by the driving motor 230, the driving motor 230 is connected with the side plate 120, in order to avoid the influence of vibration generated during the operation of the driving motor 230 on the transportation of the product 20, preferably, a shock pad is arranged between the driving motor 230 and the side plate 120, and the driving motor 230 is fixed on the side plate 120 through the shock pad, so that the vibration transmitted to the side plate 120 by the driving motor 230 is weakened.
As can be seen from the above, the two stop assemblies limit the product 20 on the conveyor assembly 200 in the lateral direction, and the hook assembly 400 needs to be lifted above the stop assemblies when the product 20 is transported. The hooking member 400 is lowered to the stop member when the product 20 is transferred to the conveyor member 200, i.e., the magnitude of the raising and lowering of the hooking member 400 is required.
And step S120, after detecting that the hooking component is positioned at the feeding hole position, controlling the hooking component to execute hooking action.
In this embodiment, the hook assembly 400 is detected to be in the loading position after the hook assembly 400 moves into the magazine 30 in the lateral direction. The hooking assembly 400 is controlled to perform a hooking action, i.e., picking the products 20 from the magazine 30.
Optionally, the magazine 30 is a loading magazine, in which a plurality of storage locations for placing the products 20 are arranged at intervals along a vertical direction, and the loading magazine can move up and down relative to the supporting table. Specifically, referring to fig. 4, a plurality of sliding grooves 31 are disposed on two opposite inner side walls of the magazine 30 along a vertical direction at intervals, and the sliding grooves 31 are disposed on two opposite inner side walls to form a storage space for placing the product 20. When the hook material assembly 400 is fed from the feeding magazine, the height of the sucker 420 extending into the feeding magazine is kept unchanged, and the height of the product 20 in the feeding magazine relative to the sucker 420 is changed by lifting the feeding magazine, so that the sucker 420 can pick up any product 20 on the storage position.
Optionally, after step S120, the following steps are further included:
Step S210, controlling the non-rod air cylinder to drive the sliding block to move to the position right above the conveying assembly along the sliding rod in a direction away from the position of the feeding port;
step S220, when the hook material component is detected to be right above the conveying component, controlling the lifting cylinder to descend so as to drive the hook material component to move in a direction close to the conveying component;
step S230, controlling the hooking component to place the picked product to be processed on the conveying component when moving in the direction approaching to the conveying component;
step S240, when the product to be processed is detected to be placed on the conveying assembly, controlling the conveying assembly to move towards the first stop piece;
step S250, when it is detected that the product to be processed on the conveying assembly abuts against the first stop piece, the product to be processed is located on the feeding station.
Optionally, the base 100 is further provided with a lifting cylinder, the lifting cylinder is a second lifting cylinder 800, the second lifting cylinder 800 is connected to the base 310, and the second lifting cylinder 800 is used for driving the hook material assembly 400 to lift and move. The sliding component 300 is disposed on the base 100 through the second lifting cylinder 800, the second lifting cylinder 800 may drive the sliding component 300 to lift, and the hooking component 400 is disposed on the sliding component 300, so that the second lifting cylinder 800 may drive the hooking component 400 to lift, that is, the hooking component 400 may lift relative to the base 100. During the process of transporting the product to be processed for processing, the second lifting cylinder 800 descends to drive the hooking component 400 to move in a direction approaching to the conveying component 200, and the picked product to be processed is placed on the conveying component 200.
Referring to fig. 2 and 4, in order to facilitate the transportation of the hook assembly 400 to the product 20 and reduce the lifting range required by the hook assembly 400, in an embodiment, the two stop assemblies respectively include a first stop 500 and a second stop 600, the first stop 500 is connected to the two side plates 120, the second stop 600 is disposed between the conveyor belt and the sliding assembly 300, and the second stop 600 further has a lower avoidance state than that of the adjacent conveyor belt.
The first stop member 500 is connected to the two side plates 120 and keeps a stop state higher than that of the adjacent conveyor belt, and the second stop member 600 is disposed between the conveyor belt and the sliding member 300, so that the sliding member 300 is not blocked by the second stop member 600 when driving the hooking member 400 to move laterally, and the hooking member 400 may extend to the outside of the second stop member 600. The second stop 600 also has a retracted state below the adjacent conveyor belt, i.e., indicating that the height of the second stop 600 relative to the base plate 110 is adjustable. The hooking component 400 can lower and adjust the second stop member 600 from the stop state to the avoidance state when the product 20 is transferred onto the conveyor belt or the product 20 is transferred from the conveyor belt, and the hooking component 400 can transfer the product 20 to the outer side of the second stop member 600 only by lifting and driving the product 20 to separate from the conveyor belt, so that the lifting amplitude of the hooking component 400 is reduced, namely the operation space of the hooking component 400 in the whole equipment is reduced.
The first stop member 500 is kept higher than the stop state of the adjacent conveyor belt, and after the unprocessed product 20 is transferred onto the conveyor belt, the unprocessed product is driven by the conveyor belt to move towards the first stop member 500 until the unprocessed product abuts against the first stop member 500, and the position of the unprocessed product is kept fixed, namely, the unprocessed product is located at the feeding station. Preferably, the top of the first stop piece 500 is provided with an inclined surface expanding along a direction away from the second stop piece 600, that is, the projection of the top of the second stop piece 600 on the conveyor belt falls to the outer side of the feeding station, so that other devices can conveniently transport the product 20 on the feeding station from the position right above the feeding station. After the picked-up product to be processed is placed on the conveying assembly 200, the conveying assembly can be controlled to move towards the first stop piece 500 until the first stop piece 500 is abutted, which means that the product to be processed is located on the feeding station.
And step S130, when detecting that a product to be processed exists on the feeding station, controlling the transfer mechanism to move to the feeding station, and controlling a first suction nozzle on the transfer mechanism to execute a suction action.
Optionally, the processing platform of the present application is provided with the supporting table, and the feeding material box and the discharging material box are arranged on the supporting table at intervals in the horizontal direction; the hooking device 10 is movably arranged on the supporting table along the interval arrangement direction of the feeding material box and the discharging material box, and the hooking device 10 is used for transferring the product 20 between the feeding material box and the discharging material box; the transfer mechanism is arranged on the supporting table and comprises a first suction nozzle for moving the unprocessed product 20 on the hooking device 10 to the processing platform and a second suction nozzle for moving the processed product 20 on the processing platform to the hooking device 10. When the product to be processed exists on the feeding station, the transfer mechanism can be controlled to move to the feeding station, and the first suction nozzle on the transfer mechanism is controlled to suck the product to be processed on the feeding station.
And step S140, controlling the transfer mechanism to move to a processing platform, and processing the product to be processed through a processing assembly.
In this embodiment, after the product to be processed is sucked, the transfer mechanism may be controlled to move to the processing platform, and when the product to be processed is placed on the processing platform, the processing assembly is controlled to process the product to be processed located on the processing platform.
Optionally, after the product to be processed is processed, further blanking is required. The method specifically comprises the following steps:
step S310, after detecting that the product to be processed is processed, detecting whether a second suction nozzle of the transfer mechanism is positioned right above the processing platform;
and step S320, if yes, controlling the second suction nozzle of the transfer mechanism to execute a sucking action.
Optionally, after performing the suction action, a transfer mechanism may be controlled to place the processed product onto the transfer assembly 200; control the transfer assembly 200 to move in the direction of the second stopper 600; when the processed product is detected to abut against the second stop member 600, the processed product is located at the blanking station.
Optionally, the second stopper 600 includes a connecting portion 610 extending horizontally and a stopper portion 620 extending vertically, the stopper portion 620 and the connecting portion 610 are connected to each other, a first lifting cylinder 700 is disposed on the base plate 110, the first lifting cylinder 700 is connected to the connecting portion 610, and the height of the stopper portion 620 relative to the base plate 110 is adjustable. Preferably, the number of the second stoppers 600 and the first lifting cylinders 700 is two, and the two second stoppers 600 are respectively disposed at two sides of the sliding assembly 300 and correspond to the two opposite conveying assemblies 200, so that one side of the product 20 abutting against the second stoppers 600 is balanced.
It will be appreciated that the second stop 600 has a lower back-out condition than the adjacent conveyor belt, and that the hook assembly 400 may more conveniently transport the product 20 to the outside of the second stop 600, and that the hook assembly 400 may be closer to the second stop 600 when transporting the product 20 onto the conveyor belt. As can be seen from the above description, after the hook assembly 400 transfers the unprocessed product 20 to the conveyor belt, the subsequent motion is to transfer the processed product 20 to the blanking, so that the unprocessed product 20 is transferred to the processing place, and the motion of transferring the processed product 20 to the conveyor belt is performed synchronously, at least two stations for placing the product 20 are required to be formed on the conveyor belt. Therefore, a loading station and a discharging station are formed on the conveyor belt, wherein the loading station is close to the first stop piece 500, and the discharging station is close to the second stop piece 600.
After the processed product 20 is transferred onto the conveyor belt, the second stop piece 600 is switched from the avoiding state to the stopping state, and the processed product 20 moves towards the direction of the second stop piece 600 under the driving of the conveyor belt until the processed product abuts against the second stop piece 600, and the position of the processed product is kept fixed, namely the processed product is located at the blanking station.
Step S330, when the processed product exists in the blanking station, controlling the sliding component to move so as to drive the hooking component to move to the position of the blanking opening;
in this embodiment, upon detecting the presence of a processed product at the blanking station, it may be detected whether the hook assembly 400 is located at the blanking port position. When the hooking component 400 is detected not to be located at the position of the feed opening, the sliding component 300 can be controlled to move in a direction close to the position of the feed opening, so as to drive the hooking component 400 to synchronously move to the position of the feed opening.
Optionally, step S330 may specifically include the following steps:
step S331, detecting that a processed product exists in a blanking station, and detecting whether the hook material component is positioned right above the blanking station;
if yes, step S332 is performed, the lifting cylinder is controlled to descend, so as to drive the hooking component to move in a direction approaching to the blanking station;
step S333, picking up processed products on the blanking station;
step S334, when the processed product is detected to be picked up, controlling the lifting cylinder to rise to a preset height;
and step S335, when the lifting cylinder is detected to be at the preset height, controlling the non-bar cylinder to drive the sliding block to move to the position of the blanking port along the sliding rod in a direction close to the position of the blanking port.
Optionally, at the preset height, the blanking station and the hooking device are at the same height. The product 20 placed on the conveying assembly 200 is driven by the conveying assembly 200 to transversely move to the position right above the hooking assembly 400, and after the hooking assembly 400 ascends to pick up the product 20, the product 20 transversely moves into the magazine 30 to be placed in the magazine.
And step S340, after detecting that the hook material component is positioned at the position of the feed opening, controlling the hook material component to execute the feed action.
In this embodiment, when the hook assembly 400 is detected to be located at the position of the blanking opening, the hook assembly 400 can be directly controlled to perform the blanking action, i.e. the processed product at the position of the blanking opening is placed in the blanking box. Thereby realizing blanking. Optionally, when the hook assembly 400 performs blanking to the blanking magazine, the sucking disc 420 may discharge the product 20 onto any of the storage locations in the blanking magazine by lifting the blanking magazine.
It can be appreciated that, since two stop assemblies are oppositely disposed in the transverse direction, and both the stop assemblies have a stop state higher than that of the adjacent conveying assemblies 200, when the conveying assemblies 200 drive the products 20 to move transversely, the products 20 move furthest to abut against the stop assemblies, so that when the products 20 are limited on the conveying assemblies 200 in the transverse direction and the products 20 are located on the hooking assemblies 400, the hooking assemblies 400 can drive the products 20 to rise higher than both the stop assemblies, that is, the process of delivering the products 20 onto the conveying assemblies 200 or delivering the products from the conveying assemblies 200 can not be blocked by both the stop assemblies. Thus, positioning of the product 20 on the conveyor assembly 200 can be achieved by controlling the direction of lateral movement of the conveyor assembly 200. For example, when the conveying assembly 200 moves in the left-right direction, the hooking assembly 400 transfers and loads the unprocessed product 20 onto the conveying assembly 200, the conveying assembly 200 moves leftwards until the unprocessed product 20 abuts against the stop assembly on the left side, the unprocessed product 20 is transferred and removed, the processed product 20 can be placed on the right side of the conveying assembly 200, the conveying assembly 200 is controlled to move rightwards, the processed product 20 abuts against the second stop assembly on the right side, and finally the processed product 20 is transferred and discharged through the hooking assembly 400. That is, the hooking device 10 can continuously perform the blanking of the processed product 20 after the feeding of the unprocessed product 20 is completed, thereby ensuring the continuous production of the processing place, improving the production efficiency of the equipment, and simultaneously, without increasing the range of the hooking component 400 moving transversely in the hooking device 10, that is, without increasing the volume of the hooking device 10 and the number of the hooking devices 10.
Optionally, during the blanking process, the stacking height of the processed products in the blanking magazine may be detected, and when the stacking height reaches a preset height, an alarm message may be sent to the terminal device and a blanking pause signal may be sent to the hooking device.
Optionally, during the feeding process, the stacking height of the unprocessed product in the feeding magazine can be detected, and when the stacking height reaches a preset height, an alarm message can be sent to the terminal device and a feeding pause signal can be sent to the hooking device.
The preset height set in the blanking process and the preset height set in the feeding process should be different, and the preset height set in the blanking process is larger than the preset height set in the feeding process.
According to the technical scheme, the sliding component is controlled to move and the hooking component is driven to move. After detecting that the hooking component is positioned at the feeding hole, controlling the hooking component to execute hooking action, and conveying the product to be processed to a feeding station through the conveying component. When detecting that the product to be processed exists on the feeding station, controlling the transfer mechanism to move to the feeding station, controlling the first suction nozzle on the transfer mechanism to execute a sucking action, and controlling the transfer mechanism to move to the processing platform for processing. After the processing is finished, the processed product is transported to the conveying assembly, the processed product is transported to the blanking station through the conveying assembly, the hook material assembly is controlled to pick up the processed product on the blanking station and then move to the blanking port, so that the loading and blanking control is realized through the same hook material device, the production efficiency is improved, and the up-to-the-cost of the automatic loading equipment is reduced.
The embodiments of the present invention provide embodiments of a method for controlling loading and unloading, and it should be noted that, although a logic sequence is shown in the flowchart, in some cases, the steps shown or described may be performed in a different sequence than that shown or described herein.
Based on the same inventive concept, the embodiments of the present application further provide a computer readable storage medium, where the computer readable storage medium stores an uplink and downlink control program, where each step of the uplink and downlink control method described above is implemented when the uplink and downlink control program is executed by a processor, and the steps can achieve the same technical effects, and are not repeated herein.
Because the storage medium provided in the embodiments of the present application is a storage medium used for implementing the method in the embodiments of the present application, based on the method described in the embodiments of the present application, a person skilled in the art can understand the specific structure and the modification of the storage medium, and therefore, the description thereof is omitted herein. All storage media used in the methods of the embodiments of the present application are within the scope of protection intended in the present application.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention 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 invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. The utility model provides a control method of going up and down, its characterized in that is applied to automatic feeding equipment, automatic feeding equipment includes hooking device, transport mechanism and processing platform, hooking device includes hooking subassembly and slip subassembly, hooking subassembly is located slip subassembly is last, go up and down the control method includes:
controlling the sliding component to move so as to drive the hooking component to move;
after detecting that the hooking component is positioned at the feeding hole, controlling the hooking component to execute hooking action;
When detecting that a product to be processed exists on a feeding station, controlling the transfer mechanism to move to the feeding station, and controlling a first suction nozzle on the transfer mechanism to execute a suction action;
and controlling the transfer mechanism to move to a processing platform, and processing the product to be processed through a processing assembly.
2. The method of feeding and discharging control according to claim 1, wherein the sliding assembly includes a cylinder, a slide bar and a slide block, the slide block is connected with the hooking assembly, and the step of controlling the sliding assembly to move so as to drive the hooking assembly to move includes:
detecting that a product to be processed exists at the position of a feed opening, and controlling the non-rod air cylinder to drive the sliding block to move along the sliding rod in a direction close to the position of the feed opening so as to drive a hooking component connected with the sliding block to move to the position of the feed opening in the direction close to the position of the feed opening;
or when receiving a feeding instruction, controlling the non-rod air cylinder to drive the sliding block to move along the sliding rod in a direction close to the position of the feeding port, so as to drive the hooking component connected with the sliding block to move to the position of the feeding port in a direction close to the position of the feeding port.
3. The loading and unloading control method according to claim 2, wherein the hooking device further comprises: the conveying assembly, the lifting cylinder and the first stop piece are positioned at the feeding station, and the first stop piece is higher than the conveying assembly; the lifting cylinder is connected with the base plate of the sliding component, and after detecting that the hooking component is positioned at the feeding hole, the step of controlling the hooking component to execute hooking action further comprises the following steps:
controlling the non-rod air cylinder to drive the sliding block to move to the position right above the conveying component along the sliding rod in a direction away from the position of the feeding port;
when the hooking component is detected to be right above the conveying component, the lifting cylinder is controlled to descend so as to drive the hooking component to move in a direction close to the conveying component;
controlling the hooking component to place the picked product to be processed on the conveying component when moving in the direction approaching to the conveying component;
when the product to be processed is detected to be placed on the conveying assembly, controlling the conveying assembly to move towards the first stop piece;
When the product to be processed on the conveying assembly is detected to be abutted against the first stop piece, the product to be processed is located on the feeding station.
4. The method of feeding and discharging control according to claim 3, wherein after said step of controlling said transfer mechanism to move to said processing platform and process said product to be processed by said processing assembly, further comprising:
after detecting that the product to be processed is processed, detecting whether a second suction nozzle of the transfer mechanism is positioned right above the processing platform or not;
if yes, controlling a second suction nozzle of the transfer mechanism to execute a sucking action;
when the processed product exists in the blanking station, controlling the sliding component to move so as to drive the hooking component to move to the position of the blanking opening;
after detecting that the hooking component is positioned at the position of the blanking opening, controlling the hooking component to execute blanking action.
5. The loading and unloading control method of claim 4, wherein the hooking device further comprises: the second stop piece is arranged opposite to the first stop piece, is positioned at the blanking station and is higher than the conveying assembly; after the step of controlling the second suction nozzle of the transfer mechanism to execute the suction action, the method further comprises the following steps:
Controlling the transfer mechanism to place processed products onto the transfer assembly;
controlling the transfer assembly to move in the direction of the second stop;
and when the processed product is detected to be abutted against the second stop piece, the processed product is positioned at the blanking station.
6. The method of feeding and discharging as set forth in claim 4, wherein the step of controlling the sliding assembly to move to drive the hooking assembly to move to the position of the feed opening when the presence of the processed product at the feed station is detected comprises:
detecting whether a processed product exists in a blanking station or not, and detecting whether the hooking component is positioned right above the blanking station;
if yes, controlling the lifting cylinder to descend so as to drive the hooking component to move in a direction close to the blanking station;
picking up processed products on the blanking station;
when the picked processed product is detected, the lifting cylinder is controlled to rise to a preset height;
when the lifting cylinder is detected to be at the preset height, the non-bar cylinder is controlled to drive the sliding block to move to the position of the feed opening along the sliding rod in the direction close to the position of the feed opening.
7. The method of claim 4, wherein after the step of controlling the hooking component to perform the blanking action after detecting that the hooking component is at the blanking port position, further comprises:
detecting the stacking height of processed products in the blanking box;
and when the stacking height is larger than the preset height, sending alarm information to terminal equipment and sending a blanking pause signal to the hooking device.
8. The method of feeding and discharging control according to claim 1, wherein the step of controlling the transfer mechanism to move to the feeding station and controlling the first suction nozzle on the transfer mechanism to perform the suction operation when the presence of the product to be processed on the feeding station is detected comprises:
when detecting that a product to be processed exists on the feeding station, controlling the transfer mechanism to move in a direction close to the feeding station;
when the transfer mechanism is detected to reach the feeding station, a first suction nozzle on the transfer mechanism is controlled to suck the product to be processed on the feeding station.
9. Automatic feeding equipment, its characterized in that, automatic feeding equipment still includes: the device comprises a memory, a processor and a loading and unloading control program which is stored in the memory and can run on the processor, wherein the loading and unloading control program realizes the steps of the loading and unloading control method according to any one of claims 1-8 when being executed by the processor.
10. A computer-readable storage medium, wherein the computer-readable storage medium stores a loading and unloading control program, which when executed by a processor, implements the steps of the loading and unloading control method according to any one of claims 1 to 8.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310359791.6A CN116062374A (en) | 2023-04-06 | 2023-04-06 | Feeding and discharging control method, automatic feeding equipment and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310359791.6A CN116062374A (en) | 2023-04-06 | 2023-04-06 | Feeding and discharging control method, automatic feeding equipment and storage medium |
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| CN116062374A true CN116062374A (en) | 2023-05-05 |
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Application publication date: 20230505 |