Control method, device and system for material strip unloading

Abstract

The present disclosure relates to a control method, device and system for material strip unloading, belonging to the technical field of material transportation. The control method for material strip unloading includes: responding to the unloading request of the material strip, controlling the material pulling device, driving the counterweight device to passively move; obtaining the material strip change amount of the material tray through a first detection device; obtaining the displacement amount of the counterweight device through a second detection device; and controlling the material tray to actively rotate according to the material strip change amount and the displacement amount. The control method for material strip unloading provided by the present invention can improve the neatness of cutting the material strip.

Description

Technical Field

[0001] The technical field involved in the embodiments of the present disclosure, more specifically, involves a method, device and system for controlling material strip unloading. Background Art

[0002] With the rapid development of the economy, the production scale of industrial products has expanded dramatically. Some paper or plastic film and other strip-shaped materials can be used or sold as products after being cut into uniform sizes. In order to improve the efficiency of cutting the strip, the pulling device of the prior art can pull the strip on the material tray according to a certain step, and the pulled strip can be cut. However, due to inertia, the pulled part of the strip may be too long or too short, affecting the accuracy of cutting the strip. Summary of the invention

[0003] One purpose of the embodiments of the present disclosure is to provide a new technical solution for controlling the unloading of material strips.

[0004] According to a first aspect of the present disclosure, a method for controlling the unloading of a material strip is provided, wherein the material strip is wound on a material tray, an end of the material strip is pulled by a material pulling device, a counterweight device is provided between the material pulling device and the material tray, and the counterweight device is used to apply resistance to the material strip to tighten the material strip, and the method comprises:

[0005] In response to the unloading request of the material belt, the material pulling device is controlled to drive the counterweight device to move passively;

[0006] Obtaining a change amount of the material belt of the material tray by means of a first detection device;

[0007] Obtaining, by means of a second detection device, a displacement amount caused by the counterweight device applying resistance to the material strip;

[0008] According to the change amount of the material belt and the displacement amount, the material tray is controlled to actively rotate.

[0009] Optionally, the first detection device is disposed at a first position, and the first detection device is used to detect a distance value between the first position and the nearest point of the material belt on the material tray along a first direction;

[0010] The step of obtaining a change amount of the material belt of the material tray by means of a first detection device comprises:

[0011] Obtaining, by means of a first detection device, a current distance value between the first position and the closest point of the material belt on the material tray after the material tray rotates;

[0012] Determine the distance change according to the historical distance value and the current distance value;

[0013] According to the preset mapping relationship and the distance change, the material strip change of the material tray is obtained; wherein the mapping relationship indicates that different distance changes correspond to different material strip changes of the material tray.

[0014] Optionally, the weight balancing device includes a contact portion, the contact portion contacts the material belt and applies resistance to the material belt; the second detection device is used to detect the position of the contact portion;

[0015] The step of obtaining the displacement amount caused by the counterweight device applying resistance to the material strip by the second detection device includes:

[0016] The displacement between the current position of the contact portion and the initial position of the contact portion is obtained by the second detection device.

[0017] Optionally, controlling the material tray to actively rotate according to the change amount of the material belt and the displacement amount includes:

[0018] According to the displacement, the direction in which the tray actively rotates is adjusted;

[0019] The speed at which the material tray actively rotates is adjusted according to the change in the material belt.

[0020] Optionally, adjusting the direction of active rotation of the tray according to the displacement includes:

[0021] When the displacement is less than a first set threshold, the tray is set to rotate in a first rotation direction so that the output portion of the material belt is retracted onto the tray;

[0022] When the displacement is greater than a second set threshold, the material tray is set to rotate in a second rotation direction so that the material tray is loaded with material and output.

[0023] Optionally, before adjusting the speed of active rotation of the material tray according to the change in the material belt, the method further includes:

[0024] Determine the remaining amount of the strip before the tray rotates in the current unloading cycle;

[0025] Determining a first ratio of the change amount of the material strip to the remaining amount of the material strip;

[0026] The step of adjusting the speed of active rotation of the material tray according to the change in the material belt comprises:

[0027] According to the first ratio, the rotation speed of the material tray is adjusted.

[0028] Optionally, adjusting the rotation speed of the tray according to the first ratio includes:

[0029] When the first ratio is less than a first set ratio, setting the material tray to rotate at a first speed;

[0030] When the first comparison is between the first set ratio and the second set ratio, setting the material tray to rotate at a second speed;

[0031] When the first ratio is greater than the second set ratio, setting the material tray to rotate at a third speed;

[0032] The first speed is greater than the second speed, and the second speed is greater than the third speed.

[0033] According to a second aspect of the present disclosure, a control device for unloading a material strip is also provided, the device comprising:

[0034] A control module, used to respond to the unloading request of the material belt, control the material pulling device, and drive the counterweight device to move passively;

[0035] An output detection module, used for obtaining a change amount of a material belt of a material tray through a first detection device;

[0036] A displacement detection module, used for obtaining the displacement of the counterweight device through a second detection device;

[0037] The adjustment module is used to control the active rotation of the material tray according to the change amount of the material belt and the displacement amount.

[0038] According to a third aspect of the present disclosure, a control device for unloading a material strip is also provided, comprising a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program to implement the method described in the first aspect of the present disclosure.

[0039] According to a fourth aspect of the present disclosure, a computer-readable storage medium is further provided, on which a computer program is stored. When the computer program is executed by a processor, the method according to the first aspect of the present disclosure is implemented.

[0040] According to a fourth aspect of the present disclosure, a computer program product is further provided. When the computer program product is executed by a processor, the method according to the first aspect of the present disclosure is implemented.

[0041] According to the fifth aspect of the present disclosure, a control system is also provided, including a material tray, a material pulling device, a counterweight device and a control device, wherein the control device is the control device for unloading the material belt as described in the second aspect or the third aspect, and the control device is used to control the material pulling device to pull the end of the material belt to drive the counterweight device to move passively, and the control device is also used to control the active rotation of the material tray.

[0042] One beneficial effect of the embodiments of the present disclosure is that the control method for unloading the material strip provided by the present invention can first control the pulling device to drive the counterweight device to move passively, and obtain the change of the material strip through the first detection device, and obtain the displacement of the counterweight device through the second detection device, and adjust the active rotation of the material strip according to the change and displacement of the material strip, and then when the pulling device pulls out a material strip that is too long, the material tray can be controlled to retract part of the material strip, and when the pulling device pulls out a material strip that is too short, the material tray can be controlled to output part of the material strip, so that the length of the part of the material strip to be cut is appropriate, thereby effectively improving the accuracy of cutting the material strip.

[0043] Other features and advantages of the embodiments of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the embodiments of the present disclosure.

[0045] Figure 1 is a schematic diagram of the composition structure of a control system that can be used for material strip unloading according to an embodiment;

[0046] Figure 2 is a schematic structural diagram of a control system for unloading a material strip according to an embodiment;

[0047] Figure 3 is a flow chart of a method for controlling material strip unloading according to an embodiment;

[0048] Figure 4 is a block diagram of a control device for unloading a material strip according to an embodiment;

[0049] Figure 5 It is a schematic diagram of the hardware structure of a control device for unloading a material strip according to an embodiment. DETAILED DESCRIPTION

[0050] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0051] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0052] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0053] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0054] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0055] <System Embodiment>

[0056] Figure 1 1 is a schematic diagram of the composition structure of a control system for material strip unloading to which a control method for unloading material strips according to an embodiment of the present invention can be applied. Figure 1 As shown, the system may include a material tray 100, a material pulling device 200, a weight balancing device 300 and a control device 400, and the system may be applied to material production scenarios.

[0057] The above material may be in the form of a strip or a bar. For example, the material is a protective film attached to the surface of a battery. The material needs to be cut into uniform sizes so that the cut material can be neatly attached to a battery surface.

[0058] The above material tray 100 can be used to store materials, and the materials can be collected on the material tray 100 in a winding manner. Figure 2 As shown, the above material tray 100 can also be provided with an inflatable shaft 11 and a driving motor. The inflatable shaft 11 is the rotating shaft of the material tray 100. The inflatable shaft 11 itself can expand so that the material belt 10 on the material tray 100 can be more closely attached to the inflatable shaft 11. The driving motor is used to drive the material tray 100 to rotate, so that the material belt 10 wound on the material tray 100 can be output, and part of the material belt 10 can be recovered to the material tray 100. Figure 2 As shown, when the material tray 100 rotates clockwise, the material belt 10 can be recovered onto the material tray 100 ; when the material tray 100 rotates counterclockwise, the material belt 10 can be output from the material tray 100 .

[0059] The above system also includes a first roller 1 and a second roller 2, and the above weight balancing device 300 includes a contact portion 31, such as Figure 2 As shown, the end of the material strip 10 passes through the first roller 1, then passes through the contact portion 31, and then passes through the second roller 2 before being output to the material pulling device 200. The counterweight device 300 is, for example, a cylinder, and the contact portion 31 is, for example, a counterweight block at the end of the cylinder piston rod. The counterweight block can drive the cylinder piston rod to extend out of a part of the cylinder barrel due to its own gravity. After the end of the material strip 10 is limited by the material pulling device 200 and under the damping effect of the material tray 100, the material strip 10 can be tightened by the gravity applied by the counterweight block.

[0060] The above material pulling device 200 may include a pneumatic clamp, which can clamp the end of the material strip 10, and then cut the portion clamped by the pneumatic clamp by the cutter 22. After a portion of the material strip 10 is cut off, the pneumatic clamp can clamp the new end of the material strip 10 and move a certain distance, and at the same time, the counterweight block is moved upward by the extrusion force applied by the material strip 10.

[0061] The control device 400 can be a terminal device, such as a computer, a mobile phone, etc., or a control chip of the terminal device, which is not limited here. The control device 400 can be respectively connected to the material tray 100, the material pulling device 200 and the counterweight device 300 for communication, that is, the control device 400 can control the rotation of the material tray 100 and the expansion of the air shaft 11 on the material tray 100, the control device 400 can control the pneumatic clamp of the material pulling device 200 to limit the material belt 10 and control the pneumatic clamp to pull the material belt 10, and the control device 400 can also control the counterweight block of the counterweight device 300 to move up or down.

[0062] The system further includes a first detection device 600 and a second detection device 500 , and the first detection device 600 and the second detection device 500 are also respectively connected to the control device 400 for communication.

[0063] The first detection device 600 can be a distance sensor. The first detection device 600 can be set at a first position, which can be any position near the tray 100. The first detection device 600 can be used to detect the distance value of the first position to the nearest point of the material belt 10 on the tray 100 along the first direction. The first direction can be the direction of the first detection device 600 toward the axis of the tray 100. Figure 2 For example, the first position may be position A1 located obliquely below the tray 100, and the first direction may be direction A. The first detection device 600 may detect a distance value D1 to the closest point on the tray 100 and feed it back to the control device 400. By setting the first detection device 600, since the distance between the first detection device 600 and the tray 100 is fixed, the distance value detected by the first detection device 600 can reflect the thickness of the material belt 10 on the tray 100.

[0064] The second detection device 500 may be a position sensor. The second detection device 500 may be disposed on the counterweight device 300 and may detect the moving distance starting from the initial position of the contact portion 31, thereby determining the position of the contact portion 31. Figure 2 For example, the second detection device 500 can be arranged on the counterweight device 300, and the contact part 31 can move downward from the set initial position. At the same time, the second detection device 500 can detect the displacement between the current position of the contact part 31 and the initial position of the contact part 31.

[0065] In the embodiment of the present disclosure, the memory of the control device 400 is used to store a computer program, and the computer program is used to control the processor of the control device 400 to operate according to the control method of material strip unloading in any embodiment. A technician can design a computer program according to the scheme of the embodiment of the present disclosure. How the computer program controls the processor to operate is well known in the art, so it will not be described in detail here.

[0066] <Method Example>

[0067] Figure 3 is a flow chart of a method for controlling material strip unloading according to an embodiment. Figure 1 Central control device 400.

[0068] like Figure 3 As shown, the material strip unloading control method of this embodiment may include the following steps S210 to S240:

[0069] Step S210, responding to the material unloading request of the material belt, controlling the material pulling device to drive the counterweight device to move passively.

[0070] In this embodiment, the material unloading request may be sent by the user's terminal device, or may be a signal received and fed back by the communication module corresponding to the cutter, indicating that one strip of material has been cut.

[0071] In some examples, such as Figure 2 As shown, after receiving a material unloading request, the control device can output a control signal to the pulling device to control the pneumatic clamp of the pulling device to clamp the end of the material belt and then move a certain step. After the end of the material belt is pulled, the contact part of the counterweight device is moved upward due to the squeezing force of the material belt.

[0072] Step S220, obtaining the change amount of the material belt of the material tray through the first detection device.

[0073] In some embodiments, in order to more accurately determine the change in the material belt of the material tray, the first detection device is set at the first position, and the first detection device is used to detect the distance value of the first position from the nearest point of the material belt on the material tray along the first direction; wherein the first direction is related to the axis position of the material tray and the first position. Step S220 may include the following steps S2201 to S2203:

[0074] Step S2201, obtaining, by means of a first detection device, a current distance value between the first position and the nearest point of the material belt on the material tray after the material tray rotates.

[0075] In some examples, the first detection device can detect in real time, such as Figure 2As shown, the first detection device can determine the thickness of the material tape on the material tray in real time by detecting the distance value of the first position along the first direction to the nearest point of the material tape on the material tray, thereby obtaining the material tape change amount.

[0076] Step S2202, determining the distance change according to the historical distance value and the current distance value.

[0077] In this embodiment, the historical distance value can be the distance value between the first detection device and the nearest point of the material belt on the material tray after the previous rotation of the material tray is completed, or the historical distance value can be the distance value between the first detection device and the nearest point of the material belt on the material tray after the current pulling device pulls the end of the material belt.

[0078] In this embodiment, the control circuit may subtract the current distance value from the historical distance value to obtain the distance change.

[0079] Step S2203, obtaining the material strip variation of the material tray according to the preset mapping relationship and the distance variation; wherein the mapping relationship indicates that different distance variations correspond to different material strip variations of the material tray.

[0080] In this embodiment, the mapping relationship can be set manually according to factors such as the first position, the axial center position of the material tray, and the radius of the axis of the material tray.

[0081] In this embodiment, the change in the material strip of the material tray can be determined through the distance change and the mapping relationship. The detected material strip change has high accuracy, and by using the first detection device for detection, the manufacturing cost of the material strip unloading control system is low.

[0082] Step S230, obtaining, by a second detection device, the displacement amount caused by the resistance exerted by the counterweight device on the material strip.

[0083] In some embodiments, in order to more accurately determine the displacement between the current position and the initial position of the contact part, the weight balancing device includes a contact part, which contacts the material belt and applies resistance to the material belt; the second detection device is used to detect the position of the contact part. Step S230 may include the following steps S2301:

[0084] Step S2301: obtaining, by a second detection device, a displacement between a current position of the contact portion and an initial position of the contact portion.

[0085] In some examples, the second detection device can provide the control device with real-time feedback of the current position of the contact portion, such as Figure 2 As shown, the control device can pre-store the initial position of the contact part, and the control device can determine the displacement of the counterweight device according to the feedback current position and the initial position.

[0086] Step S240, controlling the material tray to actively rotate according to the change and displacement of the material belt.

[0087] In some embodiments, step S240 may include the following steps S241 and S242:

[0088] Step S241, adjusting the direction of active rotation of the material tray according to the displacement.

[0089] In some examples, such as Figure 2 As shown, when the displacement is too large, it can be considered that the contact part is not subjected to the extrusion force of the material belt or the extrusion force of the material belt is too small, so that the pulled material belt is relatively loose, and the control device can control the material tray to rotate clockwise so that part of the material belt is recovered on the material tray. When the displacement is too small, it can be considered that the contact part is subjected to the extrusion force of the material belt too large, so that the pulled material belt is relatively tight, and the control device can control the material tray to rotate counterclockwise so that part of the material belt on the material tray can be output.

[0090] Step S242, adjusting the speed of active rotation of the material tray according to the change in the material belt.

[0091] In some examples, when the amount of change of the material belt is large, if the material tray rotates at a faster speed to recycle the material belt to the material tray or output the material belt from the material tray, the position of the material belt recycled to the material tray or output from the material tray may be offset, and the control device can reduce the speed of active rotation of the material tray to ensure that the material tray can be evenly retracted to the material tray or output from the material tray. When the amount of change of the material belt is small, if the material tray rotates at a slower speed to recycle the material belt to the material tray or output the material belt from the material tray, this makes the control system of the material belt unloading work less efficient. The control device can increase the speed of active rotation of the material tray to improve the work efficiency of the control system.

[0092] In some embodiments, in order to adjust the tightness of the material belt, step S241 may include the following steps S2411 and S2412:

[0093] Step S2411, when the displacement is less than a first set threshold, the material tray is set to rotate in a first rotation direction so that the output portion of the material belt is retracted onto the material tray.

[0094] In some examples, such as Figure 2 As shown, the first set threshold is, for example, 60, and the first rotation direction is clockwise.

[0095] Step S2412, when the displacement is greater than a second set threshold, the material tray is set to rotate in a second rotation direction so that the material tray is loaded with material and output.

[0096] In some examples, such as Figure 2As shown, the second set threshold is, for example, 80, and the first rotation direction is counterclockwise.

[0097] In other words, the control device adjusts the direction of active rotation of the material tray according to the numerical value of the displacement. Under the premise of ensuring that the tightness of the material belt is moderate, the control device uses the displacement output by the second detection device to judge, and the control response speed of the control device is faster.

[0098] In some embodiments, in order to reduce the deviation of the position of the material strip, before step S242, the method further includes the following steps S2418 and S2419:

[0099] Step S2418, determining the remaining amount of the material strip before the material tray rotates in the current unloading cycle.

[0100] In this embodiment, the current material unloading cycle may correspond to the current material unloading, the first material unloading of the material strip, a certain material unloading of the material strip, or the last material unloading of the material strip, which is not limited here.

[0101] In some examples, the remaining amount of the material tape can be represented by the above-mentioned historical distance value, that is, the remaining amount of the material tape can be the distance value between the first detection device and the nearest point of the material tape on the material tray after the previous rotation of the material tray is completed, and the remaining amount of the material tape can also be the distance value between the first detection device and the nearest point of the material tape on the material tray after the current pulling device pulls the end of the material tape.

[0102] Step S2419, determining a first ratio of the material tape change amount to the material tape remaining amount.

[0103] In some examples, the tape change and the tape remaining amount may be expressed by the roll diameter. For example, if the tape remaining amount is 1 unit of roll diameter and the tape change amount is 1 / 3 unit of roll diameter, then the first ratio is 1 / 3.

[0104] Based on this, step S242 may include the following step S2420:

[0105] Step S2420, adjusting the rotation speed of the material tray according to the first ratio.

[0106] In some embodiments, in order to adjust the material tray to rotate at a more moderate speed, step S2420 may include the following steps S2421 to S2423:

[0107] Step S2421, when the first ratio is less than the first set ratio, setting the material tray to rotate at a first speed.

[0108] In some examples, the first set ratio is, for example, 1 / 3, and the first speed is, for example, twice the set speed, which is the normal rotation speed set for the material tray.

[0109] Step S2422, when the first comparison is between the first set ratio and the second set ratio, set the material tray to rotate at a second speed.

[0110] In some examples, the second set ratio is, for example, 2 / 3, and the second speed is, for example, 1.5 times the set speed.

[0111] Step S2423, when the first ratio is greater than the second set ratio, the material tray is set to rotate at a third speed, wherein the first speed is greater than the second speed, and the second speed is greater than the third speed.

[0112] In some examples, the third speed is, for example, the set speed mentioned above.

[0113] In other words, when the first ratio is within different ratio ranges, the control device can control the speed of the active rotation of the material tray according to the size of the first ratio. On the premise that the material tray can be evenly retracted onto or output from the material tray, the material tray work can be completed at a faster speed, thereby effectively improving the working efficiency of the control system for unloading the material belt.

[0114] <Equipment Example 1>

[0115] Figure 4 1 is a block diagram of a control device for unloading a material strip according to an embodiment. Figure 4 As shown, the control device 4000 for unloading the material strip may include a control module 410 , an output detection module 420 , a displacement detection module 430 and an adjustment module 440 .

[0116] The control module 410 is used to respond to the material unloading request of the material belt, control the material pulling device, and drive the counterweight device to move passively;

[0117] The output detection module 420 is used to obtain the change amount of the material belt of the material tray through the first detection device;

[0118] The displacement detection module 430 is used to obtain the displacement amount caused by the counterweight device applying resistance to the material belt through the second detection device;

[0119] The adjustment module 440 is used to control the active rotation of the material tray according to the change and displacement of the material belt.

[0120] Optionally, the output detection module 420 is also used to obtain, through a first detection device, a current distance value from the first position to the nearest point of the material belt on the material tray after the material tray rotates; determine a distance change based on historical distance values ​​and current distance values; obtain a material belt change related to the material tray based on a preset mapping relationship and distance change; wherein the mapping relationship indicates that different distance changes correspond to material belt changes of different material trays.

[0121] Optionally, the displacement detection module 430 is further configured to obtain a displacement between a current position of the contact portion and an initial position of the contact portion through a second detection device.

[0122] Optionally, the adjustment module 440 is also used to adjust the direction of active rotation of the material tray according to the displacement; and adjust the speed of active rotation of the material tray according to the change of the material belt.

[0123] Optionally, the adjustment module 440 is also used to set the material tray to rotate in a first rotation direction when the displacement is less than a first set threshold value, so that part of the material belt output is retracted onto the material tray; when the displacement is greater than a second set threshold value, set the material tray to rotate in a second rotation direction, so that the material belt is output on the material tray.

[0124] Optionally, the control device 4000 for unloading the material strip further includes a ratio determination module, which is used to determine the remaining amount of the material strip before the material tray rotates in the current unloading cycle; and determine a first ratio of the material strip change amount to the material strip remaining amount.

[0125] The adjustment module 440 is also used to adjust the rotation speed of the material tray according to the first ratio.

[0126] Optionally, the adjustment module 440 is also used to set the material tray to rotate at a first speed when the first ratio is less than a first set ratio; set the material tray to rotate at a second speed when the first ratio is between the first set ratio and the second set ratio; set the material tray to rotate at a third speed when the first ratio is greater than the second set ratio; wherein the first speed is greater than the second speed, and the second speed is greater than the third speed.

[0127] The control device 4000 for unloading the material strip may be Figure 1 The control device 400 in.

[0128] <Equipment Example 2>

[0129] Figure 5 It is a schematic diagram of the hardware structure of a control device for unloading a material strip according to another embodiment.

[0130] like Figure 5 As shown, the control device 500 for unloading the material strip includes a processor 510 and a memory 520, wherein the memory 520 is used to store an executable computer program, and the processor 510 is used to execute a method such as any of the above method embodiments according to the control of the computer program.

[0131] The control device 500 for unloading the material strip may be the control device 400 .

[0132] Each module of the control device 400 for unloading the material strip can be implemented by the processor 510 in this embodiment executing a computer program stored in the memory 520, or can be implemented by other structures, which is not limited here.

[0133] The present invention may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present invention.

[0134] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0135] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0136] The computer program instructions for performing the operation of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be personalized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present invention.

[0137] Various aspects of the present invention are described herein with reference to the flow charts and / or block diagrams of the methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each box of the flow chart and / or block diagram and the combination of each box in the flow chart and / or block diagram can be implemented by computer-readable program instructions.

[0138] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0139] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0140] The flow charts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a part of a module, a program segment or an instruction, and a part of the module, a program segment or an instruction contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that it is equivalent to implement it by hardware, implement it by software, and implement it by combining software and hardware.

[0141] Embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the marketplace, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present invention is defined by the appended claims.

Claims

1. A method for controlling material strip unloading, characterized in that: The material belt is wound on a material tray, an end of the material belt is pulled by a material pulling device, a counterweight device is provided between the material pulling device and the material tray, and the counterweight device is used to apply resistance to the material belt to tighten the material belt. The method includes: In response to the unloading request of the material belt, the material pulling device is controlled to drive the counterweight device to move passively; Obtaining a change amount of the material belt of the material tray by means of a first detection device; Obtaining, by means of a second detection device, a displacement amount caused by the counterweight device applying resistance to the material strip; According to the change amount of the material belt and the displacement amount, the material tray is controlled to actively rotate.

2. The method according to claim 1, characterized in that: The first detection device is disposed at a first position, and is used to detect a distance value between the first position and the nearest point of the material tray on the material belt along a first direction; The step of obtaining a change amount of the material belt of the material tray by means of a first detection device comprises: Obtaining, by means of a first detection device, a current distance value between the first position and the closest point of the material belt on the material tray after the material tray rotates; Determine the distance change according to the historical distance value and the current distance value; According to the preset mapping relationship and the distance change, the material strip change amount of the material tray is obtained; wherein the mapping relationship indicates that different distance changes correspond to different material strip changes.

3. The method according to claim 1, characterized in that The weight balancing device comprises a contact portion, the contact portion contacts the material belt and applies resistance to the material belt; the second detection device is used to detect the position of the contact portion; The step of obtaining the displacement amount caused by the counterweight device applying resistance to the material strip by the second detection device includes: The displacement between the current position of the contact portion and the initial position of the contact portion is obtained by the second detection device.

4. The method according to claim 1, characterized in that: The step of controlling the material tray to actively rotate according to the change amount of the material belt and the displacement amount comprises: According to the displacement, the direction in which the tray actively rotates is adjusted; The speed at which the material tray actively rotates is adjusted according to the change in the material belt.

5. The method according to claim 4, characterized in that The step of adjusting the direction of active rotation of the material tray according to the displacement comprises: When the displacement is less than a first set threshold, the tray is set to rotate in a first rotation direction so that the output portion of the material belt is retracted onto the tray; When the displacement is greater than a second set threshold, the material tray is set to rotate in a second rotation direction so that the material tray is loaded with material and output.

6. The method according to claim 4, characterized in that Before adjusting the speed of active rotation of the material tray according to the change in the material belt, the method further includes: Determine the remaining amount of the strip before the tray rotates in the current unloading cycle; Determining a first ratio of the change amount of the material strip to the remaining amount of the material strip; The step of adjusting the speed of active rotation of the material tray according to the change in the material belt comprises: According to the first ratio, the rotation speed of the material tray is adjusted.

7. The method according to claim 6, characterized in that The step of adjusting the rotation speed of the material tray according to the first ratio includes: When the first ratio is less than a first set ratio, setting the material tray to rotate at a first speed; When the first comparison is between the first set ratio and the second set ratio, setting the material tray to rotate at a second speed; When the first ratio is greater than the second set ratio, setting the material tray to rotate at a third speed; The first speed is greater than the second speed, and the second speed is greater than the third speed.

8. A control device for unloading a material strip, characterized in that: The device comprises: A control module, used to respond to the unloading request of the material belt, control the material pulling device, and drive the counterweight device to move passively; An output detection module, used for obtaining a change amount of a material belt of a material tray through a first detection device; A displacement detection module, used for obtaining the displacement of the counterweight device through a second detection device; The adjustment module is used to control the active rotation of the material tray according to the change amount of the material belt and the displacement amount.

9. A control device for unloading a material strip, characterized in that: The method comprises a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 7.

11. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 7 when being executed by a processor.

12. A control system, characterized in that: It includes a material tray, a material pulling device, a counterweight device and a control device, wherein the control device is the control device for unloading the material belt as described in claim 8 or 9, and the control device is used to control the material pulling device to pull the end of the material belt to drive the counterweight device to move passively, and the control device is also used to control the active rotation of the material tray.

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