A material unloading method, material unloading controller and material unloading equipment

Abstract

The present invention provides a material unloading method, a material unloading controller and a material unloading device, the material unloading method comprises: controlling the first material tray transport line to work in a first preset mode; wherein the first preset mode comprises: when it is detected that the feeding material tray passes through the feeding position of the first material tray transport line, controlling the first lifting and blocking device to work to block other feeding material trays from continuing to be transported to the first material tray transport line; when it is detected that the feeding material tray reaches the unloading position of the first material tray transport line, controlling the second lifting and blocking device to work to block the feeding material tray from continuing to move toward the discharge end of the first material tray transport line; when it is detected that the second lifting and blocking device contacts the feeding material tray, controlling the material tray lifting device to work to lift the feeding material tray away from the first material tray transport line; controlling the material handling mechanism to work in a second preset mode; controlling the material storage mechanism to work in a third preset mode. The material unloading method of the present invention can improve the working efficiency of the material unloading device.

Description

Technical Field

[0001] The present invention relates to the technical field of material unloading equipment, and in particular to a material unloading method, a material unloading controller and a material unloading equipment. Background Art

[0002] At present, the application of intelligence is becoming more and more widespread in the product manufacturing process. For example, the manufacturing of products such as strips on the production line often relies on unloading equipment to complete the material collection process.

[0003] In the prior art, the unloading equipment includes a tray conveyor line, a material handling mechanism and a material storage mechanism. The tray conveyor line transports materials through a feeding tray. After the feeding tray is transported to the unloading position, the material handling mechanism works to transport the materials to the storage tray for storage. However, the inventors have found that since the tray conveyor line, the material handling mechanism and the material storage mechanism involve many electrical components, the coordination between the components in the existing unloading method is poor, which may affect the working efficiency of the unloading equipment. Summary of the invention

[0004] The problem solved by the invention is how to improve the working efficiency of the material feeding equipment.

[0005] In a first aspect, the present invention provides a material unloading method, which is applied to a material unloading device, wherein the material unloading device includes a tray conveyor line, a material handling mechanism, and a material storage mechanism; the tray conveyor line includes a first tray transport line, a second tray transport line, a tray transfer mechanism, a first lifting and blocking device, a second lifting and blocking device, a third lifting and blocking device, and a tray lifting device; the material handling mechanism includes a material taking device; the material storage mechanism includes a storage tray, a tray storage mechanism, and a tray switching mechanism, and the material unloading method includes:

[0006] Control the first tray transport line to operate in a first preset mode; wherein the first preset mode includes: when it is detected that the feeding tray passes through the feeding position of the first tray transport line, control the first lifting and blocking device to operate to prevent other feeding trays from continuing to be transported to the first tray transport line; when it is detected that the feeding tray reaches the lower material position of the first tray transport line, control the second lifting and blocking device to operate to prevent the feeding tray from continuing to move toward the discharge end of the first tray transport line; when it is detected that the second lifting and blocking device contacts the feeding tray, control the tray lifting device to operate to lift the feeding tray away from the first tray transport line; when it is detected that the feeding tray reaches the discharge position of the first tray transport line, if the tray transfer mechanism is in a standby state, control the tray transfer mechanism to operate to transfer the feeding tray; if the tray transfer mechanism is not in a standby state, control the third lifting and blocking device to operate to prevent the feeding tray from leaving the discharge end of the first tray transport line;

[0007] Control the material handling mechanism to work in a second preset mode; wherein the second preset mode includes: when it is detected that the tray lifting device lifts the feeding tray into place, control the material taking device to work so as to transfer the material on the feeding tray to the storage tray for storage;

[0008] Control the material storage mechanism to operate in a third preset mode; wherein the third preset mode includes: when it is detected that the feeding tray reaches the unloading position of the first tray transport line, control the tray switching mechanism to drive the empty storage tray to move to the material receiving position; when it is detected that the material storage volume of the storage tray reaches the upper limit, control the tray switching mechanism to store the storage tray with the material storage volume reaching the upper limit at the tray storage mechanism, and take out the empty storage tray at the tray storage mechanism.

[0009] Optionally, the first lifting material blocking device includes a first telescopic cylinder and a first baffle connected to the telescopic end of the first telescopic cylinder;

[0010] When it is detected that the feeding tray passes through the feeding position of the first tray transportation line, controlling the first lifting and blocking device to work to prevent other feeding trays from continuing to be transported to the first tray transportation line includes:

[0011] When it is detected that the tail of the feeding tray passes the feeding position of the first tray transportation line, the first telescopic cylinder is controlled to drive the first baffle to move until the first baffle is located on the transportation path of the feeding tray.

[0012] Optionally, the second lifting material blocking device includes a second telescopic cylinder and a second baffle connected to the telescopic end of the second telescopic cylinder;

[0013] When it is detected that the feeding tray reaches the unloading position of the first tray transport line, controlling the second lifting and blocking device to work so as to prevent the feeding tray from continuing to move toward the discharging end of the first tray transport line includes:

[0014] When it is detected that the head of the feeding tray passes the unloading position of the first tray transportation line, the second telescopic cylinder is controlled to drive the second baffle to move until the second baffle is located on the transportation path of the feeding tray.

[0015] Optionally, the tray lifting device includes a third telescopic cylinder and a first support plate connected to the telescopic end of the third telescopic cylinder;

[0016] When it is detected that the second lifting and blocking device is in contact with the feeding tray, controlling the tray lifting device to work so as to lift the feeding tray away from the first tray transport line comprises:

[0017] When it is detected that the second baffle plate is in contact with the feeding tray, the third telescopic cylinder is controlled to drive the first supporting plate to move until the first supporting plate drives the feeding tray to leave the first tray transportation line.

[0018] Optionally, the third lifting material blocking device includes a fourth telescopic cylinder and a third baffle connected to the telescopic end of the fourth telescopic cylinder; the tray transfer mechanism includes a first drive assembly and a third tray transport line, and the first drive assembly is used to drive the third tray transport line to move;

[0019] When it is detected that the feeding tray arrives at the discharge position of the first tray transport line, if the tray transfer mechanism is in a standby state, the tray transfer mechanism is controlled to work to transfer the feeding tray; if the tray transfer mechanism is not in a standby state, the third lifting and blocking device is controlled to work to prevent the feeding tray from leaving the discharge end of the first tray transport line, including:

[0020] When it is detected that the head of the feeding tray reaches the discharge position of the first tray transport line, if the third tray transport line is located at the discharge end of the first tray transport line, and the third tray transport line does not bear the weight of the feeding tray, the first driving component is controlled to drive the third tray transport line to move until the third tray transport line moves to the feed end of the second tray transport line;

[0021] If the third tray transport line is not at the discharge end of the first tray transport line or there is the feeding tray on the third tray transport line, the fourth telescopic cylinder is controlled to drive the third baffle to move until the third baffle is located on the transport path of the feeding tray.

[0022] Optionally, the first preset mode further includes:

[0023] When it is detected that the feeding tray has finished unloading, the tray lifting device is first controlled to drive the feeding tray to descend, so that the feeding tray is re-supported on the first tray transportation line, and then the second lifting and blocking device is controlled to reset, so as to release the blocking of the feeding tray by the second lifting and blocking device;

[0024] When it is detected that the second lifting and blocking device has been reset, the first lifting and blocking device is controlled to be reset to release the blocking of the other feeding trays by the first lifting and blocking device at the feeding end of the first tray transport line.

[0025] Optionally, the second preset mode also includes: when it is detected that the feeding tray reaches the unloading position of the first tray transportation line, controlling the picking device to move to the origin position to prepare for the picking operation.

[0026] Optionally, the tray switching mechanism includes a second driving assembly and a tray operating device; the tray storage mechanism includes a mounting frame, a first tray storage assembly and a second tray storage assembly; the mounting frame has a material transfer space; the first tray storage assembly and the second tray storage assembly are sequentially arranged on the mounting frame along a first direction; the first tray storage assembly has a first tray storage area communicating with the material transfer space; the second tray storage assembly has a second tray storage area communicating with the material transfer space; the tray operating device includes a lifter and a second support plate connected to the telescopic end of the lifter;

[0027] The controlling the tray switching mechanism to store the storage tray whose material storage amount reaches the upper limit at the tray storage mechanism, and taking out the empty storage tray at the tray storage mechanism comprises:

[0028] Controlling the second driving assembly to work, so as to drive the storage tray whose material storage volume reaches an upper limit to enter the material transfer space through the tray operating device;

[0029] After the second driving assembly is controlled to drive the tray operating device to move a first distance, the lifter is controlled to rise so as to drive the storage tray to enter the first tray storage area through the second supporting plate; after the first tray storage assembly is controlled to fix the storage tray, the lifter is controlled to descend so as to make the second supporting plate retreat to the material transfer space;

[0030] After the second pallet retreats to the material transfer space, the second driving assembly is controlled to drive the tray operating device to move a second distance; the lifter is then controlled to rise to drive the second pallet to enter the second tray storage area and support the empty storage tray at the bottom; the second tray storage assembly is then controlled to release the fixation of the empty storage tray at the bottom; the lifter is then controlled to descend to make the second pallet retreat a third distance, and the second tray storage assembly is controlled to fix the second to last empty storage tray; the lifter is then continued to be controlled to descend to make the second pallet drive the storage tray at the bottom retreat to the material transfer space; finally, the second driving assembly is controlled to work to drive the empty storage tray to the material receiving position through the tray operating device.

[0031] In a second aspect, the present invention provides a material unloading controller, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the material unloading method as described above is implemented.

[0032] In a third aspect, the present invention provides a material unloading device, comprising the material unloading controller as described above.

[0033] Compared with the prior art, the beneficial effects of the present invention are:

[0034] After the unloading equipment adopts the unloading method of the present invention, the first material tray transport line can be controlled to work in the first preset mode, wherein the first lifting and blocking device, the second lifting and blocking device, the third lifting and blocking device and the material tray lifting device work together to realize the continuous and stable transportation of the feeding tray on the first material tray transport line, and reliable unloading of materials. Since the first material tray transport line does not need to pause during this process, the time for the feeding tray to pass is saved, thereby improving the working efficiency of the unloading equipment; at the same time, the material handling mechanism can be controlled to work in the second preset mode, wherein the material picking device can work after detecting that the material tray lifting device lifts the feeding tray into place, so as to transfer the material on the feeding tray to the storage tray for The material storage mechanism can be controlled to work in a third preset mode, wherein, when it is detected that the feeding tray has reached the unloading position of the first tray transport line, the tray switching mechanism can be controlled to drive the empty storage tray to move to the material receiving position to save the waiting time of the material picking device; when it is detected that the material storage capacity of the storage tray has reached the upper limit, the tray switching mechanism can be controlled to store the storage tray with the material storage capacity reaching the upper limit at the tray storage mechanism, and take out the empty storage tray at the tray storage mechanism. Therefore, the tray switching mechanism can realize automatic tray replacement, saves the time of manual tray replacement, and thus improves the working efficiency of the unloading equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 Schematic diagram of the process of the material cutting method according to an embodiment of the present invention;

[0036] Figure 2 It is a structural schematic diagram of the unloading equipment according to an embodiment of the present invention;

[0037] Figure 3 This is a schematic structural diagram of the first tray transport line of an embodiment of the present invention;

[0038] Figure 4 It is a structural schematic diagram of a first lifting material blocking device according to an embodiment of the present invention;

[0039] Figure 5 It is a structural schematic diagram of a second lifting material blocking device according to an embodiment of the present invention;

[0040] Figure 6 It is a structural schematic diagram of a material tray lifting device according to an embodiment of the present invention;

[0041] Figure 7 It is a structural schematic diagram of a third lifting material blocking device according to an embodiment of the present invention;

[0042] Figure 8 It is a schematic diagram of the positions of the tray storage mechanism and the tray switching mechanism according to an embodiment of the present invention.

[0043] Description of reference numerals:

[0044] 100, first tray transport line; 101, first lifting and stopping device; 1011, first telescopic cylinder; 1012, first baffle; 102, second lifting and stopping device; 1021, second telescopic cylinder; 1022, second baffle; 103, third lifting and stopping device; 1031, fourth telescopic cylinder; 1032, third baffle; 104, tray lifting device; 1041, third telescopic cylinder; 1042, first support plate; 200, second tray transport line; 300, tray transfer mechanism; 3 01. First drive assembly; 302. Third tray transport line; 400. Material taking device; 500. Storage tray; 600. Tray storage mechanism; 601. Mounting frame; 6011. Material transfer space; 602. First tray storage assembly; 6021. First tray storage area; 603. Second tray storage assembly; 6031. Second tray storage area; 700. Tray switching mechanism; 701. Second drive assembly; 702. Tray operating device; 7021. Lifter; 7022. Second pallet. DETAILED DESCRIPTION

[0045] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be interpreted as being limited to the embodiments described herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0046] The Z axis in the drawings represents the vertical direction, that is, the up and down position, and the positive direction of the Z axis represents the top, and the reverse direction of the Z axis represents the bottom; the X axis in the drawings represents the left and right positions, and the positive direction of the X axis represents the left side, and the reverse direction of the X axis represents the right side; the Y axis in the drawings represents the front and back positions, and the positive direction of the Y axis represents the front side, and the reverse direction of the Y axis represents the back side. It should also be noted that the aforementioned Z axis, Y axis, and X axis are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0047] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to"; the term "based on" means "based at least in part on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0048] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0049] like Figure 2 , 3As shown, an embodiment of the present invention provides a material unloading method, which is applied to a material unloading equipment, wherein the material unloading equipment includes a tray conveyor line, a material handling mechanism and a material storage mechanism; the tray conveyor line includes a first tray transport line 100, a second tray transport line 200, a tray transfer mechanism 300, a first lifting and stopping material device 101, a second lifting and stopping material device 102, a third lifting and stopping material device 103 and a tray lifting device 104; the material handling mechanism includes a material picking device 400; the material storage mechanism includes a storage tray 500, a tray storage mechanism 600 and a tray switching mechanism 700.

[0050] like Figure 1 As shown, the blanking method comprises:

[0051] The first tray transport line 100 is controlled to operate in a first preset mode; wherein the first preset mode includes: when it is detected that the feeding tray passes through the feeding position of the first tray transport line 100, the first lifting and blocking device 101 is controlled to operate to prevent other feeding trays from continuing to be transported to the first tray transport line 100; when it is detected that the feeding tray reaches the unloading position of the first tray transport line 100, the second lifting and blocking device 102 is controlled to operate to prevent the feeding tray from continuing to move toward the discharging end of the first tray transport line 100; when the second lifting and blocking device 102 is detected After the lifting and blocking device 102 contacts the feeding tray, the tray lifting device 104 is controlled to work so as to lift the feeding tray away from the first tray transport line 100; when it is detected that the feeding tray reaches the discharge position of the first tray transport line 100, if the tray transfer mechanism 300 is in a standby state, the tray transfer mechanism 300 is controlled to work so as to transfer the feeding tray; if the tray transfer mechanism 300 is not in a standby state, the third lifting and blocking device 103 is controlled to work so as to prevent the feeding tray from being separated from the discharge end of the first tray transport line 100;

[0052] Control the material handling mechanism to work in a second preset mode; wherein the second preset mode includes: when it is detected that the tray lifting device 104 lifts the feeding tray into place, control the material taking device 400 to work so as to transfer the material on the feeding tray to the storage tray 500 for storage;

[0053] Control the material storage mechanism to operate in a third preset mode; wherein the third preset mode includes: when it is detected that the feeding tray reaches the unloading position of the first tray transport line 100, control the tray switching mechanism 700 to drive the empty storage tray 500 to move to the material receiving position; when it is detected that the material storage volume of the storage tray 500 reaches the upper limit, control the tray switching mechanism 700 to store the storage tray 500 whose material storage volume reaches the upper limit at the tray storage mechanism 600, and take out the empty storage tray 500 at the tray storage mechanism 600.

[0054] After the unloading equipment adopts the unloading method of the present invention, the first tray transport line 100 can be controlled to work in the first preset mode, wherein the first lifting and blocking device 101, the second lifting and blocking device 102, the third lifting and blocking device 103 and the tray lifting device 104 work together to realize the continuous and stable transportation of the feeding tray on the first tray transport line 100, and reliable unloading of materials. Since the first tray transport line 100 does not need to be paused during this process, the time for the feeding tray to pass is saved, thereby improving the working efficiency of the unloading equipment; at the same time, the material handling mechanism can be controlled to work in the second preset mode, wherein the material picking device 400 can work after detecting that the tray lifting device 104 lifts the feeding tray into place, so as to transfer the material on the feeding tray to the storage tray 500 for storage. The material storage mechanism can be controlled to work in a third preset mode, wherein when it is detected that the feeding tray has reached the unloading position of the first tray transport line 100, the tray switching mechanism 700 can be controlled to drive the empty storage tray 500 to move to the material receiving position to save the waiting time of the material picking device 400; when it is detected that the material storage capacity of the storage tray 500 has reached the upper limit, the tray switching mechanism 700 can be controlled to store the storage tray 500 whose material storage capacity has reached the upper limit at the tray storage mechanism 600, and take out the empty storage tray 500 at the tray storage mechanism 600, so the tray switching mechanism 700 can realize automatic tray replacement, saving the time of manual tray replacement, thereby improving the working efficiency of the unloading equipment.

[0055] Alternatively, if Figure 4 As shown, the first lifting material blocking device 101 includes a first telescopic cylinder 1011 and a first baffle 1012 connected to the telescopic end of the first telescopic cylinder 1011;

[0056] When it is detected that the feeding tray passes through the feeding position of the first tray transport line 100, the first lifting and blocking device 101 is controlled to work to prevent other feeding trays from continuing to be transported to the first tray transport line 100, including:

[0057] When it is detected that the tail of the feeding tray passes the feeding position of the first tray transport line 100, the first telescopic cylinder 1011 is controlled to drive the first baffle 1012 to move until the first baffle 1012 is located on the transport path of the feeding tray.

[0058] In one embodiment, the first material tray conveyor line 100 may include two first belt conveyor mechanisms arranged in parallel and at intervals, the two first belt conveyor mechanisms realize synchronous movement through a driving motor, and the two ends of the feeding material tray are respectively supported on the belts of the two first belt conveyor mechanisms; the first lifting and blocking device 101 is arranged between the two first belt conveyor mechanisms.

[0059] In this optional embodiment, under the action of the first lifting and stopping device 101, other feeding trays can be effectively blocked from continuing to be transported to the first tray transport line 100, thereby colliding with the tray lifting device 104 after lifting, causing damage to the tray lifting device 104.

[0060] Alternatively, if Figure 5 As shown, the second lifting material blocking device 102 includes a second telescopic cylinder 1021 and a second baffle 1022 connected to the telescopic end of the second telescopic cylinder 1021;

[0061] When it is detected that the feeding tray reaches the lower material position of the first tray transport line 100, controlling the second lifting and blocking device 102 to work to prevent the feeding tray from continuing to move toward the discharge end of the first tray transport line 100 includes:

[0062] When it is detected that the head of the feeding tray passes the unloading position of the first tray transport line 100, the second telescopic cylinder 1021 is controlled to drive the second baffle 1022 to move until the second baffle 1022 is located on the transport path of the feeding tray.

[0063] In this optional embodiment, the second lifting and stopping device 102 is also arranged between the two first belt conveyor mechanisms of the first tray transport line 100. Under the action of the second lifting and stopping device 102, the feeding tray can be effectively blocked from leaving the lowering position of the first tray transport line 100, thereby facilitating the subsequent lifting operation of the tray lifting device 104.

[0064] Alternatively, if Figure 6 As shown, the tray lifting device 104 includes a third telescopic cylinder 1041 and a first support plate 1042 connected to the telescopic end of the third telescopic cylinder 1041;

[0065] When the second lifting and blocking device 102 is detected to be in contact with the feeding tray, controlling the tray lifting device 104 to work so as to lift the feeding tray away from the first tray transport line 100 includes:

[0066] When it is detected that the second baffle 1022 is in contact with the feeding tray, the third telescopic cylinder 1041 is controlled to drive the first supporting plate 1042 to move until the first supporting plate 1042 drives the feeding tray to leave the first tray transportation line 100 .

[0067] In this optional embodiment, the tray lifting device 104 is also arranged between the two first belt conveying mechanisms of the first tray transport line 100. Under the action of the tray lifting device 104, the feeding tray can be effectively supported to make it separate from the belt of the first tray transport line 100, thereby facilitating the material picking operation of the material picking device 400.

[0068] Alternatively, if Figure 7 As shown, the third lifting material blocking device 103 includes a fourth telescopic cylinder 1031 and a third baffle 1032 connected to the telescopic end of the fourth telescopic cylinder 1031; the tray transfer mechanism 300 includes a first drive component 301 and a third tray transport line 302, and the first drive component 301 is used to drive the third tray transport line 302 to move;

[0069] When it is detected that the feeding tray arrives at the discharge position of the first tray transport line 100, if the tray transfer mechanism 300 is in a standby state, the tray transfer mechanism 300 is controlled to work to transfer the feeding tray; if the tray transfer mechanism 300 is not in a standby state, the third lifting and blocking device 103 is controlled to work to prevent the feeding tray from leaving the discharge end of the first tray transport line 100, including:

[0070] When it is detected that the head of the feeding tray reaches the discharge position of the first tray transport line 100, if the third tray transport line 302 is located at the discharge end of the first tray transport line 100, and the third tray transport line 302 does not bear the weight of the feeding tray, the first driving component 301 is controlled to drive the third tray transport line 302 to move until the third tray transport line 302 moves to the feed end of the second tray transport line 200;

[0071] If the third tray transport line 302 is not at the discharge end of the first tray transport line 100 or there is the feeding tray on the third tray transport line 302, the fourth telescopic cylinder 1031 is controlled to drive the third baffle 1032 to move until the third baffle 1032 is located on the transport path of the feeding tray.

[0072] In this optional embodiment, the third lifting and blocking device 103 is also arranged between the two first belt conveyor mechanisms of the first tray transport line 100; under the action of the third lifting and blocking device 103 and the tray transfer mechanism 300, the feeding tray can be reliably transferred from the first tray transport line 100 to the second tray transport line 200.

[0073] Optionally, the first preset mode further includes:

[0074] When it is detected that the feeding tray has finished unloading, the tray lifting device 104 is first controlled to drive the feeding tray to descend, so that the feeding tray is re-supported on the first tray transportation line 100, and then the second lifting and blocking device 102 is controlled to reset, so as to release the blocking of the feeding tray by the second lifting and blocking device 102;

[0075] When it is detected that the second lifting and stopping device 102 has been reset, the first lifting and stopping device 101 is controlled to be reset to release the blocking of the other feeding trays by the first lifting and stopping device 101 at the feeding end of the first tray transport line 100 .

[0076] In this optional embodiment, the first lifting and blocking device 101 can release the blocking of other feeding trays through the status of the tray lifting device 104 and the second lifting and blocking device 102, thereby realizing the re-loading of the first tray transport line 100.

[0077] Optionally, the second preset mode also includes: when it is detected that the feeding tray reaches the unloading position of the first tray transportation line 100, controlling the picking device 400 to move to the origin position to prepare for the picking operation.

[0078] In this optional embodiment, the operation of moving the material picking device 400 to the origin position can reduce the situation where the material picking device 400 is not reset and cannot pick up materials due to power failure.

[0079] Alternatively, if Figure 8As shown, the tray switching mechanism 700 includes a second driving assembly 701 and a tray operating device 702; the tray storage mechanism 600 includes a mounting frame 601, a first tray storage assembly 602 and a second tray storage assembly 603; the mounting frame 601 has a material transfer space 6011; the first tray storage assembly 602 and the second tray storage assembly 603 are sequentially arranged on the mounting frame 601 along a first direction; the first tray storage assembly 602 has a first tray storage area 6021 communicating with the material transfer space 6011; the second tray storage assembly 603 has a second tray storage area 6031 communicating with the material transfer space 6011; the tray operating device 702 includes a lifter 7021 and a second support plate 7022 connected to the telescopic end of the lifter 7021;

[0080] The controlling the tray switching mechanism 700 to store the storage tray 500 whose material storage amount reaches the upper limit at the tray storage mechanism 600, and taking out the empty storage tray 500 at the tray storage mechanism 600 comprises:

[0081] Control the second driving assembly 701 to work, so as to drive the storage tray 500 whose material storage volume reaches the upper limit to enter the material transfer space 6011 through the tray operating device 702;

[0082] After the second driving assembly 701 is controlled to drive the tray operating device 702 to move a first distance, the lifter 7021 is controlled to rise, so as to drive the storage tray 500 to enter the first tray storage area 6021 through the second supporting plate 7022; after the first tray storage assembly 602 is controlled to fix the storage tray 500, the lifter 7021 is controlled to descend, so as to make the second supporting plate 7022 retreat to the material transfer space 6011;

[0083] After the second support plate 7022 retreats to the material transfer space 6011, the second driving component 701 is controlled to drive the tray operating device 702 to move a second distance; the lifter 7021 is then controlled to rise, so as to drive the second support plate 7022 to enter the second tray storage area 6031 and support the empty storage tray 500 at the bottom; the second tray storage component 603 is then controlled to release the fixation of the empty storage tray 500 at the bottom; the lifter 7021 is then controlled to descend, so as to make the second support plate 7022 retreat a third distance, and the second tray storage component 603 is controlled to fix the second to last empty storage tray 500; the lifter 7021 is then continued to be controlled to descend, so as to make the second support plate 7022 drive the storage tray 500 at the bottom to retreat to the material transfer space 6011; finally, the second driving component 701 is controlled to work, so as to drive the empty storage tray 500 to the material receiving position through the tray operating device 702.

[0084] In this optional embodiment, under the action of the tray switching mechanism 700, reliable switching of the storage tray 500 can be achieved, thereby achieving continuity in material reception.

[0085] An embodiment of the present invention provides a material unloading controller, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the material unloading method described above is implemented.

[0086] The material unloading controller of this embodiment has the same beneficial effects as the above-mentioned material unloading method, so it will not be described in detail here.

[0087] An embodiment of the present invention provides a material unloading device, comprising the material unloading controller as described above.

[0088] The material unloading equipment of this embodiment has the same beneficial effects as the above-mentioned material unloading method, so it will not be described in detail here.

[0089] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A material unloading method, applied to a material unloading device, the material unloading device comprising a tray conveyor line, a material handling mechanism and a material storage mechanism; the tray conveyor line comprises a first tray transport line (100), a second tray transport line (200), a tray transfer mechanism (300), a first lifting and stopping device (101), a second lifting and stopping device (102), a third lifting and stopping device (103) and a tray lifting device (104); the material handling mechanism comprises a material taking device (400); the material storage mechanism comprises a storage tray (500), a tray storage mechanism (600) and a tray switching mechanism (700), characterized in that: The blanking method comprises: The first tray transport line (100) is controlled to operate in a first preset mode; wherein the first preset mode includes: when a feeding tray is detected to have passed the feeding position of the first tray transport line (100), the first lifting and stopping device (101) is controlled to operate so as to prevent other feeding trays from continuing to be transported to the first tray transport line (100); when the feeding tray is detected to have reached the unloading position of the first tray transport line (100), the second lifting and stopping device (102) is controlled to operate so as to prevent the feeding tray from continuing to move toward the discharging end of the first tray transport line (100); when the second lifting and stopping device (102) is detected After the material blocking device (102) contacts the feeding tray, the material tray lifting device (104) is controlled to operate so as to lift the feeding tray away from the first material tray transport line (100); when it is detected that the feeding tray has reached the discharge position of the first material tray transport line (100), if the material tray transfer mechanism (300) is in a standby state, the material tray transfer mechanism (300) is controlled to operate so as to transfer the feeding tray; if the material tray transfer mechanism (300) is not in a standby state, the third lifting and blocking device (103) is controlled to operate so as to prevent the feeding tray from leaving the discharge end of the first material tray transport line (100); Controlling the material handling mechanism to operate in a second preset mode; wherein the second preset mode includes: when it is detected that the tray lifting device (104) lifts the feeding tray into place, controlling the material taking device (400) to operate so as to transfer the material on the feeding tray to the storage tray (500) for storage; The material storage mechanism is controlled to operate in a third preset mode; wherein the third preset mode includes: when it is detected that the feeding tray reaches the unloading position of the first tray transport line (100), the tray switching mechanism (700) is controlled to drive the empty storage tray (500) to move to the material receiving position; when it is detected that the material storage amount of the storage tray (500) reaches the upper limit, the tray switching mechanism (700) is controlled to store the storage tray (500) whose material storage amount has reached the upper limit at the tray storage mechanism (600), and to take out the empty storage tray (500) at the tray storage mechanism (600).

2. The blanking method according to claim 1, characterized in that: The first lifting material blocking device (101) comprises a first telescopic cylinder (1011) and a first baffle (1012) connected to the telescopic end of the first telescopic cylinder (1011); When it is detected that the feeding tray passes through the feeding position of the first tray transport line (100), controlling the first lifting and stopping device (101) to operate so as to stop other feeding trays from continuing to be transported to the first tray transport line (100) comprises: When it is detected that the tail of the feeding tray passes the feeding position of the first tray transport line (100), the first telescopic cylinder (1011) is controlled to drive the first baffle (1012) to move until the first baffle (1012) is located on the transport path of the feeding tray.

3. The blanking method according to claim 1, characterized in that: The second lifting material blocking device (102) comprises a second telescopic cylinder (1021) and a second baffle (1022) connected to the telescopic end of the second telescopic cylinder (1021); When it is detected that the feeding tray reaches the unloading position of the first tray transport line (100), controlling the second lifting and stopping device (102) to operate so as to stop the feeding tray from continuing to move toward the discharge end of the first tray transport line (100) comprises: When it is detected that the head of the feeding tray passes the unloading position of the first tray transport line (100), the second telescopic cylinder (1021) is controlled to drive the second baffle (1022) to move until the second baffle (1022) is located on the transport path of the feeding tray.

4. The blanking method according to claim 3, characterized in that: The tray lifting device (104) comprises a third telescopic cylinder (1041) and a first support plate (1042) connected to the telescopic end of the third telescopic cylinder (1041); When the second lifting and blocking device (102) is detected to be in contact with the feeding tray, controlling the tray lifting device (104) to operate so as to lift the feeding tray away from the first tray transport line (100) comprises: When it is detected that the second baffle plate (1022) is in contact with the feeding tray, the third telescopic cylinder (1041) is controlled to drive the first support plate (1042) to move until the first support plate (1042) drives the feeding tray to leave the first tray transport line (100).

5. The blanking method according to claim 1, characterized in that: The third lifting material blocking device (103) comprises a fourth telescopic cylinder (1031) and a third baffle (1032) connected to the telescopic end of the fourth telescopic cylinder (1031); the tray transfer mechanism (300) comprises a first drive component (301) and a third tray transport line (302), wherein the first drive component (301) is used to drive the third tray transport line (302) to move; When it is detected that the feeding tray has arrived at the discharge position of the first tray transport line (100), if the tray transfer mechanism (300) is in a standby state, the tray transfer mechanism (300) is controlled to operate so as to transfer the feeding tray; if the tray transfer mechanism (300) is not in a standby state, the third lifting and blocking device (103) is controlled to operate so as to prevent the feeding tray from leaving the discharge end of the first tray transport line (100), including: When it is detected that the head of the feeding tray reaches the discharge position of the first tray transport line (100), if the third tray transport line (302) is located at the discharge end of the first tray transport line (100), and the third tray transport line (302) does not bear the weight of the feeding tray, the first driving component (301) is controlled to drive the third tray transport line (302) to move until the third tray transport line (302) moves to the feed end of the second tray transport line (200); If the third material tray transport line (302) is not at the discharge end of the first material tray transport line (100) or the third material tray transport line (302) has the feeding tray, the fourth telescopic cylinder (1031) is controlled to drive the third baffle plate (1032) to move until the third baffle plate (1032) is located on the transport path of the feeding tray.

6. The blanking method according to claim 1, characterized in that: The first preset mode also includes: When it is detected that the feeding tray has finished unloading, the tray lifting device (104) is first controlled to drive the feeding tray to descend, so that the feeding tray is re-supported on the first tray transport line (100), and then the second lifting and blocking device (102) is controlled to reset, so as to release the blocking of the feeding tray by the second lifting and blocking device (102); When it is detected that the second lifting and blocking device (102) has completed resetting, the first lifting and blocking device (101) is controlled to reset, so as to release the blocking of the other feeding trays by the first lifting and blocking device (101) at the feeding end of the first tray transport line (100).

7. The blanking method according to claim 1, characterized in that: The second preset mode also includes: when it is detected that the feeding tray has reached the unloading position of the first tray transport line (100), controlling the material picking device (400) to move to the origin position to prepare for the material picking operation.

8. The blanking method according to claim 1, characterized in that: The tray switching mechanism (700) comprises a second driving assembly (701) and a tray operating device (702); the tray storage mechanism (600) comprises a mounting frame (601), a first tray storage assembly (602) and a second tray storage assembly (603); the mounting frame (601) has a material transfer space (6011); the first tray storage assembly (602) and the second tray storage assembly (603) are arranged on the mounting frame (601) in sequence along a first direction; the first tray storage assembly (602) has a first tray storage area (6021) communicating with the material transfer space (6011); the second tray storage assembly (603) has a second tray storage area (6031) communicating with the material transfer space (6011); the tray operating device (702) comprises a lifter (7021) and a second support plate (7022) connected to a telescopic end of the lifter (7021); The step of controlling the material tray switching mechanism (700) to store the storage material tray (500) whose material storage amount has reached an upper limit at the material tray storage mechanism (600), and taking out the empty storage material tray (500) at the material tray storage mechanism (600) comprises: Controlling the second driving component (701) to operate so as to drive the storage tray (500) whose material storage volume has reached an upper limit to enter the material transfer space (6011) through the tray operating device (702); After controlling the second driving component (701) to drive the material tray operating device (702) to move a first distance, the lifter (7021) is controlled to rise, so as to drive the storage material tray (500) to enter the first storage area (6021) through the second supporting plate (7022); after controlling the first material tray storage component (602) to fix the storage material tray (500), the lifter (7021) is controlled to descend, so as to make the second supporting plate (7022) retreat to the material transfer space (6011); After the second support plate (7022) retracts to the material transfer space (6011), the second driving assembly (701) is controlled to drive the tray operating device (702) to move a second distance; the lifter (7021) is then controlled to rise, so as to drive the second support plate (7022) to enter the second tray storage area (6031) and support the bottom empty storage tray (500); the second tray storage assembly (603) is then controlled to release the fixation of the bottom empty storage tray (500); the lifter (70 21) is lowered so that the second support plate (7022) retreats a third distance, and the second tray storage assembly (603) is controlled to fix the second to last empty storage tray (500); the lifter (7021) is then controlled to descend so that the second support plate (7022) drives the lowest storage tray (500) to retreat to the material transfer space (6011); and finally, the second drive assembly (701) is controlled to work so as to drive the empty storage tray (500) to the material receiving position through the tray operating device (702).

9. A material feeding controller, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the blanking method according to any one of claims 1 to 8 is implemented.

10. A material unloading device, characterized in that: Comprising the material discharge controller as described in claim 9.

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