CN117002939A - Automatic feeding and discharging method and system - Google Patents
Automatic feeding and discharging method and system Download PDFInfo
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- CN117002939A CN117002939A CN202311105268.7A CN202311105268A CN117002939A CN 117002939 A CN117002939 A CN 117002939A CN 202311105268 A CN202311105268 A CN 202311105268A CN 117002939 A CN117002939 A CN 117002939A
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- 238000007599 discharging Methods 0.000 title claims abstract description 154
- 238000000034 method Methods 0.000 title claims abstract description 94
- 239000000463 material Substances 0.000 claims abstract description 402
- 238000012545 processing Methods 0.000 claims abstract description 117
- 230000008569 process Effects 0.000 claims description 34
- 238000012546 transfer Methods 0.000 description 11
- 210000001503 joint Anatomy 0.000 description 9
- 238000005553 drilling Methods 0.000 description 7
- 238000012840 feeding operation Methods 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 5
- 230000002159 abnormal effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
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- 230000000903 blocking effect Effects 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000003032 molecular docking Methods 0.000 description 1
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Classifications
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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
- B65G35/00—Mechanical conveyors not otherwise provided for
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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
- B65G59/00—De-stacking of articles
- B65G59/02—De-stacking from the top of the stack
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Abstract
The invention provides an automatic feeding and discharging method and system, comprising the following steps: and (3) feeding: the height of the material layer of the carrier vehicle is adjusted so that the height of the material layer is not lower than the height of the buffer device; transferring the material to a buffer device; the height of the buffer device is adjusted so that the height of the buffer device is not lower than the height of a processing table of processing equipment; transferring the material to a processing table; and (3) blanking: the height of the buffer device is adjusted so that the height of the buffer device is not higher than the height of the processing table; transferring the material to a buffer device; the height of the material layer is adjusted so that the height of the material layer is not higher than the height of the buffer device; and transferring the material to a receiving and discharging material layer to be discharged. Through the height of receiving and releasing material layer of carrier loader, the height of buffer memory device and the height of processing platform along the direction of motion of material gradually reduce or keep flush, even the material has deformation or workshop ground unevenness, the material also can utilize this difference in height to transport smoothly between each automation equipment, has solved the problem of how to improve the unloading smoothness between the automation equipment.
Description
Technical Field
The invention relates to the technical field of automatic equipment, in particular to an automatic feeding and discharging method and system.
Background
Along with the higher and higher degree of automation of manufacturing, the intelligent seamless joint between automation equipment is required more and more strictly to reduce the equipment trouble that leads to because of equipment butt joint is unsmooth, and improve the current situation that production utilization rate is low.
Taking PCB drilling as an example, in order to improve production efficiency, a buffer device is generally configured for a PCB drilling machine at present, and a carrier loader (such as an AGV trolley) is abutted to one side of the buffer device, and the loading of the carrier loader to the PCB drilling machine or the unloading of the carrier loader to the PCB drilling machine is realized by abutting the PCB drilling machine. However, the existing buffer device has the problem that the material clamping problem can occur for different types of boards during loading and unloading due to fixed movement travel, so that equipment failure or PCB processing scrapping is caused; in addition, because workshop ground is not completely level and smooth, the butt joint precision between carrier loader and the buffer memory device also can't guarantee, and then lead to unable normal unloading, influence production efficiency.
Therefore, how to smoothly transfer materials between the automation devices is a urgent problem to be solved.
Disclosure of Invention
The invention aims to provide an automatic feeding and discharging method and system, which at least solve the problem of how to improve feeding and discharging smoothness between automatic equipment.
In order to solve the technical problems, the invention provides an automatic feeding and discharging method, which comprises the following steps:
and (3) feeding:
the height of the material collecting and releasing layer of the carrier vehicle is adjusted so that the height of the material collecting and releasing layer to be loaded is not lower than the height of the buffer device;
transferring the materials on the material receiving and releasing layer to be fed to the buffer device;
the height of the buffer device is adjusted so that the height of the buffer device is not lower than the height of a processing table of processing equipment;
transferring the materials on the buffer device to the processing table;
and/or, blanking:
the height of the buffer device is adjusted so that the height of the buffer device is not higher than the height of the processing table;
transferring the materials on the processing table to the buffer device;
the height of the material collecting and releasing layer is adjusted so that the height of the material collecting and releasing layer to be discharged is not higher than the height of the buffer device;
and transferring the materials on the buffer device to a receiving and discharging material layer to be discharged.
Optionally, in the automatic feeding and discharging method, before adjusting the height of the material layer of the carrier loader, the automatic feeding and discharging method further includes: adjusting the height of the buffer device to an initial height; and/or, in the blanking, before adjusting the height of the material collecting and discharging layer, the automatic feeding and discharging method further comprises the following steps: adjusting the height of the buffer device to an initial height; wherein the initial height is not lower than the height of the processing table.
Optionally, in the automatic feeding and discharging method, the buffer device includes a feeding layer and a discharging layer that are overlapped along the height direction; the automatic feeding and discharging method comprises the following steps:
and (3) feeding:
the height of the material collecting and releasing layer of the carrier vehicle is adjusted so that the height of the material collecting and releasing layer to be charged is not lower than the height of the material charging layer;
transferring the materials on the material collecting and releasing layer to be charged to the material charging layer;
the height of the upper material layer is adjusted so that the height of the upper material layer is not lower than the height of the processing table;
transferring the material on the upper material layer to the processing table;
and/or, blanking:
the height of the blanking layer is adjusted so that the height of the blanking layer is not higher than the height of the processing table;
transferring the materials on the processing table to the blanking layer;
the height of the material collecting and releasing layer is adjusted so that the height of the material collecting and releasing layer to be discharged is not higher than the height of the material discharging layer;
and transferring the materials on the blanking layer to a receiving and discharging layer to be blanked.
Optionally, in the automatic feeding and discharging method, before adjusting the height of the material layer of the carrier loader, the automatic feeding and discharging method further includes: adjusting the height of the upper material layer to an initial height; and/or, in the blanking, before adjusting the height of the material collecting and discharging layer, the automatic feeding and discharging method further comprises the following steps: adjusting the height of the blanking layer to an initial height; wherein the initial height is not lower than the height of the processing table.
Optionally, in the automatic feeding and discharging method, in the feeding, a height difference between a receiving and releasing material layer to be fed and the buffer device is identical to a height difference between the buffer device and the processing table; and/or in the blanking, the height difference between the processing table and the buffer device is consistent with the height difference between the buffer device and the receiving and releasing material layer to be blanked.
Optionally, in the automatic feeding and discharging method, the carrier vehicle includes a plurality of receiving and discharging layers overlapped along the height direction; before feeding and/or blanking, the automatic feeding and blanking method further comprises the following steps:
acquiring the current state of each receiving and releasing material layer, wherein the current state comprises to-be-fed material, to-be-discharged material and stored material;
when feeding, controlling a material receiving and releasing layer to be fed to a state that the height of the material receiving and releasing layer is not lower than the height of a buffer device, and transferring the material on the material receiving and releasing layer to be fed to the buffer device; the state of the material layer is changed from feeding to discharging;
and/or, during blanking, controlling a state that the receiving and releasing material layer to be blanked moves to a height not higher than that of the buffer device, and transferring the material on the buffer device to the receiving and releasing material layer to be blanked; the state of the material collecting and discharging layer is changed from the state of waiting for discharging to the state of storing;
When all the material collecting and discharging layers in the carrier vehicle are in the stored state, the carrier vehicle is controlled to return to the material center.
Optionally, in the automatic feeding and discharging method, the buffer device is provided with an alignment mark;
in the feeding, the method for adjusting the height of the material collecting and releasing layer comprises the following steps:
the carrier vehicle identifies the alignment mark and reads the feeding height position of the buffer device from the alignment mark;
controlling the height of the material receiving and releasing layer to be charged to reach the charging height position, and controlling the material receiving and releasing layer to be charged to rise by a preset charging height on the basis;
and/or, in the blanking, the method for adjusting the height of the material collecting and releasing layer comprises the following steps:
the carrier vehicle identifies the alignment mark and reads the blanking height position of the buffer device from the alignment mark;
and controlling the height of the receiving and releasing material layer to be subjected to discharging to reach the discharging height position, and controlling the receiving and releasing material layer to be subjected to discharging to descend by a preset discharging height on the basis.
In order to solve the technical problem, the invention also provides an automatic feeding and discharging system, which comprises:
a processing apparatus comprising a processing station;
A caching apparatus configured to: when feeding is performed, the height of the buffer device is not lower than the height of the processing table; when blanking is carried out, the height of the buffer device is not higher than the height of the processing table;
the carrier vehicle comprises a plurality of receiving and releasing layers which are overlapped along the height direction; the cart is configured to: when feeding is carried out, the height of the material receiving and releasing layer to be fed is not lower than the height of the buffer device; when the blanking is carried out, the height of the receiving and releasing material layer to be blanked is not higher than the height of the buffer device.
Optionally, in the automatic feeding and discharging system, the buffer device includes a feeding layer and a discharging layer that are overlapped along the height direction;
the caching apparatus is configured to: when feeding is performed, the height of the feeding layer is not lower than the height of the processing table; when blanking is carried out, the height of the blanking layer is not higher than the height of the processing table;
the cart is configured to: when feeding is performed, the height of a receiving and releasing material layer to be fed is not lower than the height of the feeding material layer; when the blanking is carried out, the height of the receiving and releasing material layer to be blanked is not higher than the height of the blanking material layer.
Optionally, in the automatic feeding and discharging system, the buffer device is provided with an alignment mark, and the alignment mark pre-stores a feeding height position and a discharging height position of the buffer device;
the carrier vehicle is used for identifying the alignment mark and reading the feeding height position and the discharging height position from the alignment mark; the cart is configured to: when feeding, the height of the material receiving and releasing layer to be fed reaches the feeding height position and then rises by a preset feeding height; when the blanking is carried out, the height of the receiving and releasing material layer to be blanked reaches the blanking height position, and then the receiving and releasing material layer is declined by a preset blanking height.
The invention provides an automatic feeding and discharging method and a system, comprising the following steps: and (3) feeding: the height of the material collecting and releasing layer of the carrier vehicle is adjusted so that the height of the material collecting and releasing layer to be loaded is not lower than the height of the buffer device; transferring the materials on the material receiving and releasing layer to be fed to the buffer device; the height of the buffer device is adjusted so that the height of the buffer device is not lower than the height of a processing table of processing equipment; transferring the materials on the buffer device to the processing table; and/or, blanking: the height of the buffer device is adjusted so that the height of the buffer device is not higher than the height of the processing table; transferring the materials on the processing table to the buffer device; the height of the material collecting and releasing layer is adjusted so that the height of the material collecting and releasing layer to be discharged is not higher than the height of the buffer device; and transferring the materials on the buffer device to a receiving and discharging material layer to be discharged. Through the height of receive and release material layer, the height of buffer gear and the height of processing platform with the carrier loader progressively reduce along the direction of motion of material, even the material exists deformation or workshop ground unevenness, because in the direction of motion of material, the material loading surface of the automation equipment that the material is located is lower than the loading surface of the automation equipment of waiting to receive the material for the material can utilize the difference in height between each automation equipment material loading surface to smoothly transport between each automation equipment, has solved the problem of how to improve the unloading smoothness between the automation equipment.
Drawings
Fig. 1 is a schematic flow chart of an automatic feeding and discharging method provided in this embodiment;
fig. 2 is a schematic structural diagram of an automatic feeding and discharging system provided in this embodiment;
fig. 3 is a schematic diagram of a feeding process of the automatic feeding and discharging system provided in this embodiment;
fig. 4 is a schematic diagram of a blanking process of the automatic feeding and blanking system provided in this embodiment;
the labels in each figure are as follows:
100-processing equipment; 110-a processing station;
200-caching means; 210-feeding layers; 220-blanking layers;
300-carrier vehicle; 310-receive and release material layer.
Detailed Description
The automatic feeding and discharging method and system provided by the invention are further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the drawings are in a very simplified form and are all to a non-precise scale, merely for convenience and clarity in aiding in the description of embodiments of the invention. Furthermore, the structures shown in the drawings are often part of actual structures. In particular, the drawings are shown with different emphasis instead being placed upon illustrating the various embodiments.
It is noted that "first", "second", etc. in the description and claims of the present invention and the accompanying drawings are used to distinguish similar objects so as to describe embodiments of the present invention, and not to describe a specific order or sequence, it should be understood that the structures so used may be interchanged under appropriate circumstances. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The embodiment provides an automatic feeding and discharging method, as shown in fig. 1, which includes:
and (3) feeding:
the height of the material collecting and releasing layer of the carrier vehicle is adjusted so that the height of the material collecting and releasing layer to be loaded is not lower than the height of the buffer device;
transferring the materials on the material receiving and releasing layer to be fed to the buffer device;
the height of the buffer device is adjusted so that the height of the buffer device is not lower than the height of a processing table of processing equipment;
transferring the materials on the buffer device to the processing table;
and/or, blanking:
the height of the buffer device is adjusted so that the height of the buffer device is not higher than the height of the processing table;
transferring the materials on the processing table to the buffer device;
the height of the material collecting and releasing layer is adjusted so that the height of the material collecting and releasing layer to be discharged is not higher than the height of the buffer device;
and transferring the materials on the buffer device to a receiving and discharging material layer to be discharged.
According to the automatic feeding and discharging method provided by the embodiment, the height of the receiving and releasing material layer of the carrier vehicle, the height of the buffer device and the height of the processing table are gradually reduced along the movement direction of the materials, even if the materials are deformed or the floor of a workshop is uneven, the material bearing surface of the automation equipment where the materials are located is lower than the bearing surface of the automation equipment where the materials are to be received in the movement direction of the materials, so that the materials can be smoothly transported among the automation equipment by utilizing the height difference among the material bearing surfaces of the automation equipment, and the problem of how to improve the feeding and discharging smoothness among the automation equipment is solved.
It should be noted that, in the present application, the height of the material receiving and releasing layer, the height of the buffer device, the height of the processing table, and other references refer to the bearing surface of the material, for example, the height of the material receiving and releasing layer refers to the height of the surface of the material receiving and releasing layer where the mechanism for placing/bearing the material is located, that is, the height of the surface where the material receiving and releasing layer contacts the material when the material is placed on the material receiving and releasing layer.
The automatic feeding and discharging method can only carry out feeding operation or only carry out discharging operation, and can also carry out feeding and discharging operation by using the method so as to adapt to different production and processing scenes. For example, the carrier vehicle only performs feeding operation, and only the feeding method steps can be adopted; if the carrier vehicle can not only feed, but also directly carry out the feeding operation after feeding, the steps of feeding and discharging methods can be adopted.
Further, in order to facilitate the height adjustment of the material receiving and releasing layer in the carrier vehicle, in this embodiment, before adjusting the height of the material receiving and releasing layer of the carrier vehicle in the feeding process, the automatic feeding and discharging method further includes: and adjusting the height of the buffer device to an initial height. Therefore, when the carrier vehicle is in butt joint with the buffer device, the height adjustment of different receiving and releasing material layers only needs to be adjusted according to the initial height, so that the problem that the receiving and releasing material layers of the carrier vehicle are not easy to control due to the difference of the heights of the buffer device during feeding and discharging is avoided, and the materials are ensured to be transferred onto the buffer device from the receiving and releasing material layers of the carrier vehicle smoothly.
Similarly, in the blanking process, before adjusting the height of the material collecting and discharging layer, the automatic feeding and blanking method further comprises: and adjusting the height of the buffer device to an initial height. Therefore, no matter in the feeding process or the discharging process, the receiving and releasing material layer of the carrier vehicle is only required to be adjusted according to the initial height when being in butt joint with the buffer device, so that the complexity of the butt joint of the receiving and releasing material layer of the carrier vehicle and the buffer device is simplified, the possibility of occurrence of fault abnormality is reduced, and the material operation efficiency is improved.
Preferably, in this embodiment, the initial height is not lower than the height of the processing table. In the feeding process, the materials can be directly transferred from the buffer device to the processing table after being transferred to the buffer device; in the blanking process, the height of the buffer device can be kept unchanged to directly perform the feeding operation of a lower wheel after the blanking is finished. The transfer efficiency of the buffer device is improved, and meanwhile, the situation that the material card machine and the like are abnormal in the transfer process can be avoided.
In this embodiment, the height adjustment of the buffer mechanism may be achieved by a servo motor. The servo motor can control the speed, has higher position accuracy, and can realize the adjustment of any position in the range under the control of the controller.
Specifically, when the buffer device includes a loading layer and a unloading layer that are overlapped along the height direction, the automatic loading and unloading method includes:
and (3) feeding:
the height of the material collecting and releasing layer of the carrier vehicle is adjusted so that the height of the material collecting and releasing layer to be charged is not lower than the height of the material charging layer;
transferring the materials on the material collecting and releasing layer to be charged to the material charging layer;
the height of the upper material layer is adjusted so that the height of the upper material layer is not lower than the height of the processing table;
transferring the material on the upper material layer to the processing table;
and/or, blanking:
the height of the blanking layer is adjusted so that the height of the blanking layer is not higher than the height of the processing table;
transferring the materials on the processing table to the blanking layer;
the height of the material collecting and releasing layer is adjusted so that the height of the material collecting and releasing layer to be discharged is not higher than the height of the material discharging layer;
and transferring the materials on the blanking layer to a receiving and discharging layer to be blanked.
In this embodiment, the buffer device is provided with a feeding layer and a discharging layer, so as to respectively realize feeding and discharging. Specifically, the feeding direction of the upper material layer is from the carrier vehicle to the processing equipment, and the feeding direction of the lower material layer is from the processing equipment to the carrier vehicle, so that the transportation direction of the buffer device is not required to be switched back and forth, and the running stability and the running precision of the buffer device are improved.
In practical application, only one layer of material layer can be selected according to practical requirements, and the feeding direction of the material layer is changed to realize the switching of feeding and discharging, or two layers of material are arranged and are respectively used for feeding and discharging. The material layer may be transferred by a conventional transfer manner such as a conveyor belt, and the embodiment is not particularly limited.
When the buffer device is provided with a feeding layer and a discharging layer, in the feeding process, before the height of the receiving and discharging layer of the carrier vehicle is adjusted, the automatic feeding and discharging method further comprises the following steps: adjusting the height of the upper material layer to an initial height; correspondingly, in the blanking process, before adjusting the height of the material collecting and discharging layer, the automatic feeding and discharging method further comprises the following steps: and adjusting the height of the blanking layer to the initial height.
Further, in order to ensure stability of the material in the conveying process, the problem that the material falls down due to too large difference of bearing surfaces between each automation device or the problem that the material card machine is caused due to too small difference of bearing surfaces between certain two adjacent automation devices is avoided. Therefore, if the materials can be smoothly transferred from the material receiving and releasing layer to the buffer device, the materials can be naturally transferred from the buffer device to the processing table.
Similarly, in the blanking process, the height difference between the processing table and the buffer device is identical to the height difference between the buffer device and the receiving and discharging material layer to be blanked. Of course, in other embodiments, the height difference of the bearing surface between each automation device in the feeding process (the height difference between the material receiving and releasing layer to be fed and the buffer device, the height difference between the buffer device and the processing table) and the height difference of the bearing surface between each automation device in the discharging process (the height difference between the processing table and the buffer device, the height difference between the buffer device and the material receiving and releasing layer to be discharged) may be identical, so that the same material is ensured, and if the feeding operation can be smoothly completed, the discharging operation can be inevitably and smoothly completed.
It should be noted that, the selection of the height difference needs to be set according to the characteristics of the material actually transported. For example, when a PCB with larger plate surface size is selected, the factors such as the thickness, the hardness and the deformation of the PCB are considered, and even the factors such as the flatness of the workshop floor, the equipment docking precision and the like are considered, the height difference can be defined between 2 mm and 10mm, so that the PCB can be smoothly transported among various automatic equipment, and meanwhile, the PCB cannot vibrate or fall due to overlarge height difference.
In a particular application, the carriage may typically be an AGV cart. In order to improve the carrying efficiency of carrier vehicles, a storage bin is usually arranged on the carrier vehicle, a plurality of receiving and releasing layers which are overlapped along the height direction are arranged in the storage bin, so that the carrier vehicle can receive and release a plurality of materials continuously, the space carrying capacity of the carrier vehicle is fully utilized, and the two processes of feeding and discharging can be completed simultaneously through the same carrier vehicle, so that the service efficiency of the carrier vehicle is improved.
In this embodiment, when the carrier vehicle includes a plurality of receiving and releasing layers that overlap along the height direction, before feeding and/or discharging, the automatic feeding and discharging method further includes:
acquiring the current state of each receiving and releasing material layer, wherein the current state comprises to-be-fed material, to-be-discharged material and stored material;
when feeding, controlling a material receiving and releasing layer to be fed to a state that the height of the material receiving and releasing layer is not lower than the height of a buffer device, and transferring the material on the material receiving and releasing layer to be fed to the buffer device; the state of the material layer is changed from feeding to discharging;
and/or, during blanking, controlling a state that the receiving and releasing material layer to be blanked moves to a height not higher than that of the buffer device, and transferring the material on the buffer device to the receiving and releasing material layer to be blanked; the state of the material collecting and discharging layer is changed from the state of waiting for discharging to the state of storing;
When all the material collecting and discharging layers in the carrier vehicle are in the stored state, the carrier vehicle is controlled to return to the material center.
It should be noted that the state to be loaded of the material receiving and releasing layer refers to that a material to be processed is currently placed on the material receiving and releasing layer; the state to be discharged refers to that the material receiving and discharging layer is not provided with materials at present; the stored state refers to the state that the receiving and releasing material layer is currently provided with processed materials. The state of each material collecting and releasing layer can be recorded and changed by a controller of the carrier vehicle. For example, after the material to be processed is placed in the material center of the material collecting and discharging layer, the controller marks the state of the material collecting and discharging layer as material to be fed; after the receiving and releasing material layer is in butt joint with the buffer device and the material is transferred to the buffer device, the controller changes the state of the receiving and releasing material layer into a state to be discharged; when the material receiving and releasing layer is in butt joint with the buffer device and receives the materials transported out of the buffer device, the controller changes the state of the material receiving and releasing layer into the stored materials. The specific implementation manner of the controller for recording and changing the state of the material receiving and releasing layer is well known to those skilled in the art, and will not be repeated here, as long as any manner of recording and changing the state of the material receiving and releasing layer is capable of being implemented, which falls within the protection scope of the present application.
In addition, various methods for achieving the specified height of the receiving and releasing material layers in the corresponding states are available, for example, the operations of feeding and discharging can be sequentially achieved from top to bottom according to the position sequence of the receiving and releasing material layers; for another example, the information of the materials stored in each receiving and releasing material layer may be stored in the carrier vehicle in advance, and the receiving and releasing material layer to be currently operated is selected according to the information content. The application does not limit the logic control method that the receiving and releasing material layer reaches the designated height. And the carrier vehicle can realize the mechanism design that the material layer reaches the designated height through any lifting mechanism such as an air cylinder, a screw rod and the like, and the application is not limited in any way. Any hardware mechanism and software control program without departing from the spirit of the application shall fall within the scope of the application.
Further, in order to improve the alignment precision between the carrier vehicle and the buffer device, in this embodiment, the buffer device is provided with an alignment mark, considering that the position repetition precision of the carrier vehicle relative to the buffer device is poor when the carrier vehicle moves to the buffer device each time. The alignment mark can be an electronic tag, a two-dimensional code and other marks which can store readable information. Specifically, the alignment mark needs to store at least the horizontal position coordinate and the height position of the buffer device, and the height position can also include the initial height position, the feeding height position, the discharging height position and the like of the buffer device according to specific settings, so that after the carrier vehicle reads the height position data, the corresponding height position can be selected according to the actual working process to adjust the height of the receiving and releasing material layer.
Of course, the alignment mark can also store a buffer device number, corresponding processing material information and the like, so that the material information is checked when the carrier vehicle performs loading and unloading, the material information is utilized to select proper loading and unloading heights for the material receiving and releasing layers, the intelligence of automatic processing of equipment is improved, and abnormal machine blocking and the like caused by loading and unloading errors or unloading mixing are avoided.
When the buffer device is provided with the alignment mark, the method for adjusting the height of the receiving and releasing material layer in the feeding process comprises the following steps: the carrier vehicle identifies the alignment mark and reads the feeding height position of the buffer device from the alignment mark; and controlling the height of the material receiving and releasing layer to be charged to reach the charging height position, and controlling the material receiving and releasing layer to be charged to rise by a preset charging height on the basis.
The feeding height position refers to the height position of the buffer device when the buffer device is to be fed in the feeding process. For example, when the buffer device is to be moved to the initial height before loading, the loading height position is the initial height position at this time. The preset feeding height is the height difference between the receiving and releasing material layer and the buffer device during feeding, and the setting of the height value needs to be set according to actual needs.
Similarly, in the blanking process, the method for adjusting the height of the material collecting and releasing layer comprises the following steps: the carrier vehicle identifies the alignment mark and reads the blanking height position of the buffer device from the alignment mark; and controlling the height of the receiving and releasing material layer to be subjected to discharging to reach the discharging height position, and controlling the receiving and releasing material layer to be subjected to discharging to descend by a preset discharging height on the basis.
The blanking height position refers to the height position of the buffer device when the material is to be sent out in the blanking process. For example, when the buffer device is to be moved to the initial height before the material is discharged to the receiving and releasing layer, the discharging height position is the initial height position at this time. The preset blanking height is the height difference between the receiving and releasing material layer and the buffer device during blanking, and the setting of the height value is also required to be set according to actual needs. In order to ensure smooth discharging, the preset discharging height can be consistent with the preset feeding height.
Specifically, when the alignment mark is an RFID (electronic tag), the carrier vehicle can be provided with an NFC device to read and write data in the RFID; when the alignment mark is a two-dimensional code, the carrier vehicle can be provided with a camera to read the data in the two-dimensional code. Of course, the application is not limited to RFID or two-dimensional code, and when other alignment marks are adopted, a person skilled in the art can know how to read and write data for the alignment marks by using the prior art. Other alignment mark selections without departing from the scope of the application are also within the scope of the application.
The embodiment also provides an automatic feeding and discharging system, as shown in fig. 2, which comprises:
a processing apparatus 100, said processing apparatus 100 comprising a processing station 110;
a caching apparatus 200, said caching apparatus 200 being configured to: when feeding, the height of the buffer device 200 is not lower than the height of the processing table 110; when the blanking is performed, the height of the buffer device 200 is not higher than the height of the processing table 110;
a carrier 300, wherein the carrier 300 includes a plurality of receiving and releasing layers 310 overlapped along the height direction; the vehicle 300 is configured to: when feeding, the height of the receiving and releasing material layer 310 to be fed is not lower than the height of the buffer device 200; when the material is fed, the height of the receiving and discharging material layer 310 to be fed is not higher than the height of the buffer device 200.
According to the automatic feeding and discharging system provided by the embodiment, the height of the receiving and releasing material layer 310 of the carrier vehicle 300, the height of the buffer device 200 and the height of the processing table 110 are gradually reduced along the movement direction of the materials, even if the materials are deformed or the floor of a workshop is uneven, the material bearing surface of the automation equipment where the materials are located is lower than the bearing surface of the automation equipment where the materials are to be received in the movement direction of the materials, so that the materials can be smoothly transported among the automation equipment by utilizing the height difference among the material bearing surfaces of the automation equipment, and the problem of how to improve the feeding and discharging smoothness among the automation equipment is solved.
Further, in this embodiment, the buffer device 200 includes an upper material layer 210 and a lower material layer 220 that are overlapped along the height direction; the caching apparatus 200 is configured to: when feeding, the height of the feeding layer 210 is not lower than the height of the processing table 110; when the blanking is performed, the height of the blanking layer 220 is not higher than the height of the processing table 110; the vehicle 300 is configured to: when feeding, the height of the material receiving and releasing layer 310 to be fed is not lower than the height of the material feeding layer 210; when the material is fed, the height of the receiving and discharging material layer 310 to be fed is not higher than the height of the material feeding layer 220.
In this way, when loading is performed, the heights of the receiving and releasing material layer 310 to be loaded of the carrier vehicle 300, the loading material layer 210 of the buffer device 200, and the processing table 110 of the processing equipment 100 are gradually reduced, so that the materials can be smoothly transferred from the receiving and releasing material layer 310 to the processing table 110, and loading is completed. When the material is discharged, the heights of the processing table 110 of the processing equipment 100, the material discharging layer 220 of the buffer device 200, and the material collecting and discharging layer 310 to be discharged of the carrier vehicle 300 are gradually reduced, so that the material can be smoothly transferred from the processing table 110 to the material collecting and discharging layer 310, and the material discharging is completed.
As a preferred embodiment, in this embodiment, the buffer device 200 is provided with an alignment mark, and the alignment mark pre-stores a feeding height position and a discharging height position of the buffer device 200; the carrier vehicle 300 is used for identifying the alignment mark, and reading the feeding height position and the discharging height position from the alignment mark; the vehicle 300 is configured to: when feeding, the height of the material receiving and releasing layer 310 to be fed reaches the feeding height position and then rises by a preset feeding height; when the material is discharged, the height of the receiving and discharging material layer 310 to be discharged reaches the discharging height position and then descends by a preset discharging height.
The precise alignment of the carrier vehicle 300 and the buffer device 200 can be realized through the alignment mark, and in addition, the height difference between the material collecting and releasing layer 310 and the buffer device 200 can be confirmed and adjusted by utilizing the alignment mark, so that smooth transfer of materials between the material collecting and releasing layer 310 and the buffer device 200 is ensured.
The following describes an automatic feeding and discharging method and system according to an embodiment of the present application with reference to fig. 2 to 4.
In this embodiment, the processing apparatus 100 is a PCB drill having a processing station 110. The buffer device 200 is disposed corresponding to the processing table 110, and has an upper material layer 210 and a lower material layer 220 disposed to overlap from top to bottom. The carrier vehicle 300 is an AGV trolley having multiple layers of receive and release beds 310 for storing PCB slabs, and each receive and release bed 310 may interface with either the upper bed 210 or the lower bed 220 of the buffer 200. When feeding, a controller in the AGV trolley controls the receiving and releasing material layer 310 to be fed to be lifted to the feeding working height, and the receiving and releasing material layer is in butt joint with the feeding material layer 210 to finish feeding; when the blanking is performed, a controller in the AGV trolley controls the receiving and releasing material layer 310 to be blanked to be lifted to the blanking working height, and the receiving and releasing material layer 310 is in butt joint with the blanking layer 220 to finish blanking.
In addition, in this embodiment, the processing apparatus 100 may call the AGV trolley 300 to maneuver the AGV trolley 300 to perform loading or unloading operations. The buffer device 200 is attached with a two-dimensional code alignment mark, and the AGV trolley 300 can identify the two-dimensional code alignment mark, extract a horizontal position coordinate and a height position from the data information in the read two-dimensional code alignment mark, and perform alignment by using the horizontal position coordinate and the height position.
In order to clearly describe the height positional relationship of the components in the present embodiment, the height of the processing table 110 with respect to the ground is kept constant, denoted as Z 00 The method comprises the steps of carrying out a first treatment on the surface of the The initial height in the caching apparatus 200 is denoted as Z 10 The height of the upper material layer 210 during feeding is denoted as Z 11 The height of the blanking layer 220 is denoted as Z 12 The method comprises the steps of carrying out a first treatment on the surface of the The height of the material layer 310 during feeding is denoted as Z 21 Height of the receiving and releasing material layer 310 during dischargingDenoted as Z 22 。
Specifically, with reference to fig. 3, an automatic loading process of the automatic loading and unloading system will be described in detail.
During feeding, the processing equipment 100 calls the AGV trolley 300, and the AGV trolley 300 carries out stacking on all the receiving and releasing layers in the material center, so that all the receiving and releasing layers are placed with the PCB board to be processed, namely all the receiving and releasing layers 310 are in a state to be fed. Then, the AGV trolley 300 arrives at the processing apparatus 100 to be loaded, which makes a call, according to the preset path, and the AGV trolley 300 is roughly aligned with the buffer device 200. Next, the AGV cart 300 obtains the two-dimensional code alignment mark attached to the buffer device 200 by using its camera, and obtains the horizontal positioning coordinates and the initial height of the buffer device 200. The AGV 300 uses the horizontal positioning coordinates to accurately adjust its own position, so that the receiving and releasing material layer 310 can be accurately abutted with the upper material layer 210 and the lower material layer 220, and the movement directions are parallel.
As shown in fig. 3 (a), since the current working content is to perform the feeding operation on the processing table 110, the buffer device 200 is under the action of the controller thereof, so that the feeding layer 210 is located at the initial height Z 10 . Specifically, in the present embodiment, the initial height Z 10 Height difference ΔH from processing table 110 0 (ΔH 0 ＝Z 10 -Z 00 ) The range of the value of (2) is 0-5 mm.
With continued reference to FIG. 3 (a), after alignment is completed, the AGV 300 uses the initial height Z obtained 10 Controlling the receiving and releasing material layer 310 of the uppermost layer to reach the initial height position, namely the feeding height position; on the basis, the receiving and releasing material layer 310 is controlled to continuously rise by a preset feeding height delta H 1 So that the receiving and releasing material layer 310 reaches the feeding height Z 21 (Z 21 ＝Z 10 +ΔH 1 ). Specifically, in this embodiment, the feeding height Δh is preset 1 According to the characteristics of the PCB, the thickness is selected to be 3-6 mm.
At this time, the controller of the AGV car 300 controls the pay-off and take-up layer 310 to transfer the PCB panel thereon to the upper layer 210, and the state of the pay-off and take-up layer 310 becomes to be discharged.
Next, as shown in fig. 3 (b), the controller of the buffer device 200 drives the feeding layer 210 to rise to the feeding height Z 11 . In order to smoothly transfer the PCB board from the upper material layer 210 to the processing table 110, the upper material layer 210 has a material loading height Z 11 Height Z of the machining table 110 00 Is high. Specifically, in the present embodiment, the feeding height Z of the feeding layer 210 11 Height difference ΔH from processing table 110 2 (ΔH 2 ＝Z 11 -Z 00 ) The range of the value of (2) is 3-6 mm. Preferably, the height difference DeltaH 2 The set numerical value and the preset feeding height delta H 1 And consistent.
At this time, the controller of the buffer device 200 controls the upper material layer 210 to transfer the PCB panel thereon to the processing table 110. Thus, the PCB material feeding operation is completed.
Next, an automatic discharging process of the automatic loading and discharging system will be described in detail with reference to fig. 4.
When the drilling machine 100 completes the drilling process, the processed PCB board needs to be blanked for the next feeding and processing. At this time, as shown in fig. 4 (a), the controller of the buffer device 200 controls the blanking layer 220 to reach the blanking height Z 12 . In order to smoothly transfer the PCB board from the processing table 110 to the blanking layer 220, a blanking height Z of the blanking layer 220 12 Height Z of the machining table 110 00 Low. Specifically, in the present embodiment, the blanking height Z of the blanking layer 220 12 Height difference ΔH from processing table 110 3 (ΔH 3 ＝Z 00 -Z 12 ) The range of the value of (2) is 3-6 mm. Preferably, the height difference DeltaH 3 The set value is equal to the height difference delta H between the upper material layer 210 and the processing table 110 during the feeding process 2 And consistent.
In the process of blanking, it is required to consider that since the blanking layer 220 is located below the upper material layer 210, if the distance between the upper material layer 210 and the blanking layer 220 is not adjustable, the distance between the upper material layer 210 and the blanking layer 220 should be as large as possible in the design stage of the buffer device 200; at a blanking height Z for controlling the blanking layer 220 12 When the upper material layer 210 is higher than the processing table 110 and is not added withThe work bench 110 interferes to avoid abnormal clamping plate, i.e. Z is ensured during blanking 12 ＜Z 00 ＜Z 11 (where Z is 11 Refer to the height of the upper layer 210 during blanking).
At this time, the processing station 110 transfers the processed PCB panel to the lower material layer 220 under the control of the controller of the processing apparatus 100.
Next, as shown in fig. 4 (b), the controller of the buffer device 200 controls the lower layer 220 to move up to the initial height Z 10 To be docked with the AGV trolley 300 for transport.
When the AGV 300 is docked with the buffer device 200 (the specific process is similar to the alignment process during loading), the AGV 300 uses the acquired initial height Z 10 Controlling the receiving and releasing material layer 310 of the uppermost layer to reach the initial height position, namely the discharging height position; on the basis, the receiving and releasing material layer 310 is controlled to continuously descend by a preset blanking height delta H 4 So that the receiving and releasing material layer 310 reaches the discharging height Z 22 (Z 22 ＝Z 10 -ΔH 4 ). Specifically, in this embodiment, the blanking height Δh is preset 4 The range of the value of (2) is 3-6 mm. Preferably, the blanking height delta H is preset 4 The set value and the height difference delta H between the blanking layer 210 and the processing table 110 during blanking 3 And consistent.
At this time, the blanking layer 220 transfers the processed PCB board into the receiving and releasing layer 310 under the control of the controller of the buffer device 200, and the state of the receiving and releasing layer 310 becomes the stored material. Thus, the blanking operation of the PCB is completed.
In this embodiment, the receiving and releasing material layer 310 to be blanked used at this time is the receiving and releasing material layer 310 used for previous feeding, and since no material is stored in the receiving and releasing material layer 310 after feeding, the receiving and releasing material layer 310 is in a state to be blanked, and therefore the receiving and releasing material layer 310 can be used for storing processed PCB board materials during blanking. Of course, in other embodiments, if the AGV cart 300 is empty and is only used for the blanking operation, the receiving and discharging layers 310 may be sequentially selected from top to bottom to perform the blanking operation; or when there are a plurality of empty receiving and releasing layers 310 in the AGV trolley 300, one empty receiving and releasing layer 310 can be arbitrarily selected for discharging.
In addition, in this embodiment, the problem of the movement travel of each retraction layer 310 in the AGV trolley 300 is considered, so that when the retraction layers 310 are docked with the upper layer 210 or the lower layer 220 of the buffer device 200 in the design process, the upper layer 210 and the lower layer 220 need to reach the initial height position, so as to ensure that each retraction layer 310 in the AGV trolley 300 can be moved up and down (+Δh) at the initial height position 1 /-ΔH 4 ) Is operated within the range of (2).
Of course, in other embodiments, during the feeding process, the initial height position of the feeding layer 210 may be set to be the feeding height Z 11 Thus, the loading height Z of the receiving and releasing material layer 310 to be loaded 21 ＝Z 11 +ΔH 1 . At this time, the PCB board can directly reach the upper material layer 210 from the material receiving and releasing layer 310 and then reach the processing table 110, so as to omit the height adjustment action of the upper material layer 210.
Also, during the blanking process, the initial height position of the blanking layer 220 can be set to be the blanking height Z 12 In this way, the discharging height Z of the receiving and discharging material layer 310 to be discharged 22 ＝Z 12 -ΔH 4 . When the material is discharged, the PCB material can directly reach the material discharging layer 220 from the processing table 110 and then is conveyed to the material collecting and discharging layer 310, so that the height adjusting action of the material discharging layer 220 is omitted.
When the next round of feeding is performed, in this embodiment, the controller of the AGV trolley 300 may control the feeding and discharging layers to be lifted by a unit height Δz, where the unit height Δz is the interval between the feeding and discharging layers 310, so that the feeding and discharging operations of the feeding and discharging layers 310 of the next layer may be performed. And the PCB to be processed in all the material collecting and discharging layers is changed into a processed PCB from top to bottom, the material collecting and discharging layers are changed from material to be fed into stored materials, and the AGV returns to the material center.
It should be noted that, in order to clearly illustrate the height and position relationship among the processing table 110, the upper material layer 210, the lower material layer 220 and the receiving and releasing material layer 310, the height differences among the components are exaggerated in the drawings in the specification, and in the practical application process, the values of the height differences should be reasonably selected in consideration of the practical working environment, and the protection scope of the present application should not be limited by the height differences illustrated in the drawings in the specification.
It should be further noted that, in the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described and different from other embodiments, so that the same similar parts of each embodiment are referred to each other, and in addition, different parts of each embodiment may also be used in combination with each other, which is not limited by the present application.
The automatic feeding and discharging method and system provided by the embodiment comprise the following steps: and (3) feeding: the height of the material collecting and releasing layer of the carrier vehicle is adjusted so that the height of the material collecting and releasing layer to be loaded is not lower than the height of the buffer device; transferring the materials on the material receiving and releasing layer to be fed to the buffer device; the height of the buffer device is adjusted so that the height of the buffer device is not lower than the height of a processing table of processing equipment; transferring the materials on the buffer device to the processing table; and/or, blanking: the height of the buffer device is adjusted so that the height of the buffer device is not higher than the height of the processing table; transferring the materials on the processing table to the buffer device; the height of the material collecting and releasing layer is adjusted so that the height of the material collecting and releasing layer to be discharged is not higher than the height of the buffer device; and transferring the materials on the buffer device to a receiving and discharging material layer to be discharged. Through the height of receive and release material layer, the height of buffer gear and the height of processing platform with the carrier loader progressively reduce along the direction of motion of material, even the material exists deformation or workshop ground unevenness, because in the direction of motion of material, the material loading surface of the automation equipment that the material is located is lower than the loading surface of the automation equipment of waiting to receive the material for the material can utilize the difference in height between each automation equipment material loading surface to smoothly transport between each automation equipment, has solved the problem of how to improve the unloading smoothness between the automation equipment.
The above description is only illustrative of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention, and any alterations and modifications made by those skilled in the art based on the above disclosure shall fall within the scope of the appended claims.
Claims (10)
1. An automatic feeding and discharging method is characterized by comprising the following steps:
and (3) feeding:
the height of the material collecting and releasing layer of the carrier vehicle is adjusted so that the height of the material collecting and releasing layer to be loaded is not lower than the height of the buffer device;
transferring the materials on the material receiving and releasing layer to be fed to the buffer device;
the height of the buffer device is adjusted so that the height of the buffer device is not lower than the height of a processing table of processing equipment;
transferring the materials on the buffer device to the processing table;
and/or, blanking:
the height of the buffer device is adjusted so that the height of the buffer device is not higher than the height of the processing table;
transferring the materials on the processing table to the buffer device;
the height of the material collecting and releasing layer is adjusted so that the height of the material collecting and releasing layer to be discharged is not higher than the height of the buffer device;
and transferring the materials on the buffer device to a receiving and discharging material layer to be discharged.
2. The automatic feeding and discharging method according to claim 1, wherein,
in the feeding, before the height of the material collecting and discharging layer of the carrier vehicle is adjusted, the automatic feeding and discharging method further comprises the following steps: adjusting the height of the buffer device to an initial height;
and/or, in the blanking, before adjusting the height of the material collecting and discharging layer, the automatic feeding and discharging method further comprises the following steps: adjusting the height of the buffer device to an initial height;
wherein the initial height is not lower than the height of the processing table.
3. The automatic feeding and discharging method according to claim 1, wherein the buffer device comprises an upper material layer and a lower material layer which are overlapped along the height direction; the automatic feeding and discharging method comprises the following steps:
and (3) feeding:
the height of the material collecting and releasing layer of the carrier vehicle is adjusted so that the height of the material collecting and releasing layer to be charged is not lower than the height of the material charging layer;
transferring the materials on the material collecting and releasing layer to be charged to the material charging layer;
the height of the upper material layer is adjusted so that the height of the upper material layer is not lower than the height of the processing table;
transferring the material on the upper material layer to the processing table;
and/or, blanking:
the height of the blanking layer is adjusted so that the height of the blanking layer is not higher than the height of the processing table;
Transferring the materials on the processing table to the blanking layer;
the height of the material collecting and releasing layer is adjusted so that the height of the material collecting and releasing layer to be discharged is not higher than the height of the material discharging layer;
and transferring the materials on the blanking layer to a receiving and discharging layer to be blanked.
4. The automatic feeding and discharging method according to claim 3, wherein,
in the feeding, before the height of the material collecting and discharging layer of the carrier vehicle is adjusted, the automatic feeding and discharging method further comprises the following steps: adjusting the height of the upper material layer to an initial height;
and/or, in the blanking, before adjusting the height of the material collecting and discharging layer, the automatic feeding and discharging method further comprises the following steps: adjusting the height of the blanking layer to an initial height;
wherein the initial height is not lower than the height of the processing table.
5. The automatic feeding and discharging method according to claim 1, wherein,
in the feeding process, the height difference between the receiving and releasing material layer to be fed and the buffer device is consistent with the height difference between the buffer device and the processing table;
and/or in the blanking, the height difference between the processing table and the buffer device is consistent with the height difference between the buffer device and the receiving and releasing material layer to be blanked.
6. The automatic feeding and discharging method according to claim 1, wherein the carrier vehicle comprises a plurality of receiving and discharging layers overlapped in a height direction; before feeding and/or blanking, the automatic feeding and blanking method further comprises the following steps:
acquiring the current state of each receiving and releasing material layer, wherein the current state comprises to-be-fed material, to-be-discharged material and stored material;
when feeding, controlling a material receiving and releasing layer to be fed to a state that the height of the material receiving and releasing layer is not lower than the height of a buffer device, and transferring the material on the material receiving and releasing layer to be fed to the buffer device; the state of the material layer is changed from feeding to discharging;
and/or, during blanking, controlling a state that the receiving and releasing material layer to be blanked moves to a height not higher than that of the buffer device, and transferring the material on the buffer device to the receiving and releasing material layer to be blanked; the state of the material collecting and discharging layer is changed from the state of waiting for discharging to the state of storing;
when all the material collecting and discharging layers in the carrier vehicle are in the stored state, the carrier vehicle is controlled to return to the material center.
7. The automatic feeding and discharging method according to claim 1, wherein the buffer device is provided with an alignment mark;
In the feeding, the method for adjusting the height of the material collecting and releasing layer comprises the following steps:
the carrier vehicle identifies the alignment mark and reads the feeding height position of the buffer device from the alignment mark;
controlling the height of the material receiving and releasing layer to be charged to reach the charging height position, and controlling the material receiving and releasing layer to be charged to rise by a preset charging height on the basis;
and/or, in the blanking, the method for adjusting the height of the material collecting and releasing layer comprises the following steps:
the carrier vehicle identifies the alignment mark and reads the blanking height position of the buffer device from the alignment mark;
and controlling the height of the receiving and releasing material layer to be subjected to discharging to reach the discharging height position, and controlling the receiving and releasing material layer to be subjected to discharging to descend by a preset discharging height on the basis.
8. An automatic loading and unloading system, comprising:
a processing apparatus comprising a processing station;
a caching apparatus configured to: when feeding is performed, the height of the buffer device is not lower than the height of the processing table; when blanking is carried out, the height of the buffer device is not higher than the height of the processing table;
The carrier vehicle comprises a plurality of receiving and releasing layers which are overlapped along the height direction; the cart is configured to: when feeding is carried out, the height of the material receiving and releasing layer to be fed is not lower than the height of the buffer device; when the blanking is carried out, the height of the receiving and releasing material layer to be blanked is not higher than the height of the buffer device.
9. The automatic loading and unloading system according to claim 8, wherein the buffer device comprises an upper material layer and a lower material layer which are overlapped along the height direction;
the caching apparatus is configured to: when feeding is performed, the height of the feeding layer is not lower than the height of the processing table; when blanking is carried out, the height of the blanking layer is not higher than the height of the processing table;
the cart is configured to: when feeding is performed, the height of a receiving and releasing material layer to be fed is not lower than the height of the feeding material layer; when the blanking is carried out, the height of the receiving and releasing material layer to be blanked is not higher than the height of the blanking material layer.
10. The automatic loading and unloading system according to claim 8, wherein the buffer device is provided with an alignment mark, and the alignment mark is pre-stored with a loading height position and a unloading height position of the buffer device;
The carrier vehicle is used for identifying the alignment mark and reading the feeding height position and the discharging height position from the alignment mark; the cart is configured to: when feeding, the height of the material receiving and releasing layer to be fed reaches the feeding height position and then rises by a preset feeding height; when the blanking is carried out, the height of the receiving and releasing material layer to be blanked reaches the blanking height position, and then the receiving and releasing material layer is declined by a preset blanking height.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311105268.7A CN117002939A (en) | 2023-08-30 | 2023-08-30 | Automatic feeding and discharging method and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311105268.7A CN117002939A (en) | 2023-08-30 | 2023-08-30 | Automatic feeding and discharging method and system |
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| CN117002939A true CN117002939A (en) | 2023-11-07 |
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| CN202311105268.7A Pending CN117002939A (en) | 2023-08-30 | 2023-08-30 | Automatic feeding and discharging method and system |
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