CN116216305B - Feeding and discharging control method, controller, feeding and discharging equipment and storage medium - Google Patents
Feeding and discharging control method, controller, feeding and discharging equipment and storage medium Download PDFInfo
- Publication number
- CN116216305B CN116216305B CN202211703523.3A CN202211703523A CN116216305B CN 116216305 B CN116216305 B CN 116216305B CN 202211703523 A CN202211703523 A CN 202211703523A CN 116216305 B CN116216305 B CN 116216305B
- Authority
- CN
- China
- Prior art keywords
- target material
- position information
- carrier
- center position
- axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000007599 discharging Methods 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims abstract description 54
- 238000003860 storage Methods 0.000 title claims abstract description 20
- 239000013077 target material Substances 0.000 claims abstract description 202
- 238000007689 inspection Methods 0.000 claims description 11
- 238000004590 computer program Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 17
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 238000001514 detection method Methods 0.000 abstract description 8
- 239000000463 material Substances 0.000 description 71
- 239000013307 optical fiber Substances 0.000 description 53
- 230000036544 posture Effects 0.000 description 27
- 238000006243 chemical reaction Methods 0.000 description 22
- 238000013519 translation Methods 0.000 description 22
- 238000010586 diagram Methods 0.000 description 15
- 238000012360 testing method Methods 0.000 description 15
- 230000009466 transformation Effects 0.000 description 13
- 230000005540 biological transmission Effects 0.000 description 9
- 239000000835 fiber Substances 0.000 description 7
- 230000009471 action Effects 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000001467 acupuncture Methods 0.000 description 3
- 238000012790 confirmation Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000002059 diagnostic imaging Methods 0.000 description 2
- 238000007380 fibre production Methods 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 238000009776 industrial production Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000003908 quality control method Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000007723 transport mechanism Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
Abstract
The embodiment of the invention provides a loading and unloading control method, a controller, loading and unloading equipment and a storage medium, wherein the loading and unloading control method comprises the steps of obtaining first position information of a target material placed in a loading container and controlling a loading suction nozzle to suck the target material; acquiring first upper surface circle center position information and first lower surface circle center position information of a target material and determining axis information of the target material; controlling a carrier provided with an acupoint hole corresponding to the target material to rotate according to the axis information so as to enable the axis of the acupoint hole to coincide with the axis of the target material; controlling the carrier to move towards the target material along the axis so that the target material is placed in the acupoint holes; moving the carrier to a preset blanking position; and acquiring second position information of the target material, sucking the target material according to the second position information, and placing the target material on a blanking disc. The nondestructive, rapid, efficient and accurate production and detection requirements on target materials are met in the feeding and discharging processes.
Description
Technical Field
The present invention relates to the field of automation, and in particular, to a loading and unloading control method, a controller, loading and unloading equipment, and a storage medium.
Background
With the development of the age, the requirements of the bearing capacity and the transmission capacity of information transmission are continuously improved, and the optical fiber is used as an important tool for information transmission, has the characteristics of large information quantity, low loss, strong electromagnetic interference resistance and long transmission distance, and is gradually and widely applied to the fields of medical imaging, communication, integrated optical devices and the like. The optical fiber is mainly formed by clamping fibers made of glass or plastic, has the defects of low strength and vulnerability to damage, and has important significance on the optical conduction physical characteristics of the surface damage degree. Therefore, "lossless" is important in the production and quality control process. However, related equipment for nondestructive loading and unloading of optical fibers is not available in the related technology, in the existing optical fiber production and quality inspection process, the nondestructive degree of the optical fiber is not guaranteed by taking and placing materials by people, and meanwhile, the defects of low efficiency, poor problem traceability, non-uniform test and inspection standards, high inspection subjectivity and the like are overcome, so that the requirements of rapid, accurate and efficient lean industrial production and detection cannot be met.
Disclosure of Invention
The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.
The embodiment of the invention mainly aims to provide a feeding and discharging control method, a controller, feeding and discharging equipment and a storage medium, which can realize nondestructive, rapid, efficient and accurate production and detection requirements on target materials.
In a first aspect, an embodiment of the present invention provides a loading and unloading control method, including:
acquiring first position information of a target material placed in a feeding container, and controlling a feeding suction nozzle to suck the target material according to the first position information;
acquiring first upper surface circle center position information and first lower surface circle center position information of the target material, and determining axis information of the target material according to the first upper surface circle center position information and the first lower surface circle center position information;
controlling a carrier provided with an acupoint hole corresponding to the target material to rotate according to the axis information so as to enable the axis of the acupoint hole to coincide with the axis of the target material;
controlling the carrier to move towards the target material along the axis so that the target material is placed in the acupoint holes;
moving the carrier to a preset blanking position;
and acquiring second position information of the target material placed in the acupoint hole, sucking the target material according to the second position information, and placing the target material in a blanking disc.
In an embodiment, the obtaining the first position information of the target material placed in the feeding container, and controlling the feeding nozzle to suck the target material according to the first position information includes:
acquiring first position information of a target material placed in a feeding container through a first feeding camera;
controlling a feeding suction nozzle to move to the position right above the target material according to the first position information;
and controlling the feeding suction nozzle to move downwards and sucking the target material.
In an embodiment, the acquiring the first upper surface center position information and the first lower surface center position information of the target material includes:
controlling the feeding suction nozzle to translate to a first target position;
controlling a second feeding camera to acquire the center position information of the first upper surface of the target material;
and controlling the feeding suction nozzle to move upwards by a preset distance, and controlling the second feeding camera to acquire the circle center position information of the first lower surface of the target material.
In an embodiment, the first upper surface center position information includes first X-axis coordinate information and first Y-axis coordinate information, the first lower surface center position information includes second X-axis coordinate information and second Y-axis coordinate information, and the determining the axis information of the target material according to the first upper surface center position information and the first lower surface center position information includes:
Obtaining a distance value between the first upper surface circle center position information and the first lower surface circle center position information according to the first X-axis coordinate information, the first Y-axis coordinate information, the second X-axis coordinate information and the second Y-axis coordinate information;
obtaining first projection position information of the first lower surface circle center position information on the X plane according to the X plane corresponding to the first lower surface circle center position information and the first upper surface circle center position information, and obtaining a deflection angle value of the X plane projection according to the first projection position information and the first lower surface circle center position information;
obtaining second projection position information of the first lower surface center position information on the Y plane according to the Y plane corresponding to the first lower surface center position information and the first upper surface center position information, and obtaining a deflection angle value of the Y plane projection according to the second projection position information and the first lower surface center position information;
and determining the axis information of the target material according to the deflection angle value of the X-plane projection and the deflection angle value of the Y-plane projection.
In an embodiment, the controlling the carrier provided with the acupoint hole corresponding to the target material according to the axis information to rotate so that the axis of the acupoint hole coincides with the axis of the target material includes:
Determining an angle value of the carrier in the X direction and an angle value of the carrier in the Y direction according to the axis information;
and rotating the carrier according to the X-direction angle value and the Y-direction angle value so as to enable the axle center of the acupoint hole to coincide with the axle center of the target material.
In an embodiment, the controlling the carrier to move toward the target material along the axis so that the target material is placed in the acupoint hole includes:
moving the carrier according to the first lower surface circle center position information so as to enable the carrier to move to the lower surface circle center position of the target material;
determining an axis moving distance according to the first upper surface circle center position information and the first lower surface circle center position information;
and moving the carrier according to the axis information and the axis moving distance so that the target material is placed in the acupoint hole.
In an embodiment, moving the carrier to a preset blanking position includes:
and moving the carrier to a preset discharging position so that the axis of the target material in the carrier is vertical, wherein the preset discharging position is a discharging coaxial position.
In an embodiment, the acquiring the second position information of the target material placed in the acupoint hole, sucking the target material according to the second position information, and placing the target material in a blanking tray includes:
Acquiring second position information of a target material placed in the carrier through a first blanking camera;
and controlling a discharging suction nozzle to suck the target material according to the second position information, and placing the target material on a discharging tray.
In an embodiment, the controlling the discharging nozzle to suck the target material according to the second position information and placing the target material on the discharging tray includes:
controlling the discharging suction nozzle to suck the target material according to the second position information;
controlling the blanking suction nozzle to move to a second target position;
controlling a second blanking camera to acquire second upper surface circle center position information and second lower surface circle center position information of the target material;
and under the condition that the circle center position information of the second upper surface and the circle center position information of the second lower surface meet the preset inspection conditions, placing the target material on a blanking disc.
In a second aspect, an embodiment of the present invention provides a controller, including: the feeding and discharging control system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, and is characterized in that the loading and discharging control method of the first aspect is realized when the processor executes the computer program. .
In a third aspect, an embodiment of the present invention provides a loading and unloading device, which is characterized by including the controller in the second aspect.
In a fourth aspect, an embodiment of the present invention provides a computer readable storage medium, where computer executable instructions are stored, where the computer executable instructions are configured to perform the loading and unloading control method according to the first aspect.
The beneficial effects of the invention include: acquiring first position information of a target material placed in a feeding container, and controlling a feeding suction nozzle to suck the target material according to the first position information; acquiring first upper surface circle center position information and first lower surface circle center position information of a target material, and determining axis information of the target material according to the first upper surface circle center position information and the first lower surface circle center position information; controlling a carrier provided with an acupoint hole corresponding to the target material to rotate according to the axis information so as to enable the axis of the acupoint hole to coincide with the axis of the target material; controlling the carrier to move towards the target material along the axis so that the target material is placed in the acupoint holes; moving the carrier to a preset blanking position; and acquiring second position information of the target material placed in the acupoint holes, sucking the target material according to the second position information, and placing the target material in a blanking tray. In the technical scheme of the embodiment, in the feeding working process, the gesture of the target material on the feeding suction nozzle is obtained, the carrier is controlled to rotate according to the gesture so that the axle center of the acupoint hole on the carrier coincides with the axle center of the target material, then the target material is placed into the acupoint hole of the carrier in a nondestructive mode, in the discharging working process, the carrier is moved to a preset discharging position, the target material is sucked again, the target material is placed in the discharging tray, and the gesture of the target material is corrected through the carrier, so that nondestructive, rapid, efficient and accurate production and detection requirements on the target material are realized in the feeding and discharging processes.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
FIG. 1 is a schematic diagram of a loading and unloading device according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a loading station of loading and unloading equipment according to one embodiment of the present invention;
FIG. 3 is a schematic diagram of a test carrier of a loading and unloading device according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a control action of a carrier during loading of the carrier according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a control action of a carrier during a process from the carrier to a blanking nozzle according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a blanking station of the loading and unloading apparatus according to one embodiment of the present invention;
FIG. 7 is a flowchart of a method for controlling loading and unloading according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a loading station according to one embodiment of the present invention;
FIG. 9 is a schematic diagram of a fiber optic cylindrical space provided by one embodiment of the present invention;
FIG. 10 is a schematic view of a Z-direction projection of a fiber optic cylindrical space provided by an embodiment of the invention;
FIG. 11 is a schematic view of an optical fiber projected in the X direction according to an embodiment of the present invention;
FIG. 12 is a schematic illustration of a path provided by one embodiment of the present invention coaxial with the axis of an optical fiber;
FIG. 13 is a schematic illustration of coaxial motion provided by one embodiment of the present invention;
FIG. 14 is a schematic view of placement of a target material in an acupoint aperture in accordance with one embodiment of the invention;
fig. 15 is a schematic diagram of a controller provided in an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It should be noted that although functional block division is performed in a device diagram and a logic sequence is shown in a flowchart, in some cases, the steps shown or described may be performed in a different order than the block division in the device, or in the flowchart. The terms first, second and the like in the description, in the claims and in the above-described figures, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.
With the development of the age, the requirements of the bearing capacity and the transmission capacity of information transmission are continuously improved, and the optical fiber is used as an important tool for information transmission, has the characteristics of large information quantity, low loss, strong electromagnetic interference resistance and long transmission distance, and is gradually and widely applied to the fields of medical imaging, communication, integrated optical devices and the like. The optical fiber is mainly formed by clamping fibers made of glass or plastic, has the defects of low strength and vulnerability to damage, and has important significance on the optical conduction physical characteristics of the surface damage degree. Therefore, "lossless" is important in the production and quality control process.
However, related equipment for nondestructive loading and unloading of optical fibers is not available in the related technology, in the existing optical fiber production and quality inspection process, the nondestructive degree of the optical fiber is not guaranteed by taking and placing materials by people, and meanwhile, the defects of low efficiency, poor problem traceability, non-uniform test and inspection standards, high inspection subjectivity and the like are overcome, so that the requirements of rapid, accurate and efficient lean industrial production and detection cannot be met.
As the important instrument of light conduction, after the drawing of patterns of optic fibre is produced, detect its transmission capacity and outward appearance integrality especially important, but prior art is mostly the artificial subjective consciousness and is got and put optic fibre and put on the test platform and detect, and artificial getting and putting material inefficiency to a large amount of increase operative employee's work burden and tired degree, the artificial damage that leads to the fact the product of putting optic fibre can't guarantee the human factor of getting simultaneously, can bring the feedback of error message for quality inspection and production. Although more efficient point-to-point material taking and discharging methods using auxiliary power equipment such as motors, air cylinders and the like also exist in the market, the space structure of a carrier or a suction nozzle is single, the adaptability to the posture of materials is poor, the special posture of a single regular optical fiber finished product shape can only be adapted, and the special posture do not accord with the lossless lean production principle.
In order to solve the problems, the embodiment of the invention provides a loading and unloading control method, a controller, loading and unloading equipment and a storage medium. The feeding and discharging control method comprises the steps of obtaining first position information of a target material placed in a feeding container, and controlling a feeding suction nozzle to suck the target material according to the first position information; acquiring first upper surface circle center position information and first lower surface circle center position information of a target material, and determining axis information of the target material according to the first upper surface circle center position information and the first lower surface circle center position information; controlling a carrier provided with an acupoint hole corresponding to the target material to rotate according to the axis information so as to enable the axis of the acupoint hole to coincide with the axis of the target material; controlling the carrier to move towards the target material along the axis so that the target material is placed in the acupoint holes; moving the carrier to a preset blanking position; and acquiring second position information of the target material placed in the acupoint holes, sucking the target material according to the second position information, and placing the target material in a blanking tray. In the technical scheme of the embodiment, in the feeding working process, the gesture of the target material on the feeding suction nozzle is obtained, the carrier is controlled to rotate according to the gesture so that the axle center of the acupoint hole on the carrier coincides with the axle center of the target material, then the target material is placed into the acupoint hole of the carrier in a nondestructive mode, in the discharging working process, the carrier is moved to a preset discharging position, the target material is sucked again, the target material is placed in the discharging tray, and the gesture of the target material is corrected through the carrier, so that nondestructive, rapid, efficient and accurate production and detection requirements on the target material are realized in the feeding and discharging processes.
Embodiments of the present application will be further described below with reference to the accompanying drawings.
As shown in fig. 1, fig. 1 is a schematic diagram of a loading and unloading device according to an embodiment of the present application.
In the example of fig. 1, the loading and unloading apparatus includes a loading station 19, a test carrier 20, a unloading station 21, a loading confirm button 22, a loading scram button 23, a panel start button 24, a panel stop button 25, a panel reset button 26, a tri-colored lamp 27, a Fan Filter Unit (FFU) 28, a panel scram button 29, and a display 30.
Fig. 2 is a schematic diagram of a loading station in loading and unloading equipment according to an embodiment of the present application, as shown in fig. 2. The feeding workstation comprises a feeding disc 1 (a feeding container), a feeding camera 2 (a first feeding camera), a feeding suction nozzle 3, a feeding transportation Y-axis 4 and a feeding and discharging camera 5 (a second feeding camera). The material loading workstation obtains the material central point through last camera 2, and material loading suction nozzle 3 then confirms the locate position according to material central point, reaches the material directly over the acupuncture point that charging tray 1 corresponds, and material loading suction nozzle 3 moves down and inhale district material in the Z axle to control material loading suction nozzle 3 through material loading transportation Y axle 4 and reciprocate, carry the material to the material upper portion of camera 5 under the material loading. The center of the circle of the upper surface of the material is shot by the feeding lower camera 5, and then the center of the circle of the lower surface of the material is shot by moving upwards by a preset distance along the Z axis, so that the space posture of the material on the suction nozzle is calculated.
Fig. 3 is a schematic diagram of a test carrier in a loading and unloading device according to an embodiment of the present application, as shown in fig. 3. The test carrier 20 includes a carrier acupoint 6 (acupoint hole), a carrier X translation conversion axis 7, a carrier Y pitch conversion axis 8, a carrier X pitch conversion axis 9, a carrier Y translation conversion axis 10, a carrier R rotation angle conversion axis 11, and a carrier Z height conversion axis 12. The working principle of the test carrier is as follows: the automatic coaxial is a main function of a test carrier, coaxial movement is an important method of whole nondestructive material taking and placing, and six-axis purposeful superposition is utilized to realize a carrier platform with high degree of freedom. When the device works, the lower camera of the upper and lower material feeding stations firstly acquires the space postures of materials, wherein the space postures comprise angles delta X (deflection angle value of X plane projection) and delta Y (deflection angle value of Y plane projection) in X and Y directions, and the upper camera determines the rotation angle of the airfoil template and the circle center position of the circle at the lower end of the optical fiber. Firstly, a pitching transformation shaft 9 in the X direction of a carrier and a pitching transformation shaft 8 in the Y direction of the carrier are used for adjusting the space angles of a cylinder formed by upper and lower circles of acupoint holes of the carrier in the X and Y directions; the main function of the carrier R rotation angle conversion shaft 11 is to correct R angle of material blanking, for example: considering that the optical fiber has an airfoil, the angle direction of the airfoil is ensured to be consistent while the acupuncture point hole of the carrier is parallel to the columnar axis of the optical fiber; then, according to the position of the center of the lower circle of the optical fiber, the center of the upper point hole of the carrier is guided to be aligned with the position of the center of the lower circle of the optical fiber through the carrier X translation and transformation shaft 7 and the carrier Y translation and transformation shaft 10; finally, according to the circle center under the acupoint hole of the carrier as the end position, the carrier Z height conversion shaft 12, the carrier X translation conversion shaft 7 and the carrier Y translation conversion shaft 10 are coupled to move, and coaxially take and discharge materials. The carrier acupoint 6 is made of PC, the hardness is higher than the strength of the optical fiber, but the product is not scratched when the carrier sucks the material.
It should be noted that, the acupoint holes of the carrier may be set according to the requirement, the size of the acupoint holes (carrier acupoint 6) may be fixed or may be set in a retractable manner, and the embodiment is not limited specifically. For example: in the case that the size of the acupoint hole (carrier acupoint 6) is fixed, then the carrier may be integrally formed. Also for example: under the condition that the size of the acupoint holes (carrier acupoint 6) is set in a contractible mode, the carrier can be composed of two parts, and the selection is more strict in consideration of the material used by the carrier, the control precision of a motion axis and the like when the contractible mode is designed; the clamping and opening actions of the carrier must be controlled by sensing with a micro motor coupling force or a distance sensor with high positioning accuracy. As shown in fig. 4, in the process of feeding the carrier, when the material 30 enters the acupoint hole (carrier acupoint 6) of the carrier, the clamp clamps the motor to tighten the acupoint hole (carrier acupoint 6) to sleeve the material 30, and after the in-place sensor senses that the clamping is in place, the feeding suction nozzle blows air and breaks away from the discharging position, and the carrier sucks air at the same time; in the process of feeding the material from the carrier to the feeding suction nozzle shown in fig. 5, when the feeding suction nozzle is arranged on the surface of the material 30, the carrier blows and drives the clamping motor to open the carrier while sucking the material 30, and the sensor senses that the carrier is opened in place and then notifies the feeding suction nozzle to leave the carrier and discharge the material.
As shown in fig. 6, fig. 6 is a schematic diagram of a blanking station in a loading and unloading device according to an embodiment of the present application. The blanking station comprises a blanking camera 13 (a second blanking camera), a blanking upper camera 14 (a first blanking camera), a blanking suction nozzle 15, a blanking transportation Y-axis 16, a blanking OK Tray 17 (a blanking Tray) and a blanking NG Tray 18. The blanking station obtains the center position of the material on the carrier through the upper camera 14, and relatively moves the distance difference value of the blanking transportation Y axis 16, namely the center fixed distance difference value of the centers of the blanking upper camera 14 and the blanking suction nozzle 15; the blanking suction nozzle 15 reaches the position right above the center of the material on the carrier according to the positioning position, and the blanking suction nozzle 15 moves downwards in the Z-axis and sucks the material to finish the blanking action; the carrier is moved to a safe position, the blanking suction nozzle 15 is controlled to move so as to move the upper end circle of the material to a working focusing position of the lower camera 13, the circle center of the upper surface of the material is firstly shot, and then the circle center of the lower surface of the material is shot by moving a preset distance upwards in the Z axis. And judging whether the material posture meets the requirement of a preset condition according to the circle center of the upper surface of the material and the circle center of the lower surface of the material, if so, placing the material in the blanking OK Tray 17, and if not, placing the material in the blanking NG Tray 18.
In some alternative embodiments, referring to fig. 1 to 6, the loading and unloading device is in operation: the start button is pressed for more than three seconds at first, the machine starts to reset, disc replacement and safety confirmation are carried out after the reset is finished, and the confirmation button 22 is pressed to indicate that an operator confirms that the current loading and unloading equipment is safe, so that the next loading and unloading processing work can be started. The loading station 19, the test carrier 20 and the unloading station 21 execute respective module functions in parallel; firstly, when a feeding workstation works, a feeding upper camera 2 is used for visual positioning to acquire the position of the center of an optical fiber in a feeding disc 1, then the optical fiber is sucked through a feeding suction nozzle 3, the optical fiber is transported to a feeding lower camera 5 through a feeding transportation Y-axis 4 to acquire the posture of the optical fiber, and whether the optical fiber can be successfully fed into a carrier acupoint 6 is judged through a space angle; before loading, the carrier reaches a loading default posture point position, and the space posture obtained by the loading and unloading camera 5 is used for adjusting the carrier X translation conversion shaft 7, the carrier Y pitching conversion shaft 8, the carrier X pitching conversion shaft 9, the carrier Y translation conversion shaft 10, the carrier R rotation angle conversion shaft 11 and the carrier Z height conversion shaft 12, so that the carrier acupuncture point 6 of the carrier conforms to the state of the optical fiber on the loading suction nozzle 3, and the purposes of coaxially unloading to the carrier and detecting are achieved; when the carrier reaches the blanking coaxial position, firstly, the position of the center of the optical fiber in the carrier is obtained through the blanking upper camera 14, the optical fiber is sucked through the blanking suction nozzle 15, at the moment, the blanking lower camera 13 obtains the position difference between the optical fiber and the carrier hole, and the carrier is translated through the carrier X translation conversion shaft 7 and the carrier Y translation conversion shaft 10 to correct the position difference, so that the optical fiber is successfully blanked from the carrier to the blanking suction nozzle 15 by the carrier downward movement; after the carrier moves out of the blanking station, the blanking suction nozzle 15 is moved through the blanking conveying Y-axis 16 to convey the optical fibers to the working position of the blanking camera 13, whether the optical fibers can be put into the blanking OK Tray 17 or not is confirmed, and finally the final placement position of the detected optical fibers is determined together according to the test result of the inspection and the posture confirmation result of the blanking camera. In the process, the fault is reported, the reset button 26 is clicked to release the fault after the fault is confirmed, and the starting platform of the starting button 22 is pressed again; pressing a feeding emergency stop button 23 or a panel emergency stop button 29 to stop in an emergency braking way, and clicking a starting button again to enter an automatic mode after the emergency stop of the machine is required to be reset and the error is reported; and normally exiting the automatic machine after long pressing of the panel stop button for 25 seconds, and ending the automatic flow.
The loading and unloading equipment replaces manual operation to realize automatic loading and unloading of the tiny optical fibers, the testing equipment is efficient and rapid, loading, testing and unloading logics are processed in parallel, the output rate is 3-5 times faster than that of manual detection, loading and unloading are automatically and coaxially adjusted, camera real-time guiding alignment is adopted, nondestructive material taking and unloading of optical fiber products are realized, the integrity and reliability of testing are ensured, and an automatic coaxial alignment guiding method provides effective and reliable technical guidance for the nondestructive material taking and unloading thought of similar tiny objects.
Based on the above-described loading and unloading apparatus, various embodiments of the automatic threading method of the present invention are presented below.
Referring to fig. 7, fig. 7 is a flowchart of a loading and unloading control method according to an embodiment of the present invention, where the loading and unloading control method according to an embodiment of the present invention may include, but is not limited to, step S100, step S200, step S300, step S400, step S500, and step S600.
Step S100, first position information of target materials placed in the feeding container is obtained, and the feeding suction nozzle is controlled to suck the target materials according to the first position information.
Specifically, a plurality of materials are placed in a feeding container, different materials are placed in different positions on the feeding container, first position information of a target material to be fed is obtained through a first feeding camera arranged corresponding to the feeding container, and then a feeding suction nozzle is controlled to move to the position of the target material and suck the target material according to the first position information.
In some alternative embodiments, first position information of target materials placed in a feeding container is obtained through a first feeding camera; controlling the feeding suction nozzle to move to the position right above the target material according to the first position information; and controlling the feeding suction nozzle to move downwards and sucking the target material. Under normal conditions, the material is placed in the feeding container, the feeding suction nozzle is arranged above the feeding container, and when the feeding suction nozzle moves to the upper part of the material according to the first position information, the feeding suction nozzle can be controlled to move up and down on the Z axis, and then the target material is sucked; in the sucking process, the target materials are light objects and the placing postures of the target materials are various, so that when the feeding suction nozzle sucks the target materials, the postures of the target materials are various, but the feeding requirements cannot be met.
It should be noted that the postures of the materials placed in the feeding container may be different or may be randomly placed, and the embodiment is not particularly limited.
Step S200, the first upper surface circle center position information and the first lower surface circle center position information of the target material are obtained, and the axle center information of the target material is determined according to the first upper surface circle center position information and the first lower surface circle center position information.
Specifically, in order to determine the posture information of the target material on the feeding suction nozzle, the first upper surface circle center position information and the first lower surface circle center position information of the target material need to be acquired, and then calculation is performed according to the first upper surface circle center position information and the first lower surface circle center position information of the target material, so that the axis information of the target material is obtained, and the posture information of the target material can be obtained.
In some alternative embodiments, the first upper surface center position information and the first lower surface center position information of the target material are obtained, and then calculation is performed according to the first upper surface center position information and the first lower surface center position information of the target material, so that the axis information of the target material is obtained, and the posture information of the target material can be obtained.
In some alternative embodiments, the feeding suction nozzle is controlled to translate to a first target position, the first target position is set according to the position of the second feeding camera, then the second feeding camera is controlled to acquire the first upper surface circle center position information of the target material, then the feeding suction nozzle is controlled to move upwards for a preset distance, and then the second feeding camera is controlled to acquire the first lower surface circle center position information of the target material.
It should be noted that, the preset distance may be set according to the shape of the target material, or may directly take a distance value between the first upper surface center position information and the first lower surface center position information of the target material, which is not specifically limited in this embodiment. For example: the target material is an optical fiber, and the preset distance can be set to be 3mm, namely the length value of the optical fiber. Also for example: the target material is an acrylic cylinder, and the preset distance can be set to be 10mm, namely the length value of the acrylic cylinder.
The first upper surface center of a circle position information includes first X axis coordinate information and first Y axis coordinate information, and the first lower surface center of a circle position information includes second X axis coordinate information and second Y axis coordinate information, and the axle center information of the target material is determined according to the first upper surface center of a circle position information and the first lower surface center of a circle position information, including: obtaining a distance value between the first upper surface circle center position information and the first lower surface circle center position information according to the first X-axis coordinate information, the first Y-axis coordinate information, the second X-axis coordinate information and the second Y-axis coordinate information; obtaining first projection position information of the first lower surface center position information on the X plane according to the X plane corresponding to the first lower surface center position information and the first upper surface center position information, and obtaining an off-angle value of X plane projection according to the first projection position information and the first lower surface center position information; obtaining second projection position information of the first lower surface center position information on the Y plane according to the Y plane corresponding to the first lower surface center position information and the first upper surface center position information, and obtaining a deflection angle value of Y plane projection according to the second projection position information and the first lower surface center position information; and determining the axis information of the target material according to the deflection angle value of the X-plane projection and the deflection angle value of the Y-plane projection.
In some alternative embodiments, referring to fig. 8, the working principle of the loading station is as follows:
the main functions of the feeding work station are as follows: the material is taken out from the tray accurately, the space gesture of the material is taken, six-axis adjusting parameters are transmitted and adjusted to the test carrier, and the material can be placed in the acupoint holes of the carrier rapidly and accurately.
Wherein, the cylindrical space schematic diagram of the optical fiber (material) is shown in fig. 9.
(1) Acquiring first upper surface center position information and first lower surface center position information (projection in Z direction) of an optical fiber
The feeding station obtains the center position of the material through the upper camera 2, determines the positioning position according to the center position of the material, controls the feeding suction nozzle 3 to reach the position right above the material in the corresponding acupoint of the feeding tray 1, controls the feeding suction nozzle 3 to move downwards in the Z axis and suck the material in the area, controls the feeding suction nozzle 3 to move through the feeding transportation Y axis 4, and conveys the material to the upper positionAbove the blanking camera 5. The circle center of the upper surface of the material is shot by the feeding lower camera 5, namely the visual coordinate P of the point A on the lower camera is obtained by shooting Z_A0 (X A0 ,Y A0 ) The feeding suction nozzle 3 is controlled to move upwards in the Z axis by a preset distance, such as the material is an optical fiber, the preset distance is 3mm, and the circle center position of the lower surface of the material is shot, namely the visual coordinate P of the point B is obtained through shooting Z_B0 (X B0 ,Y B0 ) Further, the axis information of the material on the suction nozzle is calculated to obtain the space attitude information, and a schematic view of the optical fiber (material) cylinder in the Z-direction projection is shown in fig. 10.
(2) The first upper surface center position information and the first lower surface center position information are projected in the X direction (or Y direction projection)
The point A0 and the point B0 projected to the Z plane are projected to the X direction where A0 or B0 is located, for example, to the X direction where A0 is located: the projected point B1, the points A0 and the points B0 form a right triangle, and the deflection angles of the optical fiber on an X plane and a Y plane are calculated through three known vertexes A0, B0 and B1; a schematic of the optical fiber (material) after projection in the X-direction is shown in fig. 11.
Wherein, the distance formula formed by A0 and B0 projected to the Z plane
Taking X where A0 is positioned as a projection plane to obtain three points A0, B0 and B1 of a triangle corresponding to the projection plane, wherein the formula of the deflection angle of X plane projection (the deflection angle value of X plane projection) is as follows;
the deflection angle of the Y-plane projection (deflection angle value of the Y-plane projection) can be obtained by the same formula as follows:
according to the formula, calculation can be performed according to the first upper surface circle center position information and the first lower surface circle center position information of the target material, and the axis information of the target material can be obtained, so that the attitude information of the target material can be obtained.
And step S300, controlling the carrier provided with the acupoint holes corresponding to the target materials to rotate according to the axis information so as to enable the axes of the acupoint holes to coincide with the axes of the target materials.
Specifically, after the axle center information of the target material on the feeding suction nozzle is calculated, the carrier can be controlled to move according to the axle center information, so that the axle center of the acupoint hole in the carrier coincides with the axle center of the target material, and the target material can be fed into the acupoint hole in the carrier in a lossless manner later.
In some alternative embodiments, the angular value of the carrier in the X direction and the angular value in the Y direction are determined according to the axle center information; the carrier is rotated according to the X-direction angle value and the Y-direction angle value, so that the axle center of the acupoint hole coincides with the axle center of the target material, and the target material can be fed into the acupoint hole in the carrier in a nondestructive mode.
In some alternative embodiments, the angle value of the carrier in the X direction and the angle value of the carrier in the Y direction are determined according to the axis information, the pitch conversion axis of the carrier in the X direction and the pitch conversion axis of the carrier in the Y direction are controlled to move according to the angle value of the X direction and the angle value of the carrier in the Y direction so as to drive the carrier to rotate, the space angles of the cylinders formed by the upper circles and the lower circles of the acupoint holes of the carrier in the X direction and the Y direction are adjusted so that the axes of the acupoint holes are parallel to the axes of the target material, and then the carrier X translation conversion axis and the carrier Y translation conversion axis are controlled to drive the carrier to move so that the axes of the acupoint holes in the carrier are coincident with the axes of the target material, namely, the acupoint holes are coaxial with the target material.
Step S400, the carrier is controlled to move towards the target material along the axis, so that the target material is placed in the acupoint holes.
Specifically, firstly, moving the carrier according to the first lower surface circle center position information so as to enable the carrier to move to the lower surface circle center position of the target material; then determining the axis moving distance according to the first upper surface circle center position information and the first lower surface circle center position information; and then the carrier is moved according to the axis information and the axis moving distance, so that the target material is placed in the acupoint hole, the diameter of the acupoint hole is slightly larger than that of the target material under the normal condition, and the target material can be fed into the acupoint hole of the carrier in a nondestructive mode after the acupoint hole is coaxial with the target material and then moves.
In some alternative embodiments, after the acupoint hole of the carrier is coaxial with the target material, a composite path of the carrier X translation transformation shaft, the carrier Y translation transformation shaft and the carrier Z translation transformation shaft for coupling movement to take and discharge is determined according to the axis information, and the path is always coaxial with the axis of the optical fiber. Referring to fig. 12, the start point and the end point are coupled, P0 (X 0 ,Y 0 ,Z 0 ) Move to P1 (X) 1 ,Y 1 ,Z 1 ) The point, the synthetic path is the straight line where P0-P1 is located, and the gear ratio formula with X axis as the main axis is as follows:
The current position of the coupling carrier is positioned at the P0 position, the upper round hole of the acupoint hole 6 of the carrier is attached to the circle center of the lower surface of the optical fiber 30, the optical fiber 30 is sucked by the feeding suction nozzle 3, as shown in fig. 13, then the carrier X translation transformation shaft, the carrier Y translation transformation shaft and the carrier Z translation transformation shaft move coaxially at the synthetic speed and path, and the optical fiber is sleeved, namely, the three translation shafts of the carrier X translation transformation shaft, the carrier Y translation transformation shaft and the carrier Z translation transformation shaft move to the P1 point from the P0 in an electronic gear coupling mode, so that the target material is placed in the acupoint hole, as shown in fig. 14.
Step S500, the carrier is moved to a preset blanking position.
Specifically, the carrier is moved to a preset discharging position, so that the axis of the target material in the carrier is vertical, and the preset discharging position is a discharging coaxial position so as to correct the posture of the target material through the carrier.
It should be noted that, the preset discharging position may be a discharging position corresponding to a posture that makes the posture of the target material become vertical, or may be a discharging position corresponding to a posture that makes the posture of the target material become a target inclination angle, which is not particularly limited in this embodiment and may be set according to actual situations.
Step S600, obtaining second position information of the target materials placed in the acupoint holes, sucking the target materials according to the second position information, and placing the target materials on a blanking tray.
Specifically, the second position information of the target material placed in the carrier is firstly obtained through the first blanking camera, the blanking suction nozzle is controlled to absorb the target material according to the second position information, the target material is placed in the blanking disc, and the target material with corrected gesture can be moved into the blanking disc in a lossless manner through the blanking suction nozzle, so that the requirements of nondestructive, rapid, efficient and accurate production and detection on the target material are met in the feeding and blanking process.
In some alternative embodiments, the blanking nozzle is controlled to suck the target material according to the second position information; controlling the blanking suction nozzle to move to a second target position; controlling a second blanking camera to acquire second upper surface circle center position information and second lower surface circle center position information of the target material; and under the condition that the circle center position information of the second upper surface and the circle center position information of the second lower surface meet the preset inspection conditions, placing the target material on the blanking disc. Before the target material is placed on the blanking disc, the gesture of the target material can be checked for the second time, and under the condition that the preset checking condition is met, the target material is placed on the blanking disc, so that the accuracy of nondestructive blanking can be further improved.
In some alternative embodiments, the blanking station obtains the center position of the optical fiber on the carrier through a blanking upper camera, and relatively moves the distance difference value of the blanking transportation Y axis, namely the center fixed distance difference value between the camera and the center of the suction nozzle; obtaining a positioning position according to a center fixed distance difference between the camera and the center of the suction nozzle, controlling the discharging suction nozzle to reach right above the center of the optical fiber on the carrier according to the positioning position, enabling the discharging suction nozzle to move downwards on the Z axis, and sucking up to finish discharging action; the carrier moves to a safe position, the blanking suction nozzle moves to enable the upper end circle of the optical fiber to be in a working focusing position of the blanking camera, the circle center of the upper surface of the optical fiber is firstly shot, and then the upper end circle center of the optical fiber is upwards moved to 3mm on the Z axis to reach the circle center position of the lower surface of the shot material. The judgment standard of whether the blanking suction nozzle can perform blanking to the blanking disc is the posture inclination angle of the optical fiber, and the posture inclination angle of the material is similar to the posture inclination angle calculation mode of the material in the X and Y directions, and the difference is that the posture inclination angle of the material does not need to be projected to an X plane or a Y plane, and only needs to be projected to the distance between the upper circle center and the lower circle center of a Z plane, so that the posture inclination angle calculation formula of the material is as follows:
wherein L1 is the length of the optical fiber, and D1 is the distance between A0 and B0 projected to the Z plane.
In addition, as shown in fig. 15, one embodiment of the present application provides a controller, the controller 1500 is provided with a processor 1510 and a memory 1520, wherein the processor 1510 and the memory 1520 may be connected by a bus or otherwise, in fig. 15 by way of example.
Memory 1520 is a non-transitory computer-readable storage medium that can be used to store non-transitory software programs as well as non-transitory computer-executable programs. In addition, memory 1520 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some implementations, the memory 1520 may optionally include memory located remotely from the processor 1510, which may be connected to the controller 1500 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The controller may be a programmable controller, or may be other controllers, which are not particularly limited in this embodiment. It will be appreciated by those skilled in the art that the controller shown in fig. 15 is not limiting of the embodiments of the application and may include more or fewer components than shown, or certain components may be combined, or a different arrangement of components.
The non-transitory software program and instructions required to implement the controller-side loading and unloading control method of the above-described embodiments are stored in the memory, and when executed by the processor, the loading and unloading control method of the above-described embodiments is performed, for example, the method steps S100 to S600 in fig. 7 described above are performed.
In addition, an embodiment of the present application further provides a loading and unloading device, where the loading and unloading device includes the controller in the foregoing embodiment, and the loading and unloading control method in the foregoing embodiment, where the loading and unloading device can be implemented by using the controller, can solve the technical problems, use the technical means, and achieve the technical effects that are consistent with those in the foregoing embodiment, and are not described herein again.
Furthermore, an embodiment of the present application provides a computer-readable storage medium storing computer-executable instructions for performing the above-described loading and unloading control method, for example, performing the above-described method steps S100 to S600 in fig. 7.
Those of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as known to those skilled in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Furthermore, as is well known to those of ordinary skill in the art, communication media typically include computer readable instructions, data structures, program modules, or other data in a modulated data signal, such as a carrier wave or other transport mechanism, and may include any information delivery media. The computer-readable storage medium may be nonvolatile or volatile.
While the preferred embodiment of the present application has been described in detail, the present application is not limited to the above embodiments, and those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit and scope of the present application, and these equivalent modifications or substitutions are included in the scope of the present application as defined in the appended claims.
Claims (12)
1. The feeding and discharging control method is characterized by comprising the following steps of:
acquiring first position information of a target material placed in a feeding container, and controlling a feeding suction nozzle to suck the target material according to the first position information;
acquiring first upper surface circle center position information and first lower surface circle center position information of the target material, and determining axis information of the target material according to the first upper surface circle center position information and the first lower surface circle center position information;
controlling a carrier provided with an acupoint hole corresponding to the target material to rotate according to the axis information so as to enable the axis of the acupoint hole to coincide with the axis of the target material;
controlling the carrier to move towards the target material along the axis so that the target material is placed in the acupoint holes;
Moving the carrier to a preset blanking position;
and acquiring second position information of the target material placed in the acupoint hole, sucking the target material according to the second position information, and placing the target material in a blanking disc.
2. The method according to claim 1, wherein the step of acquiring first position information of a target material placed in a charging container and controlling a charging nozzle to suck the target material according to the first position information comprises:
acquiring first position information of a target material placed in a feeding container through a first feeding camera;
controlling a feeding suction nozzle to move to the position right above the target material according to the first position information;
and controlling the feeding suction nozzle to move downwards and sucking the target material.
3. The method for controlling loading and unloading according to claim 1, wherein the step of obtaining the first upper surface center position information and the first lower surface center position information of the target material includes:
controlling the feeding suction nozzle to translate to a first target position;
controlling a second feeding camera to acquire the center position information of the first upper surface of the target material;
And controlling the feeding suction nozzle to move upwards by a preset distance, and controlling the second feeding camera to acquire the circle center position information of the first lower surface of the target material.
4. The method of feeding and discharging control according to claim 3, wherein the first upper surface center position information includes first X-axis coordinate information and first Y-axis coordinate information, the first lower surface center position information includes second X-axis coordinate information and second Y-axis coordinate information, and the determining the axis information of the target material according to the first upper surface center position information and the first lower surface center position information includes:
obtaining a distance value between the first upper surface circle center position information and the first lower surface circle center position information according to the first X-axis coordinate information, the first Y-axis coordinate information, the second X-axis coordinate information and the second Y-axis coordinate information;
obtaining first projection position information of the first lower surface circle center position information on the X plane according to the X plane corresponding to the first lower surface circle center position information and the first upper surface circle center position information, and obtaining a deflection angle value of the X plane projection according to the first projection position information and the first lower surface circle center position information;
Obtaining second projection position information of the first lower surface center position information on the Y plane according to the Y plane corresponding to the first lower surface center position information and the first upper surface center position information, and obtaining a deflection angle value of the Y plane projection according to the second projection position information and the first lower surface center position information;
and determining the axis information of the target material according to the deflection angle value of the X-plane projection and the deflection angle value of the Y-plane projection.
5. The method according to claim 4, wherein the controlling the rotation of the carrier provided with the acupoint hole corresponding to the target material according to the axis information so that the axis of the acupoint hole coincides with the axis of the target material comprises:
determining an angle value of the carrier in the X direction and an angle value of the carrier in the Y direction according to the axis information;
and rotating the carrier according to the X-direction angle value and the Y-direction angle value so as to enable the axle center of the acupoint hole to coincide with the axle center of the target material.
6. The method of claim 5, wherein controlling the carrier to move toward the target material along the axis so that the target material is placed in the acupoint hole comprises:
Moving the carrier according to the first lower surface circle center position information so as to enable the carrier to move to the lower surface circle center position of the target material;
determining an axis moving distance according to the first upper surface circle center position information and the first lower surface circle center position information;
and moving the carrier according to the axis information and the axis moving distance so that the target material is placed in the acupoint hole.
7. The method of feeding and discharging according to claim 6, wherein moving the carrier to a preset discharging position includes:
and moving the carrier to a preset discharging position so that the axis of the target material in the carrier is vertical, wherein the preset discharging position is a discharging coaxial position.
8. The method of feeding and discharging control according to claim 7, wherein said obtaining second position information of the target material placed in the acupoint hole, sucking the target material according to the second position information, and placing the target material in a discharging tray, comprises:
acquiring second position information of a target material placed in the carrier through a first blanking camera;
And controlling a discharging suction nozzle to suck the target material according to the second position information, and placing the target material on a discharging tray.
9. The method of feeding and discharging control according to claim 8, wherein said controlling the discharging nozzle to suck the target material according to the second position information and placing the target material in the discharging tray includes:
controlling the discharging suction nozzle to suck the target material according to the second position information;
controlling the blanking suction nozzle to move to a second target position;
controlling a second blanking camera to acquire second upper surface circle center position information and second lower surface circle center position information of the target material;
and under the condition that the circle center position information of the second upper surface and the circle center position information of the second lower surface meet the preset inspection conditions, placing the target material on a blanking disc.
10. A controller, comprising: the feeding and discharging control method according to any one of claims 1 to 9 is realized when the processor executes the computer program.
11. A loading and unloading apparatus comprising the controller of claim 10.
12. A computer-readable storage medium storing computer-executable instructions for performing the loading and unloading control method according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211703523.3A CN116216305B (en) | 2022-12-29 | 2022-12-29 | Feeding and discharging control method, controller, feeding and discharging equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211703523.3A CN116216305B (en) | 2022-12-29 | 2022-12-29 | Feeding and discharging control method, controller, feeding and discharging equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116216305A CN116216305A (en) | 2023-06-06 |
| CN116216305B true CN116216305B (en) | 2023-11-07 |
Family
ID=86585037
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211703523.3A Active CN116216305B (en) | 2022-12-29 | 2022-12-29 | Feeding and discharging control method, controller, feeding and discharging equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116216305B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106629042A (en) * | 2016-12-28 | 2017-05-10 | 苏州富强科技有限公司 | Feeding method for full-automatic feeding assembly line |
| CN112388264A (en) * | 2019-08-15 | 2021-02-23 | 华南理工大学 | Hole searching method and hole searching device |
| US11040836B1 (en) * | 2020-01-24 | 2021-06-22 | Becton Dickinson Rowa Germany Gmbh | Device and method for separating piece goods |
| CN113382555A (en) * | 2021-08-09 | 2021-09-10 | 常州铭赛机器人科技股份有限公司 | Chip mounter suction nozzle coaxiality error automatic calibration method based on machine vision |
| CN214191651U (en) * | 2020-12-28 | 2021-09-14 | 爱丁堡（南京）光电设备有限公司 | Device for adsorbing and grabbing optical parts from viscous blue film |
| CN113753576A (en) * | 2021-09-24 | 2021-12-07 | 深圳市锐伺科技有限公司 | Automatic piece arranging and testing method |
| CN114538088A (en) * | 2022-02-11 | 2022-05-27 | 珠海市运泰利自动化设备有限公司 | High-speed high-precision feeding and discharging method based on flying shooting |
| CN114988106A (en) * | 2022-05-16 | 2022-09-02 | 深圳美丽营养科技有限公司 | Transversely snatch unloader that goes up |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7134073B2 (en) * | 2018-11-14 | 2022-09-09 | 株式会社ダイフク | Goods loading equipment |
-
2022
- 2022-12-29 CN CN202211703523.3A patent/CN116216305B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106629042A (en) * | 2016-12-28 | 2017-05-10 | 苏州富强科技有限公司 | Feeding method for full-automatic feeding assembly line |
| CN112388264A (en) * | 2019-08-15 | 2021-02-23 | 华南理工大学 | Hole searching method and hole searching device |
| US11040836B1 (en) * | 2020-01-24 | 2021-06-22 | Becton Dickinson Rowa Germany Gmbh | Device and method for separating piece goods |
| CN214191651U (en) * | 2020-12-28 | 2021-09-14 | 爱丁堡（南京）光电设备有限公司 | Device for adsorbing and grabbing optical parts from viscous blue film |
| CN113382555A (en) * | 2021-08-09 | 2021-09-10 | 常州铭赛机器人科技股份有限公司 | Chip mounter suction nozzle coaxiality error automatic calibration method based on machine vision |
| CN113753576A (en) * | 2021-09-24 | 2021-12-07 | 深圳市锐伺科技有限公司 | Automatic piece arranging and testing method |
| CN114538088A (en) * | 2022-02-11 | 2022-05-27 | 珠海市运泰利自动化设备有限公司 | High-speed high-precision feeding and discharging method based on flying shooting |
| CN114988106A (en) * | 2022-05-16 | 2022-09-02 | 深圳美丽营养科技有限公司 | Transversely snatch unloader that goes up |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116216305A (en) | 2023-06-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109521536B (en) | A kind of butterfly semiconductor laser automatic coupling package equipment | |
| US5249356A (en) | Method and apparatus for mounting electronic component | |
| CN110524582B (en) | Flexible assembly welding robot workstation | |
| CN109290758B (en) | Position centering method based on laser collimator detection | |
| CN201787926U (en) | On-line solder paste printing detection device | |
| WO2018113565A1 (en) | Laser processing system and method based on machine vision | |
| CN106018443A (en) | Industrial CT detection device and method based on 3D sphere detection platform | |
| CN113305849B (en) | Intelligent flat groove cutting system and method based on composite vision | |
| JP3090567B2 (en) | Component recognition method and device for mounting machine | |
| CN106287126A (en) | Camera fixing device and there is the visual identity equipment of this camera fixing device | |
| CN108759754A (en) | Height dimension automatic checkout equipment | |
| US10086514B2 (en) | Robotic system and method for processing aircraft component | |
| CN103567736B (en) | A kind of side window glass erecting device and installation method | |
| CN114628299B (en) | Wafer alignment confirmation method and Taizhou ring cutting method | |
| CN104950800B (en) | A kind of localization method for seeking track localization process system | |
| CN112247525A (en) | Intelligent assembling system based on visual positioning | |
| CN116216305B (en) | Feeding and discharging control method, controller, feeding and discharging equipment and storage medium | |
| CN205496098U (en) | Full -automatic ABS ring gear defect visual inspection device | |
| CN110575942B (en) | Internet-based dispensing device and method | |
| CN115302137B (en) | System and method for assembling straight pipe and flange | |
| CN105759390A (en) | Automatic positioning and placing apparatus and method for fiber | |
| TW202411007A (en) | Automatic threading method, device, equipment and storage medium for wire rod | |
| CN206230527U (en) | A kind of vision guide robot automatic thread detecting system | |
| CN113960074A (en) | Detection positioning structure and method and X-ray detection equipment and method for automobile parts | |
| KR20210057238A (en) | Apparatus for Inspection of product combined with Autonomous Vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |