A kind of automatic feeding control method and device

Abstract

The present invention discloses a control method and device for automatic loading, the method comprising acquiring size data of a pipe to be cut, calibrating the size of a screening area from a loading end where a feeding shaft and a material frame are docked based on the size data, the screening area comprising a first area and a second area; when it is detected that there are pipes in the first area, driving multiple first screening components of the loading machine to synchronously perform a reverse push operation to push excess pipes back into the material frame, and transporting the pipes still in the first area to the second area; when it is detected that the pipes reach the screening position in the second area, driving multiple second screening components of the loading machine to synchronously perform a height limiting operation to calibrate the posture of the pipes in the second area; when it is detected that the pipes in the second area meet the loading requirements, transporting the pipes to the front end unloading area of ​​the first screening component, and driving the first screening component to move forward to lower the pipes to the floating support structure.

Description

Technical Field

[0001] The present application relates to the technical field of pipe cutting machine feeding, and in particular to a control method and device for automatic feeding. Background Art

[0002] The laser tube cutting machine has requirements for the placement of the tube during operation. Therefore, during the feeding process, the tubes need to be separated into arranged forms (such as rectangular tubes with the wide side facing down and lying flat), and then the tubes are clamped and sent into the main machine for cutting.

[0003] The working logic of the traditional gantry loader is as follows: the pipe is lifted by the material belt and then lifted onto the conveyor chain. The height limiting module arranges and screens the pipes so that the pipes are transported forward in a uniform posture. The conveying is divided into two independently powered chains. When the pipe is conveyed to the intersection of the first and second chain sections, the sensor senses the pipe. At this time, the first chain section stops running and the second chain section starts running, and the first of the multiple pipes conveyed is conveyed forward alone. After being conveyed to the right position, the lifting cylinder lifts the pipe, and the feeding cantilever clamps the pipe and sends it into the main machine.

[0004] This traditional feeder has the following problems in use:

[0005] 1. The material belt is easy to disturb the pipe during the process of lifting the pipe, which increases the failure rate of screening;

[0006] 2. The height-limiting module is prone to jamming;

[0007] 3. The pipes are inseparable at the intersection of the first and second chain sections; the pipes are prone to skew when moving from the first chain section to the second chain section, resulting in the subsequent feeding cantilever being unable to fully clamp the pipes. Summary of the invention

[0008] In order to solve the above problems, the embodiments of the present application provide a control method and device for automatic loading, which adopts an integral lifting method to load pipes. The pipes in the material frame will not be disturbed or crossed, thereby reducing the screening failure rate. The screening strategy is redesigned to effectively avoid material jamming during the height limit process.

[0009] In a first aspect, an embodiment of the present application provides a control method for automatic feeding, the method comprising:

[0010] Acquire the size data of the pipe to be cut, and calibrate the size of the screening area from the feeding end where the feeding shaft and the material frame are connected based on the size data, wherein the screening area includes a first area and a second area;

[0011] When it is detected that there are pipes in the first area, the plurality of first screening components of the feeder are driven to synchronously perform a reverse push operation, so as to push the excess pipes back into the material frame, and transport the pipes still in the first area to the second area;

[0012] When it is detected that the pipe reaches the screening position of the second area, the plurality of second screening components of the feeder are driven to synchronously perform the height limiting operation to calibrate the posture of the pipe in the second area;

[0013] When it is detected that the pipes in the second area meet the requirements for loading on the machine, the pipes are transported to the front unloading area of ​​the first screening component, and the first screening component is driven forward to lower the pipes to the floating support structure.

[0014] Preferably, the dimension data of the pipe includes at least width and height;

[0015] The width of the first area is calibrated based on the size data of the tube, and the width of the first area is greater than the width of the tube; the width of the first area is calculated from the loading end to the front of the feeding axis, and the second area is located in front of the first area.

[0016] Preferably, after obtaining the size data of the pipe to be cut, it also includes detecting the first feeding instruction, which is triggered by a staff member, and specifically includes:

[0017] When a loading instruction is received, the height of the material frame is raised so that the pipes in the material frame slide into the screening area.

[0018] Preferably, the reverse thrust operation specifically includes:

[0019] A first reverse thrust position is preset based on a boundary line between the first area and the second area, and a first reverse thrust distance is preset based on a width of the first area and size data of the pipe;

[0020] When a loading instruction is detected, multiple first screening components of the loading machine are synchronously driven to run to the first reverse thrust position, and the reverse thrust structure of the first screening component is raised to stop the pipe sliding onto the feeding shaft in the first area;

[0021] When it is detected that there are pipes in the first area, the material frame is driven to reset, and the plurality of first screening components of the loader are synchronously driven to move backward by one unit of the first reverse thrust distance;

[0022] Detecting whether there is a pipe in the first area:

[0023] If it exists, the reverse thrust structure rotates in a direction away from the pipe and resets, and the first screening assembly resets;

[0024] If not, the plurality of first screening components of the loader are synchronously driven to run to the first reverse push position, and a material replenishment instruction is sent, wherein the material replenishment instruction is used to drive the material frame to re-load the material;

[0025] After it is detected that the first screening assembly and the reverse thrust structure are both reset, the pipes still in the first area are transported to the second area.

[0026] Preferably, the difference between the width of the first region and the first reverse thrust distance is not less than the width of the pipe.

[0027] Preferably, the height-limited operation specifically includes:

[0028] Presetting a calibration position of the pipe based on the position of the second screening component and presetting an operating height of the second screening component based on the size data of the pipe;

[0029] When it is detected that the pipe enters the second area, multiple second screening components of the loader are synchronously driven to rise to the working height;

[0030] When it is detected that the pipe reaches the calibration position, the conveying of the pipe is stopped, and a plurality of second screening components of the feeder are synchronously driven to perform a calibration action on the pipe at the calibration position at the working height;

[0031] The working height is greater than the height of the pipe and less than twice the height of the pipe; the calibration action includes pushing the vertical pipe to make it fall over and pushing the upper pipe of the stacked pipes horizontally.

[0032] Preferably, the “when it is detected that the pipes in the second area meet the requirements for loading, the pipes are transported to the front unloading area of ​​the first screening component, and the first screening component is driven forward to lower the pipes to the floating support structure” specifically includes:

[0033] Presetting a second reverse push position based on the boundary position of the second area or the position of the second screening component, and presetting a second reverse push distance based on the width of the screening area and the width of the pipe;

[0034] After completing the height limiting operation, detect the number of pipes in the screening area:

[0035] When the number of pipes in the screening area is greater than one, the plurality of the first screening components of the driving loader first perform secondary reverse pushing at the second reverse pushing position, and then perform the height limiting operation; during the secondary reverse pushing, the plurality of the first screening components run backwards by one unit of the second reverse pushing distance;

[0036] When the number of pipes in the screening area is equal to one, the second screening assembly descends and resets, transports the pipes to the front end unloading area of ​​the first screening assembly, and drives the first screening assembly forward to lower the pipes to the floating support structure.

[0037] Furthermore, the difference between the width of the screening area and the second reverse thrust distance is not less than the width of the pipe.

[0038] Furthermore, the “transporting the pipe to the front end unloading area of ​​the first screening component, and driving the first screening component forward to lower the pipe to the floating support structure” specifically includes:

[0039] Presetting a material unloading position of the first screening assembly based on the position of the floating support structure;

[0040] When it is detected that there is a pipe in the unloading area, the feeding shaft stops running;

[0041] Driving the first screening assembly to move forward to the unloading position, and sending an unloading instruction to lower the pipe onto the floating support structure;

[0042] After the presence of the pipe on the floating support structure is detected, a loading instruction is sent and the first screening component is reset.

[0043] In a second aspect, an embodiment of the present application provides a control device for automatic loading, which is applicable to the control method for automatic loading described in the first aspect, and the device includes:

[0044] Size calibration module: obtains the size data of the pipe to be cut, and calibrates the size of the screening area from the feeding end where the feeding shaft and the material frame are connected based on the size data. The screening area includes a first area and a second area.

[0045] Reverse push screening module: when detecting the presence of pipes in the first area, driving multiple first screening components of the feeder to synchronously perform reverse push operations, push excess pipes back into the material frame, and transport the pipes still in the first area to the second area;

[0046] Height-limited screening module: When it is detected that the pipe reaches the screening position of the second area, multiple second screening components of the feeder are driven to synchronously perform height-limited operations to calibrate the posture of the pipe in the second area;

[0047] Unloading detection module: When it is detected that the pipes in the second area meet the requirements of loading, the pipes are transported to the front unloading area of ​​the first screening component, and the first screening component is driven forward to lower the pipes to the floating support structure.

[0048] In a third aspect, an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the method provided in the first aspect or any possible implementation of the first aspect are implemented.

[0049] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method provided in the first aspect or any possible implementation manner of the first aspect.

[0050] The beneficial effects of the present invention are:

[0051] The present invention provides a control method and device for automatic feeding, which redesigns the screening strategy during pipe feeding, can effectively avoid the phenomenon of pipe jamming when the height is limited, stabilizes and effectively screens the pipes, improves the operating efficiency, and enables the pipes to meet the needs of machine cutting.

[0052] The present invention also has an effective screening effect for pipes in the form of vertical juxtaposition, flat stacking, etc., and adopts secondary reverse push to screen the above-mentioned unconventional forms of phenomena, so that multiple pipes can be separated and pushed back into the material frame, so that only one pipe that meets the requirements is retained in the screening area. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0054] Figure 1 A schematic diagram of a flow chart of an automatic feeding control method provided in an embodiment of the present application;

[0055] Figure 2 A schematic diagram of the structure of an automatic feeding control device provided in an embodiment of the present application;

[0056] Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application;

[0057] Figure 4 A structural diagram of a feeder for a laser cutting machine provided in an embodiment of the present application;

[0058] Figure 5 A single-arm structural diagram of a loading machine provided in an embodiment of the present application;

[0059] Figure 6 A front and side view of a single-arm structure provided in an embodiment of the present application;

[0060] Figure 7 A rear side view of a single-arm structure provided in an embodiment of the present application;

[0061] Figure 8 A top view of a single-arm structure provided in an embodiment of the present application.

[0062] In the figure: 1. Second screening component; 2. First screening component; 3. Feeding shaft; 4. Material frame; 7. Floating support structure; 12. Push rod; 13. Lifting rail; 14. Loading box; 21. Reverse thrust structure; 22. Unloading structure; 23. Driving motor; 24. Guide slope; 41. Material collecting part; 42. Lifting component; 43. Supporting part; 44. Expansion part; 421. Lifting drive; 422. Guide rail; 61. First sensing part; 62. Second sensing part. DETAILED DESCRIPTION

[0063] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0064] In the following introduction, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The following introduction provides multiple embodiments of the present application, and different embodiments can be replaced or combined, so the present application can also be considered to include all possible combinations of the same and / or different embodiments recorded. Therefore, if one embodiment includes features A, B, and C, and another embodiment includes features B and D, then the present application should also be considered to include embodiments containing one or more of all other possible combinations of A, B, C, and D, although the embodiment may not be clearly recorded in the following text.

[0065] The following description provides examples and does not limit the scope, applicability or examples set forth in the claims. Changes may be made to the functions and arrangements of the elements described without departing from the scope of the present application. Various processes or components may be appropriately omitted, substituted or added to each example. For example, the described method may be performed in an order different from the order described, and various steps may be added, omitted or combined. In addition, features described in some examples may be combined in other examples.

[0066] See also Figure 1 , Figure 1 : is a flow chart of a control method for automatic feeding provided in an embodiment of the present application. In the embodiment of the present application, the method includes:

[0067] S101, acquiring the size data of the pipe to be cut, and calibrating the size of the screening area from the feeding end where the feeding shaft and the material frame are connected based on the size data, the screening area including the first area and the second area.

[0068] The execution subject of this application can be a control system of a feeder of a laser cutting machine. The layout of the feeder in the cutting machine is as follows: Figure 4 As shown in Figure 5 It is a single-arm structure of the loader, which is composed of multiple single-arm structures arranged in parallel to load and screen the pipes; the screening content is the quantity and posture of the pipes.

[0069] Based on the actual situation, the size of the pipes cut by the cutting machine is different each time. In the screening stage, the screening parameters should also be adjusted. Therefore, in the method proposed in this application, before the feeder operates, at least the size data of the pipe to be cut should be obtained, and then the necessary parameters required for screening the pipes, such as the width and height of the pipes, are obtained through the size data of the pipes. The length of the pipe should be adapted to the feeding length of the feeder when it is cut, otherwise it cannot be fed.

[0070] The loading machine of the present application adopts a material frame to stack pipes and a feed shaft to transport pipes, and realizes loading by lifting the material frame. Although it can ensure the stacking stability of the pipes in the material frame, when the pipes in the material frame overflow and roll onto the feed shaft, the posture of the pipes on the feed shaft, such as vertical or lying posture, cannot be effectively guaranteed. When cutting, the cutting machine must first determine the posture of the pipe, and then start the cutting program to cut. Therefore, it is necessary to adjust the posture of the pipe to a state that meets the machine requirements before cutting on the machine.

[0071] In the present application, the size of the screening area on the feeding shaft is divided according to the size data of the pipe, that is, the width of the screening area. The screening area includes a first area and a second area. The width of the screening area is calculated from the loading end where the feeding shaft and the material frame are connected to the front of the feeding shaft (that is, the running direction). The first area is located at the rear, and the second area is arranged adjacent to the first area and is located in front of the first area.

[0072] In the present application, the pipes are screened in a single, flat posture, that is, they meet the requirements for machine loading; the first screening component performs a reverse push operation on the pipes in the first area, limiting the width to adjust the number of pipes in the first area; the second screening component performs a height limiting operation on the pipes in the second area, limiting the height to adjust the posture of the pipes; for a single pipe, after completing the above two operations, the requirements for machine loading can be met; however, for multiple pipes, completing only the above two operations once is not enough to meet the requirements for machine loading, and there are multiple pipes in the screening area. Therefore, a secondary screening strategy is proposed in the present application to deal with unconventional forms of pipe loading postures. Regardless of whether the pipes are in a flat stacked form or a vertical juxtaposed form when entering the feeding shaft, the requirements for machine loading can be met after completing the above two operations twice.

[0073] The secondary screening strategy includes secondary reverse push and height-limited operation, in which the secondary reverse push is different only from the reverse push starting position of the reverse push operation.

[0074] In the embodiment of the present application, step S101 specifically includes:

[0075] The size data of the pipe to be cut is obtained, wherein the size data of the pipe at least includes width and height.

[0076] The width of the first area is calibrated based on the size data of the tube, and the width of the first area is greater than the width of the tube; the width of the first area is calculated from the loading end to the front of the feeding axis, and the second area is located in front of the first area.

[0077] After obtaining the size data of the pipe to be cut, it also includes detecting the first feeding instruction, which can be triggered by the staff to start the feeding machine for feeding operation. It can be triggered after completing the self-check of the whole machine.

[0078] When a loading instruction is received, the height of the material frame is raised so that the pipes in the material frame slide into the screening area.

[0079] Preferably, the pipes are bound to the feed shaft within the first area to facilitate subsequent screening operations. The height of the material frame can be determined according to the size of the pipes, the height of the feed shaft or the remaining amount of pipes in the material frame, so that only part of the pipes in the material frame slide onto the feed shaft each time.

[0080] The first area and the second area are adjacent to each other, and the boundary line thereof is perpendicular to the direction of the feeding axis.

[0081] S102, when it is detected that there are pipes in the first area, the multiple first screening components of the loader are driven to synchronously perform a reverse push operation to push the excess pipes back into the material frame, and transport the pipes still in the first area to the second area.

[0082] In an embodiment of the present application, when loading materials through the material frame, the pipe will slide from the material frame to the feed shaft and first reach the feed shaft in the screening area. In the present application, the screening area is divided into a first area and a second area, and a reverse push operation is performed in the first area, and a height-limited operation is performed in the second area. A stop structure can be set at the boundary line of the two areas to stop the sliding pipe in the first area, and a reverse push operation is performed to reduce the reverse push stroke. At the same time, when loading materials, the first area and the second area are separated to prevent the pipe from entering the second area and affecting subsequent screening operations.

[0083] Based on the method of the present application, during reverse thrust operation, the reverse thrust structure used can perform the same function as the stop structure, and it is only necessary to move the reverse thrust structure to the corresponding position in advance.

[0084] In one possible implementation, step S102 specifically includes:

[0085] A first reverse thrust position is preset based on a boundary line between the first area and the second area, and a first reverse thrust distance is preset based on a width of the first area and size data of the pipe;

[0086] When a loading instruction is detected, multiple first screening components of the loading machine are synchronously driven to run to the first reverse thrust position, and the reverse thrust structure of the first screening component is raised to stop the pipe sliding onto the feeding shaft in the first area;

[0087] When it is detected that there are pipes in the first area, the material frame is driven to reset, and the plurality of first screening components of the loader are synchronously driven to move backward by one unit of the first reverse thrust distance;

[0088] Detecting whether there is a pipe in the first area:

[0089] If it exists, the reverse thrust structure rotates in a direction away from the pipe and resets, and the first screening assembly resets;

[0090] If not, the plurality of first screening components of the loader are synchronously driven to run to the first reverse push position, and a material replenishment instruction is sent, wherein the material replenishment instruction is used to drive the material frame to re-load the material;

[0091] After it is detected that the first screening assembly and the reverse thrust structure are both reset, the pipes still in the first area are transported to the second area.

[0092] In the present application, the starting point of the reverse thrust operation is the first reverse thrust position, that is, the boundary line of the two areas, the stroke of the reverse thrust operation is the first reverse thrust distance, and the difference between the width of the first area and the reverse thrust stroke should be at least equal to the width of the pipe, so that the reverse thrust structure only retains a space of the width of one pipe between the end of the feeding shaft, and all excess pipes are pushed back into the material frame.

[0093] In specific implementation, the difference between the width of the first area and the first reverse thrust distance is not less than the width of the pipe, ensuring that only one flat-lying pipe can be retained in the accommodating space and a stable transmission relationship is established between the conveying surface of the feeding shaft, so that the feeding shaft can convey the pipe retained in the accommodating space forward during operation.

[0094] It is understandable that, ideally, only one flat tube is retained in the accommodation space, but due to the instability of tube rolling, the tubes may be stacked flat or juxtaposed vertically, so that there are multiple tubes in the accommodation space.

[0095] In an embodiment of the present application, when a loading instruction is detected, the reverse thrust structure of the first screening component can be driven to rise and run to the first reverse thrust position. When the material frame has not yet run to a sufficient height, the reverse thrust structure has reached the specified position and can stop the pipe in the first area.

[0096] After the pipe enters the first area, the material frame can be driven to reset, and the pipe that has slipped onto the feeding shaft cannot fall back into the material frame. Therefore, when it is detected that there are pipes in the first area, the material frame can be driven to reset, and the multiple first screening components of the feeder can be driven to run synchronously, perform the reverse push operation, and run backward from the first reverse push position for a unit of the first reverse push distance.

[0097] In order to avoid pushing all the pipes back into the material frame during the reverse push operation, it is possible to detect whether there are pipes in the first zone again. If there are pipes, the reverse push structure and the first screening component can be reset; if not, the material frame should be driven to replenish the material, and a replenishment instruction can be issued to drive the material frame to reload the material. Based on this judgment logic, the problem of failed loading during subsequent use can be effectively avoided during the experimental and debugging stages. At the same time, the control of the reverse push distance and the rising height of the material frame can be verified. When multiple loading failures occur, an error message can be sent to the staff to determine whether there is a lack of material in the material frame or a loading failure.

[0098] It is understandable that, since the reverse thrust structure runs backward, when resetting, it should be rotated and reset in the direction away from the pipe; when the reverse thrust structure rises, it should be rotated upward to a state perpendicular to the direction of the feed axis.

[0099] In the embodiment of the present application, after the reverse push operation is completed, the pipes still in the first area are transported to the second area for further screening. It is understandable that during the reverse push operation, only most of the redundant pipes can be eliminated, but it cannot ensure that the pipes in the first area are one flat pipe, it may be two flat pipes stacked, or two vertical pipes placed side by side. Therefore, the present application designs a further screening operation in the second area, that is, a height-limited operation, to calibrate the posture of the pipes, so that the vertical type becomes a flat type to meet the needs of the machine; at the same time, the two stacked pipes can be pushed into two parallel flat pipes, and all the vertical and side-by-side pipes can be pushed down to lie flat.

[0100] S103: When it is detected that the pipe reaches the screening position of the second area, the multiple second screening components of the loader are driven to synchronously perform the height limiting operation to calibrate the posture of the pipe in the second area.

[0101] In the embodiment of the present application, the second screening component is installed based on the support structure of the feed shaft and can be raised and lowered. When the height-limited operation needs to be performed, it rises to the conveying surface of the feed shaft; when the operation is not required, it descends below the conveying surface without affecting the forward movement of the pipe. The position of the second screening component on the feed shaft is fixed, and the position of the second screening component can be used as the outer boundary of the second area, and the inner boundary of the second area is the boundary line between the two areas.

[0102] The installation position of the second screening component can be relatively far back to accommodate pipes of as many sizes as possible. Furthermore, the maximum size of the pipe can be determined according to the applicable range of the laser cutting machine, and then the installation position of the second screening component can be determined.

[0103] In an embodiment of the present application, the second screening component performs the height limiting operation by means of a push rod, and the stroke of the push rod should be greater than the width of the pipe. However, the length of the push rod is limited. Therefore, after the pipe enters the second area, it cannot directly pass through the second screening component to perform the height limiting operation. The pipe needs to be transported to a certain distance from the second screening component before the height limiting operation can be performed.

[0104] In specific implementation, a fixed working position can be preset, and height-limited operation is performed after the pipe reaches this position. The stroke of the push rod can cover the width range of the pipe as much as possible. After obtaining the pipe size, the working stroke of the push rod can be determined.

[0105] In one possible implementation, step S103 specifically includes:

[0106] Presetting a calibration position of the pipe based on the position of the second screening component and presetting an operating height of the second screening component based on the size data of the pipe;

[0107] When it is detected that the pipe enters the second area, multiple second screening components of the loader are synchronously driven to rise to the working height;

[0108] When it is detected that the pipe reaches the calibration position, the conveying of the pipe is stopped, and a plurality of second screening components of the loader are synchronously driven to perform calibration actions on the pipe at the calibration position at the working height.

[0109] In the embodiment of the present application, the working height is greater than the height of the pipe and less than twice the height of the pipe; the calibration action includes pushing the vertical pipe to make it fall over and pushing the upper pipe of the stacked pipe horizontally. The difference between the width of the screening area and the second reverse push distance is equal to the width of the pipe, which is the same as the setting concept of the first reverse push distance.

[0110] In an embodiment of the present application, when it is detected that the pipe enters the second area, the second screening assembly can be mobilized to rise to the operating height, and the push rod performs height-limiting operations on the pipe at this height. The operating height can be set based on the height of the pipe.

[0111] In the present application, the calibration position is a fixed working position. When the pipe reaches the calibration position, the second screening component performs a height limiting operation on the pipe at the calibration position at the working height, that is, extends a push rod to push the pipe.

[0112] In specific implementation, a vertical stop bar can be provided at the front end of the push rod to push the pipes higher than a unit pipe height, so that the pipes stacked on the upper layer are pushed down to the feeding shaft, and the vertical pipes are pushed down. It can be understood that for the flat-lying pipes, their width is greater than their height, and the upper part of the vertical pipes can just be pushed, so that the entire vertical pipe is pushed down to a flat state.

[0113] It is understandable that the push rod cannot push pipes in a lying state at the operating height, but it can push single vertical pipes, stacked pipes, and vertical juxtaposed pipes, thereby achieving a calibration action and pushing the above-mentioned pipes to a lying position.

[0114] S104, when it is detected that the pipes in the second area meet the requirements for loading on the machine, the pipes are transported to the front unloading area of ​​the first screening component, and the first screening component is driven forward to lower the pipes to the floating support structure.

[0115] In the present application, the laser cutting machine's requirement for loading pipes may be a single pipe in a flat position. After the reverse push operation and the height limit operation, the single pipe has met the loading requirement. However, during the loading process, it cannot be guaranteed that a single pipe is loaded each time. Therefore, after completing the reverse push operation and the height limit operation, the number of pipes in the screening area can be detected. If it is a single pipe, subsequent loading operations can be carried out.

[0116] It can be understood that the number of pipes can be determined based on the weight of the pipes and the width occupied by the pipes in the screening area. Specifically, a weighing sensor can be designed to detect the weight of the pipes or a photoelectric sensor can be designed to detect the range occupied by the pipes in the screening area, thereby determining whether the number of pipes is one.

[0117] In one possible implementation, step S104 specifically includes:

[0118] Presetting a second reverse push position based on the boundary position of the second area or the position of the second screening component, and presetting a second reverse push distance based on the width of the screening area and the width of the pipe;

[0119] After completing the height limiting operation, detect the number of pipes in the screening area:

[0120] When the number of pipes in the screening area is greater than one, the plurality of the first screening components of the driving loader first perform secondary reverse pushing at the second reverse pushing position, and then perform the height limiting operation; during the secondary reverse pushing, the plurality of the first screening components run backwards by one unit of the second reverse pushing distance;

[0121] When the number of pipes in the screening area is equal to one, the second screening assembly descends and resets, transports the pipes to the front end unloading area of ​​the first screening assembly, and drives the first screening assembly forward to lower the pipes to the floating support structure.

[0122] In the embodiment of the present application, the starting position of the secondary reverse push should be located before the calibration position to ensure that the reverse push structure can reverse push all the pipes in the second area. The second reverse push position can be preset based on the boundary position of the second area or the position of the second screening component, preferably the outer boundary of the second area, that is, the position of the second screening component; the second reverse push position can also be preset based on the inner boundary of the second area (the boundary line between the two areas), and the second reverse push position can be located before the calibration position.

[0123] Due to the uncertainty in the actual material feeding process, pipes exist in unconventional forms such as lying flat and stacked, vertical and juxtaposed. At this time, after the above two operations, in the second area, the number of pipes is greater than one, but after the height limit operation, the pipes will be lying flat. In this state, a second reverse push can be performed to meet the demand for a single lying flat pipe to be loaded onto the machine.

[0124] When the number of pipes is greater than one after the above two operations, a second push is performed to push the excess pipes back into the material frame. Based on the results of the height-limited operation, after the second push, only one pipe will remain in the screening area, and it will lie flat.

[0125] Furthermore, in order to determine the stability of the lying posture of the pipe, a height limit operation can be performed again after the second reverse push to detect the number of pipes. If the number of pipes is still multiple, a third reverse push can be performed. The reverse push distances of the third reverse push and the second reverse push are both the second reverse push distance.

[0126] As a special case, after two vertically juxtaposed pipes are pushed down, one pipe may be lying flat and the other pipe may be leaning against the lying pipe. However, this type of pipe coordination is not stable. When there are multiple pipes in the screening area, a secondary reverse push will be performed. During the secondary reverse push, the leaning pipe will be pushed onto the lying pipe in a stacked state. During the second height limit operation, the two pipes will be pushed into a flat lying state. At this time, since there are still multiple pipes, the third reverse push will be triggered. In the case of the third reverse push, only one pipe will be retained in the screening area.

[0127] As another special case, there are more than two pipes lying flat and stacked. After the height limit operation, the upper pipe may fall and be stacked on the frontmost flat pipe. At this time, after the second reverse push, when the second height limit operation is performed, the two pipes will also be pushed into a flat lying form. At this time, since there are still multiple pipes, the third reverse push will also be triggered. In the case of the third reverse push, only one pipe will be retained in the screening area.

[0128] That is, in the case of three back-pushing operations, the problems of the above two special cases can be solved directly.

[0129] In the embodiment of the present application, the rear end of the first screening component is equipped with a feeding mechanism, and the feeding and screening operation of the next pipe can be performed only after the pipe on the feeding shaft is unloaded, which specifically includes:

[0130] Presetting a material unloading position of the first screening assembly based on the position of the floating support structure;

[0131] When it is detected that there is a pipe in the unloading area, the feeding shaft stops running;

[0132] Driving the first screening assembly to move forward to the unloading position, and sending an unloading instruction to lower the pipe onto the floating support structure;

[0133] After the presence of the pipe on the floating support structure is detected, a loading instruction is sent and the first screening component is reset.

[0134] In the embodiment of the present application, the loading machine is docked with the floating support structure on the machine tool, and the screened pipes are lowered onto the floating support structure. In order to avoid confusion of the screened pipes during the lowering process, the present application performs the lowering operation of the pipes based on the first screening component, and a feeding structure is set at the front end of the first screening component. The pipes in the feeding area running to the feeding structure are translated to the receiving position of the floating support structure through the first screening component, and the feeding structure is driven to lower the pipes. The lowering of the pipes is achieved through an inclined landslide, so that a single pipe slides downward without turning over; and a limit stop structure is designed on the floating support structure to stop the sliding pipes, and clamp them in the center so that they can dock with the clamping structure on the machine tool to complete the loading.

[0135] Based on the above-mentioned automatic feeding control method, the implementation structure of the feeding machine can be as follows:

[0136] See also Figure 4-Figure 8 The loading machine of the laser tube cutting machine is equipped with a floating support structure 7. A loading machine is arranged on one side of the machine tool. The loading machine is composed of multiple single-arm structures arranged in parallel. The single-arm structure includes a second screening component 1, a first screening component 2, a feeding shaft 3, and a material frame 4. The material frame 4 is arranged at the rear end of the feeding shaft 3, and the front end of the feeding shaft 3 corresponds to the floating support structure on the machine tool. The second screening component 1 is installed based on the support structure of the feeding shaft 3, and the second screening component 1 is located outside the second area. The first screening component 2 is arranged in parallel on one side of the feeding shaft 3, a unloading structure 22 is arranged at the front end of the first screening component 2, and a reverse thrust structure 21 is arranged at the rear end of the first screening component 2; the upper surface of the first screening component 2 is flush with the conveying surface of the feeding shaft 3 at most.

[0137] It should be clear that the feeding shafts 3 on multiple single-arm structures arranged in parallel are driven and operated synchronously; when the pipe is reversed, reversed and unloaded, the first screening components 2 on the multiple single-arm structures are operated synchronously; when the pipe is subjected to height-limiting operations, the second screening components 1 on the multiple single-arm structures are also operated synchronously; the conveying, calibration and pushing of the pipe are all carried out synchronously, which will not cause the pipe to tilt.

[0138] In a specific embodiment, the first screening component 2 can be arranged on the front side of the feeding shaft 3, and the second screening component 1 can be arranged on the back side of the feeding shaft 3, so that the operations of the two screening components do not interfere with each other.

[0139] The first screening component 2 is slidably installed relative to the feeding shaft 3, driven by the driving motor 23, and moves horizontally along the direction of the feeding shaft 3. It can move forward or backward; when moving backward, it can drive the reverse thrust structure 21 to perform reverse thrust operation; when moving forward, it can transport the pipe located at the unloading structure 22 to the top of the floating support structure 7, and lower the pipe onto the floating support structure 7.

[0140] The reverse push structure 21 can be a reverse push rod, which is rotatably arranged at the front end of the first screening component 2; when in use, it is rotated 90° upward to rise and run synchronously with the first screening component 2; when resetting, it is rotated 90° forward to a horizontal state. A stepper motor can be built into the first screening component 2 to drive the reverse push structure 21 to rise and reset.

[0141] The front end of the first screening component 2 may be provided with a guide slope 24 inclined downward, so that the pipe separated from the feeding shaft 3 can slide downward along the guide slope 24 without changing its own posture; a material discharging structure 22 is provided at the end of the guide slope 24, and the material discharging structure 22 may be in the form of a stopper rod, which is rotatably arranged at the end of the guide slope 24 to stop the pipe sliding down and lower it at an appropriate position. When it is necessary to lower the pipe, the stopper rod rotates forward to a state parallel to the guide slope 24, so that the pipe continues to slide down along the stopper rod; after the pipe is lowered, it rotates upward to a state perpendicular to the guide slope 24 (reset), which can stop the next pipe from sliding down.

[0142] It is understandable that the conveying end of the feed shaft 3 can be located at the starting end of the guide slope 24, so that after the pipe is separated from the feed shaft 3, it can slide down from the starting end to the end of the guide slope 24. The slope of the guide slope 24 can be adjusted according to actual needs, and the posture of the pipe does not change when sliding down.

[0143] The second screening assembly 1 includes a push rod 12, a lifting rail 13, and a loading box 14. The lifting rail 13 is arranged on the support structure on the back side of the feeding shaft 3 perpendicular to the direction of the feeding shaft 3, and does not affect the operation of the feeding shaft 3. The loading box 14 is arranged on the upper end of the lifting rail 13, so that when the lifting rail 13 is in operation, the loading box 14 can be raised to the conveying surface of the feeding shaft 3 or lowered to the conveying surface of the feeding shaft 3. The loading box 14 can be equipped with a horizontal telescopic structure to drive the push rod 12 to extend and retract in the horizontal direction, and the telescopic direction is consistent with the direction of the feeding shaft 3, so as to push the pipe located on the conveying surface of the feeding shaft 3.

[0144] The material frame 4 includes a material collecting piece 41 and a lifting assembly 42. The lifting assembly 42 is connected to the feeding end of the feeding shaft 3 and is in an inclined state. The material collecting piece 41 is slidably arranged on the lifting assembly 42 so that the material collecting piece 41 can rise or fall along the fixed structure. The material collecting piece 41 is used to hold pipes. The material collecting piece 41 is driven to rise and fall by the lifting assembly 42. When the height of the pipes in the material collecting piece 41 is higher than the feeding shaft 3, the stacked pipes roll onto the feeding shaft 3. After the height of the material collecting piece 41 drops, the pipes already on the feeding shaft 3 will no longer fall back into the material collecting piece 41, that is, a feeding operation for the feeding shaft 3 is completed. However, in this process, the rolling behavior of the pipes is uncontrollable, and the feeding quantity and posture of the pipes cannot be guaranteed to be stable. The automatic feeding control method proposed in this application is used to solve this problem, and the quantity and posture of the pipes on the feeding shaft 3 are screened, separated, and calibrated.

[0145] The lifting assembly 42 may specifically include a lifting drive 421 and a guide rail 422. The material collecting member 41 is slidably arranged on the guide rail 422. The lifting drive 421 may be a motor, which synchronously drives the loading operation of the material frames 4 on the multiple single-arm structures. The guide rail 422 is tilted upward to dock with the loading end of the feeding shaft 3, and smoothly docks with the conveying surface of the feeding shaft 3. The lifting drive 421 pulls the material collecting member 41 to run along the direction of the guide rail 422.

[0146] As a preferred embodiment, Figure 5 , Figure 6 As shown, an inclined supporting portion 43 is provided on the upper portion of the collecting piece 41, and a 90° angle can be formed between the supporting portion 43 and the guide rail 422; when the position of the collecting piece 41 is raised, the pipes stacked on the supporting portion 43 have potential energy in the direction toward the feeding shaft 3, which facilitates the pipes to slide onto the feeding shaft 3.

[0147] In order to increase the pipe capacity of the material collecting member 41 , an expansion portion 44 may be provided at the high end of the supporting portion 43 to increase the pipe accommodating space formed by the material collecting member 41 and the guide rail 422 .

[0148] Based on the above structure, multiple first sensing elements 61 can be set on the same side of the second screening component 1, which can be located in the screening area correspondingly, and are used to detect whether there are pipes in the first area and the second area; in the illustration of this application, only one first sensing element 61 is set for example, and the first sensing element 61 can be a photoelectric sensor, a sensor triggered by a mechanical switch, etc.; for the number detection of pipes, a weighing sensor, a pressure sensor, etc. can be used to detect the weight of the pipes in each area to distinguish the number of pipes. A second sensing element 62 can be set in the middle of the stroke on the guide slope 24, and the second sensing element 62 can be a photoelectric sensor, a sensor triggered by a mechanical switch, etc., which is used to detect whether there are pipes passing through. The area between the second sensing element 62 and the unloading structure 22 can be divided into an unloading area, and when there are pipes in the unloading area, unloading operations can be performed.

[0149] The following will be combined with the attached Figure 2 , the automatic feeding control device provided in the embodiment of the present application is introduced in detail. It should be noted that the attached Figure 2 The automatic feeding control device shown is used to execute the present application Figure 1 For the convenience of explanation, only the part related to the embodiment of the present application is shown. For the specific technical details not disclosed, please refer to the present application. Figure 1 The embodiment shown.

[0150] See also Figure 2 , Figure 2 Schematic diagram of the structure of an automatic feeding control device provided in an embodiment of the present application. Figure 2 As shown, the device comprises:

[0151] The size calibration module 201: obtains the size data of the pipe to be cut, and calibrates the size of the screening area from the feeding end where the feeding shaft and the material frame are connected based on the size data, and the screening area includes a first area and a second area;

[0152] Reverse push screening module 202: when detecting the presence of pipes in the first area, driving the multiple first screening components of the loader to synchronously perform reverse push operations, push the excess pipes back into the material frame, and transport the pipes still in the first area to the second area;

[0153] Height-limited screening module 203: when it is detected that the pipe reaches the screening position of the second area, multiple second screening components of the feeder are driven to synchronously perform height-limited operations to calibrate the posture of the pipe in the second area;

[0154] Unloading detection module 204: When it is detected that the pipes in the second area meet the requirements of loading, the pipes are transported to the front unloading area of ​​the first screening component, and the first screening component is driven forward to lower the pipes to the floating support structure.

[0155] Those skilled in the art can clearly understand that the technical solutions of the embodiments of the present application can be implemented with the help of software and / or hardware. The "unit" and "module" in this specification refer to software and / or hardware that can independently complete or cooperate with other components to complete specific functions, where the hardware can be, for example, a field programmable gate array (FPGA), an integrated circuit (IC), etc.

[0156] Each processing unit and / or module of the embodiments of the present application may be implemented by an analog circuit that implements the functions described in the embodiments of the present application, or may be implemented by software that executes the functions described in the embodiments of the present application.

[0157] See also Figure 3 , which shows a schematic diagram of the structure of an electronic device involved in an embodiment of the present application, the electronic device can be used to implement Figure 1 The method in the embodiment shown. Figure 3 As shown, the electronic device 300 may include: at least one central processor 301 , at least one network interface 304 , a user interface 303 , a memory 305 , and at least one communication bus 302 .

[0158] The communication bus 302 is used to realize the connection and communication between these components.

[0159] The user interface 303 may include a display screen (Display) and a camera (Camera). Optionally, the user interface 303 may also include a standard wired interface and a wireless interface.

[0160] The network interface 304 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0161] Among them, the central processing unit 301 may include one or more processing cores. The central processing unit 301 uses various interfaces and lines to connect various parts of the entire electronic device 300, and executes various functions and processes data of the terminal 300 by running or executing instructions, programs, code sets or instruction sets stored in the memory 305, and calling data stored in the memory 305. Optionally, the central processing unit 301 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The central processing unit 301 can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU) and a modem. Among them, the CPU mainly processes the operating system, user interface and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the central processing unit 301, and it can be implemented separately through a chip.

[0162] Among them, the memory 305 may include a random access memory (Random Access Memory, RAM) and may also include a read-only memory (Read-Only Memory). Optionally, the memory 305 includes a non-transitory computer-readable storage medium. The memory 305 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 305 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 305 may optionally be at least one storage device located away from the aforementioned central processor 301. As Figure 3 As shown, the memory 305 as a computer storage medium may include an operating system, a network communication module, a user interface module, and program instructions.

[0163] exist Figure 3In the electronic device 300 shown, the user interface 303 is mainly used to provide an input interface for the user and obtain the data input by the user; and the central processor 301 can be used to call the control application program of the automatic loading stored in the memory 305, and specifically perform the following operations:

[0164] Acquire the size data of the pipe to be cut, and calibrate the size of the screening area from the feeding end where the feeding shaft and the material frame are connected based on the size data, wherein the screening area includes a first area and a second area;

[0165] When it is detected that there are pipes in the first area, the plurality of first screening components of the feeder are driven to synchronously perform a reverse push operation, so as to push the excess pipes back into the material frame, and transport the pipes still in the first area to the second area;

[0166] When it is detected that the pipe reaches the screening position of the second area, the plurality of second screening components of the feeder are driven to synchronously perform the height limiting operation to calibrate the posture of the pipe in the second area;

[0167] When it is detected that the pipes in the second area meet the requirements for loading on the machine, the pipes are transported to the front unloading area of ​​the first screening component, and the first screening component is driven forward to lower the pipes to the floating support structure.

[0168] The present application also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the above method are implemented. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a micro drive, and a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0169] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0170] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0171] In the several embodiments provided in the present application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0172] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0173] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0174] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, disk or optical disk and other media that can store program codes.

[0175] A person skilled in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by entering a program to instruct related hardware, and the program may be stored in a computer-readable memory, which may include a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0176] The above is only an exemplary embodiment of the present disclosure, and the scope of the present disclosure cannot be limited thereto. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the specification and practicing the disclosure here, those skilled in the art will easily think of the implementation scheme of the present disclosure. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the technical field not recorded in the present disclosure. The description and examples are regarded as exemplary only, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A control method for automatic feeding, characterized in that: The method comprises: Acquire the size data of the pipe to be cut, and calibrate the size of the screening area based on the size data, wherein the screening area includes a first area and a second area; the size of the screening area is calculated from the feeding end where the feeding shaft and the material frame are connected to the front of the feeding shaft, the first area is located at the rear, and the second area is set adjacent to the first area; When it is detected that there are pipes in the first area, the multiple first screening components of the feeder are driven to synchronously perform a reverse push operation to push the excess pipes back into the material frame, and transport the pipes still in the first area to the second area; the starting point of the reverse push operation is the boundary line between the first area and the second area, the stroke of the reverse push operation is the first reverse push distance, and the difference between the width of the first area and the first reverse push distance is at least equal to the width of the pipe; When it is detected that the pipe reaches the screening position of the second area, the multiple second screening components of the feeder are driven to synchronously perform the height limiting operation to calibrate the posture of the pipe in the second area; the height limiting operation is performed by a push rod, the working height of the push rod is set according to the height of the pipe, and the working height is the distance between the push rod and the feeding shaft; When it is detected that the pipes in the second area meet the requirements for loading on the machine, the pipes are transported to the front unloading area of ​​the first screening component, and the first screening component is driven forward to lower the pipes to the floating support structure.

2. The method according to claim 1, characterized in that The dimensional data of the pipe at least includes width and height; The width of the first area is calibrated based on the size data of the tube, and the width of the first area is greater than the width of the tube; the width of the first area is calculated from the loading end to the front of the feeding axis, and the second area is located in front of the first area.

3. The method according to claim 1, characterized in that After obtaining the size data of the pipe to be cut, the first feeding instruction is also detected. The first feeding instruction is triggered by the staff, including: When a loading instruction is received, the height of the material frame is raised so that the pipes in the material frame slide into the screening area.

4. The method according to claim 1, characterized in that: The reverse thrust operation specifically includes: A first reverse thrust position is preset based on a boundary line between the first area and the second area, and a first reverse thrust distance is preset based on a width of the first area and size data of the pipe; When a loading instruction is detected, multiple first screening components of the loading machine are synchronously driven to run to the first reverse thrust position, and the reverse thrust structure of the first screening component is raised to stop the pipe sliding onto the feeding shaft in the first area; When it is detected that there are pipes in the first area, the material frame is driven to reset, and the plurality of first screening components of the loader are synchronously driven to move backward by one unit of the first reverse thrust distance; Detecting whether there is a pipe in the first area: If it exists, the reverse thrust structure rotates in a direction away from the pipe and resets, and the first screening assembly resets; If not, the plurality of first screening components of the loader are synchronously driven to run to the first reverse push position, and a material replenishment instruction is sent, wherein the material replenishment instruction is used to drive the material frame to re-load the material; After it is detected that the first screening assembly and the reverse thrust structure are both reset, the pipes still in the first area are transported to the second area.

5. The method according to claim 4, characterized in that The difference between the width of the first region and the first reverse thrust distance is equal to the width of the tube.

6. The method according to claim 1, characterized in that The height-restricted operations specifically include: Presetting a calibration position of the pipe based on the position of the second screening component and presetting an operating height of the second screening component based on the size data of the pipe; When it is detected that the pipe enters the second area, multiple second screening components of the loader are synchronously driven to rise to the working height; When it is detected that the pipe reaches the calibration position, the conveying of the pipe is stopped, and a plurality of second screening components of the feeder are synchronously driven to perform a calibration action on the pipe at the calibration position at the working height; The working height is greater than the height of the pipe and less than twice the height of the pipe; the calibration action includes pushing the vertical pipe to make it fall over and pushing the upper pipe of the stacked pipes horizontally.

7. The method according to claim 6, characterized in that The "when it is detected that the pipes in the second area meet the requirements for loading, the pipes are transported to the front unloading area of ​​the first screening component, and the first screening component is driven forward to lower the pipes to the floating support structure" specifically includes: Presetting a second reverse push position based on the boundary position of the second area or the position of the second screening component, and presetting a second reverse push distance based on the width of the screening area and the width of the pipe; After completing the height limiting operation, detect the number of pipes in the screening area: When the number of pipes in the screening area is greater than one, the plurality of the first screening components of the driving loader first perform secondary reverse pushing at the second reverse pushing position, and then perform the height limiting operation; during the secondary reverse pushing, the plurality of the first screening components run backwards by one unit of the second reverse pushing distance; When the number of pipes in the screening area is equal to one, the second screening assembly descends and resets, transports the pipes to the front end unloading area of ​​the first screening assembly, and drives the first screening assembly forward to lower the pipes to the floating support structure.

8. The method according to claim 7, characterized in that The difference between the width of the screening area and the second push-back distance is equal to the width of the pipe.

9. The method according to claim 1, characterized in that: The "conveying the pipe to the front end unloading area of ​​the first screening assembly, and driving the first screening assembly forward to lower the pipe to the floating support structure" specifically includes: Presetting a material unloading position of the first screening assembly based on the position of the floating support structure; When it is detected that there is a pipe in the unloading area, the feeding shaft stops running; Driving the first screening assembly to move forward to the unloading position, and sending an unloading instruction to lower the pipe onto the floating support structure; After the presence of the pipe on the floating support structure is detected, a loading instruction is sent and the first screening component is reset.

10. An automatic material loading control device, applicable to the automatic material loading control method as claimed in claim 1, characterized in that: The device comprises: Size calibration module: obtains the size data of the pipe to be cut, and calibrates the size of the screening area from the feeding end where the feeding shaft and the material frame are connected based on the size data. The screening area includes a first area and a second area. Reverse push screening module: when detecting the presence of pipes in the first area, driving multiple first screening components of the feeder to synchronously perform reverse push operations, push excess pipes back into the material frame, and transport the pipes still in the first area to the second area; Height-limited screening module: When it is detected that the pipe reaches the screening position of the second area, multiple second screening components of the feeder are driven to synchronously perform height-limited operations to calibrate the posture of the pipe in the second area; Unloading detection module: When it is detected that the pipes in the second area meet the requirements of loading, the pipes are transported to the front unloading area of ​​the first screening component, and the first screening component is driven forward to lower the pipes to the floating support structure.

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