Stack control method and device, terminal equipment and storage medium

Abstract

The application is suitable for the technical field of plate stacking, and provides a stacking control method and device, a terminal equipment and a storage medium, wherein the stacking control method comprises: acquiring a plate size, determining a grouping number N1 of the plate stacking according to the plate size and a gantry size of a stacker; wherein N1 is a positive integer, and N1 is less than L b / L a , L a and L b are respectively sizes of the plate and the gantry in a first direction, the first direction is a length direction of the gantry; determining N1 stacking positions of the plate on the gantry according to the grouping number; and stacking a specified plate to a placement platform of the stacker via a specified stacking position. The method solves the problem of low efficiency of plate stacking and low production capacity by grouping and stacking the plates according to the size of the plate and the size of the gantry.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of plate stacking, and particularly relates to a stacking control method and device, a terminal device and a storage medium. BACKGROUND

[0002] Before use, a hot-rolled steel coil needs to be cut into steel plates for further processing and use. A cross-cut production line refers to a production line in which a hot-rolled steel coil is cut into steel plates of a specified size after cooling and flattening, and then packed into stacks.

[0003] In the past cross-cut production line, the cutting size of the cross-cut line is generally designed to be long, so as to facilitate customers to process the steel into the required size as needed after purchase. With the increasingly fierce competition in the steel market, to meet the needs of customers for short plates, some manufacturers process the steel coil into short plates according to the needs of customers when cutting the steel plates. However, the stacking production line corresponding to the cross-cut production line is still a long plate production line. When the short plates are stacked, the number of steel plates that can be stacked by the stacker within a certain time does not change, which leads to low efficiency of the stacker, slow rhythm of the production line, and reduced production capacity. This problem also exists for other similar plate processing production lines.

[0004] Therefore, it is necessary to provide a stacking method capable of improving the stacking efficiency to improve the production capacity of the plate processing production line. SUMMARY

[0005] The stacking control method and device provided by the embodiments of the application can solve the problem of low stacking efficiency when stacking plates.

[0006] In a first aspect, the embodiments of the application provide a stacking control method, comprising:

[0007] obtaining a plate size, determining a grouping number N1 of plates when stacking according to the plate size and a gantry size of a stacker; wherein N1 is a positive integer, and N1 is less than L b / L a , L a and L b are the sizes of the plate and the gantry in a first direction respectively, and the first direction is the length direction of the gantry;

[0008] determining N1 stacking positions of the plates on the gantry according to the grouping number;

[0009] stacking a specified plate to a placement platform of the stacker via a specified stacking position.

[0010] The method groups the stacking positions according to the size information of the plates and the size of the gantry of the stacking machine, so that when grouping, the number of groups can be determined according to the specific size of the plates, and the plates are grouped and stacked according to the number of groups, solving the problem that the number of plates that need to be stacked increases due to the processing size of the plates, and the stacking speed cannot meet the processing speed of the plates. At the same time, since the number of groups is determined according to the size of the plates and the size of the gantry of the stacking machine, the method can adapt to different processing requirements, and even if the size of the plates changes, the stacking position can be determined after determining the number of groups according to the method, and the plates can be grouped and stacked, so that the method can adapt to different production and processing requirements.

[0011] In a possible implementation of the first aspect, the plates are conveyed to the stacking positions by a conveying device; the conveying device is arranged on the gantry, and the conveying device and the placing platform are arranged in sequence along the direction of gravity;

[0012] The step of stacking the specified plates to the placing platform of the stacking machine via the specified stacking positions comprises:

[0013] The conveying device in the conveying state is used to move the specified plates to the specified stacking positions, and then the conveying device at the specified stacking positions is switched to an open state;

[0014] The conveying device in the conveying state is used to convey the plates in the first direction, and the conveying device in the open state is used to provide a placing channel, which is a channel from the stacking position to the placing platform that allows the plates to pass through.

[0015] The method uses a conveying device with two states, conveying state and open state, to convey and stack the plates at the same time. By converting the conveying device to the open state, a placing device is provided, so that when the plates reach the specified position on the conveying device, the conveying device can be directly converted from the conveying state to the open state, and the plates can be stacked, which facilitates grouping and stacking according to the stacking position.

[0016] In a possible implementation of the first aspect, the plates are moved to the placing platform by an adsorption device;

[0017] The step of stacking the specified plates to the placing platform of the stacking machine via the specified stacking positions comprises:

[0018] The specified plates at the specified stacking positions are adsorbed by the adsorption device and moved to the placing platform.

[0019] In the prior art, when the plate is cut and stacked by the conveying device, the baffle is needed to intercept the plate. When the baffle intercepts the plate, the plate and the baffle collide, causing the plate to deform. The above method increases the adsorption device on the prior stacking machine, and directly transfers the plate to the placing platform through the adsorption device, without setting the baffle, avoiding the collision between the baffle and the plate, and the deformation of the plate. At the same time, the plate is transferred to the placing platform by the adsorption device, so that the plate can be more accurately placed on the placing platform for stacking.

[0020] In a possible implementation manner of the first aspect, before the step of adsorbing the specified plate located at the specified stacking position by the adsorption device, the method further includes:

[0021] The specified plate in a moving state is adsorbed by the adsorption device, and the adsorption device adsorbing the specified plate is controlled to run at a reduced speed, so that the speed of the specified plate reaching the specified stacking position is zero.

[0022] The above method places the plate on the placing platform by the adsorption device, and controls the adsorption device to run at a reduced speed, solving the problem that in the prior art, when the plate is stacked by the conveying device, the plate has an initial speed on the conveying device, and the plate needs to be slowed down by the pressure disc, the baffle or other slowing-down devices. In the process of slowing down by the pressure disc, the friction between the plate and the conveying device increases due to the pressure applied by the pressure disc on the plate, causing scratches on the surface of the plate. Or, when the plate is slowed down by the baffle, the plate and the baffle collide, causing the plate to deform.

[0023] In a possible implementation manner of the first aspect, the placing platform is a liftable platform; and after the step of stacking the specified plate to the placing platform of the stacking machine via the specified stacking position, the method further includes:

[0024] Under the constraint of the height of the placing plane, the height of the placing platform is adjusted according to the thickness and / or mass of the specified plate.

[0025] The constraint of the height of the placing plane refers to that the height coordinate of the placing plane keeps a preset value, and the placing plane refers to the highest plane of the plate stacked on the placing platform.

[0026] The method adjusts the height of the placing platform to reduce the impact of gravity on the board when the board is stacked to the placing platform through the stacking position, and reduce the deformation of the board caused by gravity. Meanwhile, under the constraint of the height of the placing platform, the height of the placing platform is adjusted according to the thickness and / or mass of the specified board, so that the adjusted height of the placing platform can be determined more accurately when the height of the placing platform is adjusted, and the impact of gravity on the board when the board falls can be minimized. In addition, the adjustment according to the thickness and mass can avoid overloading of the placing platform or inaccurate adjustment.

[0027] In a possible implementation of the first aspect, the step of determining the grouping number N1 of the boards when the boards are stacked according to the size of the boards and the size of the gantry of the stacker further comprises:

[0028] According to the lifting distance L of the placing platform and the size L of the board in the second direction c determining a single-group preset stacking number N2, N2 is a positive integer, and N2 is less than L / L c , the second direction is the lifting direction of the placing platform, and the single-group preset stacking number is a preset stacking number of each group of boards corresponding to the stacking position on the placing platform; or,

[0029] determining the single-group preset stacking number N2 according to the load capacity of the placing platform, the mass of the specified board, and the grouping number N1.

[0030] The method determines the stackable number of each group of boards on the placing platform according to the lifting space of the placing platform and the thickness of the board, so that the board can be stacked as much as possible on the basis of meeting the lifting. The stackable number of the board is determined according to the load capacity of the board, the mass of the board, and the grouping number, so that the board can be stacked as much as possible while preventing the placing platform from being overloaded, which may cause danger or accident.

[0031] In a possible implementation of the first aspect, the step of stacking the specified board to the placing platform of the stacker through the specified stacking position further comprises:

[0032] determining that the stacked number of N1 groups of boards on the placing platform is equal to N2, moving the boards on the placing platform, or moving the placing platform to a specified position.

[0033] The method moves the boards after determining that the number of single-group boards on the placing platform has reached the single-group preset stacking number, and then performs the next stacking, so that the stacking process of the boards is continuous, and the stacking efficiency of the boards is improved by avoiding the situation that the boards are not removed in time after being stacked.

[0034] In a second aspect, the embodiments of the present application provide a stacking control device, comprising:

[0035] a grouping module configured to obtain a size of a board, and determine a grouping number N1 of the board when stacked according to the size of the board and a size of a table of a stacker, wherein N1 is a positive integer, and N1 is less than L b / L a , L a and L b are sizes of the board and the table in a first direction, and the first direction is a length direction of the table;

[0036] a stacking position determining module configured to determine N1 stacking positions of the board on the table according to the grouping number;

[0037] a placing module configured to stack a specified board to a placing platform of the stacker via a specified stacking position.

[0038] In a third aspect, the embodiments of the present application provide a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the stacking control method of any one of the first aspect.

[0039] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium, and the computer readable storage medium stores a computer program, and the computer program is executable on a processor to implement the stacking control method of any one of the first aspect.

[0040] In a fifth aspect, the embodiments of the present application provide a computer program product, and when the computer program product is executed on a terminal device, the terminal device executes the stacking control method of any one of the first aspect.

[0041] It can be understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0043] Figure 1 is a flowchart of the stacking control method provided by the embodiments of the present application;

[0044] Figure 2is a stacking position schematic diagram provided by an embodiment of the present application;

[0045] Figure 3 is a structure schematic diagram of a horseshoe roller conveying state provided by an embodiment of the present application;

[0046] Figure 4 is a structure schematic diagram of a horseshoe roller open state provided by an embodiment of the present application;

[0047] Figure 5 is a flow schematic diagram of a stacking control method provided by an embodiment of the present application;

[0048] Figure 6 is a structure schematic diagram of a stacking control device provided by an embodiment of the present application;

[0049] Figure 7 is a structure schematic diagram of a stacking control device provided by an embodiment of the present application;

[0050] Figure 8 is a structure schematic diagram of a terminal device provided by an embodiment of the present application.

[0051] Reference signs:

[0052] gantry 301, horseshoe roller 302;

[0053] grouping module 601, stacking position determination module 602, placing module 603, stacking completion determination module 604;

[0054] terminal device 80, processor 801, memory 802, computer program 803. DETAILED DESCRIPTION

[0055] In the following description, for the purpose of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0056] It should be understood that the term "comprising" when used in this specification and the appended claims indicates the presence of the described features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0057] It should also be understood that the term “and / or” as used herein refers to any one or more of the associated listed items, optionally including any combination of one or more of the associated listed items, and that the expression does not require that listed items be selected from among the associated list items only.

[0058] As used in the description of the application and the appended claims, the term “if’ can be interpreted to mean “when” or “upon” or “in response to determining” or “in response to detecting” depending on the context. Similarly, the phrase “if it is determined” or “if [a described condition or event] is detected” can be interpreted to mean “upon determining” or “in response to determining” or “upon [the described condition or event] being detected” or “in response to [the described condition or event] being detected,” depending on the context.

[0059] In addition, the terms “first,” “second,” “third,” etc. as used in the description of the application and the appended claims are merely used for distinguishing between similar underlying claims and do not carry with them any relative importance or order of magnitude.

[0060] Reference throughout this specification to “one embodiment” or “an embodiment” or “some embodiments” means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. Thus, the appearances of the phrases “in one embodiment” or “in some embodiments” or “in other embodiments” or “in additional embodiments” or the like in various places throughout this specification are not necessarily referring to the same embodiment, unless otherwise specified. The terms “comprising,” “including,” “having” and the like are meant to be open-ended and non-limiting.

[0061] With the increasing requirements of customers, when processing production on the production line, the plate needs to be processed into a specified size according to the requirements of the customers, and the plate needs to be stacked after cutting. However, according to the different processing sizes of the plate, the number of plates that need to be stacked is also different. For example, for the plate that needs to be processed into 16m and the plate that needs to be processed into 4m, the number of plates processed into 4m at the same time is obviously greater than the number of plates processed into 16m. At present, the stacking machine often uses a horseshoe roller to unload the plate at a fixed stacking position and stack the plate on a placing platform, so that only one plate can be stacked at a time, which leads to the fact that when the processing size of the plate changes, the stacking speed cannot keep up with the processing speed of the plate, resulting in plate accumulation and a decrease in the production capacity of the production line.

[0062] For example, for a 16m-sized stacking machine, when the plate size is also 16m (or slightly less than 16m, for example, 15m / 14m, etc.), the stacking efficiency of the stacking machine matches the cutting processing efficiency of the plate (this is a problem that the traditional stacking machine has considered at the beginning of the design), and the cut plate can be efficiently completed in time.

[0063] However, when the plate size is reduced, for example, the plate size is 4m, the efficiency of the stacking machine is still consistent with the above larger size plate (16m, 15m, etc.), but the cutting part of the production line can obtain more small size plates when cutting the same size raw material due to the reduction of the target plate size, in this case, the efficiency of the stacking machine will be significantly lower than the cutting efficiency, which will become the efficiency short board of the production line and slow down the overall production efficiency.

[0064] Therefore, the embodiment of the present application proposes a stacking control method, referring to Figure 1 The stacking control method comprises:

[0065] Step S102: Obtain the plate size, and determine the grouping number N1 of the plate stacking according to the plate size and the gantry size of the stacking machine; wherein N1 is a positive integer, and N1 is less than L b / L a , L a and L b are the sizes of the plate and the gantry in the first direction, respectively, and the first direction is the length direction of the gantry;

[0066] Step S104: Determine N1 stacking positions of the plate on the gantry according to the grouping number;

[0067] Step S106: Stack the specified plate to the placement platform of the stacking machine via the specified stacking position.

[0068] The stacking control method proposed in the embodiment of the present application can be applied to the stacking process of metal plates, building plates and other plates after processing, and the stacking machine is controlled through the stacking machine control program. In particular, the method can be applied to the plate stacking process of a steel plate cross-cut production line.

[0069] The size of the plate includes the length, width and thickness of the plate. The plate size information can be determined according to the size of the plate to be finally processed in the production plan of the production line.

[0070] The gantry size of the stacking machine includes the length and width of the stacking machine gantry. Referring to the drawings attached to the specification Figure 3, the first direction is the length direction of the stacker rack 301, generally, the length direction of the stacker rack is consistent with the conveying direction of the plate on the stacker rack. Alternatively, the size of the stacker rack is obtained before production, the conveying direction of the plate inside the stacker, the relative position of the conveying device and the stacker rack, and the cutting production line are generally unchanged, so it is not necessary to obtain the size of the stacker rack and the conveying direction of the conveying device multiple times.

[0071] In an alternative embodiment, after the plate is cut, the plate enters the inside of the stacker, and the inside of the stacker is provided with a conveying device, the conveying device is arranged on the stacker rack, and the placing platform is located below the conveying device. Exemplarily, the length of the stacker rack is 20m, when the plate moves on the conveying device after entering the inside of the stacker, the length in the direction consistent with the length direction of the stacker rack is 4m, in order to avoid insufficient space, the grouping number should be less than 5. If the length of the stacker rack is 22m, the length of the plate in the first direction is 4m, and the grouping number can be any one of 2-5.

[0072] Alternatively, in order to enable the stacker to stack as many plates as possible within a certain period of time, N1 is the largest positive integer less than L b / L a .

[0073] After determining the grouping number of the stacker during stacking, the stacking position is determined according to the grouping number N1 and the size of the stacker rack. In one alternative embodiment, the position area on the stacker rack is divided according to the grouping number and the size of the stacker rack, and the center position of the divided position area is taken as the stacking position. Referring to the drawings, the conveying direction of the plate is the arrow direction in the figure, if the length of the stacker rack is 22m, the length of the plate in the first direction is 4m, and the grouping number is 5, then the position area on the stacker rack can be divided into 5 parts in the first direction according to the size of the stacker rack, and the center of each part is taken as the stacking position (circled in the figure). Figure 2

[0074] For step S106, when the specified plate is stacked to the placing platform of the stacker via the specified stacking position, the specific stacking mode is different according to the structure of the stacker.

[0075] For example, in an alternative embodiment, the inside of the stacker is provided with a conveying device, the conveying device is arranged on the stacker rack, and the placing platform is located below the conveying device, at this time, the placing channel can be formed according to the stacking position, and the plate is stacked to the specified stacking position.

[0076] ​Alternatively, in an alternative embodiment, the stacker further comprises a suction device, the suction device is used to move the board on the conveying device to the placing platform. The suction device can be an air suction device, the conveying device can be a conveying belt or a conveying roller, when the board reaches the designated position, the suction device falls down and sucks the board to move forward together, when reaching the designated position above the designated stack position on the placing platform, the board is dropped down to the designated position. Alternatively, when the processed board is a ferromagnetic board, the suction device can also be an electromagnetic suction device.

[0077] Alternatively, the determination of the designated stack position of the designated board can be determined according to the execution sequence of the stacker. For example, according to the size of the board and the size of the stacker, the number of stacks is determined to be 5, if the nthboard corresponds to the first designated stack position, the n+1th, n+2th, n+3th, n+4thboards correspond to the second designated stack position, the third designated stack position, the fourth designated stack position, and the fifth designated stack position respectively, and the n+5thboard corresponds to the first designated stack position, and so on. After the nthto n+4thboards are stacked, the n+5thboard and the subsequent boards continue to be conveyed to the designated stack position, when the n+5thboard reaches the first designated stack position, the n+9thboard also reaches the fifth designated stack position. In specific implementation, only the production speed of the board is determined according to the production plan, the conveying speed of the conveying device is set according to the production speed of the board, and the conveying device is converted from the conveying state to the open state at every predetermined time.

[0078] Alternatively, a plurality of suction devices can be used to transfer the boards in sequence, when the board reaches the designated stack position, the suction device falls down, and the N1boards that have reached the designated stack position are sucked up and dropped on the placing platform corresponding to the designated stack position. At this time, the conveying device still conveys, when the next group of boards reaches the designated stack position, the suction device returns, sucks up the next group of boards and transfers them to the placing platform. Alternatively, the idle suction device reaches the designated position to suck up the board. In specific implementation, only the stacker is required to convey the boards to the N1designated stack positions in sequence, and the plurality of suction devices are required to transfer and stack the boards at the predetermined time interval.

[0079] The beneficial effects of the embodiment are:

[0080] By grouping the stacking positions according to the size information of the plates and the size of the gantry of the stacking machine, the number of groups can be determined according to the specific size of the plates when grouping, and the plates are grouped and stacked according to the number of groups, which solves the problem that the number of plates that need to be stacked increases due to the processing size of the plates, and the stacking speed cannot meet the processing speed of the plates. At the same time, since the number of groups is determined according to the size of the plates and the size of the gantry of the stacking machine, the method can adapt to different processing requirements, and even if the size of the plates changes, the stacking position can be determined after determining the number of groups according to the method, and the plates can be grouped and stacked, so that the method can adapt to different production and processing requirements.

[0081] According to the above embodiment, in yet another embodiment:

[0082] The plates are conveyed to the stacking positions by a conveying device; the conveying device is arranged on the gantry, and the conveying device and the placing platform are arranged in sequence along the gravity direction;

[0083] The step of stacking the specified plates to the placing platform of the stacking machine via the specified stacking positions comprises:

[0084] If the specified plate is moved to the specified stacking position by the conveying device in the conveying state, the conveying device at the specified stacking position is switched to an open state;

[0085] The conveying device in the conveying state is used to convey the plates in the first direction, and the conveying device in the open state is used to provide a placing channel, which is a channel from the stacking position to the placing platform that allows the plates to pass through.

[0086] In this embodiment, the conveying device has two states: conveying and open. When the conveying device is in the conveying state, it can move the plates in the first direction. When the plate on the conveying device reaches the specified stacking position, the conveying device switches to the open state, so that the plate can directly fall onto the placing platform.

[0087] In an optional embodiment, the conveying device is a horseshoe roller 302, as shown in the accompanying drawings Figure 3 The horseshoe roller 302 is in a conveying state when it is reset, as shown in the accompanying drawings Figure 4 The horseshoe roller 302 is in an open state when it is flipped. When the specified plate is transported to the horseshoe roller 302, the horseshoe roller 302 rotates to drive the plate to move, and the plate is conveyed to the specified stacking position. When the specified plate reaches the specified stacking position, the horseshoe roller 302 is flipped, and a placing channel is formed between the stacking machine gantry and the placing platform, and the plate is stacked to the placing platform through the placing channel. Then, the horseshoe roller 302 is flipped again to the conveying state for the next group of plate conveying and stacking.

[0088] It should be noted that the width of the plate after final processing is different according to different production plans. Therefore, the position of the plate entering the horse roller 302 after passing through the cutting production line is uncertain, and may be offset from the center line, resulting in irregular stacking when the plate is stacked.

[0089] For the above problems, one feasible way is to adjust the length of the horse roller 302 to adjust the gap between the two sides of the horse roller, so that the width of the conveying track on the conveying device is slightly larger than the width of the plate, preventing the plate from being offset when stacking. Another feasible way is to add a limiting guide plate on the conveying device, which keeps the center of the plate and the center line of the conveying device in line.

[0090] The beneficial effects of the embodiment are:

[0091] The embodiment uses a conveying device with two states of conveying and open, and stacks the plate, so that the plate has both conveying and stacking functions. By converting the conveying device to an open state, a placing device is provided, so that when the plate reaches the designated position on the conveying device, it can be directly converted from the conveying state to the open state, and the plate can be stacked, which facilitates grouping and stacking according to the stacking position.

[0092] According to the above embodiment, in another embodiment:

[0093] The plate is moved to the placing platform by the suction device;

[0094] The step of stacking the specified plate at the specified stacking position to the placing platform of the stacker includes:

[0095] The specified plate at the specified stacking position is adsorbed by the suction device and moved to the placing platform.

[0096] In the past, when stacking plates, the conveying device was often used to convey the plate to the specified stacking position, and the plate was stacked at the specified stacking position. However, after the plate is conveyed by the conveying device, it has a certain initial speed, which can cause the plate to fly out during stacking. To solve the above problem, a baffle is usually provided above the stacking device, and the speed of the plate is reduced after passing through the baffle and falling onto the stacking position. The problem of the plate flying out is solved by setting the baffle, but the plate is prone to deformation after colliding with the baffle.

[0097] Therefore, the embodiment provides the adsorption device on the stacking machine, and the plate is moved to the placing platform through adsorption, so that the problem that the plate has an initial speed when the plate is conveyed to the designated stacking position through the conveying device is solved.

[0098] Optionally, the adsorption device can directly transfer the plate from the cutting production line to the placing platform, or can be arranged on the basis of the previous stacking machine without changing the original production line, so that the problem that the plate is deformed and the surface is damaged due to collision with the baffle when the plate is stacked through the conveying device is solved by increasing the adsorption device. Or on the basis of the previous embodiment, a conveying device is arranged on the conveying device.

[0099] The embodiment has the following beneficial effects:

[0100] In the previous embodiment, the baffle is used to intercept the plate when the plate is unloaded and stacked through the conveying device, and the plate and the baffle collide, which causes the plate to be deformed. The adsorption device is arranged on the previous stacking machine, the plate is directly transferred to the placing platform through the adsorption device, the baffle is not arranged, the collision between the baffle and the plate is avoided, and the problem that the plate is deformed is solved. At the same time, the plate is transferred to the placing platform through the adsorption device, and the plate can be more accurately placed on the placing platform for stacking.

[0101] According to the above embodiment, in another embodiment:

[0102] Before the step of adsorbing the designated plate at the designated stacking position through the adsorption device, the method further includes the following steps:

[0103] The designated plate in a moving state is adsorbed through the adsorption device, and the adsorption device with the designated plate is controlled to run at a reduced speed, so that the speed of the designated plate reaching the designated stacking position is zero.

[0104] In the embodiment, when the plate is placed on the placing platform through the adsorption device, in order to eliminate the initial speed of the plate moving on the conveying device, the plate is lifted by the adsorption device when the plate reaches the designated position, the movement speed of the adsorption device is controlled to reduce the speed, the adsorption device is moved to the designated stacking position, and the movement speed of the plate reaching the designated position is zero.

[0105] In an optional embodiment, the plate can be slowed down by arranging a speed reducer on the conveying device. Optionally, the speed reducer includes a pressure plate, a rubber piece or the like. When the plate is conveyed to the preset position on the conveying device, the pressure plate is pressed down to apply a downward pressure to the plate, so that the friction between the plate and the conveying device is increased, the plate is slowed down, and the speed of the plate reaching the designated stacking position is zero.

[0106] In the above embodiment, the conveying device is generally a conveying roller, and the conveying roller can generate scratches on the plate due to the increase of friction when the plate moves on the conveying roller. Therefore, in a preferred embodiment, a rubber part is arranged on the conveying roller, and the rubber part is sleeved on the conveying roller, so that the scratches on the plate can be avoided while the pressure between the plate and the conveying roller is increased.

[0107] The beneficial effects of the embodiment are as follows:

[0108] The embodiment places the plate on the placing platform by the adsorption device and controls the adsorption device to operate at a reduced speed, so that the problem that scratches easily appear on the plate surface due to the increase of friction between the plate and the conveying device when the plate is slowed down by the pressure disc or the baffle during the stacking of the plate by the conveying device is solved, or the problem that the plate is deformed due to the impact between the plate and the baffle when the plate is slowed down by the baffle.

[0109] In the above embodiment, when the plate is stacked, the conveying device and the placing platform are arranged in sequence from top to bottom along the gravity direction, the conveying device is converted into an open state to make the plate fall down, and the plate falls down to the placing platform. Since the placing channel has a certain height, the plate can be deformed due to the impact of gravity when the plate reaches the placing platform from the conveying device.

[0110] Therefore, in view of the above technical problems, the present application proposes:

[0111] According to the above embodiment, in another embodiment:

[0112] The placing platform is a liftable platform; and after the step of stacking the specified plate to the placing platform of the stacking machine via the specified stacking position, the method further comprises:

[0113] Under the constraint of the placing plane height, the height of the placing platform is adjusted according to the thickness and / or mass of the specified plate.

[0114] The placing plane height constraint means that the height coordinate of the placing plane remains a preset value, and the placing plane refers to the highest plane of the plate stacked on the placing platform.

[0115] The embodiment adopts a liftable placing platform, and the height of the placing platform is adjusted so that the falling distance of the plate when stacked on the stacking platform is reduced as much as possible, and the impact of gravity is avoided as much as possible.

[0116] The placing plane is the highest plane of the stacked plates on the placing platform. For example, if there are 5 groups of plates stacked on the placing platform, and the number of plates in each group is 6, 6, 6, 6 and 6, the upper surface of the sixth plate is the placing plane. If the number of plates in each group is 7, 6, 6, 6 and 6, the upper surface of the seventh plate in the first group is the placing plane. When determining the highest plane of the plates, the height of the plates in each group can be measured by a sensor to determine the highest plane of the plates. Alternatively, the highest plane of the plates can be determined according to the number of stacked plates and the size of the plates.

[0117] When adjusting the height of the placing platform, the height to be adjusted by the lifting platform can be determined according to the height of the placing plane and the thickness of the specified plate. Alternatively, the height to be adjusted can be determined according to the weight of the plate and the load capacity.

[0118] The height coordinate of the placing plane is kept at a preset value. When the device used is a conveying device, the preset value can be determined according to the length of the placing platform, the height of the placing plane and the thickness of the plate. When the device used is a suction device, the preset value can be determined according to the placing position of the suction device and the thickness of the plate.

[0119] In a specific embodiment, after determining the height to be adjusted by the placing platform, the height of the placing platform can be controlled by a motor to keep the height of the placing plane at a preset value. Alternatively, the lifting of the placing platform can be achieved by an elastic member such as a spring. When the weight of the steel plate on the placing platform increases, the elastic member is compressed and the placing platform is lowered. When there is no steel plate on the placing platform, the height of the placing platform is equal to the preset value.

[0120] Alternatively, if the placing position of the plate on the suction device is adjustable, the lifting platform can be controlled to rise upward when the suction device is falling, and the suction device can be controlled to release the plate when the suction device and the plate on the placing platform or the placing platform are in contact, so as to stack the plate, thereby further reducing the impulse of the plate when falling onto the placing platform.

[0121] The embodiment has the following beneficial effects:

[0122] By adjusting the height of the placing platform, the impact of gravity of the plate when falling from the stacking position to the placing platform is reduced, and the deformation of the plate caused by gravity is reduced. Meanwhile, under the constraint of the height of the placing plane, the height of the placing platform is adjusted according to the thickness and / or mass of the specified plate, so that the height of the placing platform can be more accurately adjusted when the height of the placing platform is adjusted, and the impact of gravity of the plate when falling is minimized. Meanwhile, the thickness and mass are adjusted to avoid overloading of the placing platform or inaccurate adjustment of the placing platform.

[0123] According to the above embodiment, in yet another embodiment,

[0124] The step of determining the grouping number N1 when stacking the plates according to the plate size and the gantry size of the stacker further comprises:

[0125] According to the liftable distance L of the placing platform and the size L of the plates in the second direction c determining a single-group preset stacking number N2, N2 being a positive integer, N2 being less than L / L c , the second direction being the lifting direction of the placing platform, the single-group preset stacking number being the preset stacking number of each group of plates corresponding to the stacking position on the placing platform; or,

[0126] determining the single-group preset stacking number N2 according to the load capacity of the placing platform, the mass of the specified plates, and the grouping number N1.

[0127] Wherein, the liftable distance of the placing platform refers to the height difference between the topmost position and the bottommost position of the placing platform, the second direction being the lifting direction of the placing platform, generally the direction of gravity. The size of the plates in the second direction generally refers to the thickness of the plates, and the single-group preset stacking number refers to the maximum number of plates that can be stacked on the placing platform corresponding to each group of stacking positions. When determining the single-group preset stacking number, the single-group preset stacking number N2 can be determined according to the liftable distance of the placing platform and the thickness of the plates. For example, if the liftable distance of the placing platform is 1 m and the thickness of the plates is 10 mm, the maximum number of plates that can be stacked should not exceed 100.

[0128] In a preferred embodiment, N2 is the maximum positive integer less than L / L c .

[0129] Alternatively, the single-group preset stacking number can be determined according to the load capacity of the placing platform and the weight of a single plate, so that the product of the single-group preset stacking number, the grouping number, and the mass of a single plate is not greater than the load capacity. For example, if the weight of a single plate is 200 kg, the load capacity of the placing platform is 20 tons, and the grouping number N1 is 5, in order to avoid the occurrence of overweight, the single-group preset stacking number N2 should not exceed 20. For the acquisition of the mass of the plates, the density of the plates can be determined according to the types of plates in the production plan, and the mass of a single plate can be determined according to the size of the plate.

[0130] The beneficial effects of the present embodiment are:

[0131] The embodiment determines the stackable quantity of each group of plates on the placing platform according to the liftable space of the placing platform and the thickness of the plates, so that the plates can be stacked as much as possible on the basis of meeting the lifting. The stackable quantity of the plates is determined according to the load capacity of the plates, the mass of the plates and the grouping quantity, so that the plates can be stacked as much as possible while preventing the placing platform from being overloaded, which may cause danger or accident.

[0132] According to the above embodiment, referring to the drawings in the description Figure 5 In yet another embodiment,

[0133] The step of stacking the specified plates to the placing platform of the stacker via the specified stacking position further comprises the following steps:

[0134] When the stackable quantity of each group of plates on the placing platform is equal to N2, the plates on the placing platform are removed, or the placing platform is moved to a specified position.

[0135] In the embodiment, when determining the quantity of the stacked plates on the placing platform, the height of each group of the stacked plates can be detected by a sensor, and the quantity of the stacked plates can be determined according to the thickness of a single plate. When the height of each group of the plates detected by the sensor is equal to the total thickness of N2 specified plates, it is considered that the stackable quantity of each group of plates on the placing platform is equal to N2. Alternatively, the stackable quantity of each group of plates on the placing platform can be determined according to the number of times that the conveying device is switched from the conveying state to the open state, or the number of times that the adsorption device moves the plates. When the conveying device or the adsorption device completes the specified number of operations, it is confirmed that the current stacking is completed. The plates on the placing platform are removed, and the stacking is continued on the original placing platform, or the placing platform is removed, the next placing platform is moved to the position of the removed placing platform, and the stacking is continued on the next placing platform.

[0136] The embodiment has the following beneficial effects:

[0137] In the embodiment, after determining that the quantity of each group of plates on the placing platform has reached the preset stackable quantity, the plates are removed for the next stacking, so that the stacking process of the plates is continuous, and the stacking efficiency of the plates is prevented from being reduced due to the plates not being removed in time after being stacked.

[0138] It should be understood that the size of the serial number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiment of the application.

[0139] Corresponding to the stacking control method described in the above embodiment, Figure 6A structural block diagram of the device provided by the embodiment of the present application is shown, and only the parts related to the embodiment of the present application are shown for convenience of illustration.

[0140] With reference to Figure 6 The device comprises:

[0141] The grouping module 601 is configured to acquire a size of a board, and determine a grouping number N1 of the boards when the boards are stacked according to the size of the board and a size of a rack of a stacker; wherein N1 is a positive integer, and N1 is less than L b / L a , L a and L b are respectively sizes of the board and the rack in a first direction, and the first direction is a length direction of the rack;

[0142] The stacking position determining module 602 is configured to determine N1 stacking positions of the boards on the rack according to the grouping number.

[0143] The placing module 603 is configured to stack a specified board to a placing platform of the stacker via a specified stacking position.

[0144] Optionally, the board is conveyed to the stacking position by a conveying device; the conveying device is arranged on the rack, and the conveying device and the placing platform are arranged in sequence along a gravity direction.

[0145] The placing module 603 comprises:

[0146] The conveying sub-module is configured to determine that the conveying device in a conveying state moves the specified board to the specified stacking position, and then switch the conveying device at the specified stacking position to an open state.

[0147] The conveying device in the conveying state is configured to convey the board along the first direction, and the conveying device in the open state is configured to provide a placing passage, and the placing passage is a passage from the stacking position to the placing platform, which allows the board to pass through.

[0148] In an optional embodiment, the board is moved to the placing platform by a suction device, and the placing module 603 comprises:

[0149] The suction placing sub-module is configured to suction the specified board located at the specified stacking position by the suction device, and move to the placing platform.

[0150] In an optional embodiment, the placing module 603 further comprises:

[0151] The deceleration sub-module is configured to adsorb the specified board in motion by the adsorption device, and control the adsorption device with the specified board to run at a deceleration, so that the specified board reaches the specified stacking position at a speed of zero.

[0152] In an optional embodiment, the placing platform is a liftable platform, and the stacking control device further comprises:

[0153] The lifting module is configured to adjust the height of the placing platform according to the thickness and / or mass of the specified board under the constraint of the height of the placing plane.

[0154] The constraint of the height of the placing plane refers to that the height coordinate of the placing plane keeps a preset value, and the placing plane refers to the highest plane of the boards stacked on the placing platform.

[0155] Further, the lifting module comprises:

[0156] The first stacking quantity determination sub-module is configured to determine the single-group preset stacking quantity N2 according to the liftable distance L of the placing platform and the size L of the board in the second direction. c The single-group preset stacking quantity N2 is a positive integer, and N2 is less than L / L c The second direction is the lifting direction of the placing platform, and the single-group preset stacking quantity is the preset stacking quantity of each group of boards corresponding to the stacking position on the placing platform; or,

[0157] The second stacking quantity determination sub-module is configured to determine the single-group preset stacking quantity N2 according to the load capacity of the placing platform, the mass of the specified board, and the grouping quantity N1.

[0158] In an optional embodiment, referring to the accompanying drawings Figure 7 The stacking control device further comprises:

[0159] The stacking completion determination module 604 is configured to determine that the stacked quantities of the N1 groups of boards on the placing platform are all equal to N2, remove the boards on the placing platform, or move the placing platform to a specified position.

[0160] It should be noted that the information interaction, execution process, and the like between the above devices / units, since based on the same concept as the method embodiments of the present application, the specific functions and the technical effects brought by the same can be referred to the method embodiments part, and will not be described here in detail.

[0161] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is exemplified, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to complete all or part of the above described functions. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit, and the integrated unit can be realized in the form of hardware or in the form of software functional unit. In addition, the specific name of each functional unit and module is only for convenient distinction, and does not limit the protection scope of the present application. The specific working process of the units and modules in the system can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0162] The embodiment of the present application further provides a terminal device, as shown in the figure, the terminal device 80 comprises at least one processor 801, memory 802 and computer program 803 stored in the memory and executable on the at least one processor, when the processor executes the computer program, the steps in any of the above method embodiments are realized. Figure 8 The embodiment of the present application further provides a terminal device, as shown in the figure, the terminal device 80 comprises at least one processor 801, memory 802 and computer program 803 stored in the memory and executable on the at least one processor, when the processor executes the computer program, the steps in any of the above method embodiments are realized.

[0163] The embodiment of the present application further provides a computer readable storage medium, the computer readable storage medium stores a computer program, when the processor executes the computer program, the steps in the above various method embodiments can be realized.

[0164] The embodiment of the present application provides a computer program product, when the computer program product runs on the mobile terminal, so that the mobile terminal executes the steps in the above various method embodiments.

[0165] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the present application can implement all or part of the processes in the above-mentioned embodiment methods through a computer program to instruct relevant hardware to complete, and the computer program can be stored in a computer readable storage medium. When the computer program is executed by a processor, the steps of each method embodiment described above can be implemented. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms. The computer readable medium at least includes any entity or device capable of carrying the computer program code to the photographing device / terminal equipment, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium. For example, U disk, mobile hard disk, magnetic disk or optical disk, etc. In some jurisdictions, according to legislation and patent practice, the computer readable medium can not be an electrical carrier signal and a telecommunication signal.

[0166] In the above embodiments, the description of each embodiment has its own focus, and the parts not described or recorded in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0167] Those of ordinary skill in the art can understand that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Professionals can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0168] In the embodiments provided by the present application, it should be understood that the disclosed apparatus / network device and method can be implemented in other ways. For example, the above-described apparatus / network device embodiments are merely schematic, for example, the division of the modules or units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed each other can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0169] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may also be distributed to multiple network units. Part or all of the units can be selected to achieve the purpose of the embodiment scheme according to actual needs.

[0170] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A stack control method characterized by, The method comprises the following steps: Obtaining a size of the board, determining a grouping number N1 of the board stacks according to the size of the board and a gantry size of the stacker; wherein N1 is a positive integer, and N1 is less than L b / L a , L a and L b are sizes of the board and the gantry in a first direction respectively, the first direction being a length direction of the gantry; determining the number N1 of the stacking positions of the board on the rack according to the size of the board and the size of the rack of the stacker; stacking the specified board to the placing platform of the stacker via the specified stacking position; the board is conveyed to the stacking position by a conveying device, the conveying device is arranged on the rack, and the conveying device and the placing platform are arranged in sequence along the direction of gravity; the step of stacking the specified board to the placing platform of the stacker via the specified stacking position comprises: determining that the conveying device in the conveying state moves the specified board to the specified stacking position, and then switching the conveying device at the specified stacking position to an open state; wherein the conveying device in the conveying state is used to convey the board along the first direction, and the conveying device in the open state is used to provide a placing channel, which is a channel from the stacking position to the placing platform allowing the board to pass through.

2. The stack control method according to claim 1, characterized by, the board is moved to the placing platform by an adsorption device; the step of stacking the specified board to the placing platform of the stacker via the specified stacking position comprises: the specified board at the specified stacking position is adsorbed by the adsorption device and moved to the placing platform.

3. The stack control method according to claim 2, characterized by, before the step of adsorbing the specified board at the specified stacking position by the adsorption device, the method further comprises: the specified board in the moving state is adsorbed by the adsorption device, and the adsorption device with the specified board is controlled to run at a reduced speed, so that the speed of the specified board reaching the specified stacking position is zero.

4. The stack control method according to claim 1 or 3, characterized by, the placing platform is a liftable platform; after the step of stacking the specified board to the placing platform of the stacker via the specified stacking position, the method further comprises: under the constraint of the height of the placing plane, the height of the placing platform is adjusted according to the thickness and / or mass of the specified board; wherein the constraint of the height of the placing plane refers to that the height coordinate of the placing plane keeps a preset value, and the placing plane refers to the highest plane of the board stacked on the placing platform.

5. The stack control method according to claim 4, characterized by, after the step of determining the number N1 of the group according to the size of the board and the size of the rack of the stacker, the method further comprises: According to the lifting distance L of the placing platform and the size L of the plate in the second direction c A single set of preset stacking numbers N2 is determined, N2 is a positive integer, and N2 is less than L / L c The second direction is the lifting direction of the placing platform, and the single set of preset stacking numbers is the preset stacking number of each set of plates corresponding to the stacking position on the placing platform; or, determining the preset stacking number N2 of the single group according to the load of the placing platform, the mass of the specified board, and the number N1 of the group.

6. The stack control method according to claim 5, characterized by, after the step of stacking the specified board to the placing platform of the stacker via the specified stacking position, the method further comprises: determining that the stacked number of the N1 groups of boards on the placing platform is equal to N2, and then removing the boards on the placing platform, or moving the placing platform to a specified position.

7. A stack control device characterized by comprising: The stacker control device is used to execute the method according to any one of claims 1 to 6.

8. A terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the method according to any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 8. The computer program is executed by the processor to implement the method according to any one of claims 1 to 6.

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