A control system and control method for automatic loading and unloading of multi-layer silos

Abstract

This invention discloses a control system and method for automatic loading and unloading of multi-layer silos. Synchronous lifting of the silos enables complete synchronization of the gantry structure, simplifying program control logic and improving positioning accuracy. Using a programmable controller to control servo motors further enhances the positioning accuracy of the multi-layer silos and reduces the failure rate. Precise silo positioning reduces the failure rate during loading and unloading. Automatic conveying of each silo layer enables automatic control of loading and unloading speed, providing power to each layer and improving loading and unloading efficiency. The dual-servo motor gantry structure with closed-loop bus control ensures complete synchronous movement of the motors on both sides. Visual operation of the control mechanism is achieved through a touchscreen, facilitating troubleshooting and effective monitoring of various states.

Description

Technical Field

[0001] This invention relates to the field of drilling equipment positioning technology, and in particular to a control system and control method for automatic loading and unloading of multi-layer silos. Background Technology

[0002] With the widespread application of large-scale precision equipment in the intelligent equipment manufacturing industry in China, various new large-scale equipment now require high-precision positioning, intelligent operation, and synchronized movement. The positioning accuracy and synchronization of both sides of multi-layer hoppers are particularly important. The ordinary motors at both ends of the traditional gantry structure can no longer meet the requirements for high-precision positioning. When the motors on both sides cannot be fully synchronized, it will cause irreversible damage to the mechanism and affect the automatic loading and unloading function of the hopper, leading to jamming and other problems. Previously, the hoppers were non-powered, relying entirely on manual handling or drawer-type retrieval, resulting in low efficiency.

[0003] Currently, multi-layer silos have the following problems:

[0004] 1. The low positioning accuracy of multi-layer silos affects loading and unloading, and may cause material jamming.

[0005] 2. The multi-layer hopper gantry structure cannot move in complete synchronization, which affects the service life of the mechanism.

[0006] 3. The lack of power in the hopper reduces loading and unloading efficiency and prevents full automation. Summary of the Invention

[0007] The purpose of this invention is to provide a control system and method for automatic loading and unloading of multi-layer silos. By controlling servo motors with a programmable controller, the positioning accuracy of the multi-layer silos can be improved and the failure rate can be reduced. The dual servo motor gantry structure can achieve complete synchronous movement of the motors on both sides. The servo motor drives the synchronous belt to provide power to each layer of silos, which improves the loading and unloading efficiency and reduces the failure rate.

[0008] A multi-layer hopper automatic loading and unloading control system, applied to PCB processing equipment, includes:

[0009] The control module is used to edit the control program and perform logical control on the input and output raw materials;

[0010] The input / output module is connected to the control module and is used to detect the position of the plate, the moving point and origin of the cylinder, and the current position of the mechanism through sensors.

[0011] The servo processing module is connected to the control module and is used to configure various parameters of the servo motor.

[0012] The drive module is connected to the control module and the servo processing module via signals and is used to drive the servo motor.

[0013] In one embodiment, the input / output module includes a touch display module, which is signal-connected to the control module for inputting control commands.

[0014] In one embodiment, the input / output module further includes a loading / unloading adjustment module for resetting the loading / unloading machine, adjusting the corresponding parameters, and starting the loading / unloading machine.

[0015] In one embodiment, a conveyor platform is also included, which is equipped with a control main shaft and a slave shaft. The control main shaft adjusts the conveyor platform to the corresponding docking position through the servo motor. The slave shaft moves along with the control main shaft. The conveyor platform is adjusted to be horizontal by the control main shaft or the slave shaft, and the coordinates of the two axes are recorded.

[0016] In one embodiment, the input / output module includes:

[0017] A positioning sensor is used to locate coordinate positions and set the coordinate positions as target coordinates;

[0018] Through-beam sensor, used to detect whether the board material is in place.

[0019] A control method for automatic loading and unloading of multi-layer silos, comprising the aforementioned control system for automatic loading and unloading of multi-layer silos, including the following steps:

[0020] The control module sends connection signals to the input / output module, servo processing module, and drive module;

[0021] The control module configures servo parameters according to the setting requirements;

[0022] The servo processing module sets the control spindle and slave axis of the conveyor table through the servo parameters;

[0023] Adjust the position of the positioning sensor, the input / output module sends signals to the sensor, records the coordinates and sets the moving speed;

[0024] The recorded coordinates are compared with the target coordinates to determine whether the conveyor platform is accurately positioned.

[0025] The sensor at the current location makes a secondary judgment, and once the positioning is accurate, the loading and unloading operations are performed.

[0026] In one embodiment, the feeding operation includes:

[0027] When the control module receives the feeding signal, the conveyor moves to the feeding layer;

[0028] The through-beam sensor detects whether the plate is in place;

[0029] Once the sheet material is in place, the conveyor platform separates from the feeding layer, ending the feeding process.

[0030] In one embodiment, the conveyor platform moving to the loading layer includes the engagement of gears between the conveyor platform and the loading layer, and the synchronous belt rotating in the forward direction;

[0031] In one embodiment, the sensing of the material arrival by the through-beam sensor includes the synchronous belt stopping rotating and reversing for 1 second after the material arrives at the same time to avoid the through-beam sensor, the cylinder retracting the gear, and the conveyor platform separating from the gear of the material layer.

[0032] In one embodiment, the end of the feeding process includes moving the conveyor platform to another feeding layer.

[0033] In one embodiment, the unloading operation includes:

[0034] Upon receiving the feeding signal, the control module moves the conveyor to the feeding layer.

[0035] A through-beam sensor detects whether the plate has left the conveyor platform;

[0036] If the sheet material leaves the conveyor platform, the conveyor platform separates from the unloading layer, and the unloading process ends.

[0037] In one embodiment, the conveyor platform moves to the unloading layer by having a cylinder lifting gear inside the conveyor platform mesh with the unloading layer gear, and the synchronous belt reverses.

[0038] In one embodiment, the through-beam sensor detects the material leaving the conveyor platform by stopping rotation after the material has completely left the conveyor, and the conveyor's cylinder retraction gear separates from the gear of the unloading layer.

[0039] An electronic device, comprising the above-described method for acquiring electrical signal position coordinates, includes: a memory and one or more processors;

[0040] The memory is communicatively connected to the one or more processors, and the memory stores instructions that can be executed by the one or more processors. When the instructions are executed by the one or more processors, the electronic device is used to implement the apparatus described in any of the above embodiments.

[0041] A computer-readable storage medium includes the above-described method for acquiring electrical signal position coordinates, and stores computer-executable instructions thereon. When the computer-executable instructions are executed by a computing device, they can be used to implement the apparatus described in any of the above embodiments.

[0042] A computer program product includes the above-described method for acquiring electrical signal position coordinates. The computer program product includes a computer program stored on a computer-readable storage medium. The computer program includes program instructions, which, when executed by a computer, can be used to implement the apparatus described in any of the above embodiments.

[0043] The above technical solution has the following advantages or beneficial effects:

[0044] This invention relates to a multi-layer silo automatic loading and unloading control system and method. Through synchronous silo lifting, it achieves complete synchronization of the gantry structure, simplifies program control logic, and improves positioning accuracy. By controlling servo motors with a programmable controller, the positioning accuracy of the multi-layer silos is improved, reducing the failure rate. Precise silo positioning further reduces the failure rate of loading and unloading. Automatic conveying of each silo layer enables automatic control of loading and unloading speed, providing power to each layer and improving loading and unloading efficiency. The dual-servo motor gantry structure and closed-loop bus control ensure complete synchronous movement of the motors on both sides. Visual operation is achieved through a touchscreen control mechanism, facilitating troubleshooting and effective monitoring of various states. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the structure of an automatic loading and unloading control system for a multi-layer silo according to the present invention;

[0046] Figure 2 This is a flowchart illustrating an automatic loading and unloading control method for a multi-layer silo according to the present invention.

[0047] Figure 3 This is a schematic diagram of the material loading operation of the present invention;

[0048] Figure 4 This is a schematic diagram of the material feeding operation of the present invention. Detailed Implementation

[0049] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0050] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0051] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

[0052] The following describes in detail, with reference to the accompanying drawings, a control system and control method for automatic loading and unloading of multi-layer silos according to an embodiment of the present invention.

[0053] Combination Figure 1 As shown, a multi-layer hopper automatic loading and unloading control system is applied to PCB processing equipment, including:

[0054] Control module 1 is used to edit the control program and perform logical control on the input and output raw materials;

[0055] Input / output module 2 is connected to control module 1 and is used to detect the position of the plate, the moving point and origin of the cylinder, and the current position of the mechanism through sensors.

[0056] Servo processing module 3 is connected to control module 1 via signals and is used to configure various parameters of the servo motor;

[0057] The drive module 4 is connected to the control module 1 and the servo processing module 3 by signal connection, and is used to drive the servo motor.

[0058] In another embodiment of the automatic loading and unloading control system for multi-layer silos of the present invention, the transmission method is not limited, such as the cylinder can be replaced by an electric cylinder, a DD motor, and the synchronous belt can be replaced by rollers, etc.

[0059] This invention discloses a multi-layer silo automatic loading and unloading control system. By controlling two low-voltage servos through a high-precision motion controller, the two ends of the mechanism are lowered to hard limits and adjusted to horizontal. This point is set as the origin, the servo movement unit is set to mm, the relationship between the two motors is set as linear interpolation, the axes are set as master and slave axes respectively, and the lead of the lead screw, the reduction ratio of the reducer, etc. are set. The position of each layer can be set and saved through JOG mode, realizing synchronous lifting of the silo and achieving complete synchronization of the gantry structure. This simplifies the program control logic and improves the positioning accuracy.

[0060] The low-voltage servos on both sides of the gantry structure are controlled by a high-precision motion controller. Since the low-voltage servos are controlled by a bus, which is a closed-loop control, the position data can be effectively fed back, and the positioning accuracy reaches 0.01mm. After adjusting the position of each layer of the hopper, repeatable positioning can be achieved. The high positioning accuracy can reduce the failure rate of loading and unloading, and the positioning of each layer of the hopper only needs to be set once.

[0061] Each hopper is equipped with a synchronous belt. By controlling the cylinder to lift the gear and mesh with the gear of each hopper, the low-pressure servo controls the running direction and speed of the belt, so that each hopper can be automatically conveyed, achieving automatic control of loading and unloading and controlling the speed of conveying.

[0062] Connecting the touchscreen to the programmable controller enables control of the lifting mechanism, synchronous belt, and gears; monitoring of all I / O operations; alarm information monitoring; and visual operation of the mechanism's movement via the touchscreen, facilitating troubleshooting and effective monitoring of various states.

[0063] Furthermore, in a preferred embodiment of the automatic loading and unloading control system for multi-layer silos of the present invention, the input / output module 2 includes a touch display module, which is signal-connected to the control module 1 for inputting control commands.

[0064] Furthermore, in a preferred embodiment of the automatic loading and unloading control system for multi-layer silos of the present invention, the input / output module 2 further includes a loading / unloading adjustment module 23, which is used to reset the loading / unloading machine, adjust the corresponding parameters, and start the loading / unloading machine.

[0065] Furthermore, in a preferred embodiment of the automatic loading and unloading control system for multi-layer silos of the present invention, a conveyor platform 5 is further included. The conveyor platform is provided with a control main shaft and a slave shaft. The control main shaft adjusts the conveyor platform 5 to the corresponding docking position through the servo motor. The slave shaft moves along with the control main shaft. The conveyor platform 5 is adjusted to be horizontal through the control main shaft or the slave shaft, and the coordinates of the two axes are recorded.

[0066] In this invention, the main spindle and the single axis control one of the axes.

[0067] Furthermore, in a preferred embodiment of the automatic loading and unloading control system for multi-layer silos of the present invention, the input / output module 2 further includes:

[0068] Positioning sensor 21 is used to locate coordinate position and set the coordinate position as target coordinates;

[0069] The through-beam sensor 22 is used to sense whether the board is in place.

[0070] This invention effectively connects a programmable logic controller (PLC), a motion controller, an input / output module, a servo controller, and a servo motor. The axes are designated as master and slave axes, with coordinate units in mm and the motion mode set to linear interpolation. The lead of the lead screw and the reduction ratio of the reducer are also set. The movement of the two axes is controlled independently using JOG mode, lowering both ends of the mechanism to hard limits and adjusting them to a horizontal position, setting this point as the origin. By controlling the master axis, the mechanism is adjusted to the docking position of each layer. Since the slave axis moves synchronously, single-axis control is used to adjust the mechanism to a horizontal position, and the current coordinates of the two axes are recorded. The position of the positioning sensor for each layer is adjusted, and the sensor is effectively connected to the input / output module. The recorded coordinates are set as the target coordinates, and the movement speed of the two axes is set, i.e., the target coordinates are set. The PLC editing program is entered, and the recorded coordinates of each layer are written into the program as target coordinates for comparison to determine if the mechanism is accurately positioned. A secondary judgment is made based on the sensor at the current position. After accurate positioning, it can be used for loading and unloading operations.

[0071] Combination Figure 2-4 As shown, a control method for automatic loading and unloading of multi-layer silos includes the aforementioned control system for automatic loading and unloading of multi-layer silos, comprising the following steps:

[0072] The control module sends connection signals to the input / output module, servo processing module, and drive module;

[0073] The control module configures servo parameters according to the setting requirements;

[0074] The servo processing module sets the control spindle and slave axis of the conveyor table through the servo parameters;

[0075] Adjust the position of the positioning sensor, the input / output module sends signals to the sensor, records the coordinates and sets the moving speed;

[0076] The recorded coordinates are compared with the target coordinates to determine whether the conveyor platform is accurately positioned.

[0077] The sensor at the current location makes a secondary judgment, and once the positioning is accurate, the loading and unloading operations are performed.

[0078] This invention effectively connects a programmable logic controller (PLC), a motion controller, an input / output module, a servo controller, and a servo motor. The axes are designated as master and slave axes, with coordinate units in mm and the motion mode set to linear interpolation. The lead of the lead screw and the reduction ratio of the reducer are also set. The movement of the two axes is controlled independently using JOG mode, lowering both ends of the mechanism to hard limits and adjusting them to a horizontal position, setting this point as the origin. By controlling the master axis, the mechanism is adjusted to the docking position of each layer. Since the slave axis moves synchronously, single-axis control is used to adjust the mechanism to a horizontal position, and the current coordinates of the two axes are recorded. The position of the positioning sensor for each layer is adjusted, and the sensor is effectively connected to the input / output module. The recorded coordinates are set as the target coordinates, and the movement speed of the two axes is set, i.e., the target coordinates are set. The PLC editing program is entered, and the recorded coordinates of each layer are written into the program as target coordinates for comparison to determine if the mechanism is accurately positioned. A secondary judgment is made based on the sensor at the current position. After accurate positioning, it can be used for loading and unloading operations.

[0079] Linear interpolation is a commonly used interpolation method on lathes. In this method, the interpolation between two points is approximated by a group of points along a straight line, and the movement of the tool is controlled along this straight line.

[0080] Jog motion involves pressing and holding a button to keep the motor moving, and releasing the button to stop the motor. In Jog motion mode, each axis can be independently set with motion parameters such as target speed, acceleration, deceleration, and smoothness coefficient, and can move or stop independently.

[0081] Limit switches (hard limits) are electrical hardware devices that restrict the position of each axis. They are typically similar to travel switches; when the robot moves to the specified position, the switch is triggered, causing an alarm and power failure. They cannot be canceled using a cancel button; to cancel them, the hard limit function must be disabled in the execution switch settings. Furthermore, not every axis has a limit switch. Hard limits are achieved using machined components to restrict the device's position; a common method is to install polyurethane on machined parts as hard limits.

[0082] In this invention, the main spindle and the single axis control one of the axes.

[0083] Furthermore, in a preferred embodiment of the automatic loading and unloading control method for multi-layer silos of the present invention, the loading operation includes:

[0084] When the control module receives the feeding signal, the conveyor moves to the feeding layer;

[0085] The through-beam sensor detects whether the plate is in place;

[0086] Once the sheet material is in place, the conveyor platform separates from the feeding layer, ending the feeding process.

[0087] Another embodiment of the present invention includes the following steps: When the AGV arrives at the station, it receives a feeding signal and the mechanism moves to the idle layer; the gear of the current layer meshes with the gear of the current layer; the synchronous belt rotates forward, and each station senses whether the board is in place through a through-beam sensor. When all the boards are in place at the same time, the synchronous belt stops rotating and reverses for 1 second, while avoiding the through-beam sensor; the cylinder retracts the gear and separates it from the gear of the current layer; the feeding is completed, and the hopper is lifted to the next idle layer and the above steps are repeated.

[0088] Furthermore, in a preferred embodiment of the automatic loading and unloading control method for multi-layer silos of the present invention, the movement of the conveyor platform to the loading layer includes the meshing of gears between the conveyor platform and the loading layer, and the synchronous belt rotating in the forward direction;

[0089] Preferably, the sensing of whether the plate is in place by the through-beam sensor includes the synchronous belt stopping and reversing for 1 second after the plate is in place to avoid the through-beam sensor, the cylinder retracting the gear, and the conveyor platform separating from the gear of the loading layer.

[0090] Preferably, the end of the feeding process includes moving the conveyor to another feeding layer.

[0091] Furthermore, in a preferred embodiment of the automatic loading and unloading control method for multi-layer silos of the present invention, the unloading operation includes:

[0092] Upon receiving the feeding signal, the control module moves the conveyor to the feeding layer.

[0093] A through-beam sensor detects whether the plate has left the conveyor platform;

[0094] If the sheet material leaves the conveyor platform, the conveyor platform separates from the unloading layer, and the unloading process ends.

[0095] Furthermore, in a preferred embodiment of the automatic loading and unloading control method for multi-layer silos of the present invention, the movement of the conveyor platform to the unloading layer includes the engagement of the cylinder lifting gear inside the conveyor platform with the unloading layer gear, and the synchronous belt reversing.

[0096] Preferably, the through-beam sensor detects the material leaving the conveyor platform by stopping rotation after the material has completely left the conveyor, and the cylinder retraction gear of the conveyor separates from the gear of the unloading layer.

[0097] Another embodiment of the present invention includes the following steps: during material unloading, the AGV receives a material unloading signal upon arrival at the station, and the hopper is lifted to the raw material layer or finished product layer; the cylinder in the hopper lifts the gear and meshes with the gear of the current layer; the synchronous belt reverses, and each station senses whether the sheet has left the mechanism through a through-beam sensor; when the sheet has completely left the mechanism, the rotation stops; the cylinder retracts the gear and separates it from the gear of the current layer, and the material unloading ends.

[0098] In another embodiment of the automatic loading and unloading control method for multi-layer silos of the present invention, the transmission method is not limited, such as the cylinder can be replaced by an electric cylinder, a DD motor, and the synchronous belt can be replaced by rollers, etc.

[0099] The present invention provides a control method for automatic loading and unloading of multi-layer silos. This method uses a programmable controller to control a servo motor, which is controlled by a bus. The bus control is a closed-loop control, which can improve the positioning accuracy of multi-layer silos and reduce the failure rate.

[0100] By adopting a dual-servo motor gantry structure, it is possible to achieve completely synchronized movement of the motors on both sides.

[0101] The use of servo motors to drive synchronous belts provides power to each layer of silos, improving loading and unloading efficiency and reducing failure rate.

[0102] An electronic device includes: a memory and one or more processors;

[0103] The memory is communicatively connected to the one or more processors, and the memory stores instructions that can be executed by the one or more processors. When the instructions are executed by the one or more processors, the electronic device is used to implement the method described in any of the above.

[0104] Specifically, the processor and memory can be connected via a bus or other means, taking a bus connection as an example. The processor can be a Central Processing Unit (CPU). The processor can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations of the above types of chips.

[0105] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules. The processor executes various functional applications and data processing by running the non-transitory software programs / instructions and functional modules stored in memory.

[0106] The memory may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created by the processor, etc. Furthermore, the memory may include high-speed random access memory and non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory may optionally include memory remotely located relative to the processor, which can be connected to the processor via a network (e.g., via a communication interface). Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0107] A computer-readable storage medium having stored thereon computer-executable instructions which, when executed by a computing device, can be used to implement the method described in any of the preceding claims.

[0108] The aforementioned computer-readable storage media include physically volatile and non-volatile, removable and non-removable media implemented in any manner or technology for storing information such as computer-readable instructions, data structures, program modules or other data. Specifically, computer-readable storage media include, but are not limited to, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other solid-state storage technologies, CD-ROMs, digital versatile discs (DVDs), HD-DVDs, Blu-ray or other optical storage devices, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer.

[0109] Although the subject matter described herein is provided in the general context of execution on a computer system in conjunction with an operating system and applications, those skilled in the art will recognize that other implementations can also be executed in conjunction with other types of program modules. Generally, program modules include routines, programs, components, data structures, and other types of structures that perform specific tasks or implement specific abstract data types. Those skilled in the art will understand that the subject matter described herein can be practiced using other computer system configurations, including handheld devices, multiprocessor systems, microprocessor-based or programmable consumer electronics, minicomputers, mainframes, etc., and can also be used in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In a distributed computing environment, program modules may reside on both local and remote memory storage devices.

[0110] Those skilled in the art will recognize that the units and method steps of the various examples described in conjunction with the embodiments of this application can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0111] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0112] This invention is applicable not only to PCB drilling machines, but also to other equipment.

[0113] In summary, the multi-layer silo automatic loading and unloading control system and method of this invention achieves complete synchronization of the gantry structure through synchronous lifting of the silos, simplifies the program control logic, and improves positioning accuracy. By controlling the servo motors with a programmable controller, the positioning accuracy of the multi-layer silos can be improved, reducing the failure rate. Precise silo positioning further reduces the failure rate of loading and unloading. Automatic conveying of each silo layer enables automatic control of loading and unloading and the conveying speed, providing power to each silo layer and improving loading and unloading efficiency. The dual-servo motor gantry structure and closed-loop bus control ensure complete synchronous movement of the motors on both sides. Visual operation of the control mechanism's movement is achieved through a touchscreen, facilitating troubleshooting and effective monitoring of various states.

[0114] The above are merely preferred embodiments of the present invention and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should recognize that any equivalent substitutions and obvious changes made based on the description and illustrations of the present invention should be included within the protection scope of the present invention.

[0115] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0116] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0117] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

Claims

1. A multi-layer silo automatic loading and unloading control system applied to a PCB processing device, characterized in that, It comprises: a control module for editing control program and logically controlling input and output materials; an input and output module connected with the control module for detecting the position of the plate, the moving point and the original point of the cylinder and the current position of the mechanism through sensors; a servo processing module connected with the control module for configuring various parameters of the servo motor; a driving module connected with the control module and the servo processing module for driving the servo motor; It also comprises a conveyor table provided with a control main shaft and a slave shaft, the control main shaft adjusts the conveyor table to the corresponding docking position through the servo motor, the slave shaft moves with the control main shaft, the movement of the two shafts is controlled separately through the JOG mode, the two ends of the mechanism are lowered to the hard limit and adjusted to be horizontal, and the point is set as the original point; the mechanism is adjusted to the docking position of each layer through the control main shaft, since the slave shaft moves synchronously, the mechanism is adjusted to be horizontal through single shaft control, and the coordinates of the current two shafts are recorded; the position of the positioning sensor of each layer is adjusted, the sensor is effectively connected with the input and output module, the recorded coordinates are set as target coordinates, and the movement speed of the two shafts is set, i.e. the target coordinates are set; The input and output module further comprises: a positioning sensor for positioning the coordinate position, setting the coordinate position as the target coordinate, the control module writes the recorded coordinates of each layer into the program as the target coordinate for comparison, judges whether the mechanism is accurately positioned, and makes a secondary judgment according to the sensor of the current position; after accurate positioning, it can be used for feeding and discharging operation; a reflection sensor for sensing whether the plate is in place.

2. The control system for automatic loading and unloading of a multi-layer silo according to claim 1, characterized in that, The input and output module comprises a touch display module connected with the control module for inputting control instructions.

3. The control system for automatic loading and unloading of a multi-layer silo according to claim 2, characterized in that, The input and output module further comprises a feeding and discharging adjusting module for resetting the feeding and discharging machine, adjusting the corresponding parameters and starting the feeding and discharging machine.

4. A control method for automatic loading and unloading of a multi-layer silo, comprising the control system for automatic loading and unloading of a multi-layer silo according to any one of claims 1-3, characterized in that, It comprises the following steps: The control module sends a connection signal to the input and output module, the servo processing module and the driving module; the control module configures servo parameters according to the setting requirements; The servo processing module sets the control main shaft and the slave shaft of the conveyor table through the servo parameter; The position of the positioning sensor is adjusted, the input and output module sends a signal to the sensor, records the coordinates and sets the movement speed; The recorded coordinates are compared with the target coordinates to judge whether the conveyor table is accurately positioned; According to the sensor of the current position, a secondary judgment is made, and when the positioning is accurate, the feeding and discharging operation is performed.

5. The method of claim 4, wherein the method further comprises: The feeding operation comprises: The control module receives a feeding signal, and the conveyor table moves to the feeding layer; The reflection sensor senses whether the plate is in place; If the plate is in place, the conveyor table is separated from the feeding layer, and the feeding is ended.

6. The method of claim 4, wherein the method further comprises: The discharging operation comprises: The control module receives a discharging signal, and the conveyor table moves to the discharging layer; The reflection sensor senses whether the plate leaves the conveyor table; If the plate leaves the conveyor table, the conveyor table is separated from the discharging layer, and the discharging is ended.

7. An electronic device comprising a control method for automatic loading and unloading of a multi-layer silo according to any one of claims 4-6, characterized in that, It comprises: a memory and one or more processors; The memory is connected in communication with the one or more processors, and the memory has stored therein instructions executable by the one or more processors. The instructions, when executed by the one or more processors, cause the electronic device to implement the method of any one of claims 4-6.

8. A computer readable storage medium comprising a control method for automatic loading and unloading of a multi-layer silo according to any one of claims 4-6, characterized in that, A computer program product has stored thereon computer executable instructions that, when executed by a computing device, are adapted to implement the method of any one of claims 4-6.

9. A computer program product comprising a control method of automatic loading and unloading of a multi-layer silo according to any one of claims 4-6, characterized in that, The computer program product includes a computer program stored on a computer readable storage medium, the computer program including program instructions executable by a computer to implement the method of any one of claims 4-6.

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