Safe feeding self-locking control device and method

Abstract

The invention relates to the technical field of automatic control, in particular to a safe feeding self-locking control device and method.The device comprises a feeding machine and a control device, the feeding machine comprises a supporting frame, a pneumatic lifting device, a material box and a positioning device, and the control device comprises a collecting unit, a judging unit and a processing unit. The acquisition unit acquires mass data of the material box and controls the inflation rate when the air source inflates the pneumatic lifting device; the judgment unit collects the moving speed of the material box to judge whether the inflation rate is adjusted or not; after the adjusted inflation rate is obtained, load data of each pneumatic lifting device are collected, and whether the material box is stable or not is judged; when the material box reaches the target position, the processing unit collects the unloading time and judges whether the air source is controlled to operate at the lowest inflation rate or not. By applying quality data, moving speed, air source control and a self-locking mechanism, intelligent control over the pneumatic lifting device is achieved, and the transportation safety and stability of the feeding machine are improved.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a safe feeding self-locking control device and method. Background Art

[0002] In production and transportation, transporting materials from low places to high places is a common mode of transportation. Pneumatic lifting devices usually have a relatively simple design, consisting of cylinders, valves and pipes. The lifting speed can be controlled by the flow of the air source to achieve control of the material lifting process. Pneumatic lifting devices can achieve smooth movement. It helps to reduce the bumps of materials during the lifting process. At the same time, pneumatic lifting devices are relatively compact and occupy relatively small space, which is suitable for workplaces with space constraints.

[0003] However, the stable operation of the pneumatic lifting device depends on the air source. If there is a fluctuation in the air supply, it is easy to cause the lifting device to shake, which is not conducive to transportation safety. At the same time, the existing technology lacks a self-locking control device. When an accident occurs in the pneumatic device, the material cannot be locked in time, which can easily cause the material to fall and increase the transportation risk.

[0004] Therefore, it is necessary to design a self-locking control device to ensure the safety of feeding in order to solve the current problems. Summary of the invention

[0005] In view of this, the present invention proposes a self-locking control device and method for safe feeding, aiming to solve the problem of lack of self-locking control device in current pneumatic feeding and transportation, which easily causes material shaking and falling.

[0006] The present invention proposes a safe feeding self-locking control device, comprising:

[0007] A material loader, the material loader comprising a support frame, a pneumatic lifting device, a material box and a positioning device;

[0008] At least four pneumatic lifting devices are provided, and the pneumatic lifting devices are fixedly arranged at the four corners of the support frame, and the pneumatic lifting devices are used to lift the material box to the target position;

[0009] At least four positioning devices are provided, one positioning device is fixedly provided on one side of the pneumatic lifting device, and the positioning device is used to lock the material box;

[0010] A control device, comprising a collection unit, a judgment unit and a processing unit, wherein the control device is electrically connected to the feeder and is used to control the operation of the feeder;

[0011] A collection unit is configured to collect quality data of the material box, and the collection unit controls the inflation rate of the air source when inflating the pneumatic lifting device according to the quality data, so that the pneumatic lifting device can smoothly drive the material box to move upward;

[0012] A judgment unit is configured to collect a moving speed of the material box, and the judgment unit judges whether to adjust the inflation rate according to the moving speed;

[0013] When the determination unit determines that the inflation rate is to be adjusted, acquiring the adjusted inflation rate;

[0014] When the determination unit determines that the inflation rate is not to be adjusted, the inflation rate is recorded as the adjusted inflation rate;

[0015] The judgment unit is further configured to collect load data of each of the pneumatic lifting devices after obtaining the adjusted inflation rate, and the judgment unit judges whether the material box is stable according to the load data;

[0016] When the judgment unit determines that the material box is not stable, the judgment unit controls the gas source to stop filling the gas, and the judgment unit controls the positioning device to lock the material box;

[0017] The processing unit is configured to collect the unloading time when the material box reaches the target position, and determine whether to control the air source to operate at the minimum inflation rate according to the unloading time; when it is determined that the air source is operating at the minimum inflation rate, the processing unit also controls the positioning device to lock the material box.

[0018] Furthermore, when the acquisition unit controls the inflation rate of the air source when inflating the pneumatic lifting device according to the quality data, it includes:

[0019] The acquisition unit compares the mass data L with the first preset mass data L1 and the second preset mass data L2 respectively, and determines the inflation rate according to the comparison result;

[0020] Under the first mass comparison result, the acquisition unit determines that the inflation rate is a first inflation rate K1;

[0021] Under the second mass comparison result, the acquisition unit determines that the inflation rate is a second inflation rate K2;

[0022] Under the third mass comparison result, the acquisition unit determines that the inflation rate is a third inflation rate K2;

[0023] Among them, the first mass comparison result is L≤L1, the second mass comparison result is L1<L≤L2, and the third mass comparison result is L2<L, K1<K2<K3.

[0024] Further, when the acquisition unit determines that the inflation rate is the i-th inflation rate Ki, i=1, 2, 3, the judgment unit judges whether to adjust the inflation rate according to the moving speed, including:

[0025] The judgment unit pre-sets a slowest moving speed threshold value Ymin and a fastest moving speed threshold value Ymax, compares the moving speed Y with the slowest moving speed threshold value Ymin and the fastest moving speed threshold value Ymax, and judges whether to adjust the inflation rate according to the comparison result;

[0026] Under the first moving speed comparison result, the judgment unit determines not to adjust the inflation rate, and records the inflation rate as the adjusted inflation rate;

[0027] Under the second moving speed comparison result, the judgment unit determines to adjust the inflation rate;

[0028] The first movement speed comparison result is Ymin≤Y≤Ymax, and the second movement speed comparison result is Y>Ymax or Y<Ymin.

[0029] Further, when the judgment unit determines to adjust the inflation rate, it includes:

[0030] Under the first determination condition, the determination unit determines a first rate adjustment coefficient A1 to adjust the inflation rate, and obtains an adjusted inflation rate Ki*A1;

[0031] Under the second determination condition, the determination unit determines a second rate adjustment coefficient A2 to adjust the inflation rate, and obtains an adjusted inflation rate Ki*A2;

[0032] The first determination condition is Y>Ymax, the second determination condition is Y<Ymin, 0<A1<1<A2<2.

[0033] Furthermore, the judging unit is further configured to judge whether the material box is stable according to the load data, including:

[0034] The judging unit determines the cycle period T according to the quality data L;

[0035] Under the first mass comparison result, the judgment unit determines that the cycle period T is a first cycle period T1;

[0036] Under the second mass comparison result, the judgment unit determines that the cycle period T is a second cycle period T2;

[0037] Under the third quality comparison result, the judgment unit determines that the cycle period T is a third cycle period T3;

[0038] Among them, T1<T2<T3.

[0039] Further, when the judging unit determines that the cycle T is the i-th cycle Ti, i=1, 2, 3, the judging unit judges whether the material box is stable according to the load data, further comprising:

[0040] The judging unit takes the moment when the load data has an abnormal situation as the starting point. Within the cycle T, when the load data of all the pneumatic lifting devices have an abnormal situation, the judging unit determines that the material box is stable;

[0041] The judgment unit takes the moment when the load data shows an abnormality as a starting point. Within the cycle T, when there is no abnormality in the load data of the pneumatic lifting device, the judgment unit determines that the material box is unstable.

[0042] Further, when the judging unit judges whether the material box is stable according to the load data, the judgment of the abnormality of the load data includes:

[0043] The judging unit judges whether the load data is abnormal according to the following formula:

[0044]

[0045] Wherein, n represents the number of pneumatic devices, L represents the mass data of the material box, g represents the acceleration of gravity, and F0 represents the load data;

[0046] When the load data F0 does not satisfy When the load data is abnormal, the judging unit determines that the load data is abnormal.

[0047] Further, when the judging unit determines that the material box is not stable, the judging unit controls the positioning device to lock the material box, including:

[0048] The judging unit determines the clamping force D of the positioning device when it is locked according to the quality data;

[0049] Under the first mass comparison result, the judgment unit determines that the clamping force D is a first clamping force D1;

[0050] Under the second mass comparison result, the judgment unit determines that the clamping force D is a second clamping force D2;

[0051] Under the third mass comparison result, the judgment unit determines that the clamping force D is a third clamping force D3;

[0052] Among them, D1<D2<D3.

[0053] Furthermore, when the processing unit determines whether to control the gas source to operate at the lowest inflation rate according to the unloading time, it includes:

[0054] The processing unit compares the unloading time X with the minimum unloading time Xmin, and determines whether to control the gas source to operate at the minimum inflation rate according to the comparison result;

[0055] Under the first time comparison result, the processing unit determines to control the gas source and operate at the lowest inflation rate;

[0056] Under the second time comparison result, the processing unit determines not to control the gas source to operate at the lowest inflation rate;

[0057] The first time comparison result is X>Xmin, and the second time comparison result is X≤Xmin.

[0058] Compared with the prior art, the beneficial effect of the present invention is that by setting at least four pneumatic lifting devices, the material box can be stably lifted and lowered, ensuring that the material is transported from a low place to a high target position. At the same time, the setting of the positioning device ensures the reliable locking of the material box during the lifting process, prevents instability and accidental movement, and improves the transportation safety. The control device includes a collection unit, a judgment unit and a processing unit, realizing intelligent operation control. The collection unit adjusts the air source inflation rate in real time through quality data, so that the pneumatic lifting device can drive the material box smoothly during the lifting process, reducing bumps and shaking. The judgment unit determines whether the inflation rate needs to be adjusted according to the moving speed of the material box, improves the dynamic response capability of the transportation process, and makes the transportation process more stable and controllable. The processing unit determines whether to operate at the lowest inflation rate according to the unloading time, so that the material box can operate at a lower rate when it reaches the target position, reducing energy consumption and noise. At the same time, the material box is locked by controlling the positioning device to ensure the safe unloading of the material.

[0059] On the other hand, the present application also proposes a safe feeding self-locking control method, comprising:

[0060] Collecting mass data of the material box, and controlling the inflation rate of the air source when inflating the pneumatic lifting device according to the mass data, so that the pneumatic lifting device can steadily drive the material box to move upward;

[0061] collecting the moving speed of the material box, and determining whether to adjust the inflation rate according to the moving speed;

[0062] When it is determined that the inflation rate is to be adjusted, obtaining the adjusted inflation rate;

[0063] When it is determined that the inflation rate is not to be adjusted, recording the inflation rate as the adjusted inflation rate;

[0064] After obtaining the adjusted inflation rate, collecting load data of each of the pneumatic lifting devices, and judging whether the material box is stable according to the load data;

[0065] When it is determined that the material box is not stable, the gas source is controlled to stop filling the gas, and the positioning device is controlled to lock the material box;

[0066] When the material box reaches the target position, the unloading time is collected, and it is determined whether to control the air source to run at the lowest inflation rate based on the unloading time. When it is determined that the air source runs at the lowest inflation rate, the positioning device is controlled to lock the material box.

[0067] It can be understood that the above-mentioned safe feeding self-locking control device and method have the same beneficial effects, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0069] Figure 1 A three-dimensional view of a self-locking control device for safe feeding provided by an embodiment of the present invention;

[0070] Figure 2 A structural block diagram of a control device in a safe feeding self-locking control device provided by an embodiment of the present invention;

[0071] Figure 3 A flowchart of a safe feeding self-locking control method provided in an embodiment of the present invention.

[0072] Among them, 110, support frame; 120, pneumatic lifting device; 130, material box; 141, screw; 142, slider; 143, swing arm; 144, positioning sensor; 150, control device; 151, collection unit; 152, judgment unit; 153, processing unit. DETAILED DESCRIPTION

[0073] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0074] See also Figure 1-2 As shown, this embodiment provides a safe feeding self-locking control device, including: a feeder and a control device 150, wherein the feeder includes a support frame 110, a pneumatic lifting device 120, a material box 130 and a positioning device, and the control device 150 includes a collection unit 151, a judgment unit 152 and a processing unit 153. Among them, the feeder includes a support frame 110, a pneumatic lifting device 120, a material box 130 and a positioning device. There are at least four pneumatic lifting devices 120, which are fixedly arranged at the four corners of the support frame 110, and the pneumatic lifting devices 120 are used to lift the material box 130 to the target position. There are at least four positioning devices, one positioning device is fixedly arranged on one side of a pneumatic lifting device 120, and the positioning device is used to lock the material box 130.

[0075] The control device 150 includes a collection unit 151, a judgment unit 152 and a processing unit 153. The control device 150 is electrically connected to the feeder, and the control device 150 is used to control the operation of the feeder.

[0076] The collection unit 151 is configured to collect quality data of the material box 130 , and controls the inflation rate of the air source when inflating the pneumatic lifting device 120 according to the quality data, so that the pneumatic lifting device 120 can smoothly drive the material box 130 to move upward.

[0077] The judgment unit 152 is configured to collect the moving speed of the material box 130, and the judgment unit 152 determines whether to adjust the inflation rate according to the moving speed. When the judgment unit 152 determines that the inflation rate is adjusted, the adjusted inflation rate is obtained. When the judgment unit 152 determines that the inflation rate is not adjusted, the inflation rate is recorded as the adjusted inflation rate. The judgment unit 152 is also configured to collect the load data of each pneumatic lifting device 120 after obtaining the adjusted inflation rate, and the judgment unit 152 determines whether the material box 130 is stable according to the load data. When the judgment unit 152 determines that the material box 130 is not stable, the judgment unit 152 controls the gas source to stop filling the gas, and the judgment unit 152 controls the positioning device to lock the material box 130.

[0078] The processing unit 153 is configured to collect the unloading time when the material box 130 reaches the target position, and determine whether to control the gas source to operate at the lowest inflation rate according to the unloading time. When it is determined that the gas source is operating at the lowest inflation rate, the processing unit 153 also controls the positioning device to lock the material box 130. The unloading time is the time when the material in the material box 130 is completely moved out after the material box 130 reaches the target position. When the material box 130 reaches the target position, if the unloading is carried out immediately, the unloading time is short at this time. If the material box 130 needs to maintain the target position for a long time after reaching the target position, the unloading time is long at this time. The unloading time can be planned and collected in advance according to the actual material application method.

[0079] Specifically, the device includes two parts: a feeder and a control device 150. The feeder is composed of a support frame 110, a pneumatic lifting device 120, a material box 130 and a positioning device, wherein the pneumatic lifting device 120 and the positioning device are both set to at least four to ensure the stable lifting and locking of the material box 130. The positioning device includes a vertically arranged screw 141, a slider 142 and a swing arm 143. A positioning sensor 144 is also arranged on the positioning device. The positioning sensor 144 moves with the slider 142. When the material box 130 moves, the positioning sensor 144 collects the upper edge position of the material box 130 in real time, so that the slider 142 moves with the material box 130. When it is determined to start the positioning device, the swing arm 143 moves close to the material box 130, and the swing arm 143 moves to the upper edge position of the material box 130. At this time, the upper edge of the material box 130 is placed on the swing arm 143. The swing arm 143 provides additional support for the material box 130 to prevent the material box 130 from shaking and falling. The control device 150 includes a collection unit 151, a judgment unit 152 and a processing unit 153, which realizes intelligent control of the inflation rate of the pneumatic lifting device 120 by collecting the quality data and moving speed of the material box 130. The judgment unit 152 dynamically adjusts the inflation rate according to the moving speed, stops the air source inflation when the material box 130 is unstable, and controls the positioning device to lock the material box 130. The processing unit 153 collects the unloading time when the material box 130 reaches the target position, judges whether to operate at the lowest inflation rate according to the time, and controls the positioning device to lock the material box 130.

[0080] It can be understood that by collecting the mass data and moving speed of the material box 130, the dynamic adjustment of the inflation rate of the pneumatic lifting device 120 is achieved. The design of the positioning device further strengthens the stable locking of the material box 130, especially through the combination of the screw 141, the slider 142, the swing arm 143 and the positioning sensor 144, the real-time monitoring of the upper edge position of the material box 130 and the provision of additional support are achieved, preventing the material box 130 from shaking and falling off during the movement. The intelligent adjustment mechanism of the judgment unit 152 determines whether the inflation rate needs to be adjusted according to the real-time moving speed, so that the device can respond to different transportation conditions in real time to ensure the smooth movement of the material box 130. When the material box 130 is unstable, the judgment unit 152 quickly stops the air source inflation and locks the positioning device to prevent the occurrence of transportation accidents in time. The processing unit 153 determines whether to operate at the lowest inflation rate according to the unloading time to improve energy utilization efficiency, and controls the positioning device to lock when the material box 130 reaches the target position to ensure the safe unloading of materials.

[0081] In some embodiments of the present application, when the acquisition unit 151 controls the inflation rate when the air source inflates the pneumatic lifting device 120 according to the quality data, it includes: the acquisition unit 151 compares the mass data L with the pre-set first preset mass data L1 and the second preset mass data L2, and determines the inflation rate according to the comparison result.

[0082] Specifically, under the first quality comparison result, the acquisition unit 151 determines that the inflation rate is the first inflation rate K1. Under the second quality comparison result, the acquisition unit 151 determines that the inflation rate is the second inflation rate K2. Under the third quality comparison result, the acquisition unit 151 determines that the inflation rate is the third inflation rate K2. Among them, the first quality comparison result is L≤L1, the second quality comparison result is L1<L≤L2, and the third quality comparison result is L2<L, K1<K2<K3.

[0083] Specifically, the collection unit 151 is responsible for intelligent control based on the mass data of the material box 130 to adjust the rate at which the air source inflates the pneumatic lifting device 120. The specific operation is to compare the collected mass data L with the first preset mass data L1 and the second preset mass data L2. According to the comparison result, the corresponding inflation rate is determined to achieve dynamic adjustment of the pneumatic lifting device 120.

[0084] It is understandable that the moving speed of the material box 130 is directly related to the stability of the entire feeder system. If the movement speed of the material box 130 is too fast or too slow, the gas in the pneumatic lifting device 120 will be unstable, affecting the smooth rise or fall of the material. The appropriate inflation rate is automatically selected according to the actual mass of the material box 130, realizing dynamic response and optimal adjustment of the transportation process. It is beneficial to improve the transportation efficiency, stability and energy efficiency of the feeder. During operation, it can more intelligently adapt to the working environment under different quality conditions, further ensuring the safety and efficiency of the feeding process. By adopting intelligent control of segmented inflation rate adjustment according to quality data, more flexible and efficient material transportation is achieved.

[0085] In some embodiments of the present application, when the acquisition unit 151 determines that the inflation rate is the i-th inflation rate Ki, i=1, 2, 3, and the judgment unit 152 judges whether to adjust the inflation rate according to the moving speed, it includes: the judgment unit 152 pre-sets the slowest moving rate threshold Ymin and the fastest moving rate threshold Ymax, compares the moving speed Y with the slowest moving rate threshold Ymin and the fastest moving rate threshold Ymax respectively, and judges whether to adjust the inflation rate according to the comparison result. Under the first moving speed comparison result, the judgment unit 152 determines not to adjust the inflation rate, and records the inflation rate as the adjusted inflation rate. Under the second moving speed comparison result, the judgment unit 152 determines to adjust the inflation rate. Among them, the first moving speed comparison result is Ymin≤Y≤Ymax, and the second moving speed comparison result is Y>Ymax or Y<Ymin.

[0086] Specifically, when the acquisition unit 151 determines that the inflation rate is the i-th inflation rate Ki, the judgment unit 152 determines whether the inflation rate needs to be adjusted by judging the moving speed to further optimize the operation of the feeder. The judgment unit 152 pre-sets the slowest moving rate threshold Ymin and the fastest moving rate threshold Ymax, and compares the actual moving speed Y with these two thresholds. Under the first moving rate comparison result, Ymin≤Y≤Ymax, the judgment unit 152 determines that the current moving speed is within an acceptable range, does not adjust the inflation rate, and records the inflation rate as the adjusted inflation rate. Under the second moving rate comparison result, Y>Ymax or Y<Ymin, the judgment unit 152 determines that the current moving speed is too fast or too slow, and therefore adjusts the inflation rate.

[0087] In some embodiments of the present application, when the judgment unit 152 determines to adjust the inflation rate, it includes: under the first judgment condition, the judgment unit 152 determines the first rate adjustment coefficient A1 to adjust the inflation rate, and obtains the adjusted inflation rate Ki*A1. Under the second judgment condition, the judgment unit 152 determines the second rate adjustment coefficient A2 to adjust the inflation rate, and obtains the adjusted inflation rate Ki*A2. The first judgment condition is Y>Ymax, the second judgment condition is Y<Ymin, and 0<A1<1<A2<2.

[0088] It is understandable that the rate adjustment mechanism is used to dynamically adjust the inflation rate through real-time monitoring and judgment of the moving speed, so as to better adapt to the working conditions of the feeder at different operating speeds. When the moving speed is too fast or too slow, the judgment unit 152 will turn on the rate adjustment mechanism. Under the first judgment condition, Y>Ymax, the judgment unit 152 uses the first rate adjustment coefficient A1 to adjust the inflation rate to obtain the corresponding adjusted inflation rate Ki*A1. Under the second judgment condition, Y<Ymin, the judgment unit 152 uses the second rate adjustment coefficient A2 to adjust the inflation rate to obtain the corresponding adjusted inflation rate Ki*A2. The impact of different material qualities on the performance of the feeder is fully considered to maintain stable material transportation.

[0089] In some embodiments of the present application, the judgment unit 152 is further configured to judge whether the material box 130 is stable according to the load data, including: the judgment unit 152 determines the cycle period T according to the quality data L. Under the first quality comparison result, the judgment unit 152 determines the cycle period T as the first cycle period T1. Under the second quality comparison result, the judgment unit 152 determines the cycle period T as the second cycle period T2. Under the third quality comparison result, the judgment unit 152 determines the cycle period T as the third cycle period T3. Wherein, T1<T2<T3.

[0090] In some embodiments of the present application, when the judging unit 152 determines that the cycle T is the i-th cycle Ti, i=1, 2, 3, the judging unit 152 judges whether the material box 130 is stable according to the load data, and further includes: the judging unit 152 takes the moment when a load data has an abnormal situation as the starting point, and within the cycle T, when the load data of all the pneumatic lifting devices 120 have experienced abnormal situations, the judging unit 152 determines that the material box 130 is stable. The judging unit 152 takes the moment when a load data has an abnormal situation as the starting point, and within the cycle T, when there is a load data of the pneumatic lifting device 120 that has not experienced abnormal situations, the judging unit 152 determines that the material box 130 is not stable.

[0091] Specifically, the judgment unit 152 determines the cycle period T by detecting and analyzing the load data and combining the mass data L, and sets different cycle periods T1, T2 and T3 according to different mass comparison results, and satisfies T1<T2<T3. After determining the cycle period Ti, i=1, 2, 3, the judgment unit 152 further analyzes the load data to judge the stability of the material box 130.

[0092] Specifically, within the cycle period T, the judgment unit 152 takes the moment when an abnormality occurs in the load data as the starting point. During the process from this moment to the end of the cycle period T, when the load data of all the pneumatic lifting devices 120 have experienced abnormalities, the judgment unit 152 determines that the material box 130 is stable. This may be caused by periodic swings during the material transportation process, and the material box 130 is judged to be stable at this time. On the contrary, if there is no abnormality in the load data of the pneumatic lifting device 120 during this period, it is judged that the pneumatic lifting device 120 with abnormal data during the transportation of the material box 130 at this time has a fault, and the judgment unit 152 determines that the material box 130 is not stable. If there is no abnormality in the load data within the cycle period T, the material box 130 is also judged to be stable.

[0093] It is understandable that the stability of the material box 130 is judged by the occurrence time and quantity of abnormal situations. On the basis of comprehensive consideration of load and quality data, by setting different cycle periods and judgment criteria, the system's ability to accurately judge the stability of the material box 130 is improved. It helps to discover potential problems in a timely manner, improves the stability and safety of the loader transportation process, and provides more reliable protection for material transportation.

[0094] In some embodiments of the present application, when the judgment unit 152 judges whether the material box 130 is stable according to the load data, the judgment of the abnormality of the load data includes: the judgment unit 152 judges whether the load data is abnormal according to the following formula:

[0095]

[0096] Where n represents the number of pneumatic devices, L represents the mass data of the material box 130, g represents the gravity acceleration, and F0 represents the load data. When , the judging unit 152 judges that an abnormality occurs in the load data.

[0097] It can be understood that by considering the proportional relationship between the load data and the mass data of the material box 130, as well as the relationship between the number of pneumatic devices and the acceleration of gravity, the abnormality of the load data can be effectively captured. The sensitivity and accuracy of judging abnormal load data are improved, potential problems can be discovered in time, and misjudgment and missed judgment can be avoided.

[0098] In some embodiments of the present application, when the judgment unit 152 determines that the material box 130 is not stable, the judgment unit 152 controls the positioning device to lock the material box 130, including: the judgment unit 152 determines the clamping force D when the positioning device is locked according to the quality data. Under the first quality comparison result, the judgment unit 152 determines that the clamping force D is the first clamping force D1. Under the second quality comparison result, the judgment unit 152 determines that the clamping force D is the second clamping force D2. Under the third quality comparison result, the judgment unit 152 determines that the clamping force D is the third clamping force D3. Wherein, D1<D2<D3.

[0099] Specifically, when the judgment unit 152 determines that the material box 130 is not stable, the judgment unit 152 adopts a control strategy to dynamically determine the clamping force D when the positioning device is locked according to different situations of the quality data. Specifically, under different quality comparison results, the judgment unit 152 determines different levels of clamping force, namely, a first clamping force D1, a second clamping force D2, and a third clamping force D3, wherein D1<D2<D3.

[0100] It is understandable that the clamping force of the positioning device is adjusted according to the quality data of the material box 130 so that the clamping force can adapt to the transportation requirements under different circumstances. By dynamically adjusting the clamping force, the material box 130 can be locked more accurately, ensuring that the material box 130 can be stably locked under different quality conditions, thereby improving the safety and reliability of the entire loader transportation process.

[0101] In some embodiments of the present application, when the processing unit 153 determines whether to control the gas source to run at the lowest inflation rate according to the unloading time, it includes: the processing unit 153 compares the unloading time X with the lowest unloading time Xmin, and determines whether to control the gas source to run at the lowest inflation rate according to the comparison result. Under the first time comparison result, the processing unit 153 determines to control the gas source and run it at the lowest inflation rate. Under the second time comparison result, the processing unit 153 determines not to control the gas source to run at the lowest inflation rate. Among them, the first time comparison result is X>Xmin, and the second time comparison result is X≤Xmin.

[0102] Specifically, when the material box 130 is transported to the target position, if the unloading time is very short, at this time, there is no need to ensure that the air source operates at the minimum inflation rate. After the unloading is completed, the air source is automatically turned off, and the pneumatic lifting device 120 is exhausted to ensure that the material box 130 returns to the original position. When the unloading time is long, due to the leakage of the pneumatic lifting device 120, in order to ensure that the material reaches the target position and maintains the target position for a certain period of time, the air source is controlled to operate at the minimum inflation rate. The minimum inflation rate is equivalent to the leakage rate of the pneumatic lifting device 120, which can be adjusted according to the pneumatic lifting device 120 used. While maintaining the material box 130, the positioning device is controlled to lock the material box 130 to ensure that the position of the material box 130 is stable.

[0103] It is understandable that the relationship between the unloading time and the air source operating rate is taken into consideration, and the air source inflation rate is flexibly adjusted according to different unloading time conditions to achieve the best operating effect. In particular, when the unloading time is long, in order to avoid the impact of air leakage of the pneumatic lifting device 120 on the stability of the material box 130, the air source is controlled to operate at the lowest inflation rate, and the material box 130 is locked by the positioning device to ensure that the material box 130 stays stably at the target position. This helps to improve the operating efficiency of the loader, reduce energy consumption, and ensure the reliability and accuracy of the unloading process.

[0104] The operation process of this device is:

[0105] Initially, the material box 130 is located at the bottom. When the material starts to be transported upward, the collection unit 151 uses a visual sensor such as a camera to perform visual analysis on the material box 130, estimates the volume and density of the material box 130 through image processing technology, and thereby collects the quality data of the material box 130. The pneumatic lifting device 120 of the air source box is turned on to inflate according to the quality data. Driven by the pneumatic lifting device 120, the material box 130 moves upward. When the material box 130 moves, the moving speed of the material box 130 is collected, and it is determined whether to adjust the inflation rate during inflation according to the moving speed, so that the moving speed of the material box 130 is maintained within a safe range. When the final inflation rate of the air source is determined, the load conditions of each pneumatic lifting device 120 are collected, and it is determined whether there is a pneumatic lifting device 120 that is not working or a pneumatic lifting device 120 is overloaded according to the load conditions. When it is determined that the movement process of the material box 130 is not stable, it may be caused by a failure of the pneumatic lifting device 120. At this time, the positioning device is turned on, and the swing arm 143 in the positioning device moves toward the material box 130. Under the additional support provided by the swing arm 143, the material box 130 stops shaking, preventing the items in the material box 130 from shaking and spilling. If the movement of the material box 130 is always stable until it reaches the target position, it is determined whether to use the positioning device and whether to let the air source continue to run at the lowest inflation rate to provide additional support for completing the unloading according to the unloading time.

[0106] In the above embodiment, by setting at least four pneumatic lifting devices, the material box is stably lifted and lowered, ensuring that the material is transported from a low place to a high target position. At the same time, the setting of the positioning device ensures the reliable locking of the material box during the lifting process, prevents instability and accidental movement, and improves the safety of transportation. The control device includes a collection unit, a judgment unit and a processing unit, realizing intelligent operation control. The collection unit adjusts the air source inflation rate in real time through quality data, so that the pneumatic lifting device can drive the material box smoothly during the lifting process, reducing bumps and shaking. The judgment unit determines whether the inflation rate needs to be adjusted according to the moving speed of the material box, improves the dynamic response capability of the transportation process, and makes the transportation process more stable and controllable. The processing unit determines whether to operate at the lowest inflation rate according to the unloading time, so that the material box can operate at a lower rate when it reaches the target position, reducing energy consumption and noise. At the same time, the material box is locked by controlling the positioning device to ensure the safe unloading of the material.

[0107] See also Figure 3 As shown, the present application also proposes a safe feeding self-locking control method, comprising:

[0108] S100: collecting quality data of the material box, and controlling the inflation rate of the air source when inflating the pneumatic lifting device according to the quality data, so that the pneumatic lifting device can steadily drive the material box to move upward;

[0109] S200: collecting the moving speed of the material box, and determining whether to adjust the inflation rate according to the moving speed;

[0110] When it is determined that the inflation rate is to be adjusted, obtaining the adjusted inflation rate;

[0111] When it is determined that the inflation rate is not to be adjusted, the inflation rate is recorded as the adjusted inflation rate;

[0112] S300: After obtaining the adjusted inflation rate, collecting load data of each pneumatic lifting device, and judging whether the material box is stable according to the load data;

[0113] When it is determined that the material box is not stable, the gas source is controlled to stop filling the gas, and the positioning device is controlled to lock the material box;

[0114] S400: When the material box reaches the target position, the unloading time is collected, and it is determined whether to control the gas source to run at the lowest inflation rate according to the unloading time. When it is determined that the gas source runs at the lowest inflation rate, the positioning device is controlled to lock the material box.

[0115] It can be understood that by setting at least four pneumatic lifting devices, the material box can be lifted stably, ensuring that the material is transported from a low place to a high target position. At the same time, the setting of the positioning device ensures the reliable locking of the material box during the lifting process, prevents instability and accidental movement, and improves the safety of transportation. The control device includes a collection unit, a judgment unit and a processing unit, realizing intelligent operation control. The collection unit adjusts the air source inflation rate in real time through quality data, so that the pneumatic lifting device can drive the material box smoothly during the lifting process, reducing bumps and shaking. The judgment unit determines whether the inflation rate needs to be adjusted according to the moving speed of the material box, improves the dynamic response capability of the transportation process, and makes the transportation process more stable and controllable. The processing unit determines whether to operate at the lowest inflation rate according to the unloading time, so that the material box can operate at a lower rate when it reaches the target position, reducing energy consumption and noise. At the same time, the material box is locked by controlling the positioning device to ensure the safe unloading of the material.

[0116] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0117] The present application is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0118] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0119] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0120] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A safe feeding self-locking control device, characterized in that: include: A material loader, the material loader comprising a support frame, a pneumatic lifting device, a material box and a positioning device; At least four pneumatic lifting devices are provided, and the pneumatic lifting devices are fixedly arranged at the four corners of the support frame, and the pneumatic lifting devices are used to lift the material box to the target position; At least four positioning devices are provided, one positioning device is fixedly provided on one side of the pneumatic lifting device, and the positioning device is used to lock the material box; A control device, comprising a collection unit, a judgment unit and a processing unit, wherein the control device is electrically connected to the feeder and is used to control the operation of the feeder; A collection unit is configured to collect quality data of the material box, and the collection unit controls the inflation rate of the air source when inflating the pneumatic lifting device according to the quality data, so that the pneumatic lifting device can smoothly drive the material box to move upward; A judgment unit is configured to collect a moving speed of the material box, and the judgment unit judges whether to adjust the inflation rate according to the moving speed; When the determination unit determines that the inflation rate is to be adjusted, acquiring the adjusted inflation rate; When the determination unit determines that the inflation rate is not to be adjusted, the inflation rate is recorded as the adjusted inflation rate; The judgment unit is further configured to collect load data of each of the pneumatic lifting devices after obtaining the adjusted inflation rate, and the judgment unit judges whether the material box is stable according to the load data; When the judgment unit determines that the material box is not stable, the judgment unit controls the gas source to stop filling the gas, and the judgment unit controls the positioning device to lock the material box; The processing unit is configured to collect the unloading time when the material box reaches the target position, and determine whether to control the air source to operate at the minimum inflation rate according to the unloading time; when it is determined that the air source is operating at the minimum inflation rate, the processing unit also controls the positioning device to lock the material box.

2. The safe feeding self-locking control device according to claim 1 is characterized in that: When the acquisition unit controls the inflation rate of the air source when inflating the pneumatic lifting device according to the quality data, it includes: The acquisition unit compares the mass data L with the first preset mass data L1 and the second preset mass data L2 respectively, and determines the inflation rate according to the comparison result; Under the first mass comparison result, the acquisition unit determines that the inflation rate is a first inflation rate K1; Under the second mass comparison result, the acquisition unit determines that the inflation rate is a second inflation rate K2; Under the third mass comparison result, the acquisition unit determines that the inflation rate is a third inflation rate K2; Among them, the first mass comparison result is L≤L1, the second mass comparison result is L1<L≤L2, and the third mass comparison result is L2<L, K1<K2<K3.

3. The self-locking control device for safe feeding according to claim 2 is characterized in that: When the acquisition unit determines that the inflation rate is the i-th inflation rate Ki, i=1, 2, 3, the judgment unit judges whether to adjust the inflation rate according to the moving speed, including: The judgment unit pre-sets a slowest moving speed threshold value Ymin and a fastest moving speed threshold value Ymax, compares the moving speed Y with the slowest moving speed threshold value Ymin and the fastest moving speed threshold value Ymax, and judges whether to adjust the inflation rate according to the comparison result; Under the first moving speed comparison result, the judgment unit determines not to adjust the inflation rate, and records the inflation rate as the adjusted inflation rate; Under the second moving speed comparison result, the judgment unit determines to adjust the inflation rate; The first movement speed comparison result is Ymin≤Y≤Ymax, and the second movement speed comparison result is Y>Ymax or Y<Ymin.

4. The self-locking control device for safe feeding according to claim 3 is characterized in that: When the determination unit determines to adjust the inflation rate, the method includes: Under the first determination condition, the determination unit determines a first rate adjustment coefficient A1 to adjust the inflation rate, and obtains an adjusted inflation rate Ki*A1; Under the second determination condition, the determination unit determines a second rate adjustment coefficient A2 to adjust the inflation rate, and obtains an adjusted inflation rate Ki*A2; The first determination condition is Y>Ymax, the second determination condition is Y<Ymin, 0<A1<1<A2<2.

5. The self-locking control device for safe feeding according to claim 2 is characterized in that: The judging unit is further configured to judge whether the material box is stable according to the load data, including: The judging unit determines the cycle period T according to the quality data L; Under the first mass comparison result, the judgment unit determines that the cycle period T is a first cycle period T1; Under the second mass comparison result, the judgment unit determines that the cycle period T is a second cycle period T2; Under the third quality comparison result, the judgment unit determines that the cycle period T is a third cycle period T3; Among them, T1<T2<T3.

6. The self-locking control device for safe feeding according to claim 5, characterized in that: When the judging unit determines that the cycle T is the i-th cycle Ti, i=1, 2, 3, the judging unit judges whether the material box is stable according to the load data, further comprising: The judging unit takes the moment when the load data has an abnormal situation as the starting point. Within the cycle T, when the load data of all the pneumatic lifting devices have an abnormal situation, the judging unit determines that the material box is stable; The judgment unit takes the moment when the load data shows an abnormality as a starting point. Within the cycle T, when there is no abnormality in the load data of the pneumatic lifting device, the judgment unit determines that the material box is unstable.

7. The self-locking control device for safe feeding according to claim 6, characterized in that: When the judging unit judges whether the material box is stable according to the load data, the judging of the abnormality of the load data includes: The judging unit judges whether the load data is abnormal according to the following formula: Wherein, n represents the number of pneumatic devices, L represents the mass data of the material box, g represents the acceleration of gravity, and F0 represents the load data; When the load data F0 does not satisfy When the load data is abnormal, the judging unit judges that an abnormality occurs in the load data.

8. The self-locking control device for safe feeding according to claim 6, characterized in that: When the judging unit determines that the material box is not stable, the judging unit controls the positioning device to lock the material box, including: The judging unit determines the clamping force D of the positioning device when it is locked according to the quality data; Under the first mass comparison result, the judgment unit determines that the clamping force D is a first clamping force D1; Under the second mass comparison result, the judgment unit determines that the clamping force D is a second clamping force D2; Under the third mass comparison result, the judgment unit determines that the clamping force D is a third clamping force D3; Among them, D1<D2<D3.

9. The self-locking control device for safe feeding according to claim 1, characterized in that: When the processing unit determines whether to control the gas source to operate at the lowest inflation rate according to the unloading time, it includes: The processing unit compares the unloading time X with the minimum unloading time Xmin, and determines whether to control the gas source to operate at the minimum inflation rate according to the comparison result; Under the first time comparison result, the processing unit determines to control the gas source and operate at the lowest inflation rate; Under the second time comparison result, the processing unit determines not to control the gas source to operate at the lowest inflation rate; The first time comparison result is X>Xmin, and the second time comparison result is X≤Xmin.

10. A safe feeding self-locking control method, characterized in that: include: Collecting mass data of the material box, and controlling the inflation rate of the air source when inflating the pneumatic lifting device according to the mass data, so that the pneumatic lifting device can steadily drive the material box to move upward; collecting the moving speed of the material box, and determining whether to adjust the inflation rate according to the moving speed; When it is determined that the inflation rate is to be adjusted, obtaining the adjusted inflation rate; When it is determined that the inflation rate is not to be adjusted, recording the inflation rate as the adjusted inflation rate; After obtaining the adjusted inflation rate, collecting load data of each of the pneumatic lifting devices, and judging whether the material box is stable according to the load data; When it is determined that the material box is not stable, the gas source is controlled to stop filling the gas, and the positioning device is controlled to lock the material box; When the material box reaches the target position, the unloading time is collected, and it is determined whether to control the air source to run at the lowest inflation rate based on the unloading time. When it is determined that the air source runs at the lowest inflation rate, the positioning device is controlled to lock the material box.

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