A baking oven loading and unloading device and control method and system thereof

Abstract

The embodiment of the present invention relates to the technical field of baking equipment, and discloses a baking oven loading and unloading equipment and a control method and system thereof. The present invention discloses a baking oven loading and unloading control method, including: receiving a loading task signal, the loading task signal includes loading channel position information; keeping the Y1 loading position block in an extended state; judging whether the Y1 conveyor belt module on the Y1 conveyor belt is loaded with a workpiece to output a Y1 axis loading signal, controlling the Z axis conveyor belt, the buffer conveyor belt module and the return conveyor belt module to transport the workpiece from the material collection area to the Y1 conveyor belt module; starting the Y1 axis motor, positioning the Y1 conveyor belt module loaded with the workpiece to the loading channel position, so that the workpiece moves in the upward material position direction and enters the loading channel; outputting the corresponding channel position sequence number loading completion and material request closing signal. The present invention solves the problem of loading / unloading multiple loading and unloading channel openings at the same time; it has the characteristics of safety, stability, reliability and high efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of baking equipment, and in particular to a baking oven loading and unloading equipment and a control method and system thereof. Background Art

[0002] The oven equipment is mainly used to perform constant temperature heating treatment on the workpiece according to customer requirements, to ensure the temperature requirements of the product after a fixed time and a fixed workflow, and to combine with PLC and HMI to monitor the operating status and temperature of the equipment in real time.

[0003] The current automatic loading and unloading control method can only achieve semi-automatic control, and operators are required to assist in control, which cannot monitor and query the processing of products in detail. In the production process, with the increase of labor intensity, work-related accidents are prone to occur, and the efficiency is low. In addition, the quality of products using manual loading and unloading is not stable enough, and cannot meet the production needs of large quantities and high quality. The traditional automatic loading and unloading system has a complex structure and inconvenient maintenance, which is not conducive to the production of automated assembly lines; it does not have flexible processing characteristics, is difficult to adapt to product changes, and is not conducive to the adjustment of product structure. The traditional automatic loading and unloading system requires a large machine volume for product processing and loading and unloading, and the installation cost is high. During the processing operation, manual assistance is required, which has low production efficiency and safety hazards for personnel. The state quantity of the processed products cannot be monitored during the processing process, and the control method is complicated and cumbersome. On the other hand, the loading and unloading position of the current loading and unloading equipment is fixed, and it is impossible to feed and discharge the loading and unloading ports at multiple different positions or multiple channel ports; there are also some loading and unloading methods that rely heavily on robots to transfer workpieces. Although this method can meet the needs of flexibility and stability in the loading and unloading process, it greatly increases the cost and is not widely used. Summary of the invention

[0004] In response to the above-mentioned defects, an embodiment of the present invention discloses an oven loading and unloading device and a control method and system thereof, which solves the problems of unstable and unsafe loading control and can load / unload materials at multiple loading and unloading channels at the same time; and has the characteristics of safety, stability, reliability and efficiency.

[0005] The first aspect of the embodiment of the present invention discloses an oven loading and unloading device, comprising a Y-axis conveyor belt, a Z-axis conveyor belt and a conveyor belt module, wherein the Y-axis conveyor belt comprises a Y1 conveyor belt and a Y2 conveyor belt arranged in parallel;

[0006] The conveyor belt module includes a module motor, which is used to drive the workpiece to move in the X-axis direction. The conveyor belt module is provided with an upper material position and a lower material position at both ends. The upper material position is provided with an upper material position stopper, which is used to position the workpiece at the upper material position. The upper material position stopper includes an upper material position stopper motor, which is used to drive the upper material position stopper to extend or retract. The lower material position is provided with a lower material position stopper, which is used to position the workpiece at the lower material position. The lower material position stopper includes a lower material position stopper motor, which is used to drive the lower material position stopper to extend or retract.

[0007] The conveyor belt module includes a Y1 conveyor belt module, a Y2 conveyor belt module, a Z-axis conveyor belt module, a buffer conveyor belt module and a return conveyor belt module; wherein the Y1 conveyor belt module is arranged on the Y1 conveyor belt, the Y2 conveyor belt module is arranged on the Y2 conveyor belt, and the Z-axis conveyor belt module is arranged on the Z-axis conveyor belt;

[0008] The Y-axis conveyor belt is provided with a plurality of loading / unloading channel positions, and the Y-axis conveyor belt comprises a Y1-axis motor and a Y2-axis motor, and the Y-axis motor is used to drive the conveyor belt module arranged on the Y-axis conveyor belt to move between the plurality of loading / unloading channel positions; the Z-axis conveyor belt comprises a Z-axis motor, and the Z-axis motor is used to drive one end of the Z-axis conveyor belt module to connect with the Y1 conveyor belt module or the Y2 conveyor belt module, and the other end of the Z-axis conveyor belt module to connect with the buffer conveyor belt module, and the buffer conveyor belt module to connect with the return conveyor belt module, and the other end of the return conveyor belt module forms a material collection area or a material unloading area.

[0009] A second aspect of an embodiment of the present invention discloses a method for controlling loading and unloading of a baking oven, comprising:

[0010] Receive a feeding task signal sent by the oven device; the feeding task signal includes feeding channel position information; determine the Y-axis conveyor belt according to the feeding channel position information;

[0011] Check the state of the loading stopper of the Y-axis conveyor belt module and keep the loading stopper in the extended state;

[0012] Determine whether the Y-axis conveyor belt module is loaded with workpieces; when the judgment result is yes, output the Y-axis loading signal; when the judgment result is no, control the Z-axis conveyor belt, the buffer conveyor belt module and the return conveyor belt module to transport the workpiece from the material collection area to the Y-axis conveyor belt module; after the transportation is completed, output the Y-axis loading signal;

[0013] According to the Y-axis feeding signal, the Y-axis conveyor belt module loaded with the workpiece is positioned to the feeding channel position, so that the workpiece moves in the upward material position direction and enters the feeding channel; at the same time, the Y-axis feeding position stopper is controlled to retract;

[0014] Determine whether the Y-axis conveyor belt module is loaded with workpieces; when the judgment result is yes, output the loading information, and judge again whether the Y-axis conveyor belt module is loaded with workpieces; until the judgment result is no, combined with the loading channel position number, control the loading position block of the Y-axis conveyor belt module to extend, and output the corresponding channel position number Loading completion and material request closing signal.

[0015] As an optional implementation, in the second aspect of the embodiment of the present invention, the step of controlling the Z-axis conveyor belt module, the buffer conveyor belt module and the return conveyor belt module to transport the workpiece from the material collection area to the Y-axis conveyor belt module according to the Y-axis material request signal includes:

[0016] According to the Y-axis material request signal; check the state of the Z-axis material position stopper, and keep the Z-axis material position stopper in the extended state;

[0017] Determine whether the Z-axis conveyor belt module on the Z-axis conveyor belt is loaded with workpieces; when the judgment result is yes, output a Z-axis feeding signal; when the judgment result is no, start the Z-axis motor, drive the Z-axis conveyor belt module to connect with the buffer conveyor belt module, control the buffer conveyor belt module and the return conveyor belt module to transport the workpiece from the material collection area to the Z-axis conveyor belt module; output a Z-axis feeding signal after the transportation is completed;

[0018] According to the Z-axis feeding signal, the Z-axis conveyor belt module loaded with the workpiece is driven to connect with the Y1 conveyor belt module, the Z-axis module motor is started, the workpiece moves in the Z-axis material position direction, and the Z-axis material position stopper is controlled to retract, so that the workpiece enters the Y-axis conveyor belt module, and the Z-axis feeding completion information is output;

[0019] According to the material closing signal, the material position stopper on the Z axis is controlled to extend and the material closing signal on the Z axis is output.

[0020] As an optional implementation, in the second aspect of the embodiment of the present invention, the step of controlling the buffer conveyor belt module and the return conveyor belt module to transport the workpiece from the material collection area to the Z-axis conveyor belt module includes:

[0021] According to the Z-axis material request signal, check the state of the buffer material loading position stopper, and keep the buffer material loading position stopper in the extended state;

[0022] Determine whether the cache conveyor belt module is loaded with workpieces; when the judgment result is yes, output the cache conveyor belt feeding signal; when the judgment result is no, control the return conveyor belt module to transport the workpiece from the material collection area to the cache conveyor belt module; identify the workpiece number information transported to the cache conveyor belt module, control the cache loading position block to retract, so that the workpiece enters the Z-axis conveyor belt module, and output the cache conveyor belt feeding completion information;

[0023] According to the feeding completion information signal of the buffer conveyor belt, the buffer loading position stopper is controlled to extend and the rear end material request closing signal is output.

[0024] As an optional implementation, in the second aspect of the embodiment of the present invention, the step of controlling the return conveyor belt module to transport the workpiece from the material collection area to the buffer conveyor belt module includes:

[0025] According to the material request signal of the buffer conveyor belt, the state of the reflux material upper position stopper is checked, and the reflux material upper position stopper is kept in the extended state;

[0026] Determine whether the return conveyor belt module is loaded with workpieces; when the judgment result is yes, output the return conveyor belt feeding signal; when the judgment result is no, transport the workpiece from the material collection area to the buffer conveyor belt module; control the retraction of the return material position stopper to allow the workpiece to enter the buffer conveyor belt module, and output the return conveyor belt feeding completion information;

[0027] According to the information signal of the completion of feeding of the reflux conveyor belt, the reflux upper material position stopper is controlled to extend and the rear end material request closing signal is output.

[0028] As an optional implementation manner, in the second aspect of the embodiment of the present invention, it also includes:

[0029] Receiving a material unloading task signal sent by the oven equipment, wherein the material unloading task signal includes material unloading channel position information; determining the Y-axis conveyor belt according to the material unloading channel position information;

[0030] Check the state of the unloading stopper of the Y-axis conveyor belt module, and keep the unloading stopper in the extended state; determine whether the Y-axis conveyor belt module is loaded with a workpiece; when the determination result is yes, output a Y-axis unloading signal; when the determination result is no, position the Y-axis conveyor belt module without a workpiece loaded to the unloading channel position, load the workpiece into the Y-axis conveyor belt module and move it in the direction of the unloading position, and start timing;

[0031] When the timing reaches the set threshold, it is determined whether the Y-axis conveyor belt module is loaded with workpieces; when the judgment result is no, the unloading information is output, and it is determined again whether the Y-axis conveyor belt module is loaded with workpieces; until the judgment result is yes, the Y-axis unloading signal is output;

[0032] According to the Y-axis discharging signal, the Y-axis conveyor belt module loaded with the workpiece is connected with the Z-axis conveyor belt module, the unloading position block of the Y-axis conveyor belt module is controlled to retract, the workpiece is fed into the Z-axis conveyor belt module, and the Z-axis conveyor belt module, the buffer conveyor belt module and the return conveyor belt module are controlled to transport the workpiece to the unloading area; after the transportation is completed, the unloading completion signal of the corresponding channel position number is output.

[0033] As an optional implementation, in the second aspect of the embodiment of the present invention, the steps of connecting the Y-axis conveyor belt module loaded with workpieces with the Z-axis conveyor belt module, controlling the lower material stopper of the Y-axis conveyor belt module to retract, feeding the workpiece into the Z-axis conveyor belt module, and controlling the Z-axis conveyor belt module, the buffer conveyor belt module and the return conveyor belt module to transport the workpiece to the unloading area include:

[0034] After feeding the workpiece into the Z-axis conveyor belt module, check the state of the Z-axis material lowering stopper and keep the Z-axis material lowering stopper in the extended state;

[0035] Determine whether the Z-axis conveyor belt module on the Z-axis conveyor belt is loaded with workpieces; when the judgment result is yes, output the Z-axis discharge signal; when the judgment result is no, connect the Z-axis conveyor belt module with the Y-axis conveyor belt module, control the Y-axis conveyor belt module to retract the material position stopper, and the Y-axis conveyor belt module sends the workpiece into the Z-axis conveyor belt module; output the Z-axis discharge signal after the transportation is completed;

[0036] According to the Z-axis discharge signal, the Z-axis motor is started, the Z-axis conveyor belt module is connected to the buffer conveyor belt module, the Z-axis lower material position stopper is controlled to retract, and the workpiece is sent into the buffer conveyor belt module.

[0037] As an optional implementation, in the second aspect of the embodiment of the present invention, the steps of connecting the Y-axis conveyor belt module loaded with workpieces with the Z-axis conveyor belt module, controlling the lower material stopper of the Y-axis conveyor belt module to retract, feeding the workpiece into the Z-axis conveyor belt module, and controlling the Z-axis conveyor belt module, the buffer conveyor belt module and the return conveyor belt module to transport the workpiece to the unloading area also include:

[0038] After the workpiece is fed into the buffer conveyor belt module, check the status of the buffer material discharge position stopper and keep the buffer material discharge position stopper in the extended state;

[0039] Determine whether the buffer conveyor belt module is loaded with workpieces; when the judgment result is yes, output the buffer discharge signal; when the judgment result is no, control the Z-axis lower material stopper to retract, and the Z-axis conveyor belt module sends the workpiece into the buffer conveyor belt module; after the transportation is completed, output the buffer discharge signal;

[0040] According to the cache discharge signal, the cache lower material level block is controlled to retract, the workpiece is sent into the return conveyor belt module, and the workpiece number information sent into the return conveyor belt module is identified.

[0041] As an optional implementation, in the second aspect of the embodiment of the present invention, the steps of connecting the Y-axis conveyor belt module loaded with workpieces with the Z-axis conveyor belt module, controlling the lower material stopper of the Y-axis conveyor belt module to retract, feeding the workpiece into the Z-axis conveyor belt module, and controlling the Z-axis conveyor belt module, the buffer conveyor belt module and the return conveyor belt module to transport the workpiece to the unloading area also include:

[0042] After the workpiece is fed into the return conveyor module, check the status of the return material level stopper and keep the return material level stopper in the extended state;

[0043] Determine whether the return conveyor belt module is loaded with workpieces; when the judgment result is yes, output the return discharge signal; when the judgment result is no, control the buffer unloading position block to retract, and the buffer conveyor belt module sends the workpiece into the return conveyor belt module; after the transportation is completed, output the return discharge signal;

[0044] According to the reflux discharge signal, the reflux lower material level stopper is controlled to retract and the workpiece is transported to the unloading area.

[0045] A third aspect of an embodiment of the present invention discloses a system for loading and unloading a baking oven, comprising: a loading control unit, the loading control unit being used to control a loading procedure of the baking oven; the loading control unit comprising a Y-axis conveyor belt loading control module, a Z-axis conveyor belt loading control module, a buffer conveyor belt loading control module and a return conveyor belt loading control module; respectively used to control the loading procedures of the Y-axis conveyor belt, the Z-axis conveyor belt, the buffer conveyor belt and the return conveyor belt;

[0046] A material unloading control unit, which is used to control the unloading program of the oven; the material unloading control unit includes a Y-axis conveyor belt unloading control module, a Z-axis conveyor belt unloading control module, a buffer conveyor belt unloading control module and a return conveyor belt unloading control module; they are respectively used to control the unloading programs of the Y-axis conveyor belt, the Z-axis conveyor belt, the buffer conveyor belt and the return conveyor belt.

[0047] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0048] The control method for loading and unloading materials in an oven of the present invention provides a solution for fully automatic control of loading and unloading materials in an oven, and solves the problems of low automation, high labor intensity of workers, and many potential safety hazards in current industrial production; the control method for loading and unloading materials in an oven distributes the material feeding and unloading channels to the corresponding channel openings of multiple conveyor belts through the control and coordination of conveyor belts in different directions, thereby realizing feeding and unloading materials at multiple loading and unloading openings in different positions or multiple channel openings; realizing the flexibility of loading and unloading materials and improving production capacity; and controlling and monitoring each operation step in real time through multiple sensing judgments; having the characteristics of safety, stability, reliability, and high efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, 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 invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0050] Figure 1 It is a structural schematic diagram of the loading and unloading arrangement of the oven disclosed in the embodiment of the present invention;

[0051] Figure 2 It is a schematic diagram of the internal structure of the loading and unloading arrangement of the oven disclosed in the embodiment of the present invention;

[0052] Figure 3 It is a schematic diagram of the Y-axis conveyor belt loading process of the method for controlling loading and unloading of a baking oven provided by an embodiment of the present invention;

[0053] Figure 4 It is a schematic diagram of the Z-axis conveyor belt loading process of the method for controlling loading and unloading of a baking oven provided by an embodiment of the present invention;

[0054] Figure 5 It is a schematic diagram of the loading process of the buffer conveyor belt module of the control method for loading and unloading materials in the oven provided by an embodiment of the present invention;

[0055] Figure 6 It is a schematic diagram of the loading process of the return conveyor belt module of the control method for loading and unloading materials in the oven provided by an embodiment of the present invention;

[0056] Figure 7 It is a schematic diagram of the Y-axis conveyor belt unloading process of the method for controlling unloading and loading of an oven provided by an embodiment of the present invention;

[0057] Figure 8 It is a schematic diagram of the Z-axis conveyor belt unloading process of the method for controlling unloading and loading of an oven provided by an embodiment of the present invention;

[0058] Fig. 9 It is a schematic diagram of the material unloading process of the buffer conveyor belt module of the control method for unloading and unloading materials in the oven provided by an embodiment of the present invention;

[0059] Fig.10 It is a schematic diagram of the unloading process of the reflux conveyor belt module of the control method for unloading and loading materials in the oven provided by an embodiment of the present invention;

[0060] Fig.11 It is a structural schematic diagram of a system for loading and unloading materials in an oven provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0062] It should be noted that the terms "first", "second", "third", "fourth", etc. in the specification and claims of the present invention are used to distinguish different objects rather than to describe a specific order. The terms "including" and "having" in the embodiments of the present invention and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device including a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0063] Embodiment 1

[0064] See also Figure 1-2 , Figure 1-2 The invention is a schematic structural diagram of a baking oven loading and unloading device disclosed in an embodiment of the invention.

[0065] This embodiment provides an oven loading and unloading device, comprising a Y-axis conveyor belt 1, a Z-axis conveyor belt 2 and a conveyor belt module, wherein the Y-axis conveyor belt 1 comprises a Y1 conveyor belt 11 and a Y2 conveyor belt 12 arranged in parallel;

[0066] The Y-axis conveyor belt 1 is provided to transport the workpiece in the Y-axis direction, the Z-axis conveyor belt 2 is provided to transport the workpiece in the Z-axis direction, and the conveyor belt module is provided to transport the workpiece in the X-axis direction. The X-axis direction, Y-axis direction and Z-axis direction referred to herein are not limited to the mutually perpendicular state in the coordinate system. In actual operation, a small amount of deviation caused by space or other conditions can achieve the technical effect to be achieved by the present invention as long as the displacement of the workpiece in the three dimensions of length, width and height can be met, and is also within the protection scope of the present invention.

[0067] The conveyor belt module includes a module motor, which is used to drive the workpiece to move in the X-axis direction. The conveyor belt module is provided with an upper material position and a lower material position at both ends. The upper material position is provided with an upper material position stopper, which is used to position the workpiece at the upper material position. The upper material position stopper includes an upper material position stopper motor, which is used to drive the upper material position stopper to extend or retract. The lower material position is provided with a lower material position stopper, which is used to position the workpiece at the lower material position. The lower material position stopper includes a lower material position stopper motor, which is used to drive the lower material position stopper to extend or retract.

[0068] The conveyor belt module is used for loading, positioning and transporting workpieces. The conveyor belt module generally uses a conveyor belt to drive the workpiece to move. In some limited implementations, a hooking device or a pushing device may also be provided to drive the workpiece to move by hooking or pushing.

[0069] The conveyor belt module includes a Y1 conveyor belt module, a Y2 conveyor belt module, a Z-axis conveyor belt module, a buffer conveyor belt module and a return conveyor belt module; wherein the Y1 conveyor belt module is arranged on the Y1 conveyor belt, the Y2 conveyor belt module is arranged on the Y2 conveyor belt, and the Z-axis conveyor belt module is arranged on the Z-axis conveyor belt;

[0070] The Y-axis conveyor belt, Z-axis conveyor belt, Y1 conveyor belt module, Y2 conveyor belt module, Z-axis conveyor belt module, buffer conveyor belt module and return conveyor belt module are all provided with sensing elements or timing elements, which can obtain the status of the workpiece on the conveyor belt by position judgment or weight judgment.

[0071] The Y1 conveyor belt module includes the Y1 module motor, the Y1 upper material position, the Y1 lower material position, the Y1 upper material position stopper, the Y1 lower material position stopper, the Y1 upper material position stopper motor and the Y1 lower material position stopper motor;

[0072] The Y2 conveyor belt module includes a Y2 module motor, a Y2 upper material position, a Y2 lower material position, a Y2 upper material position stopper, a Y2 lower material position stopper, a Y2 upper material position stopper motor and a Y2 lower material position stopper motor;

[0073] The Z-axis conveyor belt module includes a Z-axis module motor, a Z-axis material loading position, a Z-axis material loading position, a Z-axis material loading position stopper, a Z-axis material loading position stopper, a Z-axis material loading position stopper motor and a Z-axis material loading position stopper motor;

[0074] The buffer conveyor belt module includes a buffer module motor, a buffer upper material position, a buffer lower material position, a buffer upper material position stopper, a buffer lower material position stopper, a buffer upper material position stopper motor and a buffer lower material position stopper motor;

[0075] The reflux conveyor belt module includes a reflux module motor, a reflux upper material position, a reflux lower material position, a reflux upper material position stopper and a reflux lower material position stopper, a reflux upper material position stopper motor and a reflux lower material position stopper motor;

[0076] The Y-axis conveyor belt is provided with a plurality of loading / unloading channel positions, and the Y-axis conveyor belt comprises a Y1-axis motor and a Y2-axis motor, and the Y-axis motor is used to drive the conveyor belt module arranged on the Y-axis conveyor belt to move between the plurality of loading / unloading channel positions; the Z-axis conveyor belt comprises a Z-axis motor, and the Z-axis motor is used to drive one end of the Z-axis conveyor belt module to connect with the Y1 conveyor belt module or the Y2 conveyor belt module, and the other end of the Z-axis conveyor belt module to connect with the buffer conveyor belt module, and the buffer conveyor belt module to connect with the return conveyor belt module, and the other end of the return conveyor belt module forms a material collection area or a material unloading area.

[0077] In addition to the above-mentioned method of setting up two conveyor belts Y1 conveyor belt and Y2 conveyor belt of the Y-axis conveyor belt, on this basis, the number of Y-axis conveyor belts can also be adaptively adjusted to expand it to more than two conveyor belts to meet a larger range of loading and unloading channel openings and improve production capacity, which can be understood by technical personnel in this field.

[0078] Embodiment 2

[0079] See also Figure 3-10 Based on the structure of the oven loading and unloading equipment disclosed in the first embodiment, the present invention discloses a method for controlling the loading and unloading of the oven, including:

[0080] Loading step: receiving a "loading task signal" sent by the oven equipment and starting the loading procedure; the "loading task signal" includes the loading channel position information; determining the Y-axis conveyor belt according to the loading channel position information;

[0081] When the Y-axis conveyor belt where the feeding channel is located is the Y1 conveyor belt, check the state of the Y1 feeding position block and keep the Y1 feeding position block in the extended state;

[0082] Determine whether the Y1 conveyor belt module on the Y1 conveyor belt is loaded with workpieces; when the judgment result is "yes", output "Y1 axis loading signal"; when the judgment result is "no", output "Y1 axis request signal";

[0083] According to the "Y1-axis material request signal", the Z-axis feeding program is started; the state of the Z-axis material position stopper is checked, and the Z-axis material position stopper is kept in the extended state;

[0084] Determine whether the Z-axis conveyor belt module on the Z-axis conveyor belt is loaded with workpieces; when the judgment result is "yes", output "Z-axis feeding signal"; when the judgment result is "no", output "Z-axis material request signal";

[0085] According to the "Z-axis material request signal", the Z-axis motor is started to drive the Z-axis conveyor belt module to connect with the buffer conveyor belt module, and the buffer conveyor belt module and the return conveyor belt module are controlled to transport the workpiece from the material collection area to the Z-axis conveyor belt module; after the transportation is completed, the "Z-axis feeding signal" is output;

[0086] According to the "Z-axis feeding signal", the Z-axis motor is started to drive the Z-axis conveyor belt module loaded with the workpiece to connect with the Y1 conveyor belt module, and the "Z-axis workpiece in place information" is output; according to the "Z-axis workpiece in place information", the Z-axis module motor is started to move the workpiece in the direction of the Z-axis material position, and the Z-axis material position stopper is controlled to retract, so that the workpiece enters the Y1 conveyor belt module, and the "Z-axis feeding completion information" is output;

[0087] According to the "material request closed" signal; control the Z-axis upper material position stopper to extend and output the "Z-axis material request closed" signal.

[0088] According to the "Z-axis material request signal", the buffer conveyor belt feeding program is started, the state of the buffer loading position block is checked, and the buffer loading position block is kept in the extended state;

[0089] Determine whether the buffer conveyor belt module is loaded with workpieces; when the judgment result is "yes", output the buffer conveyor belt feeding signal; when the judgment result is "no", output the "buffer conveyor belt material request signal";

[0090] According to the "buffer conveyor belt material request signal", the buffer module motor is started to control the return conveyor belt module to transport the workpiece from the material collection area to the buffer conveyor belt module; the workpiece number information transported to the buffer conveyor belt module is identified, and the "buffer conveyor belt feeding signal" is output when the transportation is completed;

[0091] According to the "buffer conveyor belt feeding signal", the buffer loading position block is controlled to retract, so that the workpiece enters the Z-axis conveyor belt module and outputs the "buffer conveyor belt feeding completion information";

[0092] According to the "buffer conveyor belt feeding completion information" signal, the buffer loading position stopper is controlled to extend and the "rear end material request closing" signal is output.

[0093] According to the "buffer conveyor belt material request signal", the reflux conveyor belt feeding program is started, the state of the reflux upper material position stopper is checked, and the reflux upper material position stopper is kept in the extended state;

[0094] Determine whether the return conveyor belt module is loaded with workpieces; when the judgment result is "yes", output "return conveyor belt feeding signal"; when the judgment result is "no", output "return conveyor belt material request signal";

[0095] According to the "return storage conveyor belt material request signal", the return module motor is started to transport the workpiece from the material collection area to the buffer conveyor belt module; after the transportation is completed, the "return conveyor belt feeding signal" is output;

[0096] According to the "return conveyor belt feeding signal", the return flow upper material stopper is controlled to retract, so that the workpiece enters the buffer conveyor belt module, and the "return conveyor belt feeding completion information" is output;

[0097] According to the "return conveyor belt feeding completion information" signal; control the return feed position stopper to extend, output the "rear end material request closed" signal, and output the "Y1 axis feeding signal" after the transportation is completed;

[0098] Through the above steps, the Z-axis conveyor belt, the buffer conveyor belt module and the return conveyor belt module are controlled to transport the workpiece from the material collection area to the Y1 conveyor belt module.

[0099] According to the "Y1-axis loading signal", the Y1-axis motor is started to position the Y1 conveyor belt module loaded with the workpiece to the loading channel position, and the "workpiece in place information" is output; according to the "workpiece in place information", the Y1 module motor is started to move the workpiece in the upward material position direction and enter the loading channel; the Y1 loading position block is controlled to retract;

[0100] Determine whether the Y1 conveyor belt module on the Y1 conveyor belt is loaded with workpieces; when the judgment result is "yes", output the "loading" information, and again determine whether the Y1 conveyor belt module on the Y1 conveyor belt is loaded with workpieces; until the judgment result is "no", combined with the loading channel position number, control the Y1 loading position block to extend, and output "loading of the corresponding channel position number is completed" and "material request closed" signals.

[0101] In some preferred embodiments, it further comprises:

[0102] Unloading step: receiving a "unloading task signal" sent by the oven equipment and starting the unloading procedure; the "unloading task signal" includes unloading channel position information; determining the Y-axis conveyor belt according to the unloading channel position information;

[0103] When the Y-axis conveyor belt where the unloading channel is located is the Y2 conveyor belt, check the state of the Y2 unloading position block and keep the Y2 unloading position block in the extended state; determine whether the Y2 conveyor belt module on the Y2 conveyor belt is loaded with workpieces; when the determination result is "yes", output the Y2 axis unloading signal; when the determination result is "no", output the "Y2 axis unloading signal";

[0104] According to the "Y2-axis unloading signal", the Y2-axis motor is started, the Y2 conveyor belt module without workpieces is positioned to the unloading channel position, and the "carrier in place information" is output; according to the "carrier in place information", the Y2 module motor is started, the workpiece is loaded into the Y2 conveyor belt module and moves in the direction of the lower material position, and the timing is started;

[0105] When the timing reaches the set threshold, it is determined whether the Y2 conveyor belt module on the Y2 conveyor belt is loaded with workpieces; when the judgment result is "no", the "unloading" information is output, and it is determined again whether the Y2 conveyor belt module on the Y2 conveyor belt is loaded with workpieces; until the judgment result is "yes", the "Y2 axis unloading signal" is output;

[0106] According to the "Y2-axis discharge signal", the Y2-axis motor is started to connect the Y2 conveyor belt module loaded with the workpiece with the Z-axis conveyor belt module;

[0107] After feeding the workpiece into the Z-axis conveyor belt module, start the Z-axis conveyor belt unloading program, check the state of the Z-axis unloading position stopper, and keep the Z-axis unloading position stopper in the extended state;

[0108] Determine whether the Z-axis conveyor belt module on the Z-axis conveyor belt is loaded with workpieces; when the judgment result is "yes", output "Z-axis discharge signal"; when the judgment result is "no", output "Z-axis unloading signal";

[0109] According to the "Z-axis unloading signal", the Z-axis motor is started, the Z-axis conveyor belt module is connected to the Y2 conveyor belt module, and the "Z-axis carrier in place information" is output; according to the "Z-axis carrier in place information", the Y2 unloading position block is controlled to retract, and the Y2 conveyor belt module sends the workpiece into the Z-axis conveyor belt module; after the transportation is completed, the "Z-axis unloading signal" is output;

[0110] According to the "Z-axis discharge signal", the Z-axis motor is started, the Z-axis conveyor belt module is connected to the buffer conveyor belt module, the Z-axis lower material position stopper is controlled to retract, and the workpiece is sent into the buffer conveyor belt module.

[0111] After the workpiece is fed into the buffer conveyor belt module, the buffer conveyor belt unloading program is started, the state of the buffer unloading position stopper is checked, and the buffer unloading position stopper is kept in the extended state;

[0112] Determine whether the cache conveyor belt module is loaded with workpieces; when the judgment result is "yes", output "cache discharge signal"; when the judgment result is "no", output "cache unloading signal";

[0113] According to the "buffered material unloading signal", the Z-axis unloading position stopper is controlled to retract, and the Z-axis conveyor belt module sends the workpiece into the buffered conveyor belt module; after the transportation is completed, the "buffered material unloading signal" is output;

[0114] According to the "buffer discharge signal", the buffer lower material level block is controlled to retract, the workpiece is sent into the return conveyor belt module, and the workpiece number information sent into the return conveyor belt module is identified.

[0115] The steps of connecting the Y2 conveyor belt module loaded with the workpiece with the Z-axis conveyor belt module, controlling the Y2 material lowering stopper to retract, feeding the workpiece into the Z-axis conveyor belt module, and controlling the Z-axis conveyor belt module, the buffer conveyor belt module and the return conveyor belt module to transport the workpiece to the unloading area also include:

[0116] After the workpiece is fed into the return conveyor belt module, the return conveyor belt unloading program is started, the state of the return material discharging stopper is checked, and the return material discharging stopper is kept in the extended state;

[0117] Determine whether the reflux conveyor module is loaded with workpieces; when the judgment result is "yes", output "reflux discharge signal"; when the judgment result is "no", output "reflux unloading signal";

[0118] According to the "reflow unloading signal", the buffer unloading position block is controlled to retract, and the buffer conveyor belt module sends the workpiece into the reflow conveyor belt module; after the transportation is completed, the "reflow unloading signal" is output;

[0119] According to the "backflow discharge signal", the backflow lower material level stopper is controlled to retract and the workpiece is transported to the unloading area.

[0120] Thereby, the Y2 unloading position stopper is controlled to retract, the workpiece is fed into the Z-axis conveyor belt module, and the Z-axis conveyor belt module, the buffer conveyor belt module and the return conveyor belt module are controlled to transport the workpiece to the unloading area; after the transportation is completed, the "unloading of the corresponding channel position number is completed" signal is output.

[0121] In the above embodiment, the conveyor belt at distance Y1 is used for loading, and the conveyor belt Y2 is used for unloading; in actual application, both the conveyor belt Y1 and the conveyor belt Y2 can be used for loading, both the conveyor belt Y1 and the conveyor belt Y2 can be used for unloading, or can be used for loading and unloading at the same time. Those skilled in the art can make adaptive adjustments according to actual conditions.

[0122] The control method for loading and unloading of an oven of the present invention provides a solution for fully automatic control of loading and unloading of an oven, which solves the problems of low automation, high labor intensity of workers and multiple safety hazards in current industrial production; the control method for loading and unloading of the entire oven distributes the feeding and unloading channels to the channel openings of multiple conveyor belts through the control and coordination of conveyor belts in different directions, thereby realizing feeding and unloading of feeding and unloading ports at multiple different positions or multiple channel openings; realizing the flexibility of feeding and unloading, and improving production capacity; and controlling and monitoring each operation step in real time through multiple sensing judgments; having the characteristics of safety, stability, reliability and high efficiency.

[0123] Embodiment 3

[0124] See also Fig.11 , Fig.11 The present invention discloses a structural schematic diagram of a system for loading and unloading materials in a baking oven based on the control method for loading and unloading materials in the baking oven disclosed in the second embodiment, including:

[0125] A feeding control unit, which is used to control the feeding procedure of the oven;

[0126] The feeding control unit includes a Y-axis conveyor belt feeding control module, a Z-axis conveyor belt feeding control module, a buffer conveyor belt feeding control module and a return conveyor belt feeding control module;

[0127] The Y-axis conveyor belt feeding control module includes a Y1-axis conveyor belt feeding control module and a Y2-axis conveyor belt feeding control module. The Y1-axis conveyor belt feeding control module is used to control the Y1-axis conveyor belt feeding program; the Y2-axis conveyor belt feeding control module is used to control the Y2-axis conveyor belt feeding program;

[0128] The Z-axis conveyor belt feeding control module is used to control the Z-axis conveyor belt feeding program;

[0129] The buffer conveyor belt feeding control module is used to control the buffer conveyor belt module feeding program;

[0130] The return conveyor belt feeding control module is used to control the feeding program of the return conveyor belt module.

[0131] A material unloading control unit, which is used to control the unloading procedure of the oven;

[0132] The material unloading control unit includes a Y-axis conveyor belt unloading control module, a Z-axis conveyor belt unloading control module, a buffer conveyor belt unloading control module and a return conveyor belt unloading control module;

[0133] The Y-axis conveyor belt unloading control module includes a Y1-axis conveyor belt unloading control module and a Y2-axis conveyor belt unloading control module. The Y1-axis conveyor belt unloading control module is used to control the Y1-axis conveyor belt unloading program; the Y2-axis conveyor belt unloading control module is used to control the Y2-axis conveyor belt unloading program;

[0134] The Z-axis conveyor belt unloading control module is used to control the Z-axis conveyor belt unloading program;

[0135] The buffer conveyor belt unloading control module is used to control the unloading program of the buffer conveyor belt module;

[0136] The return conveyor belt unloading control module is used to control the unloading program of the return conveyor belt module.

[0137] The control method for loading and unloading materials in an oven of the present invention provides a solution for fully automatic control of loading and unloading materials in an oven, and solves the problems of low automation, high labor intensity of workers, and many potential safety hazards in current industrial production; the control method for loading and unloading materials in an oven distributes the material feeding and unloading channels to the corresponding channel openings of multiple conveyor belts through the control and coordination of conveyor belts in different directions, thereby realizing feeding and unloading materials at multiple loading and unloading openings in different positions or multiple channel openings; realizing the flexibility of loading and unloading materials and improving production capacity; and controlling and monitoring each operation step in real time through multiple sensing judgments; having the characteristics of safety, stability, reliability, and high efficiency.

[0138] The above is a detailed introduction to an oven loading and unloading device and a control method and system thereof disclosed in an embodiment of the present invention. Specific examples are used in this article to illustrate the principle and implementation mode of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation mode and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for controlling loading and unloading of a baking oven, characterized in that: include: Provided is an oven loading and unloading device, the specific structure of the oven loading and unloading device comprises: a Y-axis conveyor belt, a Z-axis conveyor belt and a conveyor belt module, wherein the Y-axis conveyor belt comprises a Y1 conveyor belt and a Y2 conveyor belt arranged in parallel; The conveyor belt module includes a module motor, which is used to drive the workpiece to move in the X-axis direction. The conveyor belt module is provided with an upper material position and a lower material position at both ends. The upper material position is provided with an upper material position stopper, which is used to position the workpiece at the upper material position. The upper material position stopper includes an upper material position stopper motor, which is used to drive the upper material position stopper to extend or retract. The lower material position is provided with a lower material position stopper, which is used to position the workpiece at the lower material position. The lower material position stopper includes a lower material position stopper motor, which is used to drive the lower material position stopper to extend or retract. The conveyor belt module includes a Y1 conveyor belt module, a Y2 conveyor belt module, a Z-axis conveyor belt module, a buffer conveyor belt module and a return conveyor belt module; wherein the Y1 conveyor belt module is arranged on the Y1 conveyor belt, the Y2 conveyor belt module is arranged on the Y2 conveyor belt, and the Z-axis conveyor belt module is arranged on the Z-axis conveyor belt; The Y-axis conveyor belt is provided with a plurality of loading / unloading channel positions, and the Y-axis conveyor belt includes a Y1-axis motor and a Y2-axis motor, and the Y-axis motor is used to drive the conveyor belt module provided on the Y-axis conveyor belt to move between the plurality of loading / unloading channel positions; the Z-axis conveyor belt includes a Z-axis motor, and the Z-axis motor is used to drive one end of the Z-axis conveyor belt module to connect with the Y1 conveyor belt module or the Y2 conveyor belt module, and the other end of the Z-axis conveyor belt module to connect with the buffer conveyor belt module, and the buffer conveyor belt module is connected with the return conveyor belt module, and the other end of the return conveyor belt module forms a material collection area or a material unloading area; Receive a feeding task signal sent by the oven device; the feeding task signal includes feeding channel position information; determine the Y-axis conveyor belt according to the feeding channel position information; Check the state of the loading stopper of the Y-axis conveyor belt module and keep the loading stopper in the extended state; Determine whether the Y-axis conveyor belt module is loaded with workpieces; when the judgment result is yes, output the Y-axis loading signal; when the judgment result is no, output the Y-axis material request signal, control the Z-axis conveyor belt module, the buffer conveyor belt module and the return conveyor belt module to transport the workpiece from the material collection area to the Y-axis conveyor belt module; after the transportation is completed, output the Y-axis loading signal; According to the Y-axis feeding signal, the Y-axis conveyor belt module loaded with the workpiece is positioned to the feeding channel position, so that the workpiece moves in the upward material position direction and enters the feeding channel; at the same time, the Y-axis feeding position stopper is controlled to retract; Determine whether the Y-axis conveyor belt module is loaded with workpieces; when the judgment result is yes, output the loading information, and judge again whether the Y-axis conveyor belt module is loaded with workpieces; until the judgment result is no, combined with the loading channel position number, control the loading position block of the Y-axis conveyor belt module to extend, and output the corresponding channel position number Loading completion and material request closing signal.

2. A method for controlling loading and unloading of a baking oven according to claim 1, characterized in that: According to the Y-axis material request signal, the steps of controlling the Z-axis conveyor belt module, the buffer conveyor belt module and the return conveyor belt module to transport the workpiece from the material collection area to the Y-axis conveyor belt module include: According to the Y-axis material request signal; check the state of the Z-axis material position stopper, and keep the Z-axis material position stopper in the extended state; Determine whether the Z-axis conveyor belt module on the Z-axis conveyor belt is loaded with workpieces; when the judgment result is yes, output a Z-axis feeding signal; when the judgment result is no, output a Z-axis material request signal, start the Z-axis motor, drive the Z-axis conveyor belt module to connect with the buffer conveyor belt module, control the buffer conveyor belt module and the return conveyor belt module to transport the workpiece from the material collection area to the Z-axis conveyor belt module; output a Z-axis feeding signal after the transportation is completed; According to the Z-axis feeding signal, the Z-axis conveyor belt module loaded with the workpiece is driven to connect with the Y-axis conveyor belt module, the Z-axis module motor is started, the workpiece moves in the Z-axis material position direction, and the Z-axis material position stopper is controlled to retract, so that the workpiece enters the Y-axis conveyor belt module, and the Z-axis feeding completion information is output; According to the material closing signal, the material position stopper on the Z axis is controlled to extend and the material closing signal on the Z axis is output.

3. A method for controlling loading and unloading of a baking oven according to claim 2, characterized in that: The step of controlling the buffer conveyor belt module and the return conveyor belt module to transport the workpiece from the material collection area to the Z-axis conveyor belt module includes: According to the Z-axis material request signal, check the state of the buffer material loading position stopper, and keep the buffer material loading position stopper in the extended state; Determine whether the buffer conveyor belt module is loaded with workpieces; when the judgment result is yes, output the buffer conveyor belt feeding signal; when the judgment result is no, output the buffer conveyor belt material request signal, control the return conveyor belt module to transport the workpiece from the material collection area to the buffer conveyor belt module; identify the workpiece number information transported to the buffer conveyor belt module, control the buffer loading position block to retract, so that the workpiece enters the Z-axis conveyor belt module, and output the buffer conveyor belt feeding completion information; According to the feeding completion information signal of the buffer conveyor belt, the buffer loading position stopper is controlled to extend and the rear end material request closing signal is output.

4. A method for controlling loading and unloading of a baking oven according to claim 3, characterized in that: The step of controlling the return conveyor belt module to transport the workpiece from the material collection area to the buffer conveyor belt module includes: According to the material request signal of the buffer conveyor belt, the state of the reflux material upper position stopper is checked, and the reflux material upper position stopper is kept in the extended state; Determine whether the return conveyor belt module is loaded with workpieces; when the judgment result is yes, output the return conveyor belt feeding signal; when the judgment result is no, transport the workpiece from the material collection area to the buffer conveyor belt module; control the retraction of the return material position stopper to allow the workpiece to enter the buffer conveyor belt module, and output the return conveyor belt feeding completion information; According to the information signal of the completion of feeding of the reflux conveyor belt, the reflux upper material position stopper is controlled to extend and the rear end material request closing signal is output.

5. The method for controlling loading and unloading of a baking oven according to claim 1, characterized in that: Also includes: Receiving a material unloading task signal sent by the oven equipment, wherein the material unloading task signal includes material unloading channel position information; determining the Y-axis conveyor belt according to the material unloading channel position information; Check the state of the unloading stopper of the Y-axis conveyor belt module, and keep the unloading stopper in the extended state; determine whether the Y-axis conveyor belt module is loaded with a workpiece; when the determination result is yes, output a Y-axis unloading signal; when the determination result is no, position the Y-axis conveyor belt module without a workpiece loaded to the unloading channel position, load the workpiece into the Y-axis conveyor belt module and move it in the direction of the unloading position, and start timing; When the timing reaches the set threshold, it is determined whether the Y-axis conveyor belt module is loaded with workpieces; when the judgment result is no, the unloading information is output, and it is determined again whether the Y-axis conveyor belt module is loaded with workpieces; until the judgment result is yes, the Y-axis unloading signal is output; According to the Y-axis discharge signal, the Y-axis conveyor belt module loaded with the workpiece is connected with the Z-axis conveyor belt module, the lower material stopper of the Y-axis conveyor belt module is controlled to retract, the workpiece is sent into the Z-axis conveyor belt module, and the Z-axis conveyor belt module, the buffer conveyor belt module and the return conveyor belt module are controlled to transport the workpiece to the unloading area; After the transportation is completed, the corresponding channel bit number unloading completion signal is output.

6. A method for controlling loading and unloading of a baking oven according to claim 5, characterized in that: The steps of connecting the Y-axis conveyor belt module loaded with workpieces with the Z-axis conveyor belt module, controlling the Y-axis conveyor belt module to retract the lower material stopper, feeding the workpiece into the Z-axis conveyor belt module, and controlling the Z-axis conveyor belt module, the buffer conveyor belt module and the return conveyor belt module to transport the workpiece to the unloading area include: After feeding the workpiece into the Z-axis conveyor belt module, check the state of the Z-axis material lowering stopper and keep the Z-axis material lowering stopper in the extended state; Determine whether the Z-axis conveyor belt module on the Z-axis conveyor belt is loaded with workpieces; when the judgment result is yes, output the Z-axis discharge signal; when the judgment result is no, connect the Z-axis conveyor belt module with the Y-axis conveyor belt module, control the Y-axis conveyor belt module to retract the material position stopper, and the Y-axis conveyor belt module sends the workpiece into the Z-axis conveyor belt module; output the Z-axis discharge signal after the transportation is completed; According to the Z-axis discharge signal, the Z-axis motor is started, the Z-axis conveyor belt module is connected to the buffer conveyor belt module, the Z-axis lower material position stopper is controlled to retract, and the workpiece is sent into the buffer conveyor belt module.

7. A method for controlling loading and unloading of a baking oven according to claim 6, characterized in that: The steps of connecting the Y-axis conveyor belt module loaded with the workpiece with the Z-axis conveyor belt module, controlling the Y-axis conveyor belt module to retract the lower material stopper, feeding the workpiece into the Z-axis conveyor belt module, and controlling the Z-axis conveyor belt module, the buffer conveyor belt module and the return conveyor belt module to transport the workpiece to the unloading area also include: After the workpiece is fed into the buffer conveyor belt module, check the status of the buffer material discharge position stopper and keep the buffer material discharge position stopper in the extended state; Determine whether the buffer conveyor belt module is loaded with workpieces; when the judgment result is yes, output the buffer discharge signal; when the judgment result is no, control the Z-axis lower material stopper to retract, and the Z-axis conveyor belt module sends the workpiece into the buffer conveyor belt module; after the transportation is completed, output the buffer discharge signal; According to the cache discharge signal, the cache lower material level block is controlled to retract, the workpiece is sent into the return conveyor belt module, and the workpiece number information sent into the return conveyor belt module is identified.

8. A method for controlling loading and unloading of a baking oven according to claim 7, characterized in that: The steps of connecting the Y-axis conveyor belt module loaded with the workpiece with the Z-axis conveyor belt module, controlling the Y-axis conveyor belt module to retract the lower material stopper, feeding the workpiece into the Z-axis conveyor belt module, and controlling the Z-axis conveyor belt module, the buffer conveyor belt module and the return conveyor belt module to transport the workpiece to the unloading area also include: After the workpiece is fed into the return conveyor module, check the status of the return material level stopper and keep the return material level stopper in the extended state; Determine whether the return conveyor belt module is loaded with workpieces; when the judgment result is yes, output the return discharge signal; when the judgment result is no, control the buffer unloading position block to retract, and the buffer conveyor belt module sends the workpiece into the return conveyor belt module; after the transportation is completed, output the return discharge signal; According to the reflux discharge signal, the reflux lower material level stopper is controlled to retract and the workpiece is transported to the unloading area.

9. A system for loading and unloading a baking oven, characterized in that: The method for controlling loading and unloading of a baking oven based on any one of claims 5 to 8 comprises: A feeding control unit, which is used to control the feeding program of the oven; the feeding control unit includes a Y-axis conveyor belt feeding control module, a Z-axis conveyor belt feeding control module, a buffer conveyor belt feeding control module and a return conveyor belt feeding control module; respectively used to control the feeding program of the Y-axis conveyor belt, the Z-axis conveyor belt, the buffer conveyor belt and the return conveyor belt; A material unloading control unit, which is used to control the unloading program of the oven; the material unloading control unit includes a Y-axis conveyor belt unloading control module, a Z-axis conveyor belt unloading control module, a buffer conveyor belt unloading control module and a return conveyor belt unloading control module; they are respectively used to control the unloading programs of the Y-axis conveyor belt, the Z-axis conveyor belt, the buffer conveyor belt and the return conveyor belt.

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