Material taking equipment, and control device and control method for realizing material taking by utilizing material taking equipment

Abstract

The invention provides material taking equipment, and a control device and a control method for realizing material taking by utilizing the material taking equipment. The material taking equipment comprises a machine table; the clamping jig is arranged on the machine table and used for bearing and positioning multiple layers of materials; the jacking device is arranged on the machine table, and the jacking device is used for abutting against materials located on the bottom layer in the multiple layers of materials and pushing the multiple layers of materials to move relative to the machine table; the two sensors are arranged on the machine table, located on the two sides of the clamping jig respectively and used for detecting the materials located on the top layer in the multiple layers of materials respectively. The transferring device is arranged on the machine table and used for transferring or abutting against the materials, located on the top layer, in the multiple layers of materials. And the control device is electrically connected to the jacking device, the two sensors and the transfer device, and is used for controlling the jacking device and the transfer device according to the detection results of the two sensors on the material on the top layer in the multiple layers of materials.

Description

Technical Field

[0001] The present application relates to the field of mechanical technology, and in particular to a material taking device, and a control device and a control method for taking materials using the material taking device. Background Art

[0002] At the same time, the processed steel sheets are placed in bins. Since the steel sheets are thin, stacking them directly together can easily cause the surface of the steel sheets to warp or even break. In addition, steel sheets are magnetic, and direct contact between two magnetic steel sheets will affect the magnetism, so steel sheets are usually stacked by placing supports between adjacent steel sheets.

[0003] During the process of transferring steel sheets, some steel sheets will be offset or tilted due to the magnetic attraction, which may easily cause problems such as abnormal material collection and equipment throwing. Once these problems occur, the steel sheets need to be manually straightened before they can be transferred. This not only increases the workload of the staff, wastes working time, but also makes it impossible to transfer steel sheets continuously. Summary of the invention

[0004] In view of the above, it is necessary to provide a material taking device, a control device and a control method for taking materials using the material taking device, so as to solve the technical problem of being unable to continuously transfer steel sheets.

[0005] In a first aspect, an embodiment of the present application provides a material picking device, including a machine platform, and the material picking device also includes: a clamping fixture, which is arranged on the machine platform and is used to carry and position multi-layer materials; a lifting device, which is arranged on the machine platform, and the lifting device is used to contact the materials located at the bottom layer of the multi-layer materials and push the multi-layer materials to move relative to the machine platform; two sensors, which are arranged on the machine platform and are respectively located on both sides of the clamping fixture, and are respectively used to detect the materials located at the top layer of the multi-layer materials; a transfer device, which is arranged on the machine platform and is used to transfer or press the materials located at the top layer of the multi-layer materials; a control device, which is electrically connected to the lifting device, the two sensors, and the transfer device, and is used to control the lifting device and the transfer device according to the detection results of the two sensors on the materials located at the top layer of the multi-layer materials.

[0006] In some embodiments, the transfer device includes: a transfer drive, which is arranged on the machine; at least one adsorption component, connected to the transfer drive, and the transfer drive is used to drive the at least one adsorption component to move to absorb and transfer the material located on the top layer of the multi-layer material.

[0007] In some embodiments, the at least one adsorption component includes multiple adsorption components, and the transfer device also includes: a connecting member connected to the transfer drive member; a plurality of connecting plates radially and evenly arranged around the end of the connecting member, and the multiple adsorption components are correspondingly connected to the multiple connecting plates.

[0008] In some embodiments, the clamping fixture includes: a supporting plate, which is arranged on the machine; a plurality of positioning plates, which are respectively vertically connected to the supporting plate, and the plurality of positioning plates and the supporting plate together constitute a accommodating space, and the multi-layer material is placed in the accommodating space.

[0009] In some embodiments, the lifting device includes: a lifting plate, which is arranged in the accommodating space and located above the supporting plate, and the multi-layer material is placed on the lifting plate; and a lifting drive member, which passes through the supporting plate and is connected to the lifting plate, and is used to drive the lifting plate to move.

[0010] In some embodiments, the two sensors are disposed opposite to each other, and the detection directions of the two sensors intersect and are higher than the stacking height of the multi-layer materials.

[0011] In the material picking equipment of the above embodiment, two sensors are arranged on the machine platform in a horizontal direction and are respectively located on both sides of the clamping fixture to detect the material on the top layer of the multi-layer material. The control device controls the transfer device to transfer or press the material on the top layer of the multi-layer material according to the detection results of the two sensors (i.e., whether the material on the top layer of the multi-layer material can be detected) to avoid abnormal material picking.

[0012] In a second aspect, an embodiment of the present application further provides a control device for material picking using the material picking equipment described in the above embodiment, comprising: a lifting module, used to control the lifting device to push the multi-layer material to move a preset distance relative to the machine; a sensing module, used to use two sensors to respectively detect the material located on the top layer of the multi-layer material; a transferring module, used to control the transferring device to transfer the material located on the top layer of the multi-layer material in response to the two sensors both detecting the material located on the top layer of the multi-layer material; an adjusting module, used to control the transferring device to press the material located on the top layer of the multi-layer material in response to any one of the two sensors not detecting the material located on the top layer of the multi-layer material, so as to adjust the material located on the top layer of the multi-layer material to be placed in a horizontal direction; the transferring module is also used to control the transferring device to transfer the material located on the top layer of the adjusted multi-layer material in response to the two sensors both detecting the material located on the top layer of the adjusted multi-layer material.

[0013] In the control device of the above embodiment, when the sensing module detects the material located at the top layer of the multi-layer material by both of the two sensors, it indicates that the material located at the top layer of the multi-layer material is in a horizontal position without any problems such as deviation or tilt, and the control transfer device can successfully transfer the material located at the top layer of the multi-layer material. When the adjustment module does not detect the material located at the top layer of the multi-layer material by any one of the two sensors, it indicates that the material located at the top layer of the multi-layer material has problems such as deviation or tilt, and the control transfer device needs to press the material located at the top layer of the multi-layer material to adjust the material located at the top layer of the multi-layer material to be placed in a horizontal direction, thereby realizing automatic adjustment of the material located at the top layer of the multi-layer material without manual straightening. Therefore, by controlling the transfer device to transfer the material located at the top layer of the multi-layer material according to the detection results of the two sensors, the adjustment module can automatically and continuously transfer the material, reduce the labor intensity, and improve the material collection efficiency.

[0014] In a third aspect, the present application also provides a control method for taking materials using the material taking device described in the above embodiment, including:

[0015] Control the lifting device to push the multi-layer material to move a preset distance relative to the machine table;

[0016] Using two sensors to detect the material located on the top layer of the multi-layer material respectively;

[0017] In response to the two sensors both detecting the material on the top layer of the multi-layer material, controlling the transfer device to transfer the material on the top layer of the multi-layer material;

[0018] In response to any one of the two sensors not detecting the material on the top layer of the multi-layer material, controlling the transfer device to press the material on the top layer of the multi-layer material to adjust the material on the top layer of the multi-layer material to be placed in a horizontal direction;

[0019] In response to the two sensors both detecting the material located at the top layer of the adjusted multi-layer material, the transfer device is controlled to transfer the material located at the top layer of the adjusted multi-layer material.

[0020] In some embodiments, in response to both sensors detecting the material on the top layer of the adjusted multi-layer material, before controlling the transfer device to transfer the material on the top layer of the adjusted multi-layer material, the method further includes:

[0021] The lifting device is controlled to push the adjusted multi-layer material to move the preset distance relative to the machine platform.

[0022] In some embodiments, the control method further includes:

[0023] In response to any one of the two sensors failing to detect the material located at the top layer of the adjusted multi-layer material, an early warning is issued to prompt manual adjustment.

[0024] In the control method of the above embodiment, when the two sensors both detect the material at the top layer of the multi-layer material, it indicates that the material at the top layer of the multi-layer material is in a horizontal position without any problems such as deviation or tilt. At this time, the transfer device can successfully transfer the material at the top layer of the multi-layer material. When any one of the two sensors does not detect the material at the top layer of the multi-layer material, it indicates that the material at the top layer of the multi-layer material has problems such as deviation or tilt. At this time, the transfer device is required to press the material at the top layer of the multi-layer material to adjust the material at the top layer of the multi-layer material to be placed in a horizontal direction, so as to realize automatic adjustment of the material at the top layer of the multi-layer material without manual straightening. Therefore, by controlling the transfer device to transfer or press the material at the top layer of the multi-layer material according to the detection results of the two sensors, the material can be automatically and continuously transferred, reducing the labor intensity and improving the material collection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a framework diagram of a material taking device provided in one embodiment of the present application.

[0026] Figure 2 It is a schematic diagram of the structure of a material taking device provided in one embodiment of the present application.

[0027] Figure 3 yes Figure 2 An enlarged structural schematic diagram of area A on the material taking equipment is shown.

[0028] Figure 4 yes Figure 2 Schematic diagram of the normal state of the material on the top layer in the material taking equipment shown.

[0029] Figure 5 yes Figure 2 Schematic diagram of the abnormal state of the material on the top layer in the material taking equipment shown.

[0030] Figure 6 yes Figure 2 The schematic diagram of the state of the transfer device in the material taking equipment pressing against the material on the top layer is shown.

[0031] Figure 7 It is a flowchart of a control method provided in one embodiment of the present application.

[0032] Main component symbols

[0033] Reclaiming equipment 100

[0034] Machine 10

[0035] Clamping fixture 20

[0036] Loading plate 21

[0037] Positioning plate 22

[0038] Accommodation space 23

[0039] Lifting device 30

[0040] Lifting plate 31

[0041] Lifting drive 32

[0042] Sensor 40

[0043] Transfer device 50

[0044] Transfer drive 51

[0045] X-axis driver 511

[0046] Y-axis drive 512

[0047] Z-axis drive 513

[0048] Adsorption component 52

[0049] Connector 53

[0050] Connecting plate 54

[0051] Control device 60

[0052] Lifting module 61

[0053] Sensing module 62

[0054] Transfer module 63

[0055] Adjustment module 64

[0056] Memory 70

[0057] Processor 80

[0058] Computer Programs 90

[0059] Material 200 DETAILED DESCRIPTION

[0060] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0061] In the embodiments of the present application, it should be understood that the orientation or positional relationship indicated by the terms "vertical", "horizontal", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying 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 on the present application. In addition, the terms "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection, an electrical connection or mutual communication; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0062] In the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete way. In the absence of conflict, the following embodiments and features in the embodiments may be combined with each other.

[0063] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0064] See also Figure 1-Figure 3 , is a material taking device 100 provided in an embodiment of the present application. In the embodiment of the present application, the present application is described in detail by taking steel sheets as the material 200 to be taken.

[0065] Specifically, the material-retrieving device 100 includes a machine 10 and a clamping fixture 20, a lifting device 30, two sensors 40, a transfer device 50, and a control device 60 disposed on the machine 10. The clamping fixture 20 is used to carry and position the multi-layer material 200. In one embodiment, each layer of the multi-layer material 200 can be a steel sheet. The lifting device 30 is used to contact the material 200 located at the bottom layer of the multi-layer material 200 and push the multi-layer material 200 to move relative to the machine 10. Specifically, the lifting device 30 contacts the material 200 located at the bottom layer of the multi-layer material 200 and pushes the multi-layer material 200 along the vertical direction (such as Figure 2 The bottom material 200 refers to the material 200 at the bottom layer of the multi-layer material 200. Similarly, the top material 200 described below refers to the material 200 at the top layer of the multi-layer material 200. The two sensors 40 move upward along the horizontal direction (such as Figure 2 The two sensors 40 are respectively arranged on the machine 10 and located on both sides of the clamping fixture 20, and the two sensors 40 are respectively used to detect the material 200 located on the top layer of the multi-layer material 200. The transfer device 50 is arranged on the machine 10 and located above the clamping fixture 20, and is used to transfer or press the material 200 located on the top layer of the multi-layer material 200. The control device 60 is electrically connected to the lifting device 30, the two sensors 40, and the transfer device 50, and is used to control the lifting device 30 and the transfer device 50 according to the detection results of the two sensors 40 on the material 200 located on the top layer of the multi-layer material 200 (i.e., whether the material 200 located on the top layer of the multi-layer material 200 can be detected).

[0066] In the above embodiment, two sensors 40 are arranged on the machine 10 in the horizontal direction and are respectively located on both sides of the clamping fixture 20 to detect the material 200 located on the top layer of the multi-layer material 200. The control device 60 controls the transfer device 50 to transfer or press the material 200 located on the top layer of the multi-layer material 200 according to the detection results of the two sensors 40 to avoid the problem of abnormal material collection.

[0067] Combination Figure 3 As shown, in some embodiments, the transfer device 50 includes a transfer drive 51 and at least one adsorption component 52. The transfer drive 51 is disposed on the machine 10. The at least one adsorption component 52 is vertically connected to the transfer drive 51. The transfer drive 51 is used to drive the at least one adsorption component 52 to move, so as to absorb and transfer the material 200 located on the top layer of the multi-layer material 200.

[0068] Combination Figure 2As shown, specifically, the transfer drive 51 includes an X-axis drive 511, a Y-axis drive 512, and a Z-axis drive 513. The Y-axis drive 512 is disposed on the machine 10, the X-axis drive 511 is mounted on the Y-axis drive 512, the Z-axis drive 513 is hung on the X-axis drive 511, and at least one adsorption component 52 is connected to the Z-axis drive 513. The X-axis drive 511 can drive the at least one adsorption component 52 to move along the X-axis, the Y-axis drive 512 can drive the at least one adsorption component 52 to move along the Y-axis, and the Z-axis drive 513 can drive the at least one adsorption component 52 to move along the Z-axis, so that the transfer drive 51 can absorb and transfer the material 200 located at the top layer of the multi-layer material 200.

[0069] Combination Figure 3 As shown, in some embodiments, at least one adsorption assembly 52 includes a plurality of adsorption assemblies 52. The transfer device 50 also includes a connecting member 53 and a plurality of connecting plates 54. The connecting member 53 is connected to the transfer driving member 51 in a vertical direction. The plurality of connecting plates 54 are radially and uniformly arranged at the circumference of the end of the connecting member 53, and the plurality of adsorption assemblies 52 are correspondingly connected to the plurality of connecting plates 54 in the vertical direction.

[0070] In some embodiments, the connecting member 53 is hung on the Z-axis driver 513 along the vertical direction. Taking the transfer device 50 including four adsorption components 52 as an example, four connecting plates 54 are provided at the end of the connecting member 53 accordingly. The connecting member 53 is provided in a rectangular parallelepiped structure, and the four connecting plates 54 are respectively provided at the four angles at the bottom of the connecting member 53. The four adsorption components 52 are correspondingly hung on the four connecting plates 54 along the vertical direction to ensure that when the four adsorption components 52 absorb the material 200 on the top layer or press the material 200 on the top layer, the contact area between the four adsorption components 52 and the material 200 on the top layer is uniform, thereby ensuring the stability of the four adsorption components 52 in absorbing the material 200 on the top layer or pressing the material 200 on the top layer.

[0071] In other embodiments, the transfer device 50 can transfer the top layer of material 200 by using a mechanism such as a clamping claw that can transfer the material 200. The present application does not limit the method of transferring the top layer of material 200.

[0072] In this embodiment, the two sensors 40 may be optical fiber sensors. The optical fiber sensors can detect whether the top material 200 exists by the change of light. When the top material 200 exists, the light will be blocked or reflected; when the top material 200 does not exist, the light can pass freely.

[0073] In other embodiments, if each layer of material 200 is made of metal, the two sensors 40 may be metal sensors, which can also detect the material 200 on the top layer.

[0074] In some embodiments, the two sensors 40 are disposed opposite to each other, and the detection directions of the two sensors 40 intersect in a horizontal direction and are higher than the stacking height of the multi-layer material 200 .

[0075] Specifically, the height of the two sensors 40 can be adjusted by the user according to the stacking height of the multi-layer material 200 carried by the clamping fixture 20. It is necessary to ensure that the detection directions of the two sensors 40 intersect in the horizontal direction and the height of the two sensors 40 is higher than the stacking height of the multi-layer material 200, thereby ensuring that when the top layer of material 200 rises to the preset position and is placed horizontally, the two sensors 40 can simultaneously detect the existence of the top layer of material 200.

[0076] In one embodiment, the preset position refers to the horizontal position at which the top layer of the material 200 can be detected by the two sensors 40 at the same time. Figure 4 As shown, the top layer of material 200 has risen to a preset position and is placed horizontally.

[0077] Combination Figure 4 As shown, in some embodiments, when the two sensors 40 detect the top layer of material 200 at the same time, it indicates that the top layer of material 200 is in a horizontal position without any problems such as deviation or tilt. At this time, the control device 60 can control the transfer device 50 to successfully transfer the top layer of material 200.

[0078] Combination Figure 5 As shown, in some embodiments, when any one of the two sensors 40 does not detect the material 200 located at the top layer of the multi-layer material 200, it indicates that the material 200 located at the top layer of the multi-layer material 200 has problems such as deviation and tilt. At this time, the at least one adsorption component 52 of the transfer device 50 continues to adsorb the material 200 at the top layer, which will cause adsorption abnormality and fail to successfully adsorb the material 200 at the top layer. Therefore, the at least one adsorption component 52 is required to press the material 200 located at the top layer of the multi-layer material 200 to adjust the material 200 located at the top layer of the multi-layer material 200 to be placed in the horizontal direction, so as to continue the subsequent material collection work.

[0079] Combination Figure 6 As shown, in some embodiments, when both sensors 40 do not detect the material 200 located on the top layer of the multi-layer material 200, it indicates that the material 200 located on the top layer of the multi-layer material 200 has not risen to the preset position or the multi-layer material 200 in the clamping fixture 20 has been transferred, and the operator needs to intervene to confirm.

[0080] Combination Figure 2As shown, in some embodiments, the clamping fixture 20 includes a carrier plate 21 and a plurality of positioning plates 22. The carrier plate 21 is disposed on the machine 10 in a horizontal direction. The plurality of positioning plates 22 are respectively connected to the carrier plate 21 in a vertical direction. The plurality of positioning plates 22 and the carrier plate 21 together form a containing space 23, and the multilayer material 200 is placed in the containing space 23.

[0081] Specifically, in one embodiment, the supporting plate 21 is rectangular, and the clamping fixture 20 includes four positioning plates 22 . The four positioning plates 22 are respectively and evenly connected to four sides of the supporting plate 21 vertically, so as to support and position the multi-layer material 200 .

[0082] Combination Figure 3 As shown, in some embodiments, the lifting device 30 includes a lifting plate 31 and a lifting drive member 32. The lifting plate 31 is disposed in the accommodating space 23 and above the supporting plate 21, and the multi-layer material 200 is placed on the lifting plate 31. The lifting drive member 32 passes through the supporting plate 21 in the vertical direction and is connected to the lifting plate 31, and is used to drive the lifting plate 31 to move in the vertical direction.

[0083] Specifically, the lifting drive member 32 drives the lifting plate 31 to move upward in the vertical direction, and the lifting plate 31 pushes the multi-layer material 200 to move upward. During the upward movement of the multi-layer material 200, the multiple positioning plates 22 play a certain limiting role on the material 200 to prevent the multi-layer material 200 from scattering.

[0084] Combination Figure 1 As shown, the control device 60 includes a lifting module 61, a sensing module 62, a transfer module 63 and an adjustment module 64. The module referred to in this application refers to a computer program segment stored in the memory 70 and capable of being executed by the processor 80 to complete a fixed function.

[0085] Specifically, the lifting module 61 is used to control the lifting device 30 to push the multi-layer material 200 upward by a preset distance. The sensing module 62 is used to use the two sensors 40 to respectively detect the material 200 located at the top layer of the multi-layer material 200. The transfer module 63 is used to control the transfer device 50 to transfer the material 200 located at the top layer of the multi-layer material 200 in response to the two sensors 40 both detecting the material 200 located at the top layer of the multi-layer material 200. The adjustment module 64 is used to control the transfer device 50 to press the material 200 located at the top layer of the multi-layer material 200 in response to any one of the two sensors 40 not detecting the material 200 located at the top layer of the multi-layer material 200, so as to adjust the material 200 located at the top layer of the multi-layer material 200 to be placed in the horizontal direction. The transfer module 63 is further used for controlling the transfer device 50 to transfer the material 200 located at the top layer of the adjusted multi-layer material 200 in response to the two sensors 40 both detecting the material 200 located at the top layer of the adjusted multi-layer material 200 .

[0086] In this embodiment, the size of the preset distance is set by the staff according to actual needs and is not limited.

[0087] In the above embodiment, when the sensing module 62 detects the material 200 at the top layer of the multi-layer material 200 by both sensors 40, it indicates that the material 200 at the top layer of the multi-layer material 200 is in a horizontal position without any deviation or tilt. Figure 4 As shown, the control transfer device 50 can successfully transfer the material 200 located at the top layer of the multi-layer material 200. When any one of the two sensors 40 does not detect the material 200 located at the top layer of the multi-layer material 200, the adjustment module 64 indicates that the material 200 located at the top layer of the multi-layer material 200 has problems such as deviation and tilt. The control transfer device 50 presses the material 200 located at the top layer of the multi-layer material 200 to adjust the material 200 located at the top layer of the multi-layer material 200 to be placed in the horizontal direction, thereby realizing automatic adjustment of the material 200 located at the top layer of the multi-layer material 200 without manual straightening. Therefore, by controlling the transfer device 50 to transfer the material 200 located at the top layer of the multi-layer material 200 according to the detection results of the two sensors 40, the adjustment module 64 can automatically and continuously transfer the material 200, reduce the labor intensity, and improve the material collection efficiency.

[0088] Combination Figure 7 As shown, the embodiment of the present application also provides a control method for taking materials using the material taking device 100 of the above embodiment. According to different requirements, the order of the steps of the component empty welding detection method can be changed, and some steps can be omitted.

[0089] The steps of the control method specifically include:

[0090] S100, controlling the lifting device to push the multi-layer material to move a preset distance relative to the machine table.

[0091] Specifically, this embodiment is based on the premise that multiple layers of material 200 have been placed in the clamping fixture 20. Figure 2 As shown, the lifting module 61 controls the lifting device 30 to push the multi-layer material 200 upward by a preset distance h in the vertical direction, so as to facilitate the adsorption component 52 to adsorb the material 200 on the top layer.

[0092] S200 uses two sensors to detect the material on the top layer of the multi-layer material.

[0093] Specifically, the two sensors 40 may be optical fiber sensors. The optical fiber sensors may determine whether the material 200 exists by detecting changes in light. When the material 200 exists, the detection light may be blocked or reflected, such as Figure 4 When the material 200 does not exist, the detection light can pass freely, such as Figure 5 , Figure 6 shown.

[0094] S300, determining whether the two sensors both detect the material located at the top layer of the multi-layer material.

[0095] Specifically, when the two sensors 40 both detect the material 200 located at the top layer of the multi-layer material 200 , the control device 60 will receive the sensing signals fed back by the two sensors 40 at the same time.

[0096] S400, in response to both sensors detecting the material located at the top layer of the multi-layer material, controlling the transfer device to transfer the material located at the top layer of the multi-layer material.

[0097] Specifically, when both sensors 40 detect the material 200 at the top layer of the multi-layer material 200, it indicates that the material 200 at the top layer of the multi-layer material 200 is in a horizontal position without any deviation or tilt. Figure 4 As shown, at this time, the transfer module 63 controls the transfer device 50 to successfully transfer the material 200 located at the top layer of the multi-layer material 200 .

[0098] S500, in response to any one of the two sensors not detecting the material on the top layer of the multi-layer material, controlling the transfer device to press the material on the top layer of the multi-layer material to adjust the material on the top layer of the multi-layer material to be placed in a horizontal direction.

[0099] Specifically, when any one of the two sensors 40 does not detect the material 200 located at the top layer of the multi-layer material 200, it indicates that the material 200 located at the top layer of the multi-layer material 200 has problems such as deviation or tilt. Figure 5As shown, at this time, the adjustment module 64 controls the transfer device 50 to press the material 200 located at the top layer of the multi-layer material 200, so as to adjust the material 200 located at the top layer of the multi-layer material 200 to be placed in the horizontal direction, as shown in FIG. Figure 6 As shown, the subsequent material taking work can be continued.

[0100] S600, controlling the lifting device to push the adjusted multi-layer material to move a preset distance relative to the machine table.

[0101] Specifically, after the adjustment module 64 controls the transfer device 50 to press down the material 200 on the top layer of the multi-layer material 200, the lifting module 61 is required to control the lifting device 30 again to push the adjusted multi-layer material 200 upward a preset distance h in the vertical direction to move the material 200 on the top layer to a preset position, so as to facilitate the adsorption of the material 200 on the top layer of the adsorption component 52.

[0102] After executing step S600, return to execute step S300. If both sensors 40 detect the material 200 located on the top layer of the adjusted multi-layer material 200, it indicates that the material 200 located on the top layer of the adjusted multi-layer material 200 is in a horizontal position without any problems such as deviation or tilt. At this time, execute step S400.

[0103] In some embodiments, the control method for implementing material picking in the above embodiment further includes: in response to any one of the two sensors failing to detect the material 200 located at the top layer of the adjusted multi-layer material 200, issuing an early warning to prompt manual adjustment.

[0104] Specifically, if after adjustment, any one of the two sensors 40 still fails to detect the material 200 located at the top layer of the adjusted multi-layer material 200 , it indicates that the adjustment has failed. At this time, the material 200 needs to be straightened manually.

[0105] In some embodiments, if neither of the two sensors 40 detects the material 200 on the top layer of the multi-layer material 200, it indicates that the material 200 on the top layer of the multi-layer material 200 has not risen to the preset position or the multi-layer material 200 in the clamping fixture 20 has been transferred, and manual intervention is required for confirmation.

[0106] In the above embodiment, when both sensors 40 detect the material 200 at the top layer of the multi-layer material 200, it indicates that the material 200 at the top layer of the multi-layer material 200 is in a horizontal position and does not have any problems such as deviation or tilt. At this time, the transfer device 50 can successfully transfer the material 200 at the top layer of the multi-layer material 200. When any one of the two sensors 40 does not detect the material 200 at the top layer of the multi-layer material 200, it indicates that the material 200 at the top layer of the multi-layer material 200 has any problems such as deviation or tilt. At this time, the transfer device 50 is required to press the material 200 at the top layer of the multi-layer material 200 to adjust the material 200 at the top layer of the multi-layer material 200 to be placed in a horizontal direction, thereby realizing automatic adjustment of the material 200 at the top layer of the multi-layer material 200 without manual straightening. Therefore, by controlling the transfer device 50 to transfer or press the material 200 located at the top layer of the multi-layer material 200 according to the detection results of the two sensors 40, the material 200 can be automatically and continuously transferred, reducing manual labor intensity and improving material collection efficiency.

[0107] In one embodiment, following the above description, Figure 1 . Exemplarily, one or more modules / sub-modules may be a series of computer program instruction segments capable of performing specific functions.

[0108] The hardware of the control device 60 includes, but is not limited to, a microprocessor, an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a digital signal processor (DSP), an embedded device, etc.

[0109] Specifically, the control device 60 includes, but is not limited to, a memory 70 , a processor 80 , and a computer program 90 stored in the memory 70 and executable by the processor 80 , for example, a material taking program for controlling the material taking device 100 .

[0110] The processor 80 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor 80 may be any conventional processor, etc. The processor 80 is the computing core and control center of the control device 60, and uses various interfaces and lines to connect various parts of the entire control device 60, and obtain the operating system of the control device 60 and various installed application programs, program codes, etc.

[0111] The processor 80 obtains the operating system of the control device 60 and various installed applications. For example, the processor 80 obtains the material taking program to implement the steps in the embodiment of the control method of taking material using the material taking device described in the above embodiment, for example Figure 7 Steps shown.

[0112] The memory 70 can be used to store computer programs 90 and / or modules, and the processor 80 is used to run or obtain the computer programs 90 and / or modules stored in the memory 70, and call the data stored in the memory 70 to realize various functions of the control device 60. The memory 70 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function, etc.; the data storage area can store data created according to the use of the server, etc. In addition, the memory 70 can include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other non-volatile solid-state storage devices.

[0113] The memory 70 may be an external memory and / or an internal memory of the control device 60. Furthermore, the memory 70 may be a memory in a physical form, such as a memory stick, a TF card (Trans-flash Card), and the like.

[0114] If the modules / submodules integrated in the control device 60 are implemented in the form of software functional submodules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program 90 can be stored in a computer-readable storage medium. When the computer program 90 is obtained by the processor 80, the steps of the above-mentioned method embodiments can be implemented.

[0115] The computer program 90 includes computer program code, which may be in source code form, object code form, an accessible file, or some intermediate form, etc. Computer readable media may include: any entity or device capable of carrying computer program code, recording media, USB flash drives, mobile hard disks, magnetic disks, optical disks, computer memory, and read-only memory (ROM).

[0116] Each functional module in each embodiment of the present application can be integrated into a processing submodule, or each submodule can exist physically separately, or two or more submodules can be integrated into one submodule. The above-mentioned integrated submodule can be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0117] In addition, it is clear that the word "comprising" does not exclude other submodules or steps, and the singular does not exclude the plural. Multiple submodules or devices stated in this application can also be implemented by one submodule or device through software or hardware. The words first, second, etc. are used to indicate names, and do not indicate any specific order.

[0118] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application and are not intended to limit it. Although the present application has been described in detail with reference to the preferred embodiments, a person of ordinary skill in the art should understand that the technical solution of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present application.

Claims

1. A material taking device, comprising a machine platform, characterized in that: The material taking equipment also includes: A clamping fixture is provided on the machine platform and is used to carry and position multi-layer materials; A lifting device, disposed on the machine platform, and used to contact the material at the bottom layer of the multi-layer material and push the multi-layer material to move relative to the machine platform; Two sensors are arranged on the machine and are respectively located on both sides of the clamping fixture, and are respectively used to detect the material located on the top layer of the multi-layer material; A transfer device, disposed on the machine platform, for transferring or pressing the material located on the top layer of the multi-layer material; The control device is electrically connected to the lifting device, the two sensors, and the transfer device, and is used to control the lifting device and the transfer device according to the detection results of the two sensors on the material located on the top layer of the multi-layer material.

2. The material taking device according to claim 1, characterized in that: The transfer device comprises: A transfer driving member, arranged on the machine platform; At least one adsorption component is connected to the transfer driving member, and the transfer driving member is used to drive the at least one adsorption component to move so as to absorb and transfer the material located on the top layer of the multi-layer material.

3. The material taking device according to claim 2, characterized in that: The at least one adsorption component includes a plurality of adsorption components, and the transfer device further includes: A connecting member connected to the transfer driving member; A plurality of connection plates are evenly and radially arranged around the end of the connection piece, and the plurality of adsorption components are correspondingly connected to the plurality of connection plates.

4. The material taking device according to claim 1, characterized in that: The clamping fixture comprises: A carrying plate, arranged on the machine platform; A plurality of positioning plates are respectively vertically connected to the carrying plate. The plurality of positioning plates and the carrying plate together form a containing space. The multi-layer material is placed in the containing space.

5. The material taking device according to claim 4, characterized in that: The lifting device comprises: A lifting plate is disposed in the accommodating space and above the carrying plate, and the multi-layer material is placed on the lifting plate; The lifting drive member passes through the bearing plate and is connected to the lifting plate, and is used for driving the lifting plate to move.

6. The material taking device according to claim 1, characterized in that: The two sensors are arranged opposite to each other, and the detection directions of the two sensors intersect and are higher than the stacking height of the multi-layer materials.

7. A control device, which uses the material taking device according to any one of claims 1 to 6 to realize material taking, characterized in that: include: A lifting module, used to control the lifting device to push the multi-layer material to move a preset distance relative to the machine; A sensing module, used for respectively detecting the material located at the top layer of the multi-layer material using two sensors; A transfer module, used for controlling the transfer device to transfer the material located at the top layer of the multi-layer material in response to the two sensors both detecting the material located at the top layer of the multi-layer material; an adjustment module, for controlling the transfer device to press the material on the top layer of the multi-layer material in response to any one of the two sensors not detecting the material on the top layer of the multi-layer material, so as to adjust the material on the top layer of the multi-layer material to be placed in a horizontal direction; The transfer module is further used for controlling the transfer device to transfer the material located at the top layer of the adjusted multi-layer material in response to the two sensors both detecting the material located at the top layer of the adjusted multi-layer material.

8. A control method, wherein the control method uses the material taking device according to any one of claims 1 to 6 to realize material taking, characterized in that: include: Control the lifting device to push the multi-layer material to move a preset distance relative to the machine table; Using two sensors to detect the material located on the top layer of the multi-layer material respectively; In response to the two sensors both detecting the material on the top layer of the multi-layer material, controlling the transfer device to transfer the material on the top layer of the multi-layer material; In response to any one of the two sensors not detecting the material on the top layer of the multi-layer material, controlling the transfer device to press the material on the top layer of the multi-layer material to adjust the material on the top layer of the multi-layer material to be placed in a horizontal direction; In response to the two sensors both detecting the material located at the top layer of the adjusted multi-layer material, the transfer device is controlled to transfer the material located at the top layer of the adjusted multi-layer material.

9. The control method according to claim 8, characterized in that: In response to the two sensors both detecting the material located at the top layer of the adjusted multi-layer material, the method further includes, before controlling the transfer device to transfer the material located at the top layer of the adjusted multi-layer material: The lifting device is controlled to push the adjusted multi-layer material to move the preset distance relative to the machine platform.

10. The control method according to claim 8, characterized in that: Also includes: In response to any one of the two sensors failing to detect the material located at the top layer of the adjusted multi-layer material, an early warning is issued to prompt manual adjustment.

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