Method and system for taking materials from rectangular tray by gantry mechanism

Abstract

The invention discloses a method and a system for taking materials from a rectangular tray by a gantry mechanism, which can accurately calculate the storage specification of the materials in the tray and the material taking parameters of the gantry mechanism to ensure that the material taking operation is accurate each time. The method is suitable for rectangular material trays of different specifications and numbers, and only relevant parameters need to be adjusted. The system adopts an instructed operation mode, so that the workload of code editing and equipment debugging is reduced, and the code logic is clear and easy to expand and maintain. Through programming and instruction control, automatic material taking of the gantry mechanism is achieved, and the production efficiency is improved. And meanwhile, the system records and resets the accumulated material taking frequency, and subsequent process control and data analysis are facilitated. In addition, the system avoids repeated calculation of X-axis and Y-axis coordinates, the overall efficiency is improved, and subsequent processing is simplified through a data set. According to the method and system, the position of the gantry mechanism can be accurately controlled, high-precision material taking is achieved, configuration is flexible, and the method and system are suitable for various application scenes.

Description

Technical Field

[0001] The invention relates to the technical field of industrial automation, and in particular to a method and a system for a gantry mechanism to take materials in a rectangular tray. Background Art

[0002] With the rapid development, efficiency upgrade and technological update of my country's manufacturing industry, the development of automation has become the future development trend of the industry. Automated equipment can operate 24 hours a day without human intervention, thereby greatly improving production efficiency. Automated production lines can achieve seamless connection between processes and reduce waiting time in the production process. The automation system can also monitor and analyze production data in real time, discover and adjust problems in a timely manner, further improve production efficiency and reduce labor costs. Matrix pallet sorting has a place in the automation industry. Traditional sorting mainly relies on manual labor, and the speed is limited by factors such as personnel physical strength, proficiency, and easy fatigue and work-related injuries. The amount of products processed per hour is limited. In addition, traditional sorting methods usually require a larger area to place goods and perform sorting operations, and the space utilization rate is low.

[0003] China Publication No. CN117270451A discloses a rectangular array pick-and-place algorithm, system and PLC based on a PLC control platform, which sets the parameters of the material picking and unloading rectangles, uses visual feedback to detect the state of the material tray, and determines the position of picking and unloading through complex cycles and conditional judgments. Although this method has achieved automation to a certain extent, when dealing with large rectangular arrays or when it is necessary to frequently change material specifications, its parameter setting and algorithm implementation are relatively cumbersome, and the calculation efficiency is not high. At the same time, traditional pick-and-place systems often rely on fixed pick-and-place devices and servo motor drives. Although they can complete basic pick-and-place tasks, their flexibility and adaptability are limited when facing materials of different sizes and shapes. In addition, when calculating the material picking position, traditional pick-and-place algorithms usually require multiple cycles and judgments, which to a certain extent increases the complexity and calculation time of the system.

[0004] In view of the above shortcomings, the present invention optimizes the material picking method so that the manipulator does not stop during the point-to-point movement process while effectively improving the efficiency and stability. Summary of the invention

[0005] The invention discloses a method and system for a gantry mechanism to retrieve materials in a rectangular tray. The gantry mechanism rectangular tray retrieval programming is modularized, the debugging difficulty can be reduced, the equipment has high precision, can be applied in multiple industry fields, and the program is simple and convenient to call.

[0006] A first aspect of an embodiment of the present invention discloses a method for a gantry mechanism to retrieve materials from a rectangular tray, the method comprising the following steps:

[0007] S1. Determine the storage specifications of the materials in the pallet, including the number of materials stored horizontally M, the number of materials stored vertically N, the number of materials P that the gantry takes out horizontally each time, and the horizontal equidistance A and vertical equidistance B of the materials in the pallet;

[0008] S2. According to the number of materials M stored horizontally on the pallet and the number of materials P taken horizontally by the gantry each time, calculate the number of times J required to take out all the horizontal materials, J = ceil (M / P), where ceil represents an upward rounding function;

[0009] S3. According to the number of materials stored longitudinally N and the number of times J required to take out all the materials transversely, calculate the total number of times K required for the gantry mechanism to take out a pallet, K = J*N;

[0010] S4. Use the D(H1, Jn) instruction to call the calculation formula of the X-axis coordinate to perform J calculations, obtain J X-axis coordinate values ​​and record them;

[0011] Use the D(H1,Kn) instruction to call the calculation formula of the Y-axis coordinate to perform K calculations, obtain K Y-axis coordinate values ​​and record them;

[0012] Use the [INCP DH2] command to calculate and record the number of times the current gantry mechanism has taken materials;

[0013] S5, using the obtained X-axis and Y-axis coordinates to guide the servo material picking address of the gantry mechanism to complete the current material picking operation;

[0014] S6. When the gantry mechanism takes the last material in the matrix tray, it will use the [MOV K0 DH2] instruction to perform a reset operation to wait for the program to enter the next material taking cycle.

[0015] Preferably, the calculation formula of the X-axis coordinate is: the X-axis coordinate of the n-th material picking in the lateral direction of the gantry mechanism = the n-th material in the lateral direction of the tray * the lateral equidistance A + the X-axis coordinate of the starting position of the material picking;

[0016] The calculation formula of the Y-axis coordinate is: the Y-axis coordinate of the nth longitudinal material picking of the gantry mechanism = the nth material in the longitudinal direction of the pallet * longitudinal equidistance B + the Y-axis coordinate of the starting position of the material picking.

[0017] Preferably, the configuration steps of the D(H1, Jn) instruction in the “using the D(H1, Jn) instruction to call the calculation formula of the X-axis coordinate to perform J calculations, obtain J X-axis coordinate values ​​and record them” are as follows:

[0018] Define a data item named D90, set the data type of the D90 data item to an integer type, and set the initial value of the D90 data item to 0;

[0019] The D90 data item is configured so that, according to the number of times J required to take all horizontal materials, all the times at the same X-axis coordinate are first obtained and recorded as an X-axis coordinate value, and the number of times at the same X-axis coordinate is only calculated once, that is, only J times of X-axis coordinates need to be calculated to take the entire pallet;

[0020] The D90 data item is configured to calculate and obtain J X-axis coordinate values ​​according to the calculation formula of the X-axis coordinate, record the J X-axis coordinate values ​​and store them as a data set.

[0021] Preferably, the configuration steps of the D(H1, Kn) instruction in the “using the D(H1, Kn) instruction to call the calculation formula of the Y-axis coordinate to perform K calculations, obtain K Y-axis coordinate values ​​and record them” are as follows:

[0022] Define a data item named D90, set the data type of the D90 data item to an integer type, and set the initial value of the D90 data item to 0;

[0023] The D90 data item is configured so that, according to the number of times K required to take out the horizontal material, all the times at the same Y-axis coordinate are first obtained and recorded as a Y-axis coordinate value, and the number of times at the same Y-axis coordinate is only calculated once, that is, only K times of Y-axis coordinates need to be calculated to take out the entire pallet;

[0024] The D90 data item is configured to calculate and obtain K Y-axis coordinate values ​​according to the calculation formula of the Y-axis coordinate, record K X-axis coordinate values ​​and store them as a data set.

[0025] Preferably, the configuration step of the D(H1, Jn) instruction further includes:

[0026] Define a data item named D9548, and set the data type of D9548 to 32-bit Signed type;

[0027] The D9548 data item is configured so that it obtains and records the interval of the material loading gantry in the X-axis direction according to the lateral equidistance A of the materials in the tray, and its initial value is set to 0;

[0028] The configuration steps of the D(H1, Kn) instruction also include:

[0029] Define a data item named D9648, and set the data type of D9648 to 32-bit Signed type;

[0030] The D9648 data item is configured to obtain and record the interval of the material loading gantry in the Y-axis direction according to the longitudinal equidistance B of the materials in the tray, and its initial value is set to 0.

[0031] Preferably, the configuration steps of the [INCP DH2] instruction include:

[0032] Set a data item named D176 to record the number of times the gantry mechanism takes materials. The data type is integer and the initial value is set to 0.

[0033] The D176 data item is configured so that before each material picking operation of the gantry mechanism, the value of D176 is increased by 1 to cumulatively record the number of times the gantry mechanism picks up materials. The accumulated data represents the number of times the gantry mechanism has picked up materials in the rectangular tray.

[0034] Preferably, the clearing operation is performed using the [MOV K0 DH2] instruction to clear the data of the number of material fetching times of the gantry mechanism in the [INCP DH2] instruction.

[0035] A second aspect of an embodiment of the present invention discloses a system for taking materials from a rectangular tray by a gantry mechanism, and the method described in the first embodiment is applied, which includes:

[0036] Data setting module 1 is used to set the storage specifications of materials in the pallet, the number of materials that the gantry takes out each time, the horizontal spacing and vertical spacing of materials in the pallet, and other data;

[0037] The material taking times counter module 2 is used to record the times of taking materials by the gantry mechanism;

[0038] The position calculation module 3 calculates the coordinates of the X-axis and Y-axis of the gantry mechanism according to the data set by the data setting module 1 and the number of times recorded by the material taking times counter module 2;

[0039] The servo control module 4 controls the gantry mechanism to pick up materials according to the position calculated by the position calculation module 3.

[0040] Preferably, the material picking times counter module 2 adds 1 to the data before each material picking by the gantry mechanism, and clears the data after the last material in the matrix tray is picked up, waiting to enter the next material picking cycle process.

[0041] Preferably, the position calculation module 3 calculates the calculation formulas of the X-axis and Y-axis coordinates of the gantry mechanism according to the lateral spacing of the materials in the pallet and the number of materials picked up by the gantry each time, as well as the longitudinal spacing of the materials in the pallet and the number of materials stored longitudinally, and automatically corrects the servo material picking address of the gantry mechanism according to the number of material picking times.

[0042] Compared with the prior art, the present invention has the following beneficial effects:

[0043] 1. This method can ensure that each material picking operation is accurate by accurately calculating the storage specifications of the materials in the tray and the material picking parameters of the gantry mechanism. This method can be applied to rectangular material trays of different specifications and quantities, and only the relevant parameters (such as M, N, P, A, B) need to be adjusted. This method reduces the workload of code editing and equipment debugging through command-based operation methods (such as D(H1, Jn), D(H1, Kn) and [INCP DH2], etc.); on the other hand, it makes the code logic clear, simple to understand, and easy to reference, making the system easy to expand and maintain, and convenient for functional upgrades according to actual needs. Through programming and command control, the automatic material picking operation of the gantry mechanism is realized, which reduces manual intervention and improves production efficiency. The cumulative recording and clearing of the number of material pickings enables the system to clearly track the status of each material picking, which provides convenience for subsequent process control and data analysis.

[0044] 2. By calculating each different X-axis coordinate only once and each different Y-axis coordinate only once, repeated calculations are avoided, thereby improving overall efficiency. The data set format makes subsequent processing or analysis easier and faster. Moreover, the configuration method is easy to expand and can adapt to material pallets of different specifications and quantities. In addition, the configuration of D(H1, Jn) and D(H1, Kn) reduces programming complexity because no additional logic needs to be written to handle the case of repeated X-axis coordinates.

[0045] 3. Through precise data setting and position calculation, the system can accurately control the position of the gantry mechanism on the X-axis and Y-axis, achieving high-precision material picking. The coordinated work of the material picking counter module and the position calculation module ensures the continuity and stability of the material picking process, so that the system can be flexibly configured according to different pallet specifications and material layouts. The data setting module provides a convenient parameter setting method, allowing the system to adapt to a variety of application scenarios. At the same time, the material picking counter module records each material picking operation, providing a basis for data recording and statistical analysis. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a schematic diagram of the steps of the first embodiment disclosed in the present invention;

[0047] Figure 2 It is a structural block diagram of the second embodiment disclosed in the present invention;

[0048] Figure 3 It is a schematic diagram of the structure of a control system according to the third embodiment of the present invention; DETAILED DESCRIPTION

[0049] The features of the present invention and other related features are further described in detail below through embodiments to facilitate understanding by those skilled in the art:

[0050] Embodiment 1

[0051] like Figure 1 As shown, a method for a gantry mechanism to take materials in a rectangular tray comprises the following steps:

[0052] S1. Determine the storage specifications of the materials in the pallet, including the number of materials stored horizontally M, the number of materials stored vertically N, the number of materials P that the gantry takes out horizontally each time, and the horizontal equidistance A and vertical equidistance B of the materials in the pallet;

[0053] S2. According to the number of materials M stored horizontally on the pallet and the number of materials P taken horizontally by the gantry each time, calculate the number of times J required to take out all the horizontal materials, J = ceil (M / P), where ceil represents an upward rounding function;

[0054] S3. According to the number of materials stored longitudinally N and the number of times J required to take out all the materials transversely, calculate the total number of times K required for the gantry mechanism to take out a pallet, K = J*N;

[0055] S4. Use the D(H1, Jn) instruction to call the calculation formula of the X-axis coordinate to perform J calculations, obtain J X-axis coordinate values ​​and record them;

[0056] Use the D(H1,Kn) instruction to call the calculation formula of the Y-axis coordinate to perform K calculations, obtain K Y-axis coordinate values ​​and record them;

[0057] Use the [INCP DH2] command to calculate and record the number of times the current gantry mechanism has taken materials;

[0058] S5, using the obtained X-axis and Y-axis coordinates to guide the servo material picking address of the gantry mechanism to complete the current material picking operation;

[0059] S6. When the gantry mechanism takes the last material in the matrix tray, it will use the [MOV K0 DH2] instruction to perform a reset operation to wait for the program to enter the next material taking cycle.

[0060] In the specific implementation, in the D(H1,Kn) instruction, D is a call instruction, H1 is a specified calculation function or module, and Jn is a parameter, indicating the nth calculation of the X-axis coordinate. In the D(H1,Kn) instruction, D is a call instruction, H1 is a specified calculation function or module, and Kn is a parameter, indicating the nth calculation of the Y-axis coordinate.

[0061] As mentioned above, the method in this case can ensure that each material picking operation is accurate by accurately calculating the storage specifications of the materials in the tray and the material picking parameters of the gantry mechanism. The method in this case can be applied to rectangular material trays of different specifications and quantities, and only the relevant parameters (such as M, N, P, A, B) need to be adjusted. The method in this case reduces the workload of code editing and equipment debugging through the instruction operation mode (such as D(H1,Jn), D(H1,Kn) and [INCP DH2], etc.); on the other hand, it makes the code logic clear, simple and easy to understand, and convenient to reference, making the system easy to expand and maintain, and convenient for functional upgrades according to actual needs. Through programming and instruction control, the automatic material picking operation of the gantry mechanism is realized, which reduces manual intervention and improves production efficiency. The cumulative recording and clearing operation of the number of material picking enables the system to clearly track the status of each material picking, which provides convenience for subsequent process control and data analysis.

[0062] Specifically, as an optional implementation, the calculation formula of the X-axis coordinate is: the X-axis coordinate of the nth material picking in the lateral direction of the gantry mechanism = the nth material in the lateral direction of the tray * the lateral equidistance A + the X-axis coordinate of the starting position of the material picking;

[0063] The calculation formula of the Y-axis coordinate is: the Y-axis coordinate of the nth longitudinal material picking of the gantry mechanism = the nth material in the longitudinal direction of the pallet * longitudinal equidistance B + the Y-axis coordinate of the starting position of the material picking.

[0064] The following is an example of applying the calculation formula of the X-axis coordinate and the calculation formula of the Y-axis coordinate to a rectangular pallet that can hold 15 materials horizontally and 4 materials vertically:

[0065] In the rectangular tray, 15 materials are stored horizontally and 4 materials are stored vertically. The gantry is a horizontal material taking mechanism that can take 5 materials at a time. The horizontal spacing of materials in the tray is 22mm and the vertical spacing is 72mm.

[0066] Calculate the number of times required to take out the horizontal materials J = ceil (15 / 5) = 3 times, and the total number of times required for the gantry mechanism to take out a pallet K = 3*4 = 12 times. Calculation of the X-axis coordinate of the gantry mechanism: It takes a total of 12 times for the gantry mechanism to take out a pallet of materials. When the gantry mechanism takes out materials, the X-axis coordinates coincide when the gantry mechanism takes out materials for the 1st, 4th, 7th, and 10th times. The X-axis coordinates of the gantry mechanism coincide when the gantry mechanism takes out materials for the 2nd, 5th, 8th, and 11th times. The X-axis coordinates of the gantry mechanism coincide when the gantry mechanism takes out materials for the 3rd, 6th, 9th, and 12th times. Therefore, for the X-axis coordinates of the gantry mechanism, we only need to calculate the material taking positions 1, 2, and 3.

[0067] The starting position of material picking = the X-axis coordinate of the first material picking in the horizontal direction of the gantry mechanism; the 5th horizontal position of the pallet * 22mm + the starting position of material picking = the X-axis coordinate of the second material picking in the horizontal direction of the gantry mechanism; the 10th horizontal position of the pallet * 22mm + the starting position of material picking = the X-axis coordinate of the third material picking in the horizontal direction of the gantry mechanism.

[0068] Through the above calculation, all the material picking positions of the gantry mechanism X-axis can be obtained.

[0069] Calculation of the Y-axis position of the gantry mechanism: 4 materials are stored vertically in the pallet, which means that there are 4 Y-axis material picking positions for the gantry mechanism. The Y-axis of the gantry mechanism overlaps at the 1st, 2nd and 3rd material picking positions, the Y-axis of the gantry mechanism overlaps at the 4th, 5th and 6th material picking positions, the Y-axis of the gantry mechanism overlaps at the 7th, 8th and 9th material picking positions, and the Y-axis of the gantry mechanism overlaps at the 10th, 11th and 12th material picking positions. Therefore, for the Y-axis position of the gantry mechanism material picking, we only need to calculate the 1st, 4th, 7th and 10th material picking positions.

[0070] The starting position of material picking = the Y-axis position of the gantry mechanism for the first material picking; the first *72mm in the longitudinal direction of the pallet + the starting position of material picking = the Y-axis position of the gantry mechanism for the fourth material picking; the second *72mm in the longitudinal direction of the pallet + the starting position of material picking = the Y-axis position of the gantry mechanism for the seventh material picking; the third *72mm in the longitudinal direction of the pallet + the starting position of material picking = the Y-axis position of the gantry mechanism for the tenth material picking;

[0071] Through the above calculation, all material picking positions of the Y-axis of the gantry mechanism can be obtained.

[0072] As mentioned above, the formula directly reflects the relationship between the X-axis and Y-axis coordinates and the position of the material in the pallet when the gantry mechanism picks up the material, so that operators and programmers can intuitively understand the process and results of coordinate calculation.

[0073] As a specific implementation, the configuration steps of the D(H1, Jn) instruction in the “using the D(H1, Jn) instruction, calling the calculation formula of the X-axis coordinate to perform J calculations, obtaining J X-axis coordinate values ​​and recording them” are as follows:

[0074] Define a data item named D90, set the data type of the D90 data item to an integer (INT) type, and set the initial value of the D90 data item to 0;

[0075] The D90 data item is configured so that, according to the number of times J required to take all horizontal materials, all the times at the same X-axis coordinate are first obtained and recorded as an X-axis coordinate value, and the number of times at the same X-axis coordinate is only calculated once, that is, only J times of X-axis coordinates need to be calculated to take the entire pallet;

[0076] The D90 data item is configured to calculate and obtain J X-axis coordinate values ​​according to the calculation formula of the X-axis coordinate, record the J X-axis coordinate values ​​and store them as a data set.

[0077] The configuration steps of the D(H1, Kn) instruction in the “using the D(H1, Kn) instruction to call the calculation formula of the Y-axis coordinate to perform K calculations, obtain K Y-axis coordinate values ​​and record them” are as follows:

[0078] Define a data item named D90, set the data type of the D90 data item to an integer (INT) type, and set the initial value of the D90 data item to 0;

[0079] The D90 data item is configured so that, according to the number of times K required to take out the horizontal material, all the times at the same Y-axis coordinate are first obtained and recorded as a Y-axis coordinate value, and the number of times at the same Y-axis coordinate is only calculated once, that is, only K times of Y-axis coordinates need to be calculated to take out the entire pallet;

[0080] The D90 data item is configured to calculate and obtain K Y-axis coordinate values ​​according to the calculation formula of the Y-axis coordinate, record K X-axis coordinate values ​​and store them as a data set.

[0081] As described above, by calculating each different X-axis coordinate only once and each different Y-axis coordinate only once, repeated calculations are avoided, thereby improving overall efficiency. The data set format makes subsequent processing or analysis easier and faster. Moreover, the configuration method is easy to expand and can adapt to material pallets of different specifications and quantities. In addition, the configuration of D(H1, Jn) and D(H1, Kn) reduces programming complexity because no additional logic needs to be written to handle the case of repeated X-axis coordinates.

[0082] As a specific implementation, the configuration step of the D(H1, Jn) instruction also includes:

[0083] Define a data item named D9548, and set the data type item of D9548 to 32-bit Signed type (32-bit signed);

[0084] The D9548 data item is configured so that it obtains and records the interval of the material loading gantry in the X-axis direction according to the lateral equidistance A of the materials in the tray, and its initial value is set to 0;

[0085] The configuration steps of the D(H1, Kn) instruction also include:

[0086] Define a data item named D9648, and set the data type item of D9648 to 32-bit Signed type (32-bit signed);

[0087] The D9648 data item is configured to obtain and record the interval of the material loading gantry in the Y-axis direction according to the longitudinal equidistance B of the materials in the tray, and its initial value is set to 0.

[0088] As mentioned above, using 32-bit Signed data items ensures sufficient accuracy to represent the interval values ​​in the X-axis and Y-axis directions. By recording the interval values ​​as independent data items, these values ​​can be easily adjusted to accommodate different pallet specifications and material layouts, making the system more flexible and adaptable to a variety of application scenarios. The data items recording the interval values ​​are separated from the formulas for calculating the X-axis and Y-axis coordinates, ensuring the integrity and independence of the data, which helps to maintain the accuracy of the data during subsequent processing or analysis.

[0089] As an optional implementation, the configuration steps of the [INCP DH2] instruction include:

[0090] Set a data item named D176 to record the number of times the gantry mechanism takes materials. The data type is integer (INT) and the initial value is set to 0.

[0091] The D176 data item is configured so that before each material picking operation of the gantry mechanism, the value of D176 is increased by 1 to cumulatively record the number of times the gantry mechanism picks up materials. The accumulated data represents the number of times the gantry mechanism has picked up materials in the rectangular tray.

[0092] As mentioned above, the D176 data item can be used to track the material picking progress of the gantry mechanism in real time. The accumulated number of material picking can be used as a basis for preventing repeated material picking, which helps to optimize the production process and improve overall efficiency. When a fault or abnormal situation occurs, the value of the D176 data item can be used as a basis for troubleshooting and diagnosis. Specifically, by analyzing the value of D176, the number of material pickings before the fault occurs can be determined, thereby narrowing the scope of troubleshooting.

[0093] As an optional implementation, the [MOV K0 DH2] instruction is used to perform a clearing operation to clear the data of the number of times the gantry mechanism is fetched in the [INCP DH2] instruction.

[0094] Embodiment 2

[0095] like Figure 2 As shown, a system for taking materials from a rectangular tray by a gantry mechanism, using the method described in the first embodiment, comprises:

[0096] Data setting module 1 is used to set the storage specifications of materials in the pallet, the number of materials that the gantry takes out each time, the horizontal spacing and vertical spacing of materials in the pallet, and other data;

[0097] The material taking times counter module 2 is used to record the times of taking materials by the gantry mechanism;

[0098] The position calculation module 3 calculates the coordinates of the X-axis and Y-axis of the gantry mechanism according to the data set by the data setting module 1 and the number of times recorded by the material taking times counter module 2;

[0099] The servo control module 4 controls the gantry mechanism to pick up materials according to the position calculated by the position calculation module 3.

[0100] The material fetching times counter module 2 adds 1 to the data before each material fetching by the gantry mechanism, and clears the data after the last material in the matrix tray is fetched, waiting to enter the next material fetching cycle.

[0101] The position calculation module 3 calculates the calculation formulas of the X-axis and Y-axis coordinates of the gantry mechanism according to the lateral spacing of the materials in the pallet and the number of materials picked up by the gantry each time, as well as the longitudinal spacing of the materials in the pallet and the number of materials stored longitudinally, and automatically corrects the servo material picking address of the gantry mechanism according to the number of material picking times.

[0102] As mentioned above, through precise data setting and position calculation, the system can accurately control the position of the gantry mechanism on the X-axis and Y-axis, achieving high-precision material picking. The coordinated work of the material picking counter module and the position calculation module ensures the continuity and stability of the material picking process, so that the system can be flexibly configured according to different pallet specifications and material layouts. The data setting module provides a convenient parameter setting method, allowing the system to adapt to a variety of application scenarios. At the same time, the material picking counter module records each material picking operation, providing a basis for data recording and statistical analysis.

[0103] like Figure 3 As shown, a control system includes:

[0104] A memory 601 storing executable program codes;

[0105] a processor 602 coupled to the memory 601;

[0106] The processor 602 calls the executable program code stored in the memory 601 to execute the method of the gantry mechanism of the first embodiment for taking materials in the rectangular tray.

[0107] The embodiment of the present invention discloses a computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute Figure 1 The method of gantry mechanism to take materials in rectangular tray.

[0108] The embodiments of the present invention further disclose a computer program product, wherein when the computer program product is run on a computer, the computer is enabled to execute part or all of the steps of the methods in the above method embodiments.

[0109] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, the storage medium including a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable rewritable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium capable of carrying or storing data.

[0110] The above is a detailed introduction to a method and system for taking materials in a rectangular pallet by a gantry mechanism disclosed in an embodiment of the present invention. Specific examples are used in this article to illustrate the principle and implementation mode of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation mode and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for taking materials from a rectangular tray by a gantry mechanism, characterized in that: The following steps are involved: S1. Determine the storage specifications of the materials in the pallet, including the number of materials stored horizontally M, the number of materials stored vertically N, the number of materials P that the gantry takes out horizontally each time, and the horizontal equidistance A and vertical equidistance B of the materials in the pallet; S2. According to the number of materials M stored horizontally on the pallet and the number of materials P taken horizontally by the gantry each time, calculate the number of times J required to take out all the horizontal materials, J = ceil (M / P), where ceil represents an upward rounding function; S3. According to the number of materials stored longitudinally N and the number of times J required to take out all the materials transversely, calculate the total number of times K required for the gantry mechanism to take out a pallet, K = J*N; S4. Use the D(H1, Jn) instruction to call the calculation formula of the X-axis coordinate to perform J calculations, obtain J X-axis coordinate values ​​and record them; Use the D(H1,Kn) instruction to call the calculation formula of the Y-axis coordinate to perform K calculations, obtain K Y-axis coordinate values ​​and record them; Use the [INCP DH2] command to calculate and record the number of times the current gantry mechanism has taken materials; S5, using the obtained X-axis and Y-axis coordinates to guide the servo material picking address of the gantry mechanism to complete the current material picking operation; S6. When the gantry mechanism takes the last material in the matrix tray, it will use the [MOV K0 DH2] instruction to perform a reset operation to wait for the program to enter the next material taking cycle.

2. The method for taking materials from a rectangular tray by a gantry mechanism according to claim 1, characterized in that: The calculation formula of the X-axis coordinate is: the X-axis coordinate of the nth material picking in the gantry mechanism = the nth material in the lateral direction of the pallet * the lateral equidistance A + the X-axis coordinate of the starting position of the picking; The calculation formula of the Y-axis coordinate is: the Y-axis coordinate of the nth longitudinal material picking of the gantry mechanism = the nth material in the longitudinal direction of the pallet * longitudinal equidistance B + the Y-axis coordinate of the starting position of the material picking.

3. The method for taking materials from a rectangular tray by a gantry mechanism according to claim 2, characterized in that: The configuration steps of the D(H1, Jn) instruction in the above “Use the D(H1, Jn) instruction to call the calculation formula of the X-axis coordinate to perform J calculations, obtain J X-axis coordinate values ​​and record them” are as follows: Define a data item named D90, set the data type of the D90 data item to an integer type, and set the initial value of the D90 data item to 0; The D90 data item is configured so that, according to the number of times J required to take all horizontal materials, all the times at the same X-axis coordinate are first obtained and recorded as an X-axis coordinate value, and the number of times at the same X-axis coordinate is only calculated once, that is, only J times of X-axis coordinates need to be calculated to take the entire pallet; The D90 data item is configured to calculate and obtain J X-axis coordinate values ​​according to the calculation formula of the X-axis coordinate, record the J X-axis coordinate values ​​and store them as a data set.

4. The method for taking materials from a rectangular tray by a gantry mechanism according to claim 3, characterized in that: The configuration steps of the D(H1, Kn) instruction in the above “Use the D(H1, Kn) instruction to call the calculation formula of the Y-axis coordinate to perform K calculations, obtain K Y-axis coordinate values ​​and record them” are as follows: Define a data item named D90, set the data type of the D90 data item to an integer type, and set the initial value of the D90 data item to 0; The D90 data item is configured so that, according to the number of times K required to take out the horizontal material, all the times at the same Y-axis coordinate are first obtained and recorded as a Y-axis coordinate value, and the number of times at the same Y-axis coordinate is only calculated once, that is, only K times of Y-axis coordinates need to be calculated to take out the entire pallet; The D90 data item is configured to calculate and obtain K Y-axis coordinate values ​​according to the calculation formula of the Y-axis coordinate, record K X-axis coordinate values ​​and store them as a data set.

5. The method for taking materials from a rectangular tray by a gantry mechanism according to claim 4, characterized in that: The configuration steps of the D(H1, Jn) instruction also include: Define a data item named D9548, and set the data type of D9548 to 32-bit Signed type; The D9548 data item is configured so that it obtains and records the interval of the material loading gantry in the X-axis direction according to the lateral equidistance A of the materials in the tray, and its initial value is set to 0; The configuration steps of the D(H1, Kn) instruction also include: Define a data item named D9648, and set the data type of D9648 to 32-bit Signed type; The D9648 data item is configured to obtain and record the interval of the material loading gantry in the Y-axis direction according to the longitudinal equidistance B of the materials in the tray, and its initial value is set to 0.

6. The method for taking materials from a rectangular tray by a gantry mechanism according to claim 1, characterized in that , the configuration steps of the [INCPDH2] instruction include: Set a data item named D176 to record the number of times the gantry mechanism takes materials. The data type is integer and the initial value is set to 0. The D176 data item is configured so that before each material picking operation of the gantry mechanism, the value of D176 is increased by 1 to cumulatively record the number of times the gantry mechanism picks up materials. The accumulated data represents the number of times the gantry mechanism has picked up materials in the rectangular tray.

7. The method for taking materials from a rectangular tray by a gantry mechanism according to claim 6, characterized in that , use the [MOVK0 DH2] instruction to perform the clearing operation to clear the data of the number of material picking times of the gantry mechanism in the [INCP DH2] instruction.

8. A system for taking materials from a rectangular tray using a gantry mechanism, characterized in that: The method according to any one of claims 1 to 7, comprising: A data setting module (1) is used to set the storage specifications of the materials in the tray, the quantity of materials that the gantry takes out each time, the horizontal spacing and vertical spacing of the materials in the tray, and other data; A material taking times counter module (2), used for recording the number of times the gantry mechanism takes materials; A position calculation module (3) calculates the coordinates of the X-axis and Y-axis of the gantry mechanism according to the data set by the data setting module (1) and the number of times recorded by the material taking times counter module (2); The servo control module (4) controls the gantry mechanism to pick up materials according to the position calculated by the position calculation module (3).

9. The system for taking materials from a rectangular tray by a gantry mechanism according to claim 8, characterized in that: The material picking times counter module (2) adds 1 to the data before the gantry mechanism picks up materials each time, and clears the data after the last material in the matrix tray is picked up, waiting to enter the next material picking cycle process.

10. The system for taking materials from a rectangular tray by a gantry mechanism according to claim 8, characterized in that: The position calculation module (3) calculates the calculation formulas of the X-axis and Y-axis coordinates of the gantry mechanism according to the lateral spacing of the materials in the tray and the number of materials picked up by the gantry each time in the lateral direction, as well as the longitudinal spacing of the materials in the tray and the number of materials stored in the longitudinal direction, and automatically corrects the servo material picking address of the gantry mechanism according to the number of material picking times.

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