CN114803474A

CN114803474A - Feeding method of feeding machine and feeding machine

Info

Publication number: CN114803474A
Application number: CN202210537912.7A
Authority: CN
Inventors: 黄邵春; 顾俊; 倪佳斌
Original assignee: Suzhou HYC Technology Co Ltd
Current assignee: Suzhou HYC Technology Co Ltd
Priority date: 2022-05-18
Filing date: 2022-05-18
Publication date: 2022-07-29

Abstract

The application relates to a feeding machine and a feeding method of the feeding machine, wherein the feeding method of the feeding machine comprises the following steps: judging whether the line number of the line to be fetched is X; if so, the manipulator clamps the product positioned in the row to be taken from the space between the two discharging and sucking rods and transfers the product; if not, the sliding table slides relative to the discharge suction rod until the row to be taken is superposed with the reference position, and the row number of the row to be taken is changed into X; circulating the steps until all the products positioned on the sliding table are transferred; the receiving sequence of the line numbers for receiving the lines to be fetched is from N to M. In the above-mentioned scheme, only need set for the line number of product, the line number and the line interval on standard line, just remove row by row through the slip table and realize that the manipulator presss from both sides row by row to the product, need not increase extra positions such as the skew position of every line product, this material loading method has also alleviateed work load to the manipulator procedure moreover, and the manipulator only needs the position on teaching standard line, just can accomplish whole Tray's the flow of getting the material.

Description

Feeding method of feeding machine and feeding machine

Technical Field

The application relates to the technical field of automatic feeding, in particular to a feeding method of a feeding machine and the feeding machine.

Background

In the existing feeding machine, a manipulator is generally adopted to clamp products displayed on a Tray disc (Tray) so as to realize the feeding and transferring of the products. However, the suction rod and the suction nozzle used for sucking the Tray disc on the suction rod interfere with the moving range of the manipulator when the Tray disc takes materials, so that the manipulator can only clamp the products in the middle of the clamp, the products on two sides can not be clamped through the actual point position of the manipulator, and the feeding efficiency of the feeding machine is reduced, and the requirement of mass production can not be met.

Disclosure of Invention

Therefore, a feeding method and a feeding machine of a feeding machine are needed to be provided, and the problem that the moving range of a manipulator is interfered in the prior art is solved.

In a first aspect, the application provides a feeding method of a feeding machine, which is applied to feeding of products of the feeding machine, wherein the feeding machine comprises a manipulator, a sliding table and a controller connected with the manipulator and the sliding table, a plurality of rows and columns of the products are placed on the sliding table, and the sliding table can move relative to the manipulator;

the product row number placed on the sliding table is sequentially marked as a continuous integer from N to M, wherein the row number X of a standard row is one row from N to M, the initial position where the standard row is located is used as a reference position, and the feeding method of the feeding machine comprises the following steps:

judging whether the line number of the line to be fetched is X;

if so, the manipulator clamps the product positioned in the row to be taken and transfers the product;

if not, the sliding table slides to the position where the row to be taken is superposed with the reference position, and the row number of the row to be taken is changed into X;

circulating the steps to completely transfer the products positioned on the sliding table;

the receiving sequence of the line numbers for receiving the lines to be fetched is from N to M.

In any embodiment, the step of: if yes, the manipulator clamps and takes the product in the standard row and transfers the product, and the method comprises the following steps:

receiving the line number of the line to be fetched;

making the line number of the line to be fetched equal to X;

the manipulator moves to the reference position;

and the manipulator sequentially clamps the products in the columns of the rows to be taken and sequentially transfers the products.

In any embodiment, the step of: the manipulator sequentially clamps the products in the rows to be taken and sequentially transfers the products, and the method comprises the following steps:

the controller judges whether the products in each column of the row to be taken exist or not through a visual system;

if yes, obtaining the product information of each row of the row to be fetched through a vision system;

the controller controls the manipulator to move to the product rows in sequence and clamp and transfer the products one by one;

if not, the step is ended.

In any embodiment, the step of obtaining, by a vision system, each column of the product information of the row to be fetched includes the following steps:

the mechanical arm shoots the whole row of the row to be taken through a vision system to obtain the photo information of the product;

and the controller analyzes the position deviation of each row of the products according to the photo information.

In any embodiment, the steps of: the controller controls the manipulator to move to the product rows in sequence and clamp and transfer the products one by one, and the method comprises the following steps:

the controller controls the manipulator to move to the column of products;

controlling the manipulator to adapt to the position deviation of the corresponding row of products;

gripping and transferring the product;

and circulating the steps to the product of the standard row to be completely transferred.

In any embodiment, the vision system is fixedly attached to the robot.

In any embodiment, the step of: the sliding table slides to the position where the row to be taken coincides with the reference position, and the row number of the row to be taken is equal to X, and the method comprises the following steps:

calculating a target moving position according to the reference position, the line number difference between the line to be acquired and the standard line and the line spacing between products in each line;

and the sliding table moves to the target moving position, and the row to be taken is superposed with the reference position.

In any embodiment, the target moving position is the sum of the product of the line number difference and the line pitch between the to-be-fetched line and the standard line and the reference position.

In any embodiment, the standard row corresponds to N rows or M rows.

In a second aspect, the present application provides a loading machine, which uses the loading method of the loading machine in any one of the above embodiments to load a product located in a carrier, where the loading machine includes;

a body;

the manipulator is connected with the machine body and used for clamping and transferring the product;

the lifting platform is used for placing a carrier and a product, is connected to the machine body and is positioned on one side of the manipulator, and can move up and down;

the feeding suction rods are connected to the machine body and located above the lifting platform, and can suck or place carriers and products;

the descending platform is connected to the machine body and located on one side of the manipulator, and the descending platform can move up and down;

the discharging suction rods are connected to the machine body and located above the descending platform, the discharging suction rods and the feeding suction rods are arranged at the same height, and the discharging suction rods can suck or place carriers;

the sliding table is used for placing carriers and products, and moves back and forth between the input suction rod and the discharge suction rod so as to transfer the carriers and the products between the input suction rod and the discharge suction rod;

and the controller is connected with the manipulator and the sliding table.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.

In order to more clearly illustrate the technical solutions in the embodiments of the present application, 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 application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a feeder according to an embodiment of the present application;

FIG. 2 is a logic block diagram of a loading method according to an embodiment of the present application;

fig. 3 is a logic diagram of a portion of the steps in fig. 2.

Description of reference numerals:

100. a feeding machine; 110. a manipulator; 120. a sliding table; 130. lifting the platform; 140. a descending platform; 150. a vision camera; 160. throwing a suction rod; 170. a discharge suction rod; 180. throwing a suction rod and a suction nozzle; 190. discharging the suction rod and the suction nozzle.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of embodiments in many different forms than those described herein and that modifications may be made by one skilled in the art without departing from the spirit and scope of the application and it is therefore not intended to be limited to the embodiments disclosed below.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "including" and "having," and any variations thereof, in the description and claims of this application and the description of the above figures are intended to cover non-exclusive inclusions.

In the description of the embodiments of the present application, the term "and/or" is only one kind of association relation describing an associated object, and means that three kinds of relations may exist, for example, a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Preferred embodiments of the present application will be described below with reference to the accompanying drawings.

Referring to fig. 1, a loading machine 100 according to any embodiment of the present disclosure is used for loading a product in a carrier. In this embodiment, the carrier is a Tray disc, the products are placed on the Tray disc, and the Tray disc is provided with a plurality of rows and columns of products therein, and the Tray disc is placed on the slide table 120.

The feeder 100 includes a body, a robot 110, a slide table 120, and a controller (not shown) connected to the robot 110 and the slide table 120. Wherein, the manipulator 110 is connected to the machine body for picking up and transferring the product. The robot 110 is preferably a six-axis robot 110. In this embodiment, one Tray disk is placed in the slide table 120.

As shown in fig. 1, the feeder 100 further includes a lifting platform 130, a drop suction bar 160, a drop platform 140, and a discharge suction bar 170. The lifting platform 130 is used for placing a product and a carrier, the lifting platform 130 is connected to the machine body and located at one side of the robot 110, and the lifting platform 130 can move up and down to approach or move away from the input suction rod 160. The input suction bars 160 and the discharge suction bars 170 are arranged in groups, each group includes two, and the two input suction bars 160 or the two discharge suction bars 170 are symmetrically arranged. The input suction rod 160 is connected to the body and located above the lifting platform 130, and the input suction rod 160 can suck the Tray disc and the product located on the lifting platform 130 and place the Tray disc and the product on the sliding table 120. A lowering platform 140 for placing a Tray is connected to the body, and the lowering platform 140 is located at one side of the robot 110, preferably, the lowering platform 140 is located between the lifting platform 130 and the robot 110, and the lowering platform 140 can move up and down to approach or separate from the discharge suction rod 170. The discharge suction rod 170 is connected to the body and positioned above the descending platform 140, the discharge suction rod 170 is disposed at the same height as the input suction rod 160, and the discharge suction rod 170 can suck the Tray disk positioned on the slide table 120 and place the Tray disk on the descending platform 140. The slide table 120 is used to place Tray disks and products, and the slide table 120 is reciprocated between the input suction rod 160 and the discharge suction rod 170 to transfer the Tray disks and products between the input suction rod 160 and the discharge suction rod 170.

When the device is operated, the lifting platform 130 lifts the Tray disc to a certain height, the throwing suction rod 160 moves to the material taking position to suck the Tray disc, after the sucking action is completed, the throwing suction rod 160 ascends to the safe position, the sliding table 120 moves to the position below the throwing suction rod 160, the throwing suction rod 160 moves downwards to the material placing position, the Tray disc is placed on the sliding table 120, and then the sliding table returns to the safe position. The slide table 120 moves in a direction from the lifting platform 130 to the lowering platform 140, and moves above the lowering platform 140. The robot 110 picks up the product until the Tray is completely filled with product. The discharging suction rod 170 sucks the Tray disc, the sliding table 120 moves in the direction from the descending platform 140 to the lifting platform 130, moves to the upper part of the lifting platform 130, waits for receiving and taking off a next Tray disc, and before the sliding table 120 moves to the upper part of the lifting platform 130, the throwing suction rod 160 sucks and moves the next Tray disc to a safe position, and the Tray disc is arranged above the sliding table 120. The descending platform 140 ascends to the receiving position to receive the Tray disc on the discharge suction rod 170, and then the descending platform 140 moves downwards to be separated from the Tray disc sensing sensor and stops to wait for receiving and taking off one Tray disc.

In the above process, as shown in fig. 1, the periphery of the input suction rod 160 is provided with a suction nozzle (not shown) of the input suction rod 160, the suction nozzle of the input suction rod 160 is used for sucking the Tray on the lifting platform 130, the periphery of the discharge suction rod 170 is provided with a suction nozzle (not shown) of the discharge suction rod 170, and the suction nozzle of the discharge suction rod 170 is used for sucking the Tray on the descending platform 140. The suction nozzles of the input suction rod 160 and the discharge suction rod 170 are not telescopic, so that the moving range of the manipulator 110 is limited when the Tray takes materials, only a few rows of products in the middle can be clamped, the products on two sides cannot be clamped through the actual point positions of the manipulator 110, and the interference between the suction nozzles of the discharge suction rod 170 and the manipulator 110 cannot meet the requirement of mass production.

As shown in fig. 1, in the present embodiment, the product rows and columns in the Tray disk are set in the following manner: the rows are in the same direction as the sliding table 120, and the rows are perpendicular to the sliding table 120.

The product row numbers (in this embodiment, the row numbers of the products in the Tray disk) placed on the slide table 120 are sequentially marked as consecutive integers from N to M, where the row number of the standard row is X, and the standard row X is one of N to M. The initial position of the standard row is a reference position for loading by the manipulator 110, as shown in fig. 1, when the manipulator 110 grips the product, it grips the product from between the two discharging and sucking rods 170, and when the standard row of the sliding table 120 corresponds to the manipulator 110, and the manipulator 110 grips the row of the product, there is no interference between the manipulator 110 and the discharging and sucking rods 170.

As shown in fig. 2, a flowchart of a feeding method of a feeding machine 100 for feeding a product according to an embodiment of the present application is shown, where the feeding method of the feeding machine 100 includes the following steps: s10: judging whether the line number of the line to be fetched is X; s20: if so, the manipulator 110 clamps the product in the row to be fetched and transfers the product; s30: if not, the sliding table 120 slides until the row to be fetched coincides with the reference position, and the row number of the row to be fetched is changed to be X; the above steps are circulated until all the products on the slide table 120 are transferred. The row numbers of the rows to be picked are sequentially input from N to M, that is, in the feeding process, the manipulator 110 sequentially grips from N to M, and sequentially grips from the first row to the last row.

S10: and judging whether the line number of the line to be fetched is X.

The standard row (row number X) is any one of N rows to M rows. Preferably, the standard row corresponds to N or M rows, i.e. to the first or last row. In this embodiment, the standard row corresponds to the first row, i.e., to N rows, and X is equal to N. As shown in fig. 1, the robot 110 corresponds to the first row, which is close to the middle position with respect to the discharge suction rod 170, and the robot 110 does not interfere with the gripping of the row of products.

S20: if so, the manipulator 110 clamps the product in the row to be fetched and transfers the product;

when the row number of the row to be fetched is X, the row number of the row to be fetched is input, and the manipulator 110 grips the product located in the row to be fetched. In the present embodiment, the standard row is N rows, and when the row number of the first row (i.e. the row number is N) is input, the row to be fetched is the standard row, and the manipulator 110 grips the product located in the standard row and transfers the product.

S30: if not, the sliding table 120 slides to the position where the row to be taken is overlapped with the reference position, and the row number of the row to be taken is changed to be X.

After the product of the first row (i.e., the row number N) is picked up, the input row number is changed to the second row (i.e., the row number is N +1), the slide table 120 moves to the position where the second row (i.e., the row number is N +1) coincides with the reference position of the original standard row (i.e., the row number is X), so that the position of the second row (i.e., the row number is N +1) is shifted to the position of the first row (i.e., the row number is N) in the previous procedure, that is, the row to be picked (the second row, the row number is N +1) coincides with the reference position at this time, and the row height to be picked up is changed to the row X, so that the row number determination result in step S10 is yes, thereby performing step S20, and using the manipulator 110 to pick up the product. Then, the third row (i.e. row number N +2), the fourth row (i.e. row number N +3), and … … are input in sequence until the last row (i.e. row number M) is input. In the process, the position of the third row (i.e., row number N +2) is shifted to the position of the second row (i.e., row number N +1) in the previous process, and the following rows are iterated in order until the last row (i.e., row number M) moves to the reference position of the standard row (row number X).

In the above process, the sliding table 120 moves line by line, so that the N line to the M line are located at the reference position of the standard line (the line number is X) in sequence, and the manipulator 110 is used to clamp the product located in the line to be taken, thereby realizing that the manipulator 110N to M clamp the product in sequence, and the product is clamped in sequence from the first line to the last line.

In the above scheme, only the row number of the product, the row number of the standard row and the row spacing need to be set, the manipulator 110 is moved row by row through the sliding table 120 to clamp the product row by row, and extra point positions such as the offset position of each row of products do not need to be added. Even if the Tray disk with one specification is replaced, namely the internal row and column specifications of the Tray disk are different, for example, the 5 x 6 specification or the 3 x 8 specification, the standard row is calibrated, the point position of the next offset can be automatically calculated according to the row number and the row spacing, and the calibration time of a loading program is saved. In addition, the loading method also reduces the workload of the manipulator 110, the manipulator 110 only needs to teach the point location of the standard row to complete the material taking process of the whole Tray, and in the prior art, the sliding table 120 moves leftwards or rightwards, and the manipulator 110 needs to newly add stacking point locations.

According to some embodiments of the application, optionally, the step of: s20: if yes, the manipulator 110 clamps and takes the product in the row to be taken and transfers the product, which includes the following steps:

s21: the robot 110 moves to the reference position.

Since the robot 110 grips only the products of the row located at the reference position, the robot keeps being located at the reference position at all times except for the product transferring motion in the step of gripping the products by the robot 110.

S22: the robot 110 sequentially grips the columns of products in the row to be picked and sequentially transfers the products.

When the robot 110 picks up a product, it is necessary to rotate the rotating shaft until the gripper is parallel to the Tray column, enter the range of the suction rod, and move the gripper above the product. The manipulator 110 grabs the points and picks the product. After the row of products is taken out, the manipulator 110 moves to the position of the first row of the row, and repeats the above actions after the sliding table 120 moves in place.

Referring to fig. 3, according to some embodiments of the present application, optionally: s21: the robot 110 reaches the reference position, including the steps of: s211: receiving a row number of a row to be fetched; s212: making the line number of the line to be fetched equal to X; s213: the robot 110 moves to the reference position.

Because every time a column of the sliding table 120 is taken, the sliding table can automatically slide for a certain distance, so that the row to be taken is located at the reference position of the standard row, and further, the material taking at each time can be ensured to meet the requirement that the clamping jaw at the front end of the manipulator 110 can freely move. Since the relative position of the Tray disc has changed, if the received row and column numbers are not processed, the robot 110 may collide with other components during material taking, or the row where the robot 110 is located has no product. Therefore, when the manipulator 110 picks up the material, the received row number is changed to X, so as to ensure that the manipulator 110 is located at the reference position every time the material is picked up.

Referring to fig. 3, according to some embodiments of the present application, optionally: s22: the manipulator 110 sequentially grips each row of products in the row to be taken and sequentially transfers the products, and the method comprises the following steps: s221: the controller judges whether each row of products in the row to be fetched exists or not through the vision system; if yes, S2221: obtaining the product information of each column of the row to be fetched through a vision system; s2222: the controller controls the manipulator 110 to move to the product row in sequence, and clamps and transfers the products one by one; s223: if not, the step is ended.

S2221: then the product information of each column of the row to be fetched is obtained by the vision system.

In the embodiment shown in fig. 1, the vision system is a vision camera 150 that obtains product information by taking a picture of the product.

When the manipulator 110 picks up a product from the Tray, the placement position of each product is slightly deviated, and the manipulator 110 cannot be guaranteed to pick up the product each time simply by the point taught in advance. And when point position teaching is adopted, point position teaching needs to be carried out again when the Tray disc is replaced, the point position teaching is carried out for many times, time and labor are wasted, and the yield cannot be ensured in production. In the scheme, the distribution image of the products on the Tray disc is obtained by installing the vision system, the position deviation of each product is calculated by comparing the distribution image with the previously set standard points, and the deviation is interacted with the manipulator 110 through the controller, so that the manipulator 110 obtains the accurate position of the product, and the manipulator 110 can accurately take the materials.

As shown in fig. 1, according to some embodiments of the present application, the vision system is optionally fixedly attached to the robot 110. Compared with the method that a large-view camera is installed above the Tray disc, the method is easy to interfere with the moving track of the manipulator 110, products in the Tray disc are dense, and the requirement for accurate calculation of an image algorithm when the camera is installed on the Tray disc is high. The vision camera 150 is installed on the manipulator 110, and the vision camera 150 and the manipulator 110 move synchronously, so that the interference of installing a large-view camera on the track of the manipulator 110 is avoided, the large-view camera can be closer to a Tray, and the difficulty of accurate calculation of an image algorithm is reduced.

Referring to fig. 3, according to some embodiments of the present application, optionally: s2221: the method for acquiring the product information of each column of the row to be fetched through the vision system comprises the following steps: s22211: the manipulator 110 takes a picture of the whole row to be taken through the vision system to obtain the picture information of the product; s22212: the controller analyzes the positional deviation of each column of products based on the photo information.

In the process of taking the material by the manipulator 110, after the manipulator 110 reaches the designated row-column number position, the presence or absence of the product is firstly confirmed by a vision system (such as the vision camera 150 shown in fig. 1), if the product is present, the manipulator 110 takes the material downwards, and then the next flow operation is performed.

In the prior art, for products in a Tray disc, each row of products can be repeatedly photographed, confirmed and taken by the manipulator 110. According to the scheme, the photographing and taking process of the manipulator 110 is optimized, the whole row of products in the same row is photographed, and then the products are captured in a targeted manner according to the photographed result.

S22211: the manipulator 110 takes a picture of the whole row to be taken through the vision system to obtain the picture information of the product.

In some embodiments, the robot 110 takes the row-by-row basis, and takes a picture to determine whether the product in the row of the Tray is present and the position offset value by moving the robot 110 one column at a time. In this embodiment, a one-dimensional array ArrayList [ ] can be defined, which mainly stores two data, one is Boolean product presence or absence, 0 is product absence, 1 is product presence, and the other is product position offset X, Y, R direction offset. The index number of the ArrayList [ ] array corresponds to the column number of the row of products one by one, i.e. ArrayList [0] represents the first column of products in the row, and the rest of products are analogized.

S22212: the controller analyzes the positional deviation of each column of products based on the photo information.

Taking ArrayList [0] as an example, after each shooting, the information about whether the product exists or not and the position deviation of the product are respectively stored in the corresponding storage areas, and the information is forwarded to the manipulator 110 through a controller taking PLC as an example. When all the products are photographed, the manipulator 110 takes corresponding actions according to the received information in ArrayList [0 ].

Therefore, the product manipulator 110 in the same row continuously shoots and obtains information, and the shooting process is not called any more in the process of taking the products in the row, so that the interaction time with the controller is saved, and part of action time of the manipulator 110 is saved, thereby improving the feeding efficiency and avoiding the influence on the production efficiency due to time waste caused by repeated actions.

Referring to fig. 3, according to some embodiments of the present application, optionally: s2222: the controller controls the manipulator 110 to move to the product row in sequence, and clamps and transfers the products one by one, and the method comprises the following steps:

s22221: the controller controls the robot 110 to move to the row of products; i.e., move to the column of ArrayList [1] according to the index number of the ArrayList [ ] array.

S22222: the manipulator 110 is controlled to adapt to the position deviation of the corresponding row of products, and the deviation is carried out according to the deviation value X of the corresponding product position in the ArrayList [ ] and the deviation value in the Y, R direction, so as to correspond to the accurate position of the product, and the product can be conveniently and accurately clamped.

S22223: and clamping and transferring the product.

And circulating the steps until all the products to be taken are transferred. After the row of products is taken, the manipulator 110 moves to the first row to be taken, and repeats the above actions after the sliding table 120 moves in place.

According to some embodiments of the application, optionally, the step of: s30: the sliding table 120 slides until the row to be fetched coincides with the reference position, and the row number of the row to be fetched is equal to X, which includes the following steps:

s31: and calculating the moving position of the target. The target moving position is the sum of the distance between the line to be fetched and the standard line and the position of the standard line. The position of the standard line is a reference position, and the line spacing of each line of the product is a fixed value, so that the spacing between the line to be taken and the standard line can be calculated according to the product of the line number difference and the line spacing, and the product and the reference position of the standard line are added to obtain the target moving position.

S32: the slide table 120 moves to the target moving position, and the row to be taken coincides with the reference position. By moving the slide table 120 to the target movement position, the row to be fetched can be made to coincide with the reference position.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and are not limited thereto; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; these modifications and substitutions do not cause the corresponding technical solutions to depart from the scope of the technical solutions of the embodiments of the present application, and are intended to be covered by the claims and the specification of the present application. In particular, the features mentioned in the embodiments can be combined in any manner, as long as no structural conflict exists. This application is not intended to be limited to the particular embodiments disclosed herein but is to cover all embodiments that may fall within the scope of the appended claims.

Claims

1. A feeding method of a feeding machine is applied to product feeding of the feeding machine and is characterized in that the feeding machine comprises a manipulator, a sliding table and a controller connected with the manipulator and the sliding table, wherein a plurality of rows and columns of products are placed on the sliding table, and the sliding table can move relative to the manipulator;

judging whether the line number of the line to be fetched is X;

2. The feeder feeding method according to claim 1, characterized by the steps of: if yes, the manipulator clamps and takes the product in the standard row and transfers the product, and the method comprises the following steps:

receiving the line number of the line to be fetched;

making the line number of the line to be fetched equal to X;

the manipulator moves to the reference position;

3. The feeder loading method according to claim 2, characterized by the steps of: the manipulator sequentially clamps the products in the rows to be taken and sequentially transfers the products, and the method comprises the following steps:

if not, the step is ended.

4. The feeder loading method according to claim 3, wherein the step of obtaining the columns of the product information of the row to be taken through a vision system comprises the following steps:

5. A feeder feeding method according to claim 3, characterized by the steps of: the controller controls the manipulator to move to the product rows in sequence and clamp and transfer the products one by one, and the method comprises the following steps:

the controller controls the manipulator to move to the column of products;

gripping and transferring the product;

6. A feeder loading method according to claim 4, wherein said vision system is fixedly connected to said robot arm.

7. The feeder loading method according to claim 1, characterized by the steps of: the sliding table slides to the position where the row to be taken is superposed with the reference position, and the row number of the row to be taken is equal to X, and the method comprises the following steps:

8. The feeder loading method according to claim 7, wherein the target movement position is a sum of a product of a line number difference and a line pitch of the to-be-fetched line and the standard line and the reference position.

9. The feeder loading method according to claim 1, wherein the standard row corresponds to N rows or M rows.

10. A loader for loading a product in a carrier by using the loading method of any one of claims 1 to 9, the loader comprising;

a body;

and the controller is connected with the manipulator and the sliding table.