Double-layer sheet stock stacking control system and method

Abstract

The invention discloses a double-layer sheet stock stacking control system and method. The control system comprises a plurality of sensors for indicating sheet material conveying positions, a translation stage translation motor, a conveying motor of a conveying mechanism on the translation stage, and a controller. The control method is realized by executing a computer program by a controller, the conveying position of the sheet material is detected by a sensor, and the conveying motor and the conveying motor are controlled, so that the conveying of the conveying mechanism on the translation table and the translation of the translation table are integrally controlled, and the conveying mechanism on the translation table stops running after receiving the sheet material; and then the horizontal moving table is in butt joint with the upper layer through the obliquely-arranged conveying mechanism to bear the upper layer of sheet materials, and finally stacking of the upper layer of sheet materials and the lower layer of sheet materials is achieved.

Description

Technical Field

[0001] The invention relates to a sheet forming device. Background Art

[0002] In sheet forming equipment, common sheets need to be formed by stacking two sheets on top of each other. The traditional sheet stacking method is usually achieved by a suction cup robot. When the suction cup robot stacks two layers of sheets, on the one hand, it is easy to form air bulges between the two layers of sheets, and on the other hand, due to the heating and softening of the sheets, wrinkles are easy to appear. The air bulge and wrinkle problems make it impossible for the two layers of sheets to fit together, which seriously affects the mold forming. Summary of the invention

[0003] The problem to be solved by the present invention is the problem existing in the operation of sheet stacking by a suction cup robot.

[0004] To solve the above problems, the solution adopted by the present invention is as follows: A double-layer sheet stacking control system according to the present invention comprises a first sheet sensor for detecting whether there is a sheet at the end of a lower sheet conveying mechanism, a second sheet sensor for detecting whether there is a sheet at the end of an upper-to-lower inclined sheet conveying mechanism, a conveying docking sensor for detecting whether the sheet conveying mechanism on a translation stage is docked with the lower sheet conveying mechanism, a conveying motor of the sheet conveying mechanism on the translation stage, a translation motor for driving the translation stage to translate, and a control device; the first sheet sensor, the second sheet sensor, the conveying docking sensor, the conveying motor, and the translation motor are connected to the control device; the control device comprises a data receiving module, a reset check module, a lower sheet receiving control module, an upper sheet stacking control module, and a translation homing module; The data receiving module is used to: continuously receive the detection results of the first sheet material sensor, the second sheet material sensor and the conveying docking sensor; The reset check module is used to check whether the detection results of the first sheet material sensor and the second sheet material sensor are that there is no sheet material, and check whether the detection result of the conveyor docking sensor is in the docking state; after the check is correct, perform initialization reset: State_pick_1 is set to false, State_pick_2 is set to false, Time_pick_1 is set to 0, and Time_stop_1 is set to 0; The lower sheet material receiving control module includes the following modules: Module M31, used for: if State_pick_1 is false, and the detection result received by the first sheet material sensor is that a sheet material exists, setting State_pick_1 to true, and recording the current time to Time_pick_1; Module M32 is used to: if State_pick_1 is true and the detection result of the first sheet sensor indicates the absence of a sheet, set State_pick_1 to false, and simultaneously calculate TS = Time_Current - Time_Pick_1; Module M33 is used to: when the current time satisfies Time_Current ≥ TS + Time_Pick_1 + TCS1, instruct the conveying motor to stop working, and simultaneously record the current time to Time_stop_1; The upper sheet stacking control module includes the following modules: Module M41 is used to: when Time_Pick_1 > 0 and Time_stop_1 > 0 are satisfied and the current time satisfies Time_Current ≥ Time_stop_1 + TCS2, instruct the translation motor to start working, so that the translation table translates in a direction away from the lower sheet conveying mechanism; The translation homing module is used to: when the sheet is removed from the sheet conveying mechanism on the translation table, instruct the translation motor to make the translation table return to its original position; Among them, State_pick_1 is the state of the first sheet; State_pick_2 is the state of the second sheet; Time_pick_1 is the time when the state of the first sheet is true; Time_stop_1 is the time when the conveying motor stops working; Time_Current is the current time; TCS1 and TCS2 are preset time durations; TS is the time interval length.

[0005] Furthermore, for the control system according to the present invention, it further includes a third sheet sensor disposed on the lower sheet conveying mechanism and at a distance not less than the sheet length from the first sheet sensor; the third sheet sensor is connected to the control device; the data receiving module is further used to continuously receive the detection result of the third sheet sensor; the control module further includes a stacking preparation module; the stacking preparation module is used to: when the detection result of the received third sheet sensor indicates the presence of a sheet, instruct the conveying motor to start working.

[0006] Furthermore, in the control system according to the present invention, in Module M32, while calculating TS, it is judged that if Time_Current < Time_Pick_1 + (1 - W1) * L / V or Time_Current > Time_Pick_1 + (1 + W1) * L / V, an alarm indication is issued; where, W1 is a preset first error tolerance parameter; L is the length of the sheet material; V is the conveying speed of the sheet material conveying mechanism.

[0007] Further, according to the control system of the present invention, the upper sheet material stacking control module further includes a module M42; the module M42 is configured to: if State_pick_2 is false and the detection result of the received second sheet material sensor indicates the presence of sheet material, set State_pick_2 to true, and at the same time determine whether Time_Pick_1 is greater than 0. If Time_Pick_1 is not greater than 0, an alarm indication is issued; otherwise, it is determined that if Time_Current < Time_Pick_1 + (1 - W2)*D / V or Time_Current > Time_Pick_1 + (1 + W2)*D / V, an alarm indication is issued; where W2 is a preset second error tolerance parameter; D is the sheet material path difference between the end of the inclined sheet material conveying mechanism from the upper layer to the lower layer and the end of the lower layer sheet material conveying mechanism.

[0008] Further, according to the control system of the present invention, the upper sheet material stacking control module further includes a module M43; The module M43 is configured to: if State_pick_2 is true and the detection result of the received second sheet material sensor indicates the absence of sheet material, set State_pick_2 to false, and at the same time determine that if Time_Current < Time_Pick_1 + (1 - W3)*(D + L) / V or Time_Current > Time_Pick_1 + (1 + W3)*(D + L) / V, an alarm indication is issued; where W3 is a preset third error tolerance parameter.

[0009] According to a double-layer sheet material stacking control method of the present invention, the control method involves a first sheet material sensor for detecting whether there is sheet material at the end of the lower layer sheet material conveying mechanism, a second sheet material sensor for detecting whether there is sheet material at the end of the inclined sheet material conveying mechanism from the upper layer to the lower layer, a conveying docking sensor for detecting whether the sheet material conveying mechanism on the translation table is docked with the lower layer sheet material conveying mechanism, a conveying motor of the sheet material conveying mechanism on the translation table, a translation motor for driving the translation of the translation table, and a controller; the first sheet material sensor, the second sheet material sensor, the conveying docking sensor, the conveying motor, and the translation motor are connected to the controller; the control method is a control method implemented by the controller by executing a computer program instruction set, including a data receiving step, a reset verification step, a lower layer sheet material承接 control step, an upper layer sheet material stacking control step, and a translation homing step; The data receiving step: continuously receiving the detection results of the first sheet material sensor, the second sheet material sensor and the conveyor docking sensor; The reset check step: check that the detection results of the first sheet material sensor and the second sheet material sensor are that there is no sheet material, and check that the detection result of the conveyor docking sensor is in the docking state; after checking that there is no error, perform initialization reset: State_pick_1 is set to false, State_pick_2 is set to false, Time_pick_1 is set to 0, and Time_stop_1 is set to 0; The lower sheet material receiving control step comprises the following steps: Step S31: if State_pick_1 is false, and the detection result received from the first sheet material sensor is that a sheet material exists, State_pick_1 is set to true, and the current time is recorded to Time_pick_1; Step S32: if State_pick_1 is true, and the detection result of the received first sheet material sensor is that there is no sheet material, State_pick_1 is set to false, and TS=Time_Current-Time_Pick_1 is calculated; Step S33: when the current time satisfies Time_Current≥TS+Time_Pick_1+TCS1, instruct the conveying motor to stop working, and record the current time to Time_stop_1; The upper sheet stacking control step comprises the following steps: Step S41: when Time_Pick_1 is greater than 0 and Time_stop_1>0, and the current time satisfies Time_Current≥Time_stop_1+TCS2, instructing the translation motor to start working, so that the translation platform translates in a direction away from the lower sheet material conveying mechanism; The translation return step: when the sheet material moves out of the sheet material conveying mechanism on the translation table, the translation table is returned to its original position by instructing the translation motor; in, State_pick_1 is the first sheet state; State_pick_2 is the second sheet state; Time_pick_1 is the time when the first sheet status is true; Time_stop_1 is the time when the conveying motor stops working; Time_Current is the current time; TCS1 and TCS2 are pre-set durations; TS is the time interval length.

[0010] Furthermore, according to the control method of the present invention, it further relates to a third sheet sensor disposed on the lower sheet conveying mechanism and at a distance not less than the sheet length from the first sheet sensor; in the data receiving step, continuously receive the detection result of the third sheet sensor; the control method further includes a stacking preparation step; the stacking preparation step: when the detection result of the received third sheet sensor indicates the presence of a sheet, instruct the conveying motor to start working.

[0011] Furthermore, according to the control method of the present invention, in step S32, while calculating TS, it is judged that if Time_Current < Time_Pick_1 + (1 - W1)*L / V or Time_Current > Time_Pick_1 + (1 + W1)*L / V, an alarm indication is issued; where W1 is a first pre-set error tolerance parameter; L is the sheet length; V is the conveying speed of the sheet conveying mechanism.

[0012] Furthermore, according to the control method of the present invention, the upper sheet stacking control step further includes step S42; The step S42: If State_pick_2 is false and the detection result of the received second sheet sensor indicates the presence of a sheet, set State_pick_2 to true, and at the same time judge whether Time_Pick_1 is greater than 0. If Time_Pick_1 is not greater than 0, an alarm indication is issued; otherwise, it is judged that if Time_Current < Time_Pick_1 + (1 - W2)*D / V or Time_Current > Time_Pick_1 + (1 + W2)*D / V, an alarm indication is issued; where W2 is a second pre-set error tolerance parameter; D is the sheet path difference between the end of the inclined sheet conveying mechanism from the upper layer to the lower layer and the end of the lower sheet conveying mechanism.

[0013] Furthermore, according to the control method of the present invention, the upper sheet stacking control step further includes step S43; The step S43: If State_pick_2 is true and the detection result of the received second sheet sensor indicates the absence of a sheet, set State_pick_2 to false, and at the same time judge that if Time_Current < Time_Pick_1 + (1 - W3)*(D + L) / V or Time_Current > Time_Pick_1 + (1 + W3)*(D + L) / V, an alarm indication is issued; where W3 is a third pre-set error tolerance parameter.

[0014] The technical effects of the present invention are as follows:. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 and Figure 2 It is a schematic structural diagram of two different states of an embodiment of a double-layer sheet stacking system of the present invention.

[0016] Figure 3 Schematic diagram of electrical connection in an embodiment of a double-layer sheet stacking system of the present invention.

[0017] Figure 4 It is a flow chart of a control method of a double-layer sheet stacking system embodiment of the present invention. DETAILED DESCRIPTION

[0018] The present invention is further described in detail below with reference to the accompanying drawings.

[0019] Figure 1 , Figure 2 and Figure 3 A double-layer sheet stacking system is exemplified, which is a subsystem in a mold forming production line. The system includes a lower sheet conveying mechanism 11, an upper sheet conveying mechanism 12, an inclined sheet conveying mechanism 13, a sheet conveying mechanism 14 on a translation table, a first sheet sensor 21, a second sheet sensor 22, a third sheet sensor 23, a conveying docking sensor 29, and a controller 5. The lower sheet conveying mechanism 11, the upper sheet conveying mechanism 12, the inclined sheet conveying mechanism 13, and the sheet conveying mechanism 14 on the translation table are sheet conveying mechanisms realized by a conveyor belt. When conveying sheets, the sheets are laid flat on the conveying surface of the conveyor belt.

[0020] The upper sheet material conveying mechanism 12 is arranged above the lower sheet material conveying mechanism 11, and is used to convey the upper sheet material 92. The lower sheet material conveying mechanism 11 is used to convey the lower sheet material 91. The transmission start ends of the upper sheet material conveying mechanism 12 and the lower sheet material conveying mechanism 11 are arranged at the preceding station of the mold forming production line, and the function and structure of the preceding station are not within the scope of the present invention and will not be described in detail.

[0021] The inclined sheet material conveying mechanism 13 is inclined from the upper layer to the lower layer, and the top end is connected with the end of the upper sheet material conveying mechanism 12, and the bottom end is connected with the lower layer. After the upper sheet material 92 reaches the end of the upper sheet material conveying mechanism 12, the top end of the inclined sheet material conveying mechanism 13 is connected with the end of the upper sheet material conveying mechanism 12, so that the upper sheet material 92 is transferred to the inclined sheet material conveying mechanism 13, and is transported to the lower layer by the inclined sheet material conveying mechanism 13.

[0022] The sheet material conveying mechanism 14 on the translation stage is arranged on the translation stage 41 and is connected to a conveying motor 42. The conveying motor 42 of the sheet material conveying mechanism 14 on the translation stage is used to drive the operation and stop of the sheet material conveying, as shown in FIG. Figure 3 , connected to the controller 5. The translation platform 41 is connected to a translation motor 43 for driving the translation platform 41 to translate, and driven by the translation motor 43, it can translate back and forth between the left end connection position and the right end connection position. The translation motor 43 is connected to the controller 5. When the translation platform 41 is at the left end connection position, the sheet material conveying mechanism 14 on the translation platform is connected to the lower sheet material conveying mechanism 11, see Figure 1 The state illustrated. The docking of the sheet material conveying mechanism 14 on the translation table and the lower sheet material conveying mechanism 11 refers to the connection between the end of the lower sheet material conveying mechanism 11 and the sheet material conveying mechanism 14 on the translation table, so that after the lower sheet material 91 reaches the end on the lower sheet material conveying mechanism 11, the lower sheet material 91 is transferred to the sheet material conveying mechanism 14 on the translation table through the connection between the end of the lower sheet material conveying mechanism 11 and the sheet material conveying mechanism 14 on the translation table. When the translation table 41 is in the right end connection position, the end of the sheet material conveying mechanism 14 on the translation table is connected to the subsequent station on the mold molding production line. The function and structure of the subsequent station are not within the scope of the present invention and will not be described in detail in this specification.

[0023] The first sheet material sensor 21 is arranged above the end of the lower sheet material conveying mechanism 11, and is used to detect whether there is a sheet material at the end of the lower sheet material conveying mechanism 11. The second sheet material sensor 22 is arranged above the end of the inclined sheet material conveying mechanism 13, and is used to detect whether there is a sheet material at the end of the inclined sheet material conveying mechanism 13. The third sheet material sensor 23 is arranged above the lower sheet material conveying mechanism 11, and the distance from the first sheet material sensor 21 is not less than the sheet material length. The conveying docking sensor 29 is used to detect whether the sheet material conveying mechanism 14 on the translation stage is docked with the lower sheet material conveying mechanism 11, that is, to detect whether the translation stage 41 is in the left end docking position. The first sheet material sensor 21, the second sheet material sensor 22 and the third sheet material sensor 23 are three sheet material sensors, which are usually implemented by one or more photoelectric sensors and connected to the controller 5. The conveying docking sensor 29 is usually implemented by a proximity sensor and connected to the controller 5. In addition, the sheet material length referred to above usually refers to the length of the lower sheet material 91, and is not specifically limited to the lower sheet material 91, because in this example, it is assumed that the lower sheet material 91 and the upper sheet material 92 have the same size. That is, the sheet length is the length of the lower sheet 91 and also the length of the upper sheet 92.

[0024] It should be noted that the sheet size referred to in the present invention refers to the length and width of the sheet, but does not include the thickness of the sheet. The same size of the lower sheet 91 and the upper sheet 92 means that the lower sheet 91 and the upper sheet 92 have the same length and width. Usually, the upper sheet 91 and the lower sheet 92 are made of different materials and have different thicknesses.

[0025] In addition, in the lower sheet material conveying mechanism 11, the upper sheet material conveying mechanism 12, the inclined sheet material conveying mechanism 13 and the sheet material conveying mechanism 14 on the translation platform, the conveyor belts are arranged on the rollers at both ends. When the ends of the lower sheet material conveying mechanism 11, the upper sheet material conveying mechanism 12, the inclined sheet material conveying mechanism 13 and the sheet material conveying mechanism 14 on the translation platform are connected with the subsequent sheet material conveying mechanism, it is necessary to arrange a downwardly inclined support plate at the end to assist the transition, otherwise the sheet material may be wound with the rotation of the roller. In this embodiment, the support plates arranged at the ends of the lower sheet material conveying mechanism 11, the upper sheet material conveying mechanism 12, the inclined sheet material conveying mechanism 13 and the sheet material conveying mechanism 14 on the translation platform are respectively the first support plate 61, the second support plate 62, the third support plate 63 and the fourth support plate 64.

[0026] The working principle of the double-layer sheet stacking system in this embodiment for sheet stacking is as follows: The lower sheet 91 and the upper sheet 92 from the preceding station are conveyed by the lower sheet conveying mechanism 11 and the upper sheet conveying mechanism 12 respectively. After the upper sheet 92 is conveyed to the end of the upper sheet conveying mechanism 12, it is conveyed to the upper edge of the inclined sheet conveying mechanism 13 through the connection between the end of the upper sheet conveying mechanism 12 and the inclined sheet conveying mechanism 13. Figure 2 After the lower sheet 91 is conveyed to the end of the lower sheet conveying mechanism 11, it is conveyed to the sheet conveying mechanism 14 on the translation platform through the connection between the end of the lower sheet conveying mechanism 11 and the sheet conveying mechanism 14 on the translation platform. Then the sheet conveying mechanism 14 on the translation platform stops working so that the lower sheet 91 and the translation platform 41 remain relatively still. Then the translation of the translation platform 41 is started, and the lower sheet 91 is conveyed to the translation platform 41 according to the above. Figure 2 The sheet conveying mechanism 14 on the translation stage 41 is connected with the end of the inclined sheet conveying mechanism 13 during the translation of the translation stage 41, so that the upper sheet 92 on the inclined sheet conveying mechanism 13 is also conveyed to the sheet conveying mechanism 14 on the translation stage, thereby being stacked with the lower sheet 91. During the stacking operation, since the inclined sheet conveying mechanism 13 needs to be connected with the upper sheet conveying mechanism 12, the sheet conveying speed of the inclined sheet conveying mechanism 13 is the same as that of the upper sheet conveying mechanism 12. The upper sheet 92 on the inclined sheet conveying mechanism 13 needs to be flattened on the sheet conveying mechanism 14 on the translation stage, so the translation speed of the translation stage 41 needs to be the same as that of the inclined sheet conveying mechanism 13. That is, the sheet conveying speeds of the lower sheet conveying mechanism 11 , the upper sheet conveying mechanism 12 , the inclined sheet conveying mechanism 13 , and the sheet conveying mechanism 14 on the translation stage and the translation speed of the translation stage 41 are kept the same.

[0027] The controller 5 is a von Neumann-type general-purpose computer implemented by a processor and a memory. Its specific structure is familiar to those skilled in the art and will not be described in detail in this specification. The aforementioned double-layer sheet stacking control method is a control method implemented by the controller 5 by executing a computer program instruction set. The control module in the aforementioned control system is a virtual device implemented by the controller 5 by executing a computer program instruction set. Each submodule contained in the control module corresponds to each step in the control method. The control method of this embodiment includes a data receiving step and an operation flow cycle control step.

[0028] The data receiving step is to continuously receive the detection results of the first sheet material sensor, the second sheet material sensor, the third sheet material sensor and the conveying docking sensor. The detection results here for the first sheet material sensor, the second sheet material sensor and the third sheet material sensor are whether there is a sheet material at the position where the sheet material sensor is located. When the detection result of the sheet material sensor changes from the absence of a sheet material to the presence of a sheet material, it means that the front end of the sheet material reaches the position where the sheet material sensor is located when the sheet material is conveyed and translated; when the detection result of the sheet material sensor changes from the presence of a sheet material to the absence of a sheet material, it means that the rear end of the sheet material leaves the position where the sheet material sensor is located when the sheet material is conveyed and translated.

[0029] The operation process cycle control step is a cycle processing step, including the reset inspection step, the stacking preparation step, the lower sheet receiving control step, the upper sheet stacking control step and the translation return step. The reset inspection step, the stacking preparation step, the lower sheet receiving control step, the upper sheet stacking control step and the translation return step are executed in sequence.

[0030] Reset check step, check that the detection results of the first sheet material sensor 21, the second sheet material sensor 22 and the third sheet material sensor 23 are that there is no sheet material, and check that the detection result of the conveying docking sensor 29 is the docking state; after checking, perform initialization reset: State_pick_1 is set to false, State_pick_2 is set to false, Time_pick_1 is set to 0, and Time_stop_1 is set to 0. Among them, State_pick_1 is the first sheet material state; State_pick_2 is the second sheet material state; Time_pick_1 is the time when the first sheet material state is true; Time_stop_1 is the time when the conveying motor stops working. In this step, if the detection results of the first sheet material sensor 21, the second sheet material sensor 22 and the third sheet material sensor 23 are that there is sheet material, it means that the system has an error and an alarm indication is issued. The alarm indication can be realized through the speaker or display screen connected to the controller. If the detection result of the transport docking sensor 29 is a non-docking state, the translation motor 43 is instructed to work, so that the translation stage 41 moves to the left end docking position until the detection result of the transport docking sensor 29 is a docking state, so as to achieve the connection between the sheet material conveying mechanism 14 on the translation stage and the end of the lower sheet material conveying mechanism 11. The verification is correct, that is, the detection results of the first sheet material sensor 21, the second sheet material sensor 22 and the third sheet material sensor 23 are that there is no sheet material, and the detection result of the transport docking sensor 29 is a docking state.

[0031] In the stacking preparation step, when the detection result received by the third sheet material sensor 23 is that a sheet material exists, the conveying motor 42 is instructed to start working. In the stacking preparation step, the detection results of the first sheet material sensor 21 and the second sheet material sensor 22 remain that there is no sheet material, and the detection result of the conveying docking sensor 29 remains in the docking state. That is, at this time, the translation stage 41 remains in the left end engagement position, and the sheet material conveying mechanism 14 on the translation stage is in the engagement state with the end of the lower sheet material conveying mechanism 11. In order to reduce energy consumption, in a normal state, the sheet material conveying mechanism 14 on the translation stage is in a stopped state, that is, the conveying motor 42 is in a turned-off state. "When the detection result received by the third sheet material sensor 23 is that a sheet material exists" indicates the conditions required to execute "instructing the conveying motor 42 to start working". When the detection result received by the third sheet material sensor 23 is that a sheet material exists, it indicates that there is a lower sheet material 91 moving toward the end of the lower sheet material conveying mechanism 11, and the front end of the lower sheet material 91 is located at the third sheet material sensor 23. In order for the sheet conveying mechanism 14 on the translation stage to smoothly receive the lower sheet 91, the sheet conveying mechanism 14 on the translation stage needs to start working in advance, because it takes a certain amount of time from the start of the instruction conveying motor 42 to the matching of the conveyor belt running speed of the sheet conveying mechanism 14 on the translation stage with the conveying speed of the lower sheet conveying mechanism 11. In addition, "when the detection result of the received third sheet sensor 23 is that there is a sheet" as a condition required for executing "instructing the conveying motor 42 to start working" can be realized through a loop in the specific implementation, that is, the detection result of the third sheet sensor 23 is continuously queried through the loop until the detection result of the third sheet sensor 23 is that there is a sheet, the loop is jumped out, and then "instructing the conveying motor 42 to start working" is executed.

[0032] The lower sheet material receiving control step is a control step of conveying the lower sheet material 91 from the lower sheet material conveying mechanism 11 to the sheet material conveying mechanism 14 on the translation stage, and includes the following sub-steps: Step S31: if State_pick_1 is false, and the detection result received from the first sheet material sensor 21 is that a sheet material exists, State_pick_1 is set to true, and the current time is recorded to Time_pick_1; Step S32: if State_pick_1 is true, and the detection result received from the first sheet sensor 21 is that there is no sheet, State_pick_1 is set to false, and TS=Time_Current-Time_Pick_1 is calculated; Step S33: When the current time satisfies Time_Current≥TS+Time_Pick_1+TCS1, the conveying motor 42 is instructed to stop working, and the current time is recorded to Time_stop_1.

[0033] In the above steps, Time_Current is the current time, TCS1 is the preset duration, and TS is the time interval.

[0034] Steps S31, S32 and S33 are sequential processing steps, and are all processing steps that meet certain conditions, and the satisfaction of such conditions requires a certain amount of time. Therefore, steps S31, S32 and S33 and their preceding steps all take a certain amount of time.

[0035] In step S31, the first condition "State_pick_1 is false" comes from the initialization of the reset check step, and in the reset check step, it is ensured that "the detection result of the first sheet material sensor 21 is that there is no sheet material", which is opposite to the second condition of step S31 "the detection result of the first sheet material sensor 21 is that there is sheet material". Therefore, in step S31, in order to meet the second condition, it is necessary to wait for the "detection result of the first sheet material sensor 21" to change from "there is no sheet material" to "there is sheet material". This requires waiting for a certain amount of time. In specific implementation, this waiting process can be realized through a loop, that is, the detection result of the first sheet material sensor 21 is continuously queried through a loop until the detection result of the first sheet material sensor 21 is that there is sheet material, then the loop is jumped out, and then "State_pick_1 is set to true, and the current time is recorded to Time_pick_1".

[0036] In step S32, the first condition "State_pick_1 is true" comes from the operation of "setting State_pick_1 to true" in step S31. In step S31, "setting State_pick_1 to true" also exists when "the detection result of the first sheet material sensor 21 received is that the sheet material exists", which is opposite to the second condition of step S32 "the detection result of the first sheet material sensor 21 received is that the sheet material does not exist". Therefore, in step S32, it is necessary to wait for "the detection result of the first sheet material sensor 21 received" to change from "the sheet material exists" to "the sheet material does not exist". This requires waiting for a certain period of time. In specific implementation, the waiting process can be realized by a loop, that is, the detection result of the first sheet material sensor 21 is continuously queried by the loop until the detection result of the first sheet material sensor 21 is that the sheet material does not exist, then the loop is jumped out, and then "setting State_pick_1 to false, and calculating TS=Time_Current-Time_Pick_1" is executed.

[0037] Step S33 is the step processed after step S32 completes TS = Time_Current - Time_Pick_1. When just entering step S33, the current time Time_Current = Time_Pick_1 + TS. To make the current time satisfy Time_Current ≥ TS + Time_Pick_1 + TCS1 means that a waiting time of length TCS1 is required. Here, the waiting time length TCS1 is set to wait for the end of the lower sheet 91 to脱离 the first supporting plate 61 at the end of the lower sheet conveying mechanism 11. Therefore, the time length TCS1 can be determined according to the length of the first supporting plate 61 along the sheet conveying direction.

[0038] When the lower sheet conveying mechanism 11 and the sheet conveying mechanism 14 on the translation table are in good working condition and the first sheet sensor 21 has no misdetection problem, the time interval TS finally output in step S32 is the time when the front end and the rear end of the lower sheet 91 pass through the first sheet sensor 21, that is, TS = L / V. Where L is the sheet length; V is the conveying speed of the sheet conveying mechanism, that is, the sheet moving speed. On the other hand, there is an error in the detection of the first sheet sensor 21. Therefore, in specific implementation, it is only necessary to ensure that TS falls between (1 - W1) * L / V and (1 + W1) * L / V. Where W1 represents a preset first error tolerance parameter. If TS does not fall within the range of (1 - W1) * L / V and (1 + W1) * L / V, it means that there is a problem with the lower sheet 91 and an alarm indication needs to be issued. Therefore, in this embodiment, while calculating TS in step S32, it is judged that if Time_Current < Time_Pick_1 + (1 - W1) * L / V or Time_Current > Time_Pick_1 + (1 + W1) * L / V, an alarm indication is issued. In the above formula, since TS = Time_Current - Time_Pick_1, therefore Time_Current < Time_Pick_1 + (1 - W1) * L / V or Time_Current > Time_Pick_1 + (1 + W1) * L / V is equivalent to TS not falling within the range of (1 - W1) * L / V and (1 + W1) * L / V. Of course, those skilled in the art understand that this abnormal situation handling can also be ignored and not processed in specific implementation.

[0039] After the lower sheet承接 control step ends, the sheet conveying mechanism 14 on the translation table stops working and the lower sheet 91 is carried by the sheet conveying mechanism 14 on the translation table.

[0040] The upper sheet stacking control step is a subsequent step of the lower sheet receiving control step, which is used to receive the upper sheet 92 under the translation control of the translation table 41 by the sheet conveying mechanism 14 on the translation table and lay it flat above the lower sheet 91 carried by the sheet conveying mechanism 14 on the translation table, so as to realize the stacking control of the upper and lower sheets. In this embodiment, the upper sheet stacking control step includes the following steps: Step S41: When Time_Pick_1 > 0 and Time_stop_1 > 0 are satisfied and the current time satisfies Time_Current ≥ Time_stop_1 + TCS2, instruct the translation motor to start working, so that the translation table translates in the direction away from the lower sheet conveying mechanism; Step S42: If State_pick_2 is false and the detection result of the received second sheet sensor indicates the presence of a sheet, set State_pick_2 to true. At the same time, judge whether Time_Pick_1 is greater than 0. If Time_Pick_1 is not greater than 0, issue an alarm indication. Otherwise, judge that if Time_Current < Time_Pick_1 + (1 - W2) * D / V or Time_Current > Time_Pick_1 + (1 + W2) * D / V, an alarm indication is issued; Step S43: If State_pick_2 is true and the detection result of the received second sheet sensor indicates the absence of a sheet, set State_pick_2 to false. At the same time, judge that if Time_Current < Time_Pick_1 + (1 - W3) * (D + L) / V or Time_Current > Time_Pick_1 + (1 + W3) * (D + L) / V, an alarm indication is issued.

[0041] In the above steps, TCS2 is a preset duration; W2 and W3 are respectively preset second and third error tolerance parameters; D is the sheet path difference between the end of the upper to lower inclined sheet conveying mechanism 13 and the end of the lower sheet conveying mechanism 11.

[0042] The first condition "Time_Pick_1 is greater than 0" in step S41 is determined based on the "record the current time to Time_pick_1" in the aforementioned step S31; the second condition "Time_stop_1>0" is based on the "record the current time to Time_stop_1" in the aforementioned step S33. When just entering step S41, Time_Current=Time_stop_1 is satisfied, and the third condition of step S41 "Time_Current≥Time_stop_1+TCS2" means that in step S41, it is necessary to wait for a time length of TCS2 before executing "instructing the translation motor to start working, so that the translation table translates in the direction away from the lower sheet conveying mechanism". Here, the time length TCS2 can be determined based on the sheet path difference between the end of the upper sheet conveying mechanism 12 and the end of the lower sheet conveying mechanism 11. The sheet path difference between the end of the upper sheet conveying mechanism 12 and the end of the lower sheet conveying mechanism 11 = P2-P1. Where P2 is the length of the sheet path from the end of the upper sheet conveying mechanism 12 to the subsequent station; P1 is the length of the sheet path from the end of the lower sheet conveying mechanism 11 to the subsequent station. The sheet path length is the actual distance that the sheet needs to travel. The time length TCS2 can be determined according to the following formula: TCS2=(P2-P1) / V.

[0043] The sheet path difference D from the end of the upper layer to the lower layer inclined sheet conveying mechanism 13 and the end of the lower layer sheet conveying mechanism 11 in step S42 and step S43 can be expressed as: D=P1-P3. Among them, P1 is the sheet path length from the end of the lower layer sheet conveying mechanism 11 to the subsequent station, and P3 is the sheet path length from the end of the inclined sheet conveying mechanism 13 to the subsequent station.

[0044] In addition, step S42 and step S43 are state verification steps. In some rough implementations, the processing of abnormal states can be ignored.

[0045] In the step of translating and returning to position, when the sheet material moves out of the sheet material conveying mechanism on the translation stage, the translation stage is returned to position by instructing the translation motor. After completing the upper sheet material stacking control step, the translation stage 41 continues to move in the direction away from the lower sheet material conveying mechanism 11 until it moves to the right end connection position, and the sheet material conveying mechanism 14 on the translation stage stops translating after docking with the subsequent station, and the translation motor 43 is turned off. After the translation stage 41 stops translating, the conveying motor 42 is instructed to start working so that the stacked sheets on the sheet material conveying mechanism 14 on the translation stage are conveyed to the subsequent station. When the sheet material moves out of the sheet material conveying mechanism on the translation stage, the conveying motor 42 is instructed to turn off, and then the translation motor 43 is instructed to start working so that the translation stage 41 moves in the direction close to the lower sheet material conveying mechanism 11, until it moves to the left end connection position and instructs the translation motor 43 to stop working, so as to realize the return of the translation stage 41.

[0046] In addition, in a specific implementation, the controller 5 is usually connected to other detection sensors and motors, and performs corresponding control processing on these sensors and motors, but these are not within the scope of the present invention and need not be elaborated.

Claims

1. A double-layer sheet stacking control system, characterized in that: It includes a first sheet material sensor for detecting whether there is a sheet material at the end of the lower sheet material conveying mechanism, a second sheet material sensor for detecting whether there is a sheet material at the end of the upper-to-lower layer inclined sheet material conveying mechanism, a conveying docking sensor for detecting whether the sheet material conveying mechanism on the translation stage is docked with the lower sheet material conveying mechanism, a conveying motor of the sheet material conveying mechanism on the translation stage, a translation motor and a control device for driving the translation stage to translate; the first sheet material sensor, the second sheet material sensor, the conveying docking sensor, the conveying motor and the translation motor are connected to the control device; the control device includes a data receiving module, a reset check module, a lower sheet material receiving control module, an upper sheet material stacking control module and a translation homing module; The data receiving module is used to: continuously receive the detection results of the first sheet material sensor, the second sheet material sensor and the conveying docking sensor; The reset check module is used to check whether the detection results of the first sheet material sensor and the second sheet material sensor are that there is no sheet material, and check whether the detection result of the conveyor docking sensor is in the docking state; after the check is correct, perform initialization reset: State_pick_1 is set to false, State_pick_2 is set to false, Time_pick_1 is set to 0, and Time_stop_1 is set to 0; The lower sheet material receiving control module includes the following modules: Module M31, used for: if State_pick_1 is false, and the detection result received by the first sheet material sensor is that a sheet material exists, setting State_pick_1 to true, and recording the current time to Time_pick_1; Module M32, used for: if State_pick_1 is true, and the detection result received by the first sheet material sensor is that there is no sheet material, setting State_pick_1 to false, and calculating TS=Time_Current-Time_Pick_1; Module M33, used for: when the current time satisfies Time_Current≥TS+Time_Pick_1+TCS1, instructing the conveying motor to stop working, and recording the current time to Time_stop_1; The upper sheet stacking control module includes the following modules: Module M41 is used to: when Time_Pick_1 is greater than 0 and Time_stop_1>0, and the current time satisfies Time_Current≥Time_stop_1+TCS2, instruct the translation motor to start working, so that the translation platform translates in a direction away from the lower sheet material conveying mechanism; The translation return module is used to: when the sheet material moves out of the sheet material conveying mechanism on the translation stage, instruct the translation motor to return the translation stage; in, State_pick_1 is the first sheet state; State_pick_2 is the second sheet state; Time_pick_1 is the time when the first sheet status is true; Time_stop_1 is the time when the conveying motor stops working; Time_Current is the current time; TCS1 and TCS2 are preset time durations; TS is the time interval length.

2. The control system according to claim 1, characterized in that: It further includes a third sheet sensor disposed on the lower sheet conveying mechanism and at a distance not less than the sheet length from the first sheet sensor; the third sheet sensor is connected to the control device; the data receiving module is further configured to continuously receive the detection result of the third sheet sensor; the control module further includes a stacking preparation module; the stacking preparation module is configured to: when the detection result of the received third sheet sensor indicates the presence of a sheet, instruct the conveying motor to start working.

3. The control system according to claim 1, characterized in that: In the module M32, while calculating TS, it is determined that if Time_Current < Time_Pick_1 + (1 - W1)*L / V or Time_Current > Time_Pick_1 + (1 + W1)*L / V, an alarm indication is issued; where, W1 is a preset first error tolerance parameter; L is the sheet length; V is the conveying speed of the sheet conveying mechanism.

4. The control system according to claim 1, 2 or 3, characterized in that: The upper sheet stacking control module further includes a module M42; the module M42 is configured to: if State_pick_2 is false and the detection result of the received second sheet sensor indicates the presence of a sheet, set State_pick_2 to true, and at the same time determine whether Time_Pick_1 is greater than 0. If Time_Pick_1 is not greater than 0, an alarm indication is issued; otherwise, it is determined that if Time_Current < Time_Pick_1 + (1 - W2)*D / V or Time_Current > Time_Pick_1 + (1 + W2)*D / V, an alarm indication is issued; where, W2 is a preset second error tolerance parameter; D is the sheet path difference between the end of the upper to lower inclined sheet conveying mechanism and the end of the lower sheet conveying mechanism.

5. The control system according to claim 4, characterized in that: The upper sheet stacking control module further includes a module M43; The module M43 is configured to: if State_pick_2 is true and the detection result of the received second sheet sensor indicates the absence of a sheet, set State_pick_2 to false, and at the same time determine that if Time_Current < Time_Pick_1 + (1 - W3)*(D + L) / V or Time_Current > Time_Pick_1 + (1 + W3)*(D + L) / V, an alarm indication is issued; where, W3 is a preset third error tolerance parameter.

6. A double-layer sheet stacking control method, characterized in that: The control method involves a first sheet material sensor for detecting whether there is a sheet material at the end of a lower sheet material conveying mechanism, a second sheet material sensor for detecting whether there is a sheet material at the end of an upper-to-lower inclined sheet material conveying mechanism, a conveying docking sensor for detecting whether the sheet material conveying mechanism on a translation platform is docked with the lower sheet material conveying mechanism, a conveying motor of the sheet material conveying mechanism on the translation platform, a translation motor and a controller for driving the translation platform to translate; the first sheet material sensor, the second sheet material sensor, the conveying docking sensor, the conveying motor and the translation motor are connected to the controller; the control method is a control method implemented by the controller by executing a computer program instruction set, including a data receiving step, a reset verification step, a lower sheet material receiving control step, an upper sheet material stacking control step and a translation return step; The data receiving step: continuously receiving the detection results of the first sheet material sensor, the second sheet material sensor and the conveyor docking sensor; The reset check step: check that the detection results of the first sheet material sensor and the second sheet material sensor are that there is no sheet material, and check that the detection result of the conveyor docking sensor is in the docking state; after checking that there is no error, perform initialization reset: State_pick_1 is set to false, State_pick_2 is set to false, Time_pick_1 is set to 0, and Time_stop_1 is set to 0; The lower sheet material receiving control step comprises the following steps: Step S31: if State_pick_1 is false, and the detection result received from the first sheet material sensor is that a sheet material exists, State_pick_1 is set to true, and the current time is recorded to Time_pick_1; Step S32: if State_pick_1 is true, and the detection result of the received first sheet material sensor is that there is no sheet material, State_pick_1 is set to false, and TS=Time_Current-Time_Pick_1 is calculated; Step S33: when the current time satisfies Time_Current≥TS+Time_Pick_1+TCS1, instruct the conveying motor to stop working, and record the current time to Time_stop_1; The upper sheet stacking control step comprises the following steps: Step S41: when Time_Pick_1 is greater than 0 and Time_stop_1>0, and the current time satisfies Time_Current≥Time_stop_1+TCS2, instructing the translation motor to start working, so that the translation platform translates in a direction away from the lower sheet material conveying mechanism; The translation return step: when the sheet material moves out of the sheet material conveying mechanism on the translation table, the translation table is returned to its original position by instructing the translation motor; in, State_pick_1 is the first sheet state; State_pick_2 is the second sheet state; Time_pick_1 is the time when the first sheet status is true; Time_stop_1 is the time when the conveying motor stops working; Time_Current is the current time; TCS1 and TCS2 are preset time durations; TS is the time interval length.

7. The control method according to claim 6, characterized in that: It also relates to a third sheet sensor arranged on the lower sheet conveying mechanism and at a distance from the first sheet sensor not less than the length of the sheet; in the data receiving step, continuously receive the detection result of the third sheet sensor; the control method further includes a stacking preparation step; the stacking preparation step: when the detection result of the received third sheet sensor indicates the presence of a sheet, instruct the conveying motor to start working.

8. The control method according to claim 6, characterized in that: In the step S32, while calculating TS, if it is judged that Time_Current < Time_Pick_1 + (1 - W1) * L / V or Time_Current > Time_Pick_1 + (1 + W1) * L / V, an alarm indication is issued; where W1 is a preset first error tolerance parameter; L is the length of the sheet; V is the conveying speed of the sheet conveying mechanism.

9. The control method according to claim 6, 7 or 8, characterized in that: The upper sheet stacking control step further includes step S42; The step S42: if State_pick_2 is false and the detection result of the received second sheet sensor indicates the presence of a sheet, set State_pick_2 to true, and at the same time judge whether Time_Pick_1 is greater than 0. If Time_Pick_1 is not greater than 0, an alarm indication is issued; otherwise, if it is judged that Time_Current < Time_Pick_1 + (1 - W2) * D / V or Time_Current > Time_Pick_1 + (1 + W2) * D / V, an alarm indication is issued; where W2 is a preset second error tolerance parameter; D is the sheet path difference between the end of the upper to lower inclined sheet conveying mechanism and the end of the lower sheet conveying mechanism.

10. The control method according to claim 9, characterized in that: The upper sheet stacking control step further includes step S43; The step S43: if State_pick_2 is true and the detection result of the received second sheet sensor indicates the absence of a sheet, set State_pick_2 to false, and at the same time judge whether Time_Current < Time_Pick_1 + (1 - W3) * (D + L) / V or Time_Current > Time_Pick_1 + (1 + W3) * (D + L) / V. If so, an alarm indication is issued; where W3 is a preset third error tolerance parameter.

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