CN112706972A

CN112706972A - Strapping machine control method and device, strapping machine and storage medium

Info

Publication number: CN112706972A
Application number: CN201911022186.XA
Authority: CN
Inventors: 周向辉; 路鹏; 陈小龙
Original assignee: Shunqihe Shenzhen Technology Co Ltd
Current assignee: Shunqihe Shenzhen Technology Co Ltd
Priority date: 2019-10-25
Filing date: 2019-10-25
Publication date: 2021-04-27

Abstract

The embodiment of the invention discloses a strapping machine control method and device, a strapping machine and a storage medium. The strapping machine comprises a conveying device, a clamp, a detection device, a strapping device and a discharging device; the method comprises the following steps: controlling the conveying device to convey the clamp loaded with the articles to be bundled to a bundling position; controlling the bundling device to bundle the articles to be bundled in the clamp; controlling the conveying device to convey the clamp loaded with the bundled articles to a discharging position; and controlling the discharging device to take the bundled articles out of the clamp. The embodiment of the invention can realize the control of the binding machine.

Description

Strapping machine control method and device, strapping machine and storage medium

Technical Field

The invention relates to the technical field of bundling, in particular to a control method and device of a bundling machine, the bundling machine and a storage medium.

Background

At present, the binding of the objects such as crabs, vegetables, fruits and the like is generally realized by a manual binding mode.

This approach is inefficient.

There is a strong demand for the automatic bundling of the above-mentioned articles, but there is no technology available in the market that can perform the automatic bundling of the above-mentioned articles.

To meet this need, the inventors have come to practice to consider:

one of the prerequisites for realizing the automatic bundling of the articles is to realize the control of a bundling tool (bundling machine) for the articles.

Therefore, it is necessary to provide a new technical solution for controlling the binding tool (binding machine) for the above-mentioned objects.

Disclosure of Invention

The invention aims to provide a strapping machine control method and device, a strapping machine and a storage medium, which can realize control of the strapping machine.

In order to solve the above problems, the technical solution of the embodiment of the present invention is as follows:

in a first aspect, a strapping machine control method is provided, the strapping machine including a conveyor, a clamp, a detection device, a strapping device, and a discharge device; the method comprises the following steps: controlling the conveying device to convey the clamp loaded with the articles to be bundled to a bundling position; controlling the bundling device to bundle the articles to be bundled in the clamp; controlling the conveying device to convey the clamp loaded with the bundled articles to a discharging position; and controlling the discharging device to take the bundled articles out of the clamp.

In a second aspect, a strapping machine control device is provided, the strapping machine including a conveyor, a clamp, a detection device, a strapping device, a discharge device, and a control device; the control device includes: the control module is used for controlling the conveying device to convey the clamp loaded with the object to be bundled to a bundling position, controlling the bundling device to bundle the object to be bundled in the clamp, controlling the conveying device to convey the clamp loaded with the bundled object to a discharging position, and controlling the discharging device to take out the bundled object from the clamp.

In a third aspect, there is provided a strapping machine comprising a conveyor, a clamp, a detection device, a strapping device, a discharge device and a control device, the control device comprising a processor and a memory, the memory being adapted to store program code, the processor being adapted to execute the program code when the strapping machine is in operation to perform the strapping machine control method of the first aspect.

In a fourth aspect, there is provided a computer-readable storage medium storing program code for causing a computer to execute the strapping machine control method of the first aspect described above.

In the embodiment of the invention, the conveying device is controlled to convey the clamp loaded with the object to be bundled to the bundling position, the bundling device is controlled to bundle the object to be bundled in the clamp, the conveying device is controlled to convey the clamp loaded with the bundled object to the discharging position, and the discharging device is controlled to take out the bundled object from the clamp, so that the control of the bundling machine can be realized, and the automatic bundling of the objects such as crabs, vegetables, fruits and the like can be realized.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic view of a strapping machine in accordance with an embodiment of the present invention.

Fig. 2 is a schematic diagram of an illustrative version of a control panel interface in a strapping machine in accordance with an embodiment of the present invention.

Fig. 3 is a schematic diagram of another display form of a control panel interface in a strapping machine according to an embodiment of the invention.

Fig. 4 is a schematic diagram of another display form of a control panel interface in a strapping machine according to an embodiment of the invention.

Fig. 5 is a schematic diagram of another display form of a control panel interface in a strapping machine according to an embodiment of the invention.

Fig. 6 is a flow chart of a strapping machine control method in accordance with an embodiment of the present invention.

Fig. 7 is a flowchart of the steps of controlling the conveyor shown in fig. 6 to convey a gripper loaded with a first bundled article from a first bundling position to a second bundling position.

Fig. 8 is a block diagram of a binder control apparatus according to an embodiment of the present invention.

Fig. 9 is a schematic diagram of an operating environment of a strapping machine control device according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In embodiments of the present invention, the term "module" generally refers to: hardware, a combination of hardware and software, and so forth. For example, a module may be a process running on a processor, an object, an executable, a thread of execution, a program, and so on. Both an application running on a processor and the processor can be a module. One or more modules may be located in one computer and/or distributed between two or more computers.

In the embodiment of the present invention, "first", "second", and the like are only used for distinguishing different objects, and should not constitute any limitation to the embodiment of the present invention.

The strapping machine control method and apparatus of embodiments of the present invention are applicable to strapping machines for strapping articles, which may include crabs (e.g., hairy crabs), vegetables (e.g., lettuce), fruits (e.g., bananas), and the like.

As shown in fig. 1, the strapping machine comprises a control device 106, a conveyor device 102, a gripper 105, a detection device 101, a strapping device and a discharge device 104. The control device 106 is electrically connected to the conveying device 102, the detecting device 101, the strapping device and the discharging device 104.

The conveyor 102 may be, for example, a step conveyor, the conveyor 102 including tracks, and the strapping machine being configured to convey the grippers 105 by the conveyor 102 (the tracks) such that the grippers 105 are conveyed from a loading position to a testing position, from the testing position to a strapping position, and from the strapping position to a discharge position.

The conveying device 102 includes a first conveying path 1021, a second conveying path 1022, a third conveying path 1023 and a fourth conveying path 1024, where the first conveying path 1021, the second conveying path 1022, the third conveying path 1023 and the fourth conveying path 1024 are connected end to end, that is, the first conveying path 1021 connects the second conveying path 1022, the second conveying path 1022 connects the third conveying path 1023, the third conveying path 1023 connects the fourth conveying path 1024, and the fourth conveying path 1024 connects the first conveying path 1021.

The clamp 105 is an appliance having an open receiving cavity, and the clamp 105 is used for fixing the article. The clamp 105 has a first gap and a second gap for passing the lashing wire through the clamp 105, a first projection of the first gap onto a plane corresponding to the clamp 105 and a second projection of the second gap onto the plane corresponding to the clamp 105 having an angle, the angle being such that the first gap and the second gap divide the clamp 105 into four parts.

The strapping machine control method and device of the embodiment of the invention can be applied to various strapping modes, and are exemplified in three modes as follows: the first binding mode is "binding by the line binding machine 1", the second binding mode is "binding by the line binding machine 2", and the third binding mode is "binding by the cross binding machine". As shown in fig. 2.

The "straight-line strapping machine 1 strapping" is a strapping method for strapping 1 round of an article to be strapped in a first strapping direction, the "straight-line strapping machine 2 strapping" is a strapping method for strapping 2 rounds of an article to be strapped in the first strapping direction, and the "cross-line strapping" is a strapping method for strapping at least 1 round of an article to be strapped in the first strapping direction and then strapping at least 1 round of the article in a second strapping direction different from the first strapping direction.

The following describes steps of a strapping machine control method according to an embodiment of the present invention, which implements a "strapping mode by the one-lane strapping machine 1". As shown in fig. 6.

The strapping machine control method comprises the following steps:

a reset (initialization) instruction is received, wherein the reset instruction is an instruction for resetting part devices (such as the conveying device 102, the detecting device 101, the binding device and the discharging device 104) of the binding machine triggered by a reset control in the control panel interface 201 in response to the operation of a user. The control panel interface 201 comprises a control area 2011 and a navigation area 2012, the navigation area 2012 is located on at least one side of the control area 2011, and the control area 2011 in the control panel interface 201 comprises a reset (initialization) control, a start control, a pause control, a close control, a bundling mode selection control and a bundling result zero clearing control. The navigation area 2012 in the control panel interface 201 includes a manual operation control, a parameter setting control, an input/output table control, and an alarm recording control.

And controlling the strapping machine to reset (initialize) according to the reset instruction.

Receiving a starting instruction, wherein the starting instruction is an instruction for starting the strapping machine, which is triggered by a starting control in the control panel interface 201 in response to the operation of a user.

The strapping machine is controlled to start according to the start instruction, for example, the power supply of the strapping machine is controlled to supply power to the conveying device 102, the detecting device 101, the strapping device and the discharge device 104.

And receiving a binding mode selection instruction, wherein the binding mode selection instruction is an instruction for controlling the binding machine to bind the articles in the corresponding binding mode, which is triggered by the binding mode selection control in the control panel interface 201 in response to the operation of the user. The strapping mode selection control may be, for example, a graphical interface button related to one of "line strapper 1 strap", "line strapper 2 strap", and "cross-strapping".

And controlling the conveying device 102 and the bundling device to bundle the articles by adopting the bundling method corresponding to the bundling method selection command according to the bundling method selection command.

Specifically, the step of controlling the conveying device 102 and the bundling device according to the bundling method selection command to bundle the articles by using the bundling method corresponding to the bundling method selection command includes:

the conveyor 102 is controlled to convey the gripper 105 to a loading position so that the gripper 105 receives the article to be strapped in the loading position. The loading position is located on the first conveyor track 1021.

The conveying device 102 is controlled to convey the gripper 105 loaded with the article to be bundled to a detection position (step 601). The detection position is located on the second conveying path 1022, and the detection device 101 is disposed at the detection position.

The detection device 101 is controlled to detect the object to be bundled in the clamp 105 (step 602). The detection device 101 is configured to detect at least one of the following aspects: on the first hand, whether the clamp 105 is loaded with the articles to be bundled; in a second aspect, what is the kind of the item; in a third aspect, what is the weight of the item; in a fourth aspect, in a case where the kind of the article is a crab, what is the sex of the crab.

The detection device 101 may include a combination of a weight sensor, an infrared sensor, a camera, and an image processing chip. The detecting device 101 is used for detecting whether the clamp 105 is loaded with the objects to be bound or not through the weight sensor, the detecting device 101 is used for detecting whether the objects are living bodies or not through the infrared sensor, for example, whether the objects are crabs or not, and the detecting device 101 is used for detecting the sex of the crabs through the combination of the camera and the image processing chip.

When the detection result of the detection device 101 is that the article to be bound is not loaded in the gripper 105, the conveying device 102 is controlled to convey the gripper 105 to the loading position (step 609), and specifically, the conveying device 102 is controlled to convey the gripper 105 to the binding position, the unloading position, and the loading position in this order, that is, when the gripper 105 is conveyed to the binding position, the binding device is controlled not to bind the gripper 105, and when the gripper 105 is conveyed to the unloading position, the unloading device 104 is controlled not to unload the gripper 105.

The conveyor 102 is controlled to convey the gripper 105 loaded with the articles to be bundled to a bundling position. In particular, in the case where the detection result of the detecting device 101 is that the gripper 105 is loaded with the article to be bundled, the conveying device 102 is controlled to convey the gripper 105 loaded with the article to be bundled to the bundling position.

The strapping device is controlled to strap the articles to be strapped in the clamp 105.

The banding locations include a first banding location located at the third lane 1023. The strapping means comprises a first strapping means 1031, said first strapping means 1031 being arranged at said first strapping position.

The step of controlling the conveyor 102 to convey the gripper 105 loaded with the article to be bundled to the bundling position includes:

the conveyor 102 is controlled to convey the gripper 105 loaded with the articles to be bundled to the first bundling position (step 603).

The step of controlling the strapping device to strap the article to be strapped in the clamp 105 includes:

the strapping device (first strapping device 1031) is controlled to perform a first strapping (step 604) of the articles to be strapped in the clamp 105, the first strapping being performed a first number of turns in a first strapping direction. The first bundling direction is parallel to a linear direction corresponding to the third conveying path 1023, and a first projection of the first gap on a plane corresponding to the clamp 105 is parallel to the first bundling direction.

Specifically, when the clamp 105 is conveyed to the first binding position in the third conveying path 1023, the first binding wire fitted in the binding device (first binding device 1031) passes through the first gap of the clamp 105, and the binding device (first binding device 1031) binds the first binding wire around the article in the first gap to achieve first binding of the article.

After the first bundling of the article, the conveying device 102 is controlled to convey the gripper 105 loaded with the bundled article to a discharge position (step 607). The discharge position is located at the fourth conveying path 1024 or the first conveying path 1021.

The discharge device 104 is controlled to remove the bundled article from the clamp 105 (step 608). The discharging device 104 includes a vacuum suction machine, a pipeline, and a suction member, the suction member may be a suction nozzle or a suction cup, the suction nozzle or the suction cup is made of flexible plastic or flexible rubber, and two ends of the pipeline are respectively connected with the vacuum suction machine and the suction member.

The method further comprises the following steps:

receiving a pause instruction, wherein the pause instruction is an instruction for pausing the strapping machine triggered by a pause control in the control panel interface 201 in response to the operation of a user.

And controlling the strapping machine to pause according to the pause instruction.

Receiving a closing instruction, wherein the closing instruction is an instruction for closing the strapping machine triggered by a closing control in the control panel interface 201 in response to the operation of a user.

The closing of the strapping machine in response to the closing instruction, for example, controls the power supply to stop supplying power to the conveyor device 102, the detection device 101, the strapping device and the discharge device 104.

The method further comprises the following steps:

and displaying binding result information of the article bound by the binding machine in the control area. The binding result information includes: the number of articles bundled, the bundling efficiency, etc.

And receiving a bundling result zero clearing instruction, wherein the bundling result zero clearing instruction is an instruction for clearing a bundling result triggered by a bundling result zero clearing control in the control panel interface 201 in response to the operation of a user.

And clearing the bundling result according to the bundling result clearing instruction.

The method further comprises the following steps:

receiving a manual operation instruction, wherein the manual operation instruction is an instruction for controlling the operation of the strapping machine according to the control operation of the user, which is triggered by a manual operation control in the control panel interface 201 in response to the operation of the user. As shown in fig. 3.

And controlling the strapping machine to operate according to the manual operation instruction.

The method further comprises the following steps:

receiving a parameter setting instruction, wherein the parameter setting instruction is an instruction for setting parameters such as a material taking position, a waiting position, a material placing position, an operation speed and the like of any one of a linear motor, a cross motor, a winding and unwinding motor and a transfer motor, which are input by a user through a parameter setting control in a control panel interface 201. As shown in fig. 4.

And setting parameters of the strapping machine according to the parameter setting instruction.

The method further comprises the following steps:

and receiving an alarm record display instruction, wherein the alarm record display instruction is an instruction for displaying an alarm record triggered by an alarm record display control in the control panel interface 201 in response to the operation of the user.

And displaying an alarm record according to the alarm record display instruction. As shown in fig. 5.

And receiving an alarm record clearing instruction, wherein the alarm record clearing instruction is an instruction for clearing the alarm record triggered by an alarm record clearing control in the control panel interface 201 in response to the operation of the user.

And clearing the alarm record according to the alarm clearing instruction.

The method further comprises the following steps:

receiving an alarm pause instruction, wherein the alarm pause instruction is an alarm pause instruction triggered by an alarm pause control in a control panel interface 201 in response to the operation of a user;

and pausing the alarm of the strapping machine according to the alarm pause instruction.

The method further comprises the following steps:

receiving a buzzer opening instruction or a buzzer closing instruction, wherein the buzzer opening instruction is an instruction for opening a buzzer triggered by a buzzer switch control in the control panel interface 201 in response to the operation of a user, and the buzzer closing instruction is an instruction for closing the buzzer triggered by the buzzer switch control in the control panel interface 201 in response to the operation of the user;

and starting the buzzer or closing the buzzer according to the buzzer starting instruction or the buzzer closing instruction.

The steps of the strapping machine control method provided by the embodiment of the invention for realizing the strapping mode of the one-line strapping machine 2 are similar to the steps for realizing the strapping mode of the one-line strapping machine 1, and the difference is that: the strapping machine control method provided by the embodiment of the invention realizes that the steps of the '2-way strapping machine strapping' mode are more than the steps of the '1-way strapping machine strapping' mode for 1 circle, namely, the strapping device straps the articles for 2 circles in the process of strapping the articles.

The following describes the steps of the strapping machine control method of the present invention in a "cross-strapping machine strapping" mode.

The step of the strapping machine control method provided by the embodiment of the invention for realizing the strapping mode of the cross-track strapping machine comprises the step of realizing the strapping mode of the straight-track strapping machine 1 or the step of realizing the strapping mode of the straight-track strapping machine 2, and in addition, the step of the strapping machine control method provided by the embodiment of the invention for realizing the strapping mode of the cross-track strapping machine further comprises the following steps:

the strapping positions further comprise a second strapping position; the second bundling position is located at the fourth delivery lane 1024. The strapping device includes a second strapping device 1032, the second strapping device 1032 being disposed at the second strapping location.

After the first bundling of the article, and before the step of controlling the conveying device 102 to convey the clamp 105 loaded with the bundled article to the unloading position, the step of controlling the conveying device 102 to convey the clamp 105 loaded with the article to be bundled to the bundling position further comprises:

the conveyor 102 is controlled to convey the gripper 105 loaded with the articles from the first bundling to the second bundling position (step 605).

The step of controlling the detecting device 101 to bundle the objects to be bundled in the clamp 105 further comprises:

controlling the strapping device (second strapping device 1032) to perform a second strapping of the first strapped article in the clamp 105 (step 606), the second strapping being a second number of turns of strapping performed in a second strapping direction. Wherein the second bundling direction is parallel to the linear direction corresponding to the fourth conveying path 1024, and a second projection of the second gap on the plane corresponding to the clamp 105 is parallel to the second bundling direction.

Specifically, when the clamp 105 is conveyed to the second bundling position in the fourth conveying path 1024, the second bundling wire fitted in the bundling device (second bundling device 1032) passes through the second gap of the clamp 105, and the bundling device (second bundling device 1032) bundles the second bundling wire around the article in the second gap to achieve the second bundling of the article.

After the second bundling of the article, the conveying device 102 is controlled to convey the gripper 105 loaded with the bundled article to the discharge position (step 607).

Specifically, as shown in fig. 7, the step of controlling the conveying device 102 to convey the gripper 105 loaded with the articles subjected to the first bundling to the second bundling position includes:

the transport device 102 is controlled to transport the gripper 105 loaded with the first bundled article in the first transport direction to a transfer position 6051 at the junction of the third lane 1023 and the fourth lane 1024.

Keeping the orientation of the gripper 105 unchanged (i.e., the first projection of the first gap is still parallel to the line corresponding to the third track 1023 and the second projection of the second gap is still parallel to the line corresponding to the fourth track 1024), the transporting device 102 is controlled to transport the gripper 105 from the transit position to the second banding position along a second transporting direction perpendicular to the first transporting direction (step 6052).

In the above-mentioned technical solution, the conveyor 102 is controlled to convey the clamp 105 loaded with the object to be bundled to the bundling position, the bundling device is controlled to bundle the object to be bundled in the clamp 105, the conveyor 102 is controlled to convey the clamp 105 loaded with the bundled object to the discharge position, and the discharge device 104 is controlled to take out the bundled object from the clamp 105, so that the control of the bundling machine can be realized, and the automatic bundling of the objects such as crabs, vegetables, fruits and the like can be realized.

The following describes a procedure in which the strapping machine control device 106 according to the embodiment of the present invention implements the "strapping by the one-lane strapping machine 1" mode. As shown in fig. 8.

The control device 106 includes:

the receiving module 1061 is configured to receive a reset (initialization) instruction, where the reset instruction is an instruction for resetting some devices (e.g., the conveying device 102, the detecting device 101, the strapping device, and the discharging device 104) of the strapping machine, which is triggered by a reset control in the control panel interface 201 in response to an operation of a user. The control panel interface 201 comprises a control area 2011 and a navigation area 2012, the navigation area 2012 is located on at least one side of the control area 2011, and the control area 2011 in the control panel interface 201 comprises a reset (initialization) control, a start control, a pause control, a close control, a bundling mode selection control and a bundling result zero clearing control. The navigation area 2012 in the control panel interface 201 includes a manual operation control, a parameter setting control, an input/output table control, and an alarm recording control.

The control module 1062 is configured to control resetting (initialization) of the strapping machine according to the reset instruction.

The receiving module 1061 is further configured to receive an initiating instruction, where the initiating instruction is an instruction for initiating the strapping machine, which is triggered by an initiating control in the control panel interface 201 in response to an operation of a user.

The control module 1062 is also used to control the activation of the strapping machine according to the activation instruction, for example, to control the power supply of the strapping machine to supply power to the conveyor 102, the detection device 101, the strapping device, and the discharge device 104.

The receiving module 1061 is further configured to receive a bundling manner selection instruction, where the bundling manner selection instruction is an instruction that is triggered by the bundling manner selection control in the control panel interface 201 in response to an operation of a user and controls the strapping machine to bundle the articles in the corresponding bundling manner. The strapping mode selection control may be, for example, a graphical interface button related to one of "line strapper 1 strap", "line strapper 2 strap", and "cross-strapping".

The control module 1062 is further configured to control the conveying device 102 and the bundling device to bundle the articles in the bundling manner corresponding to the bundling manner selection instruction according to the bundling manner selection instruction.

Specifically, the control module 1062 is configured to control the conveying device 102 to convey the clamp 105 to the loading position, so that the clamp 105 receives the article to be bundled at the loading position, control the conveying device 102 to convey the clamp 105 loaded with the article to be bundled to the detection position, and control the detection device 101 to detect the article to be bundled in the clamp 105.

Wherein the loading position is located on the first conveying path 1021, the detection position is located on the second conveying path 1022, and the detection device 101 is disposed at the detection position.

The detection device 101 is configured to detect at least one of the following aspects: on the first hand, whether the clamp 105 is loaded with the articles to be bundled; in a second aspect, what is the kind of the item; in a third aspect, what is the weight of the item; in a fourth aspect, in a case where the kind of the article is a crab, what is the sex of the crab. The detection device 101 may include a combination of a weight sensor, an infrared sensor, a camera, and an image processing chip. The detecting device 101 is used for detecting whether the clamp 105 is loaded with the objects to be bound or not through the weight sensor, the detecting device 101 is used for detecting whether the objects are living bodies or not through the infrared sensor, for example, whether the objects are crabs or not, and the detecting device 101 is used for detecting the sex of the crabs through the combination of the camera and the image processing chip.

The control module 1062 is further configured to control the conveying device 102 to convey the clamp 105 to the loading position, specifically, control the conveying device 102 to convey the clamp 105 to the bundling position, the unloading position, and the loading position in sequence, when the detection result of the detecting device 101 is that the clamp 105 is not loaded with the articles to be bundled, that is, control the bundling device not to bundle the clamp 105 when the clamp 105 is conveyed to the bundling position, and control the unloading device 104 not to unload the clamp 105 when the clamp 105 is conveyed to the unloading position.

The control module 1062 is also used for controlling the conveying device 102 to convey the clamp 105 loaded with the object to be bundled to the bundling position. In particular, the control module 1062 is further configured to control the conveying device 102 to convey the clamp 105 loaded with the article to be bundled to the bundling position if the detection result of the detecting device 101 is that the clamp 105 is loaded with the article to be bundled.

The control module 1062 is also used for controlling the bundling device to bundle the objects to be bundled in the clamp 105.

The control module 1062 is further configured to control the conveying device 102 to convey the clamp 105 loaded with the object to be bundled to the first bundling position, and to control the bundling device (first bundling device 1031) to perform a first bundling of the object to be bundled in the clamp 105, the first bundling being a bundling performed a first number of turns in a first bundling direction. The first bundling direction is parallel to a linear direction corresponding to the third conveying path 1023, and a first projection of the first gap on a plane corresponding to the clamp 105 is parallel to the first bundling direction.

The control module 1062 is further configured to control the conveying device 102 to convey the clamp 105 loaded with the bundled article to a discharging position after the article is bundled for the first time. The discharge position is located at the fourth conveying path 1024 or the first conveying path 1021.

The control module 1062 is further configured to control the discharging device 104 to remove the bundled article from the clamp 105. The discharging device 104 includes a vacuum suction machine, a pipeline, and a suction member, the suction member may be a suction nozzle or a suction cup, the suction nozzle or the suction cup is made of flexible plastic or flexible rubber, and two ends of the pipeline are respectively connected with the vacuum suction machine and the suction member.

The receiving module 1061 is further configured to receive a pause instruction, where the pause instruction is an instruction for pausing the strapping machine triggered by a pause control in the control panel interface 201 in response to an operation of a user.

The control module 1062 is also configured to control the strapping machine to pause based on the pause instruction.

The receiving module 1061 is further configured to receive a closing instruction, where the closing instruction is an instruction for closing the strapping machine triggered by a closing control in the control panel interface 201 in response to an operation of a user.

The control module 1062 is also used to turn off the strapping machine according to the closing command, for example, to control the power supply to stop supplying power to the conveyor 102, the detection device 101, the strapping device and the discharge device 104.

The device further comprises:

a display module 1063, configured to display the bundling result information of the bundling machine for bundling the article in the control area. The binding result information includes: the number of articles bundled, the bundling efficiency, etc.

The receiving module 1061 is further configured to receive a bundling result zero-clearing instruction, where the bundling result zero-clearing instruction is an instruction for clearing a bundling result triggered by a bundling result zero-clearing control in the control panel interface 201 in response to an operation of a user.

The control module 1062 is further configured to clear the bundling result according to the bundling result clearing instruction.

The receiving module 1061 is further configured to receive a manual operation instruction, where the manual operation instruction is an instruction for controlling the operation of the strapping machine according to a control operation of a user, which is triggered by a manual operation control in the control panel interface 201 in response to an operation of the user.

The control module 1062 is also configured to control the operation of the strapping machine according to the manual operation command.

The receiving module 1061 is further configured to receive a parameter setting instruction, where the parameter setting instruction is an instruction for setting parameters of any one of a "material taking position", "waiting position", "material placing position", and an "operating speed" of the "linear motor", "cross motor", "winding and unwinding motor", and "transfer motor" in response to a user input by a parameter setting control in the control panel interface 201.

The control module 1062 is also configured to set parameters of the strapping machine according to the parameter setting instructions.

The receiving module 1061 is further configured to receive an alarm record display instruction, where the alarm record display instruction is an instruction for displaying an alarm record triggered by an alarm record display control in the control panel interface 201 in response to an operation of a user;

the display module 1063 is further configured to display an alarm record according to the alarm record display instruction;

the receiving module 1061 is further configured to receive an alarm record clearing instruction, where the alarm record clearing instruction is an instruction for clearing an alarm record triggered by an alarm record clearing control in the control panel interface 201 in response to an operation of a user;

the control module 1062 is further configured to clear an alarm record according to the alarm clear instruction.

The receiving module 1061 is further configured to receive an alarm pause instruction, where the alarm pause instruction is an instruction for pausing an alarm triggered by an alarm pause control in the control panel interface 201 in response to an operation of a user;

the control module 1062 is further configured to suspend the alarm of the strapping machine based on the alarm suspend instruction.

The receiving module 1061 is further configured to receive a buzzer starting instruction or a buzzer closing instruction, where the buzzer starting instruction is an instruction for starting a buzzer triggered by a buzzer switch control in the control panel interface 201 in response to an operation of a user, and the buzzer closing instruction is an instruction for closing the buzzer triggered by the buzzer switch control in the control panel interface 201 in response to the operation of the user;

the control module 1062 is further configured to turn on the buzzer or turn off the buzzer according to the buzzer turning-on instruction or the buzzer turning-off instruction.

The steps of the strapping machine control device 106 according to the embodiment of the present invention for implementing the "strapping with the single track strapping machine 2" method are similar to the steps for implementing the "strapping with the single track strapping machine 1" method, except that: the strapping machine control device 106 according to an embodiment of the present invention performs the step of "strapping with the line strapping machine 2" for 1 cycle more than the step of "strapping with the line strapping machine 1" for 1 cycle, that is, the strapping machine performs the strapping with the article for 2 cycles.

The following describes a procedure in which the strapping machine control device 106 according to an embodiment of the present invention performs the "cross-strapping machine strapping" mode.

The step of the strapping machine control device 106 according to the embodiment of the present invention for implementing the "cross-strapping machine strapping" mode includes the step of implementing the "straight strapping machine 1 strapping" mode or the step of the "straight strapping machine 2 strapping" mode, and in addition, the process of the strapping machine control device 106 according to the embodiment of the present invention for implementing the "cross-strapping machine strapping" mode further includes:

After the first bundling of the articles and before the conveyor 102 is controlled to convey the gripper 105 loaded with the bundled articles to the discharge position, the control module 1062 is further configured to control the conveyor 102 to convey the gripper 105 loaded with the articles subjected to the first bundling to the second bundling position, and to control the bundling device (second bundling device 1032) to perform a second bundling of the articles subjected to the first bundling in the gripper 105, the second bundling being a second number of rounds of bundling performed in a second bundling direction. Wherein the second bundling direction is parallel to the linear direction corresponding to the fourth conveying path 1024, and a second projection of the second gap on the plane corresponding to the clamp 105 is parallel to the second bundling direction.

The control module 1062 is further configured to control the conveying device 102 to convey the clamp 105 loaded with the bundled article to the unloading position after the article is bundled for the second time.

In particular, the control module 1062 is further configured to control the conveying device 102 to convey the gripper 105 loaded with the article subjected to the first bundling along the first conveying direction to a transfer position at a junction of the third conveying path 1023 and the fourth conveying path 1024.

The control module 1062 is further configured to keep the orientation of the gripper 105 unchanged (i.e., the first projection of the first gap is still parallel to the line corresponding to the third conveying path 1023, and the second projection of the second gap is still parallel to the line corresponding to the fourth conveying path 1024), and control the conveying device 102 to convey the gripper 105 from the transit position to the second bundling position along a second conveying direction perpendicular to the first conveying direction.

The strapping machine control device 106 provided by the embodiment of the present invention may be implemented by hardware, as shown in fig. 9, the hardware may include any combination of a processor 903, a memory 902, an input/output interface 905, a display 904, a communication circuit 901, and the like, where the memory 902, the input/output interface 905, the display 904, and the communication circuit 901 are all electrically connected to the processor 903. Any combination of the processor 903, the memory 902, the input/output interface 905, the display 904, the communication circuit 901, and the like described above is used to implement the functions of the binder control device 106 provided by the embodiment of the present invention.

The processor 901 may be, for example: a CPU (Central Processing Unit), a GPU, an NPU (Neural network Processing Unit), other general-purpose processors, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, etc., wherein the general-purpose Processor may be a microprocessor or any conventional Processor, etc.

The memory 902 may include both read-only memory and random-access memory for providing program code and data to the processor. The memory 902 may also include non-volatile random access memory. The memory 902 may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The non-volatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory.

The binder control device 106 according to the embodiment of the present invention may also be implemented by software, and in this case, the binder control device 106 and each module thereof according to the embodiment of the present invention may also be a software module. When implemented in software, the above-described embodiments may be implemented in whole or in part in the form of a computer program product (the carrier of which may, for example, be the computer-readable storage medium of an embodiment of the invention).

The strapping machine control device 106 provided by the embodiment of the present invention may also be implemented by a combination of software and hardware.

The strapping machine control device 106 provided by the embodiments of the present invention may correspond to performing the method described in the embodiments of the present invention, and the above and other operations and/or functions of the various modules in the strapping machine control device 106 are used to implement the corresponding processes of the strapping machine control method provided by the embodiments of the present invention.

The strapping machine provided by the embodiment of the invention comprises a conveying device 102, a clamp 105, a detection device 101, a strapping device, a discharging device 104 and a control device, wherein the control device comprises a processor and a memory, the memory is used for storing program codes, and the processor is used for executing the program codes when the strapping machine runs so as to execute the control method of the strapping machine provided by the embodiment of the invention. For example, the program code may perform the steps of:

controlling the conveying device 102 to convey the clamp 105 loaded with the article to be bundled to a bundling position; controlling the strapping device to strap the articles to be strapped in the clamp 105; controlling the conveying device 102 to convey the clamp 105 loaded with the bundled articles to a discharging position; the discharge device 104 is controlled to take the bundled article out of the clamp 105.

The computer-readable storage medium of the embodiment of the present invention stores a program code for causing a computer to execute the strapping machine control method provided by the embodiment of the present invention. For example, the program code may perform the steps of:

The computer may be a processor in a strapping machine.

The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains one or more collections of available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. The semiconductor medium may be a Solid State Drive (SSD).

The instructions of the program code may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the instructions of the program code may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL), or wireless (e.g., infrared, wireless, microwave, etc.) means.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application.

In summary, although the present invention has been described with reference to the preferred embodiments, the above-described preferred embodiments are not intended to limit the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, therefore, the scope of the present invention shall be determined by the appended claims.

Claims

1. A strapping machine control method is characterized in that the strapping machine comprises a conveying device, a clamp, a detection device, a strapping device and a discharging device;

the method comprises the following steps:

controlling the conveying device to convey the clamp loaded with the articles to be bundled to a bundling position;

controlling the bundling device to bundle the articles to be bundled in the clamp;

controlling the conveying device to convey the clamp loaded with the bundled articles to a discharging position;

and controlling the discharging device to take the bundled articles out of the clamp.

2. The strapping machine control method of claim 1 wherein the strapping position comprises a first strapping position;

the step of controlling the conveyor to convey the gripper loaded with the article to be bundled to a bundling position includes:

controlling the conveying device to convey the clamp loaded with the articles to be bundled to the first bundling position;

the step of controlling the strapping device to strap the articles to be strapped in the clamp comprises:

controlling the strapping device to perform a first strapping of the articles to be strapped in the clamp, the first strapping being a first number of turns of strapping performed in a first strapping direction.

3. The strapping machine control method in accordance with claim 2 wherein the strapping positions further include a second strapping position;

the step of controlling the conveyor to convey the gripper loaded with the article to be bundled to a bundling position further comprises:

controlling the conveying device to convey the gripper loaded with the articles subjected to the first bundling to the second bundling position;

the step of controlling the detecting device to bundle the objects to be bundled in the clamp further includes:

and controlling the bundling device to perform second bundling on the first bundled article in the clamp, wherein the second bundling is performed for a second number of turns in a second bundling direction.

4. The strapping machine control method in accordance with claim 3 wherein the step of controlling the conveyor to convey the clamp loaded with the first strapped article to the second strapping location comprises:

controlling the conveying device to convey the clamp loaded with the first bundled article to a transfer position along the first conveying direction;

and controlling the conveying device to convey the clamp from the transfer position to the second bundling position along a second conveying direction perpendicular to the first conveying direction while keeping the orientation of the clamp unchanged.

5. The strapping machine control method in accordance with claim 1 wherein prior to the step of controlling the conveyor to convey the clamp loaded with the article to be strapped to a strapping position, the method further comprises:

controlling the conveying device to convey the clamp loaded with the article to be bundled to a detection position;

controlling a detection device to detect the articles to be bundled in the clamp;

the step of controlling the conveying device to convey the jig loaded with the article to be bundled to a bundling position includes:

and controlling the conveying device to convey the clamp loaded with the article to be bundled to the bundling position when the detection result of the detecting device is that the article to be bundled is loaded in the clamp.

6. A control device of a binding machine is characterized in that the binding machine comprises a conveying device, a clamp, a detection device, a binding device, a discharging device and a control device;

the control device includes:

the control module is used for controlling the conveying device to convey the clamp loaded with the object to be bundled to a bundling position, controlling the bundling device to bundle the object to be bundled in the clamp, controlling the conveying device to convey the clamp loaded with the bundled object to a discharging position, and controlling the discharging device to take out the bundled object from the clamp.

7. The strapping machine control device in accordance with claim 6 wherein the strapping position comprises a first strapping position;

the control module is used for controlling the conveying device to convey the clamp loaded with the articles to be bundled to the first bundling position, and controlling the bundling device to perform first bundling on the articles to be bundled in the clamp, wherein the first bundling is performed for a first number of rounds of bundling along a first bundling direction.

8. The strapping control device of claim 7 wherein the strapping position further comprises a second strapping position;

the control module is used for controlling the conveying device to convey the clamp loaded with the first-time bundled articles to the second bundling position, and controlling the bundling device to perform second bundling on the first-time bundled articles in the clamp, wherein the second bundling is performed for a second number of rounds along a second bundling direction.

9. Strapping apparatus characterized in that it comprises a conveyor device, a gripper, a detection device, a strapping device, a discharge device and a control device, the control device comprising a processor and a memory, the memory being intended to store program code, which when the strapping apparatus is operated, is intended to be executed by the processor in order to carry out the strapping apparatus control method according to any of claims 1 to 5.

10. A computer-readable storage medium storing a program code for causing a computer to execute the strapping machine control method according to any one of claims 1 to 5.