CN117509078A - Feed supplement control method, device and system - Google Patents

Feed supplement control method, device and system Download PDF

Info

Publication number
CN117509078A
CN117509078A CN202311846157.1A CN202311846157A CN117509078A CN 117509078 A CN117509078 A CN 117509078A CN 202311846157 A CN202311846157 A CN 202311846157A CN 117509078 A CN117509078 A CN 117509078A
Authority
CN
China
Prior art keywords
taking
material taking
materials
take
identification information
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202311846157.1A
Other languages
Chinese (zh)
Inventor
李崧源
王新福
郭晓明
张烨
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Goertek Inc
Original Assignee
Goertek Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Goertek Inc filed Critical Goertek Inc
Priority to CN202311846157.1A priority Critical patent/CN117509078A/en
Publication of CN117509078A publication Critical patent/CN117509078A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • 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
    • 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
    • B65G65/00—Loading or unloading
    • B65G65/005—Control arrangements
    • 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
    • B65G65/00—Loading or unloading
    • B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
    • B65G65/32—Filling devices
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • 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]

Abstract

The disclosure relates to a feed control method, device and system, wherein the method comprises the following steps: under the condition that at least one material taking part of the material taking mechanism is detected to not finish taking, a first material quantity and a second material quantity are obtained, wherein the first material quantity is the quantity of materials taken by the material taking mechanism, and the second material quantity is the quantity of materials placed on a material supplementing tool; determining the total material quantity according to the first material quantity and the second material quantity; controlling a material taking part which does not finish taking materials to take materials from the material supplementing tool under the condition that the total material quantity is larger than or equal to the preset quantity; the number of the material taking parts of the material taking mechanism, the number of the acupuncture points of the material supplementing tool and the preset number are equal.

Description

Feed supplement control method, device and system
Technical Field
The present disclosure relates to automation equipment technology, and more particularly, to a method, apparatus, and system for controlling feed.
Background
The bin is arranged at a blanking station of the flexible automation line, and the material taking and disc arranging operation of the material is mainly finished through the material taking mechanism.
On the feed bin station, when the feeding mechanism gets the material, the condition of not getting full material often can appear, and the feeding mechanism who does not get full material moves to charging tray department, places the material of getting on the acupuncture point that the charging tray corresponds, makes the charging tray can appear at random lack the condition of material like this, does not have the problem of full material when leading to the charging tray shipment. However, when the trays are delivered, the condition that the materials of each tray are full and short loading and shortage of the materials cannot occur is required.
Disclosure of Invention
The invention aims to provide a new technical scheme of a feeding control method.
According to a first aspect of the present invention, there is provided a feed control method comprising:
under the condition that at least one material taking part of the material taking mechanism is detected to not finish taking, a first material quantity and a second material quantity are obtained, wherein the first material quantity is the quantity of materials taken by the material taking mechanism, and the second material quantity is the quantity of materials placed on a material supplementing tool;
determining the total material quantity according to the first material quantity and the second material quantity;
controlling a material taking part which does not finish taking materials to take materials from the material supplementing tool under the condition that the total material quantity is larger than or equal to the preset quantity;
the number of the material taking parts of the material taking mechanism, the number of the acupuncture points of the material supplementing tool and the preset number are equal.
Optionally, after the material taking component that controls the incomplete material taking takes the material from the material supplementing tool, the method further includes:
and controlling the material taking mechanism to move to the material tray, and placing the materials taken by the material taking components on corresponding acupuncture points of the material tray.
Optionally, the method further comprises:
and under the condition that the total material quantity is smaller than the preset quantity, controlling the material taking mechanism to respectively place the materials taken by the material taking components on empty acupoints of the material supplementing tool, and controlling the material taking mechanism to move to the material taking position and take materials.
Optionally, after the material taking part that controls the incomplete material taking takes the material from the material supplementing tool, the method further includes:
acquiring the first material quantity;
and continuously controlling the material taking part which does not finish taking to take materials from the material supplementing tool under the condition that the first material quantity is smaller than the preset quantity.
Optionally, before controlling the extracting mechanism to move to the extracting position and extract the material, the method further includes:
acquiring the first material quantity;
and under the condition that the first material quantity is not 0, continuously controlling the material taking mechanism to respectively place the materials taken by the material taking parts on corresponding empty acupoints of the material supplementing tool.
Optionally, the material taking part that the control was not accomplished to get the material is got from the feed supplement frock, includes:
acquiring first identification information and second identification information, wherein the first identification information is information of a material taking part which is not used for taking materials, and the second identification information is information of an acupoint of the material supplementing tool where materials are placed;
determining first corresponding relation information according to the first identification information and the second identification information, wherein the first corresponding relation information comprises the corresponding relation between the material taking part which does not finish taking and the acupuncture point of the material supplementing tool where the material is placed;
and controlling the material taking part which does not finish taking to move to the corresponding acupoint where the material is placed and taking according to the first corresponding relation information.
Optionally, controlling the material taking mechanism to place the materials taken by the material taking components on empty acupoints of the material supplementing tool respectively, including:
acquiring third identification information and fourth identification information, wherein the third identification information is information of a material taking part for completing material taking, and the fourth identification information is information of an empty acupoint of the material supplementing tool;
determining second corresponding relation information according to the third identification information and the fourth identification information, wherein the second corresponding relation information comprises the corresponding relation between the material taking part for completing material taking and the empty acupuncture point of the material supplementing tool;
and controlling the material taking part which completes the material taking to move to the corresponding empty acupuncture point according to the second corresponding relation information, and placing the material on the corresponding empty acupuncture point.
According to a second aspect of the present invention, there is provided a feed control device comprising:
the device comprises an acquisition module, a feeding mechanism and a feeding tool, wherein the acquisition module is used for acquiring a first material quantity and a second material quantity under the condition that at least one material taking part of the material taking mechanism is detected to be unfinished, wherein the first material quantity is the quantity of materials taken by the material taking mechanism, and the second material quantity is the quantity of materials placed on the feeding tool;
the material quantity determining module is used for determining the total material quantity according to the first material quantity and the second material quantity;
the control module is used for controlling the material taking part which does not finish taking to take materials from the material supplementing tool under the condition that the total material quantity is larger than or equal to the preset quantity;
the number of the material taking parts of the material taking mechanism, the number of the acupuncture points of the material supplementing tool and the preset number are equal.
According to a third aspect of the present invention there is provided a feed control device comprising a memory and a processor, the memory storing a computer program for controlling the processor to operate to perform the feed control method according to any one of the first aspects of the present invention.
According to a fourth aspect of the present invention there is provided a feed control system comprising a feed control device and a take off mechanism as described in the second or third aspects, the feed control device and the take off mechanism being electrically connected.
According to the control method for feeding, under the condition that at least one feeding component of the feeding mechanism is detected to be unfinished, the first material quantity and the second material quantity are obtained, wherein the first material quantity is the quantity of the materials which are fed by the feeding mechanism, the second material quantity is the quantity of the materials which are placed on the feeding mechanism, the total material quantity is determined according to the first material quantity and the second material quantity, and under the condition that the total material quantity is greater than or equal to the preset quantity, the feeding component which is unfinished is controlled to be fed from the feeding mechanism, wherein the quantity of the feeding component of the feeding mechanism, the quantity of the acupoints of the feeding mechanism and the preset quantity are equal, so that the problem of short materials of the feeding mechanism is solved and the full materials of the feeding mechanism are ensured before the feeding mechanism moves to a tray to perform tray arrangement operation.
Features of the embodiments of the present specification and their advantages will become apparent from the following detailed description of exemplary embodiments of the present specification with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the specification and, together with the description, serve to explain the principles of the embodiments of the specification.
Fig. 1 is a process flow diagram of a feed control method according to one embodiment of the invention.
Fig. 2 is a schematic view of a suction nozzle device according to an embodiment of the present invention taking materials from a feeding fixture.
Fig. 3 is a schematic view of a suction nozzle arrangement according to an embodiment of the invention placing the sucked material on a feeding tool.
Fig. 4 shows a further flow diagram of a feed control method according to an embodiment of the invention.
Fig. 5 is a functional block diagram of a feed control device according to one embodiment of the present invention.
Fig. 6 is a schematic hardware configuration of a feed control device according to an embodiment of the present invention.
Detailed Description
Various exemplary embodiments of the present specification will now be described in detail with reference to the accompanying drawings.
The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the disclosure, its application, or uses.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
< method example >
One embodiment of the present invention provides a feed control method. According to fig. 1, the feeding control method of the present embodiment may include the following steps S110 to S130.
Step S110, under the condition that at least one material taking part of the material taking mechanism is detected to be unfinished, acquiring a first material quantity and a second material quantity, wherein the first material quantity is the quantity of materials taken by the material taking mechanism, and the second material quantity is the quantity of materials placed on a material supplementing tool.
And each material taking part of the material taking mechanism is provided with a sensor. Through the sensor that sets up on each getting the material part, can detect whether corresponding getting the material part and accomplish and get the material. Each sensor can transmit a signal representing the material taking detection result to a material supplementing control device. The material taking detection result comprises material taking result information and identification information of a material taking part. The material taking result information is that the material taking is completed or not completed.
The material taking mechanism can be a suction nozzle device or a clamping mechanism.
Taking the material taking mechanism as a suction nozzle device for example, each suction nozzle of the suction nozzle device is provided with a negative pressure sensor. According to the detection value of the negative pressure sensor, whether the suction nozzle adsorbs materials or not can be determined.
And each acupoint of the feeding tool is provided with a sensor. Through the sensor that sets up on each acupuncture point, whether can detect to place the material on the acupuncture point that corresponds. Each sensor can transmit a signal representing the discharge detection result to a control device for feeding. The detection result comprises the placement information of the materials and the identification information of the acupoints. The material placement information is that the material is placed or not placed.
Step S120, determining the total material quantity according to the first material quantity and the second material quantity.
Step S130, controlling the material taking part which does not complete material taking to take materials from the material supplementing tool under the condition that the total material quantity is larger than or equal to the preset quantity; the number of the material taking parts of the material taking mechanism, the number of the acupoints of the material supplementing tool and the preset number are equal.
The feeding control device can control the feeding mechanism to move, and then drives the feeding component which is not finished to feed materials to move, so that the feeding component which is not finished to feed materials from the feeding tool.
The control device for material supplementing can directly control any material taking part to move so that the material taking part which does not complete material taking can take materials from the material supplementing tool.
The number of the material taking parts of the material taking mechanism and the number of the acupoints of the material supplementing tool can be configured according to actual production requirements. For example, the tray includes 4×10 acupoints. The material taking parts of the material taking mechanism are configured to be 4, and the number of the acupuncture points of the material supplementing tool is configured to be 4. The full material taking mechanism is used for directly placing the taken materials on one row of acupuncture points of the material tray.
In one embodiment, the material taking component that controls the incomplete material taking in step S130 takes the material from the material supplementing tool, and specifically includes steps S131 to S133.
S131, acquiring first identification information and second identification information, wherein the first identification information is information of a material taking part which is not used for taking materials, and the second identification information is information of an acupoint of a material placing tool where materials are placed.
The first identification information is obtained through signals transmitted by sensors arranged on the material taking parts. The signal carries the material taking result information of the material taking part and the identification information of the material taking part.
The second identification information is acquired by signals transmitted by sensors provided on the respective acupoints. The signal carries the discharging result information of the acupuncture points of the material supplementing tool and the identification information of the acupuncture points.
S132, determining first corresponding relation information according to the first identification information and the second identification information, wherein the first corresponding relation information comprises the corresponding relation between the material taking part which does not complete material taking and the acupuncture point of the material supplementing tool where the material is placed.
S133, controlling the material taking part which does not finish taking to move to the corresponding acupoint where the material is placed and taking according to the first corresponding relation information.
Referring to fig. 2, taking the material taking mechanism as an example of a nozzle device, the nozzle device includes 4 nozzles, namely, a nozzle 1, a nozzle 2, a nozzle 3, and a nozzle 4. The material supplementing tool comprises 4 acupoints, namely acupoint 1, acupoint 2, acupoint 3 and acupoint 4.
The suction nozzle 1, the suction nozzle 3 and the suction nozzle 4 all finish taking materials from the material taking place, and the suction nozzle 2 does not finish taking materials from the material taking place.
The material is not placed on the acupuncture point 1, the acupuncture point 2 and the acupuncture point 3, and the material is placed on the acupuncture point 4.
The material supplementing control device determines the corresponding relation between the suction nozzle 2 and the acupuncture point 4 after acquiring the first identification information and the second identification information. According to the corresponding relation, the material supplementing control device firstly controls the suction nozzle device to move to the position right above the material supplementing tool so that each suction nozzle is aligned to one acupoint. Then, the feed control device controls the suction nozzle device to move rightward so as to align the suction nozzle 2 with the acupuncture point 4. The material supplementing control device controls the suction nozzle 2 of the suction nozzle device to adsorb the materials on the acupuncture points 4.
The movement path of the feeding control device for controlling the movement of the suction nozzle device is not limited to the movement path shown in fig. 2. In addition, the position of the feeding tool is fixed.
According to the feeding control method provided by the invention, the problem of short material of the material taking mechanism is solved before the material taking mechanism moves to the material tray to perform the tray arranging operation, and the full material of the material taking mechanism is ensured.
In one embodiment, after the material taking parts with incomplete material taking are taken from the material supplementing tool, the material taking mechanism is controlled to move to the material tray, and the materials taken by the material taking parts are placed on corresponding acupuncture points of the material tray. Because the material taking mechanism is full material, the acupuncture points on the material tray are full material, and the condition of short material at a certain acupuncture point on the material tray can not occur. In addition, compared with a mode of directly feeding materials on a material tray, the feeding control method provided by the invention can save the period.
In one embodiment, the control device for replenishment obtains the first material amount after the material taking part that has not completed taking material takes material from the replenishment tool. And under the condition that the first material quantity is smaller than the preset quantity, the material feeding control device continuously controls the material feeding component which does not finish material feeding to feed materials from the material feeding tool. Therefore, the material taking part which does not finish material taking from the material taking position can be avoided, and the problem of material taking from the material supplementing tool is solved.
In one embodiment, in the case that the total material quantity is smaller than the preset quantity, the material taking mechanism is controlled to place the materials taken by the material taking components on empty acupoints of the material supplementing tool respectively, and the material taking mechanism is controlled to move to the material taking position and take materials. Therefore, the material taking part which does not take materials can firstly put the materials which are taken on the material supplementing tool, and the materials are taken after the materials are taken back, so that the swinging plate period is shortened.
In one embodiment, the first quantity of material is obtained after the material taking component places the taken material at the empty acupoint of the feed supplement tooling. Under the condition that the first material quantity is not 0, continuously controlling the material taking mechanism to place the materials taken by the material taking components on empty acupoints of the material supplementing tool respectively. Thus, the problem that the material taking parts do not place the taken material on the corresponding empty acupuncture points can be avoided.
In one embodiment, controlling the material taking mechanism to place the materials taken by the material taking components on empty points of the material supplementing tool respectively specifically includes steps S201 to S203.
S201, acquiring third identification information and fourth identification information, wherein the third identification information is information of a material taking part for completing material taking, and the fourth identification information is information of an empty acupoint of a material supplementing tool.
And acquiring third identification information through signals transmitted by the sensors arranged on the material taking parts. The signal carries the material taking result information of the material taking part and the identification information of the material taking part.
Fourth identification information is acquired by signals transmitted by sensors provided on the respective acupoints. The signal carries the discharging result information of the acupuncture points of the material supplementing tool and the identification information of the acupuncture points.
S202, determining second corresponding relation information according to the third identification information and the fourth identification information, wherein the second corresponding relation information comprises the corresponding relation between the material taking part for taking materials and the empty acupuncture points of the material supplementing tool.
S203, according to the second corresponding relation information, controlling the material taking part which is used for taking materials to move to the corresponding empty acupoints, and placing the taken materials on the corresponding empty acupoints.
Referring to fig. 3, taking the material taking mechanism as an example of a nozzle device, the nozzle device includes 4 nozzles, namely, a nozzle 1, a nozzle 2, a nozzle 3, and a nozzle 4. The material supplementing tool comprises 4 acupoints, namely acupoint 1, acupoint 2, acupoint 3 and acupoint 4.
The suction nozzle 1, the suction nozzle 2 and the suction nozzle 3 do not finish taking materials from the material taking positions, and the suction nozzle 4 finishes taking materials from the material taking positions.
The material is not placed on the acupuncture point 1, the acupuncture point 2 and the acupuncture point 3, and the material is placed on the acupuncture point 4.
The material supplementing control device determines the corresponding relation between the suction nozzle 4 and the acupoint 3 after acquiring the third identification information and the fourth identification information. According to the corresponding relation, the material supplementing control device firstly controls the suction nozzle device to move to the position right above the material supplementing tool so that each suction nozzle is aligned to one acupoint. Then, the feed control device controls the suction nozzle device to move leftwards so that the suction nozzle 4 is aligned with the acupuncture point 3. The material supplementing control device controls the material taking and placing on the acupuncture points 3 absorbed by the suction nozzle 4 of the suction nozzle device.
The movement path of the feeding control device for controlling the movement of the suction nozzle device is not limited to the movement path shown in fig. 3. In addition, the position of the feeding tool is fixed.
In one embodiment, under the condition that each material taking part of the material taking mechanism is detected to finish taking materials from the material taking position, the material taking mechanism is controlled to move to the material tray, and the materials taken by each material taking part are placed on corresponding acupuncture points of the material tray.
Fig. 4 is a schematic flow chart of a feeding control method according to an embodiment of the present invention. Referring to fig. 4, the method includes steps S401 to S413.
In step S401, it is detected whether each material taking part of the material taking mechanism has completed material taking from the material taking place.
And under the condition that the detection result of the step S401 is yes, executing the step S402, controlling the material taking mechanism to move to the material tray, and placing the materials taken by the material taking components on the corresponding acupuncture points of the material tray.
If the detection result in S401 is no, step S403 is executed to obtain a first material quantity and a second material quantity, where the first material quantity is a quantity of materials that have been taken by the material taking mechanism, and the second material quantity is a quantity of materials placed on the material supplementing tool.
Step S404, determining the total material quantity according to the first material quantity and the second material quantity.
Step S405, judging whether the total material quantity is smaller than a preset quantity.
And under the condition that the judgment result of the step S405 is yes, executing a step S406, and controlling the material taking mechanism to respectively place the materials taken by the material taking components on empty acupoints of the material supplementing tool.
After the material taking component places the taken material on the empty acupoint of the material supplementing tool, step S407 is executed to obtain the first material quantity.
In step S408, it is determined whether the first material amount is 0.
If the determination in step S408 is yes, step S409 is performed to control the feeding mechanism to move to the feeding position and feed materials.
If the result of the determination in step S408 is no, step S406 is continued until the material taking component that has taken the material places the material that has taken on the empty acupoint of the material supplementing tool.
If the judgment result in step S405 is no, step S410 is executed to control the material taking part that does not complete the material taking to take the material from the material supplementing tool.
After the material taking part which does not complete the material taking is controlled to take the material from the material supplementing tool, step S411 is executed, and the first material quantity is obtained.
Step S412, judging whether the first material quantity is smaller than a preset quantity.
If the determination at step S412 is yes, step S410 is continued.
If the judgment result in the step S411 is no, the step S413 is continuously executed, the material taking mechanism is controlled to move to the tray, and the materials taken by the material taking components are placed on the corresponding acupoints of the tray.
< device example >
One embodiment of the present invention provides a control device for feeding as shown in fig. 5. The feeding control device 500 includes an acquisition module 510, a material quantity determination module 520, and a control module 530.
The obtaining module 510 is configured to obtain a first material quantity and a second material quantity when it is detected that at least one material taking component of the material taking mechanism does not complete material taking, where the first material quantity is a quantity of material that has been taken by the material taking mechanism, and the second material quantity is a quantity of material placed on the material supplementing tool.
The material quantity determination module 520 is configured to determine a total material quantity according to the first material quantity and the second material quantity.
The control module 530 is configured to control the material taking component that does not complete the material taking to take the material from the material supplementing tool when the total material amount is greater than or equal to the preset amount; the number of the material taking parts of the material taking mechanism, the number of the acupoints of the material supplementing tool and the preset number are equal.
In one embodiment, after the material taking component that does not complete the material taking is taken from the material supplementing tool, the control module 530 is further configured to control the material taking mechanism to move to the tray, and place the material taken by each material taking component on the corresponding acupoint of the tray.
In one embodiment, the control module 530 is further configured to control the material taking mechanism to place the materials taken by the material taking components on empty points of the material supplementing tool respectively, and control the material taking mechanism to move to the material taking position and take the materials when the total material amount is smaller than the preset amount.
In one embodiment, the obtaining module 510 is further configured to obtain the first material amount after the material taking component that controls the incomplete material taking takes the material from the material replenishment tool. The control module 530 is further configured to continuously control the material taking component that does not complete the material taking to take the material from the material supplementing tool when the first material quantity is less than the preset quantity.
In one embodiment, the acquisition module 510 is further configured to acquire a first amount of material prior to controlling the take off mechanism to move to the take off position and take off material. The control module 530 is further configured to continuously control the material taking mechanism to place the materials taken by the material taking components on the corresponding empty points of the material supplementing tool respectively under the condition that the first material quantity is not 0.
In one embodiment, the control module 530 is further configured to obtain first identification information and second identification information, where the first identification information is information of a material taking component that does not complete material taking, and the second identification information is information of an acupoint of the material feeding fixture where the material is placed; determining first corresponding relation information according to the first identification information and the second identification information, wherein the first corresponding relation information comprises the corresponding relation between a material taking part which does not finish taking materials and an acupoint of a material supplementing tool where the materials are placed; and according to the first corresponding relation information, controlling the material taking part which does not finish taking to move to the corresponding acupoint where the material is placed and taking the material.
In one embodiment, the control module 530 is further configured to obtain third identification information and fourth identification information, where the third identification information is information of a material taking component that completes taking a material, and the fourth identification information is information of an empty acupoint of the material supplementing tool; determining second corresponding relation information according to the third identification information and the fourth identification information, wherein the second corresponding relation information comprises the corresponding relation between the material taking part for completing material taking and the empty acupuncture point of the material supplementing tool; and according to the second corresponding relation, controlling the material taking part which is used for taking materials to move to the corresponding empty acupuncture points, and placing the taken materials on the corresponding empty acupuncture points.
One embodiment of the present invention provides a control device for feeding, as shown in fig. 6. The control device 600 for feeding includes a memory 620 and a processor 610. The memory 620 stores a computer program for controlling the processor 610 to operate to perform the control method of the feed in any of the above embodiments.
< System example >
One embodiment of the present invention provides a feed control system. The material supplementing control system comprises the material supplementing control device and the material taking mechanism provided by any one of the embodiments, and the material supplementing control device is electrically connected with the material taking mechanism.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. For the electric vehicle embodiment, the relevant points are referred to in the description of the method embodiment.
The foregoing describes specific embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
Embodiments of the present description may be systems, methods, and/or computer program products. The computer program product may include a computer-readable storage medium having computer instructions for causing a processor to implement aspects of embodiments of the present description.
The computer readable storage medium may be a tangible device that can hold and store computer instructions for use by a computer instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: portable computer disks, hard disks, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static Random Access Memory (SRAM), portable compact disk read-only memory (CD-ROM), digital Versatile Disks (DVD), memory sticks, floppy disks, mechanical coding devices, punch cards or in-groove protrusion structures such as punch cards or grooves having computer instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media, as used herein, are not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., optical pulses through fiber optic cables), or electrical signals transmitted through wires.
The computer instructions described herein may be downloaded from a computer readable storage medium to a respective computing/processing device or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmissions, wireless transmissions, routers, firewalls, switches, gateway computers and/or edge servers. The network interface card or network interface in each computing/processing device receives computer instructions from the network and forwards the computer instructions for storage in a computer-readable storage medium in the respective computing/processing device.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present description. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of computer instructions, which comprises one or more executable computer instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are all equivalent.
The embodiments of the present specification have been described above, and the above description is illustrative, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the improvement of technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (10)

1. A feed control method, characterized by comprising:
under the condition that at least one material taking part of the material taking mechanism is detected to not finish taking, a first material quantity and a second material quantity are obtained, wherein the first material quantity is the quantity of materials taken by the material taking mechanism, and the second material quantity is the quantity of materials placed on a material supplementing tool;
determining the total material quantity according to the first material quantity and the second material quantity;
controlling a material taking part which does not finish taking materials to take materials from the material supplementing tool under the condition that the total material quantity is larger than or equal to the preset quantity;
the number of the material taking parts of the material taking mechanism, the number of the acupuncture points of the material supplementing tool and the preset number are equal.
2. The method of claim 1, wherein after the take-off component that controls incomplete take-off takes off the feed tooling, the method further comprises:
and controlling the material taking mechanism to move to the material tray, and placing the materials taken by the material taking components on corresponding acupuncture points of the material tray.
3. The method according to claim 1, wherein the method further comprises:
and under the condition that the total material quantity is smaller than the preset quantity, controlling the material taking mechanism to respectively place the materials taken by the material taking components on empty acupoints of the material supplementing tool, and controlling the material taking mechanism to move to the material taking position and take materials.
4. The method of claim 1, wherein after the controlling the take-off component that has not completed taking off material is taken off the feed tool, the method further comprises:
acquiring the first material quantity;
and continuously controlling the material taking part which does not finish taking to take materials from the material supplementing tool under the condition that the first material quantity is smaller than the preset quantity.
5. A method according to claim 3, wherein prior to controlling the take off mechanism to move to a take off position and take off, the method further comprises:
acquiring the first material quantity;
and under the condition that the first material quantity is not 0, continuously controlling the material taking mechanism to respectively place the materials taken by the material taking parts on corresponding empty acupoints of the material supplementing tool.
6. The method of claim 1, wherein the controlling the take-off component to take off the unfinished material from the feed tooling comprises:
acquiring first identification information and second identification information, wherein the first identification information is information of a material taking part which is not used for taking materials, and the second identification information is information of an acupoint of the material supplementing tool where materials are placed;
determining first corresponding relation information according to the first identification information and the second identification information, wherein the first corresponding relation information comprises the corresponding relation between the material taking part which does not finish taking and the acupuncture point of the material supplementing tool where the material is placed;
and controlling the material taking part which does not finish taking to move to the corresponding acupoint where the material is placed and taking according to the first corresponding relation information.
7. A method according to claim 3, wherein controlling the take-off mechanism to place the material taken off by each take-off component on the empty points of the feed tooling, respectively, comprises:
acquiring third identification information and fourth identification information, wherein the third identification information is information of a material taking part for completing material taking, and the fourth identification information is information of an empty acupoint of the material supplementing tool;
determining second corresponding relation information according to the third identification information and the fourth identification information, wherein the second corresponding relation information comprises the corresponding relation between the material taking part for completing material taking and the empty acupuncture point of the material supplementing tool;
and controlling the material taking part which completes the material taking to move to the corresponding empty acupuncture point according to the second corresponding relation information, and placing the material on the corresponding empty acupuncture point.
8. A feed supplement control device, comprising:
the device comprises an acquisition module, a feeding mechanism and a feeding tool, wherein the acquisition module is used for acquiring a first material quantity and a second material quantity under the condition that at least one material taking part of the material taking mechanism is detected to be unfinished, wherein the first material quantity is the quantity of materials taken by the material taking mechanism, and the second material quantity is the quantity of materials placed on the feeding tool;
the material quantity determining module is used for determining the total material quantity according to the first material quantity and the second material quantity;
the control module is used for controlling the material taking part which does not finish taking to take materials from the material supplementing tool under the condition that the total material quantity is larger than or equal to the preset quantity;
the number of the material taking parts of the material taking mechanism, the number of the acupuncture points of the material supplementing tool and the preset number are equal.
9. A feed control device, characterized by a memory and a processor, the memory storing a computer program for controlling the processor to operate to perform the method according to any one of claims 1-7.
10. A feed control system comprising a feed control device according to claim 8 or 9 and a take-off mechanism, the feed control device being electrically connected to the take-off mechanism.
CN202311846157.1A 2023-12-29 2023-12-29 Feed supplement control method, device and system Pending CN117509078A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311846157.1A CN117509078A (en) 2023-12-29 2023-12-29 Feed supplement control method, device and system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311846157.1A CN117509078A (en) 2023-12-29 2023-12-29 Feed supplement control method, device and system

Publications (1)

Publication Number Publication Date
CN117509078A true CN117509078A (en) 2024-02-06

Family

ID=89756986

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311846157.1A Pending CN117509078A (en) 2023-12-29 2023-12-29 Feed supplement control method, device and system

Country Status (1)

Country Link
CN (1) CN117509078A (en)

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2213556A1 (en) * 2009-01-30 2010-08-04 Bayerische Motoren Werke Manufacturing system with exchangeable handling tools
JP2016162954A (en) * 2015-03-04 2016-09-05 Ｔｏｗａ株式会社 Manufacturing apparatus, transport method, transport program, and recording medium storing transport program
CN108946136A (en) * 2018-06-13 2018-12-07 歌尔股份有限公司 Feeding control method, device and the feeding device of multi-chamber devices
CN109634227A (en) * 2018-11-12 2019-04-16 歌尔股份有限公司 The control method of tooling acupuncture point feeding, apparatus and system
CN113666073A (en) * 2021-07-22 2021-11-19 苏州华兴源创科技股份有限公司 Product transferring method
CN114919912A (en) * 2022-07-20 2022-08-19 歌尔股份有限公司 Automatic loading and unloading control method, device and equipment and storage medium
CN115848942A (en) * 2022-11-30 2023-03-28 歌尔股份有限公司 Control method and control device for material transfer, storage medium and pickup system
CN116409625A (en) * 2023-02-27 2023-07-11 歌尔股份有限公司 Frock material shortage treatment equipment and control method thereof
CN116853767A (en) * 2023-06-06 2023-10-10 无锡先导智能装备股份有限公司 Material conveying method and material conveying equipment

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2213556A1 (en) * 2009-01-30 2010-08-04 Bayerische Motoren Werke Manufacturing system with exchangeable handling tools
JP2016162954A (en) * 2015-03-04 2016-09-05 Ｔｏｗａ株式会社 Manufacturing apparatus, transport method, transport program, and recording medium storing transport program
CN105936415A (en) * 2015-03-04 2016-09-14 东和株式会社 Manufacturing apparatus and transport method
CN108946136A (en) * 2018-06-13 2018-12-07 歌尔股份有限公司 Feeding control method, device and the feeding device of multi-chamber devices
CN109634227A (en) * 2018-11-12 2019-04-16 歌尔股份有限公司 The control method of tooling acupuncture point feeding, apparatus and system
CN113666073A (en) * 2021-07-22 2021-11-19 苏州华兴源创科技股份有限公司 Product transferring method
CN114919912A (en) * 2022-07-20 2022-08-19 歌尔股份有限公司 Automatic loading and unloading control method, device and equipment and storage medium
CN115848942A (en) * 2022-11-30 2023-03-28 歌尔股份有限公司 Control method and control device for material transfer, storage medium and pickup system
CN116409625A (en) * 2023-02-27 2023-07-11 歌尔股份有限公司 Frock material shortage treatment equipment and control method thereof
CN116853767A (en) * 2023-06-06 2023-10-10 无锡先导智能装备股份有限公司 Material conveying method and material conveying equipment

Similar Documents

Publication Publication Date Title
CN111079990B (en) Cluster robot scheduling method, device, system, equipment and computer readable storage medium
EP3371666B1 (en) Generation of robotic user interface responsive to connection of peripherals to robot
CN105858188A (en) Conveyor robot system provided with three-dimensional sensor
EP3238886B1 (en) Methods of operating an automated machine for inserting wires into grommet cavity locations of an electrical connector
CN103399632A (en) Gesture control method and mobile terminal
CN114194690B (en) Material handling method, apparatus, device, storage medium and system
CN104613959A (en) Navigation method and device for wearable device and electronic equipment
CN104850835A (en) Scanning method and scanning terminal
CN110666359A (en) Laser marking method, marking device and computer readable storage medium
CN105163157A (en) Display method and device for bullet screen contents
CN104063125A (en) Managing method and managing device for desktop icons
CN105354005A (en) Method and apparatus for renovating point ranking
CN117509078A (en) Feed supplement control method, device and system
CN109697730B (en) IC chip processing method, system and storage medium based on optical identification
CN108733478B (en) Three-dimensional image processing method and device
CN109634227B (en) Control method, device and system for feeding tool acupuncture points
CN110376769B (en) Pasting method and device and computer readable storage medium
CN104898838A (en) Incoming call responding method and apparatus for handheld device
CN109746190B (en) Method and device for sorting glass thickness and storage medium
CN111887749B (en) Material cup returning method, storage medium and kitchen equipment
CN104699232A (en) Three-dimensional position detector, electronic device and three-dimensional position detecting method
CN113837560A (en) Method and device for sorting articles
US11845185B2 (en) Device and method for the electrical testing of an electrical component
CN105605990A (en) Fully-automatic X-ray projectile body inspection device
WO2017108074A1 (en) An identification method and apparatus of the most probable poses of an object

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination