A safe loading self-locking control device and method

Abstract

This invention relates to the field of automatic control technology, specifically proposing a safe material feeding self-locking control device and method. The device includes a feeding machine and a control unit. The feeding machine includes a support frame, a pneumatic lifting device, a material box, and a positioning device. The control unit includes a data acquisition unit, a judgment unit, and a processing unit. The data acquisition unit collects the mass data of the material box and controls the inflation rate of the air source when inflating the pneumatic lifting device. The judgment unit collects the moving speed of the material box to determine whether to adjust the inflation rate. After obtaining the adjusted inflation rate, it collects the load data of each pneumatic lifting device to determine whether the material box is stable. The processing unit collects the unloading time when the material box reaches the target position and determines whether to control the air source to operate at the minimum inflation rate. This invention achieves intelligent control of the pneumatic lifting device by utilizing mass data, moving speed, air source control, and a self-locking mechanism, thereby improving the transportation safety and stability of the feeding machine.

Description

Technical Field

[0001] This invention relates to the field of automatic control technology, and more specifically, to a safe material feeding self-locking control device and method. Background Technology

[0002] In production and transportation, moving materials from a low place to a high place is a common method. Pneumatic lifting devices typically have a relatively simple design, consisting of cylinders, valves, and pipes. The lifting speed can be controlled by the air flow, thus controlling the material lifting process. Pneumatic lifting devices can achieve smooth movement, helping to reduce material jolting during the lifting process. Furthermore, pneumatic lifting devices are relatively compact, occupying less space, making them suitable for workplaces with limited space.

[0003] However, the stable operation of pneumatic lifting devices depends on the air source. If there are fluctuations in the air supply, the lifting device may shake, which is not conducive to transportation safety. At the same time, the existing technology lacks a self-locking control device, which cannot lock the material in time when the pneumatic device has an accident, which may cause the material to fall and increase the transportation risk.

[0004] Therefore, it is necessary to design a self-locking control device to ensure safe material feeding and solve the current problems. Summary of the Invention

[0005] In view of this, the present invention proposes a safe material feeding self-locking control device and method, which aims to solve the problem that the lack of a self-locking control device in the current pneumatic feeding and transportation system easily causes materials to shake and fall.

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

[0007] The feeding machine includes 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 installed at the four corners of the support frame. The pneumatic lifting devices are used to lift the material box to the target position.

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

[0010] The control device includes a data acquisition unit, a judgment unit, and a processing unit. The control device is electrically connected to the feeder and is used to control the operation of the feeder.

[0011] The acquisition unit is configured to acquire the mass data of the material box. The acquisition unit controls the inflation rate of the air source to inflate the pneumatic lifting device according to the mass data, so that the pneumatic lifting device can smoothly drive the material box to move upward.

[0012] The judgment unit is configured to collect the moving speed of the material box, and the judgment unit determines whether to adjust the inflation rate based on the moving speed;

[0013] When the determination unit determines that the inflation rate needs to be adjusted, it obtains the adjusted inflation rate.

[0014] When the determination unit determines that the inflation rate should not 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 determines whether the material box is stable based on the load data.

[0016] When the judgment unit determines that the material box is unstable, 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 based on 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 to inflate the pneumatic lifting device based on 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 based on the comparison results.

[0020] Based on the first quality comparison result, the acquisition unit determines the inflation rate as the first inflation rate K1;

[0021] Based on the second quality comparison result, the acquisition unit determines the inflation rate as the second inflation rate K2;

[0022] Based on the third quality comparison result, the acquisition unit determines the inflation rate as the third inflation rate K2;

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

[0024] Furthermore, when the acquisition unit determines the inflation rate to be the i-th inflation rate Ki, where i = 1, 2, 3, the judgment unit, based on the moving speed, determines whether to adjust the inflation rate, including:

[0025] The judgment unit pre-sets a slowest movement rate threshold Ymin and a fastest movement rate threshold Ymax, compares the movement speed Y with the slowest movement rate threshold Ymin and the fastest movement rate threshold Ymax respectively, and determines whether to adjust the inflation rate based on the comparison results.

[0026] Based on the first moving speed comparison result, the judgment unit determines that the inflation rate should not be adjusted, and records the inflation rate as the adjusted inflation rate.

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

[0028] Wherein, the first moving rate comparison result is Ymin≤Y≤Ymax, and the second moving rate comparison result is Y>Ymax or Y<Ymin.

[0029] Furthermore, when the determination unit determines that the inflation rate needs to be adjusted, it includes:

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

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

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

[0033] Furthermore, the judgment unit is also configured to, when judging whether the material box is stable based on the load data, include:

[0034] The judgment unit determines the cycle period T based on the quality data L;

[0035] Based on the first quality comparison result, the judgment unit determines that the cycle period T is the first cycle period T1;

[0036] Based on the second quality comparison result, the judgment unit determines that the cycle period T is the second cycle period T2;

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

[0038] Where T1 < T2 < T3.

[0039] Furthermore, when the judgment unit determines that the cycle period T is the i-th cycle period Ti, i = 1, 2, 3, and the judgment unit judges whether the material box is stable based on the load data, it further includes:

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

[0041] The judgment unit takes the moment when the load data becomes abnormal as the starting point. Within the cycle T, if the load data of the pneumatic lifting device has never become abnormal, the judgment unit determines that the material box is unstable.

[0042] Furthermore, when the judgment unit determines whether the material box is stable based on the load data, the judgment of abnormal conditions in the load data includes:

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

[0044]

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

[0046] When the load data F0 is not satisfied When this occurs, the judgment unit determines that the load data is abnormal.

[0047] Furthermore, when the judgment unit determines that the material box is unstable, the judgment unit controls the positioning device to lock the material box, including:

[0048] The judgment unit determines the clamping force D when the positioning device locks based on the mass data;

[0049] Based on the first quality comparison result, the judgment unit determines that the clamping force D is the first clamping force D1;

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

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

[0052] Where D1 < D2 < D3.

[0053] Furthermore, the processing unit determines whether to control the air source to operate at the minimum inflation rate based on the unloading time, including:

[0054] The processing unit compares the unloading time X with the minimum unloading time Xmin, and determines whether to control the air source to operate at the minimum inflation rate based on the comparison result.

[0055] Based on the comparison results in the first instance, the processing unit determines to control the gas source and operate at the lowest inflation rate;

[0056] Based on the second time comparison result, the processing unit determines that it will not control the gas source to operate at the lowest inflation rate;

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

[0058] Compared with existing technologies, the advantages of this invention are as follows: By setting at least four pneumatic lifting devices, stable lifting of the material box is achieved, ensuring that the material is transported from a low position to a high target position. Simultaneously, the positioning device ensures reliable locking of the material box during lifting, preventing instability and accidental movement, and improving transportation safety. The control device includes a data acquisition unit, a judgment unit, and a processing unit, realizing intelligent operation control. The data acquisition unit adjusts the air source inflation rate in real time based on quality data, enabling the pneumatic lifting device to smoothly move the material box during lifting, reducing bumps and shaking. The judgment unit determines whether to adjust the inflation rate based on the material box's moving speed, improving the dynamic response capability to the transportation process and making the transportation process more stable and controllable. The processing unit determines whether to operate at the minimum inflation rate based on the unloading time, thus enabling operation at a lower rate when the material box reaches the target position, reducing energy consumption and noise. Simultaneously, by controlling the positioning device to lock the material box, the safe unloading of the material is ensured.

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

[0060] Collect the mass data of the material box, and control the inflation rate of the air source to inflate the pneumatic lifting device according to the mass data, so that the pneumatic lifting device can smoothly drive the material box to move upward.

[0061] The moving speed of the material box is collected, and the inflation rate is adjusted based on the moving speed.

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

[0063] When it is determined that the inflation rate will not be adjusted, the inflation rate is recorded as the adjusted inflation rate.

[0064] After obtaining the adjusted inflation rate, load data of each pneumatic lifting device is collected, and the stability of the material box is determined based on the load data.

[0065] When it is determined that the material box is unstable, 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 operate at the minimum inflation rate based on the unloading time. When it is determined that the air source is operating at the minimum inflation rate, the positioning device is controlled to lock the material box.

[0067] It is understandable that the above-mentioned safe feeding self-locking control device and method have the same beneficial effects, and will not be elaborated further here. Attached Figure Description

[0068] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0069] Figure 1 A perspective view of the safe feeding self-locking control device provided in an embodiment of the present invention;

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

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

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

[0073] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, embodiments and features in the embodiments of the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0074] See Figure 1-2 As shown, this embodiment provides a safe material feeding self-locking control device, including a feeding machine and a control device 150. The feeding machine includes a support frame 110, a pneumatic lifting device 120, a material box 130, and a positioning device. The control device 150 includes a data acquisition unit 151, a judgment unit 152, and a processing unit 153. The feeding machine includes the support frame 110, the pneumatic lifting device 120, the material box 130, and the positioning device. At least four pneumatic lifting devices 120 are provided, fixedly installed at the four corners of the support frame 110, and used to lift the material box 130 to a target position. At least four positioning devices are provided, one fixedly installed on one side of a pneumatic lifting device 120, and used to lock the material box 130.

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

[0076] The acquisition unit 151 is configured to acquire the mass data of the material box 130. The acquisition unit 151 controls the inflation rate of the air source to inflate the pneumatic lifting device 120 according to the mass data, so that the pneumatic lifting device 120 can smoothly drive the material box 130 upward.

[0077] The judgment unit 152 is configured to collect the moving speed of the material box 130 and determine whether to adjust the inflation rate based on the moving speed. When the judgment unit 152 determines that the inflation rate should be adjusted, it acquires the adjusted inflation rate. When the judgment unit 152 determines that the inflation rate should not be adjusted, it records the adjusted inflation rate. The judgment unit 152 is also configured to collect the load data of each pneumatic lifting device 120 after acquiring the adjusted inflation rate and determine whether the material box 130 is stable based on the load data. When the judgment unit 152 determines that the material box 130 is not stable, it controls the air source to stop filling the gas and 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 air source to operate at the minimum inflation rate based on the unloading time. When it is determined that the air source is operating at the minimum inflation rate, the processing unit 153 also controls the positioning device to lock the material box 130. The unloading time is the time it takes for the material in the material box 130 to be completely removed after it reaches the target position. If unloading is performed immediately after the material box 130 reaches the target position, the unloading time is short. If the material box 130 needs to maintain the target position for a longer period of time after reaching it, the unloading time is longer. The unloading time can be planned and collected in advance according to the actual material application method.

[0079] Specifically, the device comprises two parts: a feeding machine and a control device 150. The feeding machine consists of a support frame 110, a pneumatic lifting device 120, a material box 130, and a positioning device. At least four pneumatic lifting devices 120 and positioning devices are provided to ensure stable lifting and locking of the material box 130. The positioning device comprises a vertically arranged screw 141, a slider 142, and a swing arm 143. A positioning sensor 144 is also installed 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 position of the upper edge of the material box 130 in real time, causing the slider 142 to move with the material box 130. When the positioning device is activated, the swing arm 143 moves closer to the material box 130, reaching the upper edge of the material box 130. At this point, the upper edge of the material box 130 rests on the swing arm 143, providing additional support to prevent the material box 130 from shaking and falling. The control device 150 includes a data acquisition unit 151, a judgment unit 152, and a processing unit 153. By acquiring the mass data and moving speed of the material box 130, it achieves intelligent control of the inflation rate of the pneumatic lifting device 120. The judgment unit 152 dynamically adjusts the inflation rate based on the moving speed and stops inflation when the material box 130 is unstable, while simultaneously controlling the positioning device to lock the material box 130. The processing unit 153 acquires the unloading time when the material box 130 reaches the target position, determines whether to operate at the minimum inflation rate based on the time, and controls the positioning device to lock the material box 130.

[0080] Understandably, by collecting the mass data and moving speed of the material box 130, the inflation rate of the pneumatic lifting device 120 is dynamically adjusted. The design of the positioning device further enhances the stable locking of the material box 130. In particular, the combination of the screw 141, slider 142, swing arm 143, and positioning sensor 144 enables real-time monitoring of the upper edge position of the material box 130 and provides additional support, preventing the material box 130 from shaking or falling off during movement. The intelligent adjustment mechanism of the judgment unit 152 determines whether the inflation rate needs to be adjusted based on the real-time moving speed, enabling the device to respond in real time to different transportation conditions and ensuring the smooth movement of the material box 130. When the material box 130 is unstable, the judgment unit 152 quickly stops the air supply and locks the positioning device to prevent transportation accidents in time. The processing unit 153 determines whether to operate at the minimum inflation rate based on the unloading time to improve energy utilization efficiency, and controls the positioning device to lock when the material box 130 reaches the target position, ensuring the safe unloading of materials.

[0081] In some embodiments of this application, when the acquisition unit 151 controls the inflation rate of the air source to inflate the pneumatic lifting device 120 according to the mass data, the acquisition unit 151 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.

[0082] Specifically, based on the first mass comparison result, the acquisition unit 151 determines the inflation rate as the first inflation rate K1. Based on the second mass comparison result, the acquisition unit 151 determines the inflation rate as the second inflation rate K2. Based on the third mass comparison result, the acquisition unit 151 determines the inflation rate as the third inflation rate K2. Wherein, the first mass comparison result is L≤L1, the second mass comparison result is L1<L≤L2, the third mass comparison result is L2<L, and K1<K2<K3.

[0083] Specifically, the data acquisition unit 151 is responsible for intelligent control based on the mass data of the material box 130 to adjust the inflation rate of the air source to the pneumatic lifting device 120. Specifically, it compares the acquired mass data L with pre-set first preset mass data L1 and second preset mass data L2. Based on the comparison result, it determines the corresponding inflation rate, thereby achieving dynamic adjustment of the pneumatic lifting device 120.

[0084] Understandably, the moving speed of the material bin 130 directly affects the stability of the entire feeding machine system. If the material bin 130 moves too fast or too slow, it will cause instability in the gas inside the pneumatic lifting device 120, affecting the smooth rising or falling of materials. The system automatically selects an appropriate inflation rate based on the actual mass of the material bin 130, achieving dynamic response and optimal adjustment to the transportation process. This improves the feeding machine's transportation efficiency, stability, and energy utilization efficiency. During operation, it can more intelligently adapt to working environments under different mass conditions, further ensuring the safety and efficiency of the feeding process. Through intelligent control using segmented inflation rate adjustment based on mass data, more flexible and efficient material transportation is achieved.

[0085] In some embodiments of this application, when the acquisition unit 151 determines the inflation rate to be the i-th inflation rate Ki (i = 1, 2, 3), and the judgment unit 152 determines whether to adjust the inflation rate based on the movement speed, the process includes: the judgment unit 152 pre-setting a slowest movement speed threshold Ymin and a fastest movement speed threshold Ymax, comparing the movement speed Y with both the slowest movement speed threshold Ymin and the fastest movement speed threshold Ymax, and determining whether to adjust the inflation rate based on the comparison results. Under the first movement speed comparison result, the judgment unit 152 determines that the inflation rate should not be adjusted and records the adjusted inflation rate. Under the second movement speed comparison result, the judgment unit 152 determines that the inflation rate should be adjusted. Wherein, the first movement speed comparison result is Ymin ≤ Y ≤ Ymax, and the second movement speed comparison result is Y > Ymax or Y < Ymin.

[0086] Specifically, after the acquisition unit 151 determines the inflation rate to be the i-th inflation rate Ki, the judgment unit 152 determines whether the inflation rate needs to be adjusted based on the movement speed to further optimize the operation of the feeder. The judgment unit 152 pre-sets a minimum movement speed threshold Ymin and a maximum movement speed threshold Ymax, and compares the actual movement speed Y with these two thresholds. Under the first movement speed comparison result, Ymin≤Y≤Ymax, the judgment unit 152 determines that the current movement 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 movement speed comparison result, Y>Ymax or Y<Ymin, the judgment unit 152 determines that the current movement speed is too fast or too slow, and therefore adjusts the inflation rate.

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

[0088] Understandably, a rate adjustment mechanism is employed to dynamically adjust the inflation rate by real-time monitoring and judgment of the moving speed, better adapting 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 activates the rate adjustment mechanism. Under the first judgment condition, Y > Ymax, the judgment unit 152 adjusts the inflation rate using a first rate adjustment coefficient A1 to obtain the corresponding adjusted inflation rate Ki*A1. Under the second judgment condition, Y < Ymin, the judgment unit 152 adjusts the inflation rate using a second rate adjustment coefficient A2 to obtain the corresponding adjusted inflation rate Ki*A2. This fully considers the impact of different material masses on the feeder's performance, maintaining stable material transport.

[0089] In some embodiments of this application, the judgment unit 152 is further configured to determine whether the material box 130 is stable based on the load data, including: the judgment unit 152 determining the cycle period T based on the mass data L. Under a first mass comparison result, the judgment unit 152 determines the cycle period T as the first cycle period T1. Under a second mass comparison result, the judgment unit 152 determines the cycle period T as the second cycle period T2. Under a third mass 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 this application, when the judgment unit 152 determines that the cycle period T is the i-th cycle period Ti, i = 1, 2, 3, and the judgment unit 152 judges whether the material box 130 is stable based on the load data, the method further includes: taking the moment when an abnormal load data condition occurs as the starting point, within the cycle period T, when the load data of all pneumatic lifting devices 120 has shown an abnormal condition, the judgment unit 152 determines that the material box 130 is stable. Alternatively, taking the moment when an abnormal load data condition occurs as the starting point, within the cycle period T, when there is a pneumatic lifting device 120 whose load data has not shown an abnormal condition, the judgment unit 152 determines that the material box 130 is unstable.

[0091] Specifically, the judgment unit 152 determines the cycle period T by detecting and analyzing the load data and combining it with the quality data L. Based on different quality comparison results, different cycle periods T1, T2, and T3 are set, satisfying T1 < T2 < T3. After determining the cycle period Ti (i = 1, 2, 3), the judgment unit 152 further analyzes the load data to determine the stability of the material box 130.

[0092] Specifically, within cycle T, the judgment unit 152 takes the moment when an abnormal load data condition occurs as the starting point. From this moment until the end of cycle T, if the load data of all pneumatic lifting devices 120 has shown abnormalities, the judgment unit 152 determines that the material box 130 is stable. This may be due to periodic oscillations during material transport; in this case, the material box 130 is determined to be stable. Conversely, if the load data of any pneumatic lifting device 120 has not shown abnormalities during this period, it is determined that the pneumatic lifting device 120 with abnormal data during the transport of the material box 130 is faulty, and the judgment unit 152 determines that the material box 130 is unstable. If no abnormal load data condition occurs within cycle T, the material box 130 is also determined to be stable.

[0093] Understandably, the stability of material bin 130 is judged by the timing and frequency of abnormal situations. By comprehensively considering load and quality data and setting different cycle periods and judgment criteria, the system's ability to accurately judge the stability of material bin 130 is improved. This helps to promptly identify potential problems, enhances the stability and safety of the feeding machine's transportation process, and provides a more reliable guarantee for material transportation.

[0094] In some embodiments of this application, when the judgment unit 152 determines whether the material box 130 is stable based on the load data, the judgment of abnormal load data includes: the judgment unit 152 determines whether abnormal load data occurs according to the following formula:

[0095]

[0096] Where n represents the number of pneumatic devices, L represents the mass of material box 130, g represents the acceleration due to gravity, and F0 represents the load data. When the load data F0 does not meet the requirements... When this occurs, the judgment unit 152 determines that the load data is abnormal.

[0097] Understandably, by considering the proportional relationship between load data and the mass data of material bin 130, as well as its relationship with the number of pneumatic devices and gravitational acceleration, abnormal load data can be effectively detected. This improves the sensitivity and accuracy of load data anomaly detection, enabling timely identification of potential problems and avoiding misjudgments and omissions.

[0098] In some embodiments of this application, when the judgment unit 152 determines that the material box 130 is unstable, and the judgment unit 152 controls the positioning device to lock the material box 130, the process includes: the judgment unit 152 determining the clamping force D when the positioning device locks based on mass data. Under a first mass comparison result, the judgment unit 152 determines the clamping force D as a first clamping force D1. Under a second mass comparison result, the judgment unit 152 determines the clamping force D as a second clamping force D2. Under a third mass comparison result, the judgment unit 152 determines the clamping force D as a third clamping force D3. Wherein, D1 < D2 < D3.

[0099] Specifically, when the judgment unit 152 determines that the material box 130 is unstable, the judgment unit 152 adopts a control strategy to dynamically determine the clamping force D when the positioning device locks based on different quality data. Specifically, under different quality comparison results, the judgment unit 152 determines different levels of clamping force, namely the first clamping force D1, the second clamping force D2, and the third clamping force D3, where D1 < D2 < D3.

[0100] Understandably, adjusting the clamping force of the positioning device based on the mass data of the material box 130 allows the clamping force to adapt to transportation needs under different conditions. By dynamically adjusting the clamping force, the material box 130 can be locked more precisely, ensuring stable locking of the material box 130 under different mass conditions, thereby improving the safety and reliability of the entire feeding machine transportation process.

[0101] In some embodiments of this application, the processing unit 153 determines whether to control the air source to operate at the minimum inflation rate based on the unloading time, including: the processing unit 153 comparing the unloading time X with the minimum unloading time Xmin, and determining whether to control the air source to operate at the minimum inflation rate based on the comparison result. Under the first time comparison result, the processing unit 153 determines to control the air source and operate at the minimum inflation rate. Under the second time comparison result, the processing unit 153 determines not to control the air source to operate at the minimum inflation rate. Wherein, 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 location, if the unloading time is very short, it is not necessary to ensure that the air source operates at the minimum inflation rate. After unloading is completed, the air source is automatically shut off, and the pneumatic lifting device 120 is vented to ensure that the material box 130 returns to its initial position. When the unloading time is longer, due to air leakage in 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 air leakage rate of the pneumatic lifting device 120 and 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 the stability of the material box 130's position.

[0103] Understandably, the relationship between unloading time and air source operating rate is considered, and the air source inflation rate is flexibly adjusted according to different unloading time conditions to achieve optimal operating results. Especially when the unloading time is long, to avoid air leakage from the pneumatic lifting device 120 affecting 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 is stably stationary at the target position. This helps to improve the operating efficiency of the feeding machine, reduce energy consumption, and ensure the reliability and accuracy of the unloading process.

[0104] The operation process of this device is as follows:

[0105] Initially, the material bin 130 is located at the bottom. As the material begins to move upward, the acquisition unit 151 uses a visual sensor, such as a camera, to perform visual analysis on the material bin 130. Image processing technology is used to estimate the volume and density of the material bin 130, thereby acquiring its mass data. Based on the mass data, the pneumatic lifting device 120 of the air source box is activated for inflation. Driven by the pneumatic lifting device 120, the material bin 130 moves upward. During this movement, the moving speed of the material bin 130 is collected, and the inflation rate is adjusted based on the speed to maintain the material bin 130's movement speed within a safe range. Once the final inflation rate of the air source is determined, the load status of each pneumatic lifting device 120 is collected. Based on the load status, it is determined whether any pneumatic lifting device 120 is not working or whether any pneumatic lifting device 120 is overloaded. If it is determined that the movement of the material box 130 is unstable, it may be due to a malfunction of the pneumatic lifting device 120. At this time, the positioning device is activated, and the swing arm 143 in the positioning device moves towards the material box 130. With the additional support provided by the swing arm 143, the material box 130 stops shaking, preventing the contents of the material box 130 from shaking and spilling. If the movement of the material box 130 remains stable until it reaches the target position, it is determined based on the unloading time whether to use the positioning device and whether to allow the air source to continue operating at the minimum inflation rate to provide additional support for completing the unloading.

[0106] In the above embodiments, by setting at least four pneumatic lifting devices, stable lifting and lowering of the material box is achieved, ensuring that the material is transported from a low position to a high target position. Simultaneously, the positioning device ensures reliable locking of the material box during lifting, preventing instability and accidental movement, and improving transportation safety. The control device includes a data acquisition unit, a judgment unit, and a processing unit, realizing intelligent operation control. The data acquisition unit adjusts the air source inflation rate in real time based on quality data, enabling the pneumatic lifting device to smoothly move the material box during lifting, reducing bumps and shaking. The judgment unit determines whether to adjust the inflation rate based on the material box's moving speed, improving the dynamic response capability of the transportation process and making the transportation process more stable and controllable. The processing unit determines whether to operate at the minimum inflation rate based on the unloading time, thus enabling operation at a lower rate when the material box reaches the target position, reducing energy consumption and noise. Simultaneously, by controlling the positioning device to lock the material box, the safe unloading of the material is ensured.

[0107] See Figure 3 As shown, this application also proposes a safe material feeding self-locking control method, including:

[0108] S100: Collects the mass data of the material box and controls the inflation rate of the air source to inflate the pneumatic lifting device based on the mass data, so that the pneumatic lifting device can smoothly drive the material box upward.

[0109] S200: Collects the moving speed of the material box and determines whether to adjust the inflation rate based on the moving speed;

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

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

[0112] S300: After obtaining the adjusted inflation rate, collect the load data of each pneumatic lifting device and determine whether the material box is stable based on the load data.

[0113] When it is determined that the material box is unstable, the control air source stops filling the gas and the control positioning device locks the material box.

[0114] S400: When the material box reaches the target position, the unloading time is collected, and the air source is controlled to operate at the minimum inflation rate based on the unloading time. When it is determined that the air source is operating at the minimum inflation rate, the positioning device is controlled to lock the material box.

[0115] Understandably, by setting up at least four pneumatic lifting devices, stable lifting and lowering of the material box is achieved, ensuring that the material is transported from a low position to a high target position. Simultaneously, the positioning device ensures reliable locking of the material box during lifting, preventing instability and accidental movement, and improving transportation safety. The control device includes a data acquisition unit, a judgment unit, and a processing unit, realizing intelligent operation control. The data acquisition unit adjusts the air supply inflation rate in real time based on quality data, enabling the pneumatic lifting device to smoothly move the material box during lifting, reducing bumps and shaking. The judgment unit determines whether to adjust the inflation rate based on the material box's moving speed, improving the dynamic response capability of the transportation process and making the transportation process more stable and controllable. The processing unit determines whether to operate at the minimum inflation rate based on the unloading time, thus enabling operation at a lower rate when the material box reaches the target position, reducing energy consumption and noise. Simultaneously, by controlling the positioning device to lock the material box, the safe unloading of the material is ensured.

[0116] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied 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] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0118] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0119] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function 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 and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do 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 material feeding self-locking control device, characterized in that, include: The feeding machine includes 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 installed at the four corners of the support frame. The pneumatic lifting devices are used to lift the material box to the target position. At least four positioning devices are provided, and one positioning device is fixedly installed on one side of the pneumatic lifting device. The positioning device is used to lock the material box. The control device includes a data acquisition unit, a judgment unit, and a processing unit. The control device is electrically connected to the feeder and is used to control the operation of the feeder. The acquisition unit is configured to acquire the mass data of the material box. The acquisition unit controls the inflation rate of the air source to inflate the pneumatic lifting device according to the mass data, so that the pneumatic lifting device can smoothly drive the material box to move upward. The judgment unit is configured to collect the moving speed of the material box, and the judgment unit determines whether to adjust the inflation rate based on the moving speed; When the determination unit determines that the inflation rate needs to be adjusted, it obtains the adjusted inflation rate. When the determination unit determines that the inflation rate should not 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 determines whether the material box is stable based on the load data. When the judgment unit determines that the material box is unstable, 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 based on 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, characterized in that, When the acquisition unit controls the inflation rate of the air source to inflate the pneumatic lifting device based on 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 based on the comparison results. Based on the first quality comparison result, the acquisition unit determines the inflation rate as the first inflation rate K1; Based on the second quality comparison result, the acquisition unit determines the inflation rate as the second inflation rate K2; Based on the third quality comparison result, the acquisition unit determines the inflation rate as the third inflation rate K2; Wherein, the first quality comparison result is L≤L1, the second quality comparison result is L1<L≤L2, the third quality comparison result is L2<L, and K1<K2<K3.

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

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

5. The safe feeding self-locking control device according to claim 2, characterized in that, The judgment unit is further configured to determine whether the material box is stable based on the load data, including: The judgment unit determines the cycle period T based on the quality data L; Based on the first quality comparison result, the judgment unit determines that the cycle period T is the first cycle period T1; Based on the second quality comparison result, the judgment unit determines that the cycle period T is the second cycle period T2; Based on the third quality comparison result, the judgment unit determines that the cycle period T is the third cycle period T3; Where T1 < T2 < T3.

6. The safe feeding self-locking control device according to claim 5, characterized in that, When the judgment unit determines that the cycle period T is the i-th cycle period Ti, i = 1, 2, 3, and the judgment unit judges whether the material box is stable based on the load data, it further includes: The judgment unit takes the moment when the load data becomes abnormal as the starting point. Within the cycle T, when the load data of all the pneumatic lifting devices have become abnormal, the judgment unit determines that the material box is stable. The judgment unit takes the moment when the load data becomes abnormal as the starting point. Within the cycle T, if the load data of the pneumatic lifting device has never become abnormal, the judgment unit determines that the material box is unstable.

7. The safe feeding self-locking control device according to claim 6, characterized in that, When the judgment unit determines whether the material box is stable based on the load data, the judgment of abnormal conditions of the load data includes: The judgment unit determines whether the load data is abnormal according to the following formula: Where n represents the number of pneumatic devices, L represents the mass of the material box, g represents the gravitational acceleration, and F0 represents the load data; When the load data F0 is not satisfied When this occurs, the judgment unit determines that the load data is abnormal.

8. The safe feeding self-locking control device according to claim 6, characterized in that, When the judgment unit determines that the material box is unstable, the judgment unit controls the positioning device to lock the material box, including: The judgment unit determines the clamping force D when the positioning device locks based on the mass data; Based on the first quality comparison result, the judgment unit determines that the clamping force D is the first clamping force D1; Based on the second mass comparison result, the judgment unit determines that the clamping force D is the second clamping force D2; Based on the third mass comparison result, the judgment unit determines that the clamping force D is the third clamping force D3; Where D1 < D2 < D3.

9. The safe feeding self-locking control device according to claim 1, characterized in that, The processing unit determines whether to control the air source to operate at the minimum inflation rate based on the unloading time, including: The processing unit compares the unloading time X with the minimum unloading time Xmin, and determines whether to control the air source to operate at the minimum inflation rate based on the comparison result. Based on the comparison results in the first instance, the processing unit determines to control the gas source and operate at the lowest inflation rate; Based on the second time comparison result, the processing unit determines that it will not control the gas source to operate at the lowest inflation rate; Wherein, the first time comparison result is X>Xmin, and the second time comparison result is X≤Xmin.

10. A safe material feeding self-locking control method, characterized in that, include: Collect the mass data of the material box, and control the inflation rate of the air source to inflate the pneumatic lifting device according to the mass data, so that the pneumatic lifting device can smoothly drive the material box to move upward. The moving speed of the material box is collected, and the inflation rate is adjusted based on the moving speed. When it is determined that the inflation rate needs to be adjusted, the adjusted inflation rate is obtained; When it is determined that the inflation rate will not be adjusted, the inflation rate is recorded as the adjusted inflation rate. After obtaining the adjusted inflation rate, load data of each pneumatic lifting device is collected, and the stability of the material box is determined based on the load data. When it is determined that the material box is unstable, 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 operate at the minimum inflation rate based on the unloading time. When it is determined that the air source is operating at the minimum inflation rate, the positioning device is controlled to lock the material box.

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