Vibration-based flexible material separation method and flexible loading station

Abstract

The present application relates to a vibration-based flexible material separation method and a flexible feeding station, and relates to the technical field of automatic assembly equipment. The method comprises the following steps: an image acquisition device acquires a preliminary image; the preliminary image is uploaded to a computer device; the computer device receives the preliminary image, sends a vibration instruction to a main control board, and sends an image acquisition instruction to the image acquisition device; the computer device receives a working feedback image; a grabbing instruction is sent to an industrial robot, and the grabbing instruction is used to instruct the industrial robot to grab the flexible material in a tray. In the flexible feeding station, after the type of the flexible material collected by the image acquisition device is determined by the computer device, the vibration method is determined according to the specific identification result of the flexible material, and in the case that the vibration formula is consistent with the tray, the flexible material grabbing and selecting work based on image recognition is carried out, thereby improving the adaptability of the production line to the vibration separation work of different flexible materials.

Description

Technical Field

[0001] This invention relates to the field of automated assembly equipment technology, and in particular to a vibration-based method for separating flexible materials. Background Technology

[0002] In automated assembly processes, most parts are supplied and stored in bulk. During use, flexible materials often form connections that are difficult to separate directly due to snap-fitting or bonding during storage. In such cases, external force is required to separate the flexible materials to be assembled. After separation, robotic arms or similar devices are typically used to pick up the separated flexible materials and transport them to the assembly line for product assembly.

[0003] In related technologies, there are generally two methods for separating flexible materials: manual separation and automated separation. Manual separation is an outdated method, relying on visual inspection and manual separation to separate the flexible materials. This method is being phased out on current intelligent assembly lines. In automated separation processes, a machine vision system and a six-degree-of-freedom robot are typically combined. The flexible material is placed on the panel of the flexible material separation device, and then separated from each other through vibration, blowing, or other methods. Afterward, the image acquisition equipment in the machine vision system determines the position of the flexible material, and controls the six-degree-of-freedom robot to grasp and transport it.

[0004] However, because different flexible materials are adapted to different vibration processes and image acquisition methods, the relevant technologies can only set up special production lines for specific types of flexible materials, resulting in poor adaptability of the production lines. Summary of the Invention

[0005] This invention relates to a vibration-based method for separating flexible materials and a flexible feeding station, which can improve the adaptability of production lines to vibration separation of different flexible materials. The technical solution is as follows:

[0006] On the one hand, a vibration-based flexible material separation method is provided, which is applied in a flexible feeding station, including computer equipment, image acquisition equipment, flexible material vibration separation device and industrial robot;

[0007] The flexible material vibration separation device includes a material tray, a main control board, and a separation device body. The material tray is magnetically connected to the separation device body. The main control board is located inside the flexible material vibration separation device. The material tray is used to carry the flexible material.

[0008] Communication connections between computer equipment and image acquisition equipment, main control board, and industrial robot;

[0009] The image acquisition position of the image acquisition device is relative to the material tray;

[0010] The methods include:

[0011] The image acquisition device acquires a preliminary image, which includes the current material tray and the flexible material located within the tray; the preliminary image is then uploaded to the computer device.

[0012] The computer device receives a preliminary image, identifies the current tray type in the preliminary image, and identifies the flexible material type; it determines the vibration formula corresponding to the flexible material based on the type of the flexible material, and the vibration formula includes a preset tray corresponding to the flexible material; in response to the preset tray being consistent with the current tray type, it sends a vibration command to the main control board and an image acquisition command to the image acquisition device.

[0013] The main control board receives vibration commands; based on these commands, it executes vibration operations.

[0014] The image acquisition device receives the image acquisition command and, based on the image acquisition command, sends the working image back to the computer device at preset time intervals;

[0015] The computer device receives a working image; in response to the working image indicating that the flexible materials are separating from each other, it sends a gripping instruction to the industrial robot, which instructs the industrial robot to grip the flexible materials in the tray.

[0016] In an optional embodiment, the method further includes:

[0017] When the computer device responds to the inconsistency between the preset tray and the current tray, it generates a tray replacement instruction. The tray replacement instruction is used to instruct the tray replacement device to replace the tray. The tray replacement instruction includes a tray identifier. The computer device then sends the tray replacement instruction to the tray replacement device.

[0018] The tray changing device receives a tray changing instruction from the user and changes the tray based on the tray identifier in the instruction.

[0019] In an optional embodiment, the tray has a corresponding tray QR code, and the tray changing device is also equipped with a QR code reading device;

[0020] The tray changing device changes the tray based on the tray identifier in the tray changing instruction, including:

[0021] The tray changing device reads the QR code corresponding to the candidate tray using a QR code reader to obtain the candidate tray identifier. If the candidate tray identifier matches the tray identifier, the candidate tray is determined to be the tray to be replaced.

[0022] In an optional embodiment, the tray is implemented as a light-transmitting tray, and the flexible material vibration separation device further includes a light source plate, which is inside the separation device body, and the light emission position of the light source plate passes through the tray.

[0023] The light source board is connected to the main control board via communication.

[0024] The method also includes:

[0025] The computer device responds to the fact that the preset material tray is of the same type as the current material tray by sending an illumination command to the main control board. The illumination command is used to control the light source board to emit light.

[0026] In an optional embodiment, the vibration formulation also includes a light source type corresponding to the flexible material;

[0027] The computer device, responding to the fact that the preset tray type matches the current tray type, sends an illumination command to the main control board. The illumination command is used to control the light source board to emit light, including:

[0028] The computer device responds to the fact that the preset material tray is of the same type as the current material tray by sending an illumination command to the main control board. The illumination command includes the light source type and is used to control the light source board to emit light in a light emission form corresponding to the flexible material.

[0029] In one optional embodiment, the number of image acquisition devices is at least two;

[0030] The method also includes:

[0031] The computer equipment receives an image acquisition device selection signal; and sends an image acquisition command to the image acquisition device corresponding to the image acquisition device selection signal.

[0032] The image acquisition device is used to receive image acquisition instructions and acquire a preliminary image based on the image acquisition instructions.

[0033] In an optional embodiment, the computer device is also configured with a touchscreen;

[0034] The method also includes:

[0035] The computer device receives the recipe selection signal; based on the recipe selection signal, it sends a vibration command to the main control board. The recipe selection signal is the signal generated after the touch screen receives the trigger operation.

[0036] In an optional embodiment, the method further includes:

[0037] The computer device receives a recipe creation signal; displays a recipe content selection control on the touch screen based on the recipe creation signal; receives a recipe content selection signal, which is a signal generated by operating the recipe content selection control; and generates and stores the new recipe based on the recipe content selection signal.

[0038] On the other hand, a flexible feeding station is provided, which includes a material tray, a main control board and a separation device body. The material tray is magnetically connected to the separation device body. The main control board is located inside the flexible material vibration separation device. The material tray is used to carry the flexible material.

[0039] Communication connections between computer equipment and image acquisition equipment, main control board, and industrial robot;

[0040] The image acquisition position of the image acquisition device is relative to the material tray;

[0041] The flexible feeding station is used to perform any of the vibration-based flexible material separation methods described above.

[0042] The beneficial effects of the technical solution provided by this invention include at least the following:

[0043] In the flexible feeding station, a magnetically connected separable tray is set up, and the formula corresponding to the type of tray is stored in the computer equipment. After the computer equipment determines the type of flexible material collected by the image acquisition device, the vibration method is determined based on the specific identification results of the flexible material. When the vibration formula is consistent with the tray, the flexible material is grasped and selected based on image recognition, which improves the adaptability of the production line to vibration separation of different flexible materials. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 A schematic diagram of the connection frame of a flexible feeding station provided in an exemplary embodiment of this application is shown.

[0046] Figure 2 The illustration shows a structural schematic of a flexible vibration separation device provided in an exemplary embodiment of this application.

[0047] Figure 3 An exploded schematic diagram of a flexible vibration separation device provided in an exemplary embodiment of this application is shown.

[0048] Figure 4 This illustration shows a schematic diagram of the structure of a flexible vibration separation device after the material tray has been removed, according to an exemplary embodiment of this application.

[0049] Figure 5The diagram illustrates a flow chart of a vibration-based flexible material separation method provided in an exemplary embodiment of this application.

[0050] Figure 6 This illustration shows a flowchart of another vibration-based flexible material separation method provided in an exemplary embodiment of this application.

[0051] Figure 7 A schematic diagram of the connection frame of another flexible feeding station provided in an exemplary embodiment of this application is shown. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0053] Figure 1 This illustration shows a schematic diagram of the connection frame of a flexible feeding station provided in an exemplary embodiment of this application. Please refer to... Figure 1 The flexible material loading station includes a computer device 110, an image acquisition device 120, a flexible material vibration separation device 130, and an industrial robot 140. Please refer to [reference needed]. Figure 1 In this flexible material feeding station, computer equipment 110 is the main control device, and image acquisition equipment 120, flexible material vibration separation device 130, and industrial robot 140 are communicatively connected to computer equipment 110. In this embodiment, computer equipment 110 is used to summarize and process image data and control commands, and industrial robot 140 is used for material transfer. Image acquisition equipment 120 is used to capture images of the flexible material vibration separation device 130 in operation. Flexible material vibration separation device 130 is used to vibrate based on control commands to separate the flexible materials located on its tray. In this embodiment, the flexible material is a material that can be deformed by compression, and it may stick together after storage and removal, so it needs to be separated by the flexible material vibration separation device. Optionally, the flexible material can be a plastic sheet or a paper sheet; this application does not limit the specific content of the flexible material.

[0054] Figure 2 This application illustrates a structural intent of a flexible vibration separation device provided in an exemplary embodiment. Figure 3 An exploded schematic diagram of a flexible vibration separation device provided in an exemplary embodiment of this application is shown. Figure 4 This diagram illustrates the structure of a flexible vibration separation device after removing the material tray, according to an exemplary embodiment of this application. Please refer to... Figures 2 to 4The flexible material vibration separation device includes a replaceable tray 210, a main control board 220 for operation control, and other separation device bodies. The main control board is located inside the flexible material vibration separation device, and the tray is used to carry the flexible material. Figures 2 to 4 In the illustrated case, below the material tray 210, the accommodating space formed by the housing 230 of the flexible material vibration separation device also includes four vibration generators 240, which are driven by the main control board to cause movement of the flexible material on the material tray. Optionally, the vibration generators 240 are implemented as speakers. Please refer to [reference needed]. Figure 3 as well as Figure 4 In some embodiments, a light source board 250 is also provided below the material tray 210. This light source board 250 is used to supplement the light, so that the image acquisition device can obtain clear and accurate images. In addition, corresponding to the main control board 220, an interface board 260 is also provided in the device for wired connection between the flexible material vibration separation device and other components in the flexible feeding station.

[0055] In this embodiment, the image acquisition device can be implemented as an area scan camera. Optionally, depending on actual usage requirements, at least two image acquisition devices can be set up, and the working status of the image acquisition devices can be controlled by a computer device.

[0056] In this embodiment, the industrial robot can be implemented as a six-axis industrial robot for grasping flexible materials. Since the industrial robot has the function of grasping flexible materials, this embodiment does not limit the specific implementation method of the industrial robot.

[0057] Figure 5 This application illustrates a schematic flowchart of a vibration-based flexible material separation method provided in an exemplary embodiment, demonstrating the method's application to, for example... Figure 1 The method, as illustrated in the flexible feeding station, includes:

[0058] Step 501: The image acquisition device acquires a preliminary image.

[0059] In this embodiment, the preliminary image includes the current material tray and the flexible material located within it. In this embodiment, the preliminary image is an image taken after material is loaded onto the material tray.

[0060] Step 502: The image acquisition device uploads the prepared image to the computer device.

[0061] This process involves uploading the prepared image.

[0062] Step 503: The computer device receives the prepared image.

[0063] Step 504: The computer device identifies the current tray type in the prepared image and identifies the flexible material type.

[0064] Optionally, the prepared image includes features corresponding to the material tray and features corresponding to the flexible material. In this case, the computer device will identify the type of material tray and the type of flexible material.

[0065] Step 505: The computer device determines the vibration formula corresponding to the flexible material based on the type of flexible material.

[0066] In this embodiment, the vibration formula includes a preset material tray corresponding to the flexible material. Optionally, the vibration formula also includes conventional parameters such as vibration time and vibration rules. In this case, once the vibration operation is ready, the computer device can instruct the flexible material vibration separation device to generate vibration by sending instructions.

[0067] In step 506, the computer device, in response to the fact that the preset material tray is of the same type as the current material tray, sends a vibration command to the main control board and an image acquisition command to the image acquisition device.

[0068] Optionally, after the computer equipment determines that the current tray is installed correctly, it instructs the flexible material vibration separation device and the image acquisition device to operate. It should be noted that, in this embodiment, the vibration command corresponds to the vibration formula.

[0069] In this embodiment, after receiving the vibration command, the main control board controls the flexible material vibration separation device to vibrate according to a preset pattern. During the vibration process, the flexible material located on the material tray will gradually separate.

[0070] Step 507: The image acquisition device receives the image acquisition command.

[0071] Step 508: The image acquisition device sends working images back to the computer device at preset time intervals based on the image acquisition command.

[0072] In this embodiment of the application, the working image fed back by the image acquisition device reflects the state of the flexible material on the material tray.

[0073] Step 509: The computer device receives the working image.

[0074] Step 510: In response to the working image indicating that the flexible materials are separating from each other, the computer device sends a grasping command to the industrial robot.

[0075] Optionally, the computer device can determine the separation of materials in the tray by recognizing the image, that is, obtain the position of the materials in the tray, and send a grasping command to the industrial robot.

[0076] In this embodiment of the application, the gripping command is used to instruct the industrial robot to grip the flexible material in the tray.

[0077] Optionally, before sending the gripping command, the computer device may also send a stop vibration command to the main control board. After receiving the stop vibration command, the main control board instructs the flexible material vibration separation device to stop working. Then, the industrial robot grips the stationary flexible material.

[0078] In summary, the method provided in this application embodiment, in a flexible feeding station, by setting up magnetically connected separable trays and storing the corresponding tray types in a computer device, after determining the type of flexible material acquired by the image acquisition device through the computer device, determines the vibration method based on the specific identification results of the flexible material, and performs flexible material grasping and selection work based on image recognition when the vibration formula is consistent with the tray, thereby improving the adaptability of the production line to vibration separation work for different flexible materials.

[0079] In some embodiments of this application, please refer to Figure 7 The flexible feeding station also includes a tray changing device for automatically changing trays. This tray changing device is used to automatically change trays. Optionally, the tray changing device can be implemented as an independent industrial robot, and the tray changing device is communicatively connected to computer equipment and directly controlled by the computer equipment.

[0080] Figure 6 This invention illustrates a schematic flowchart of another vibration-based flexible material separation method provided in an exemplary embodiment of this application, demonstrating the method's application to, for example... Figure 1 Taking the flexible feeding station shown as an example, the method includes:

[0081] Step 601: The computer device receives the image acquisition device selection signal.

[0082] Step 602: Send an image acquisition command to the image acquisition device corresponding to the image acquisition device selection signal.

[0083] In this embodiment of the application, when the number of image acquisition devices is at least two, the computer device will receive an image acquisition device selection signal.

[0084] Optionally, when the computer device is implemented as a computer, the image acquisition device selection signal is a signal generated based on the selection operation on the corresponding interface. In this case, the computer device will send instructions to the corresponding image acquisition device.

[0085] Optionally, in some embodiments, several of the at least two image acquisition devices will simultaneously receive image acquisition instructions.

[0086] Step 603: The image acquisition device receives the image acquisition instruction.

[0087] Step 604: The image acquisition device acquires a preliminary image based on the image acquisition command.

[0088] In this embodiment of the application, based on the instruction triggering in steps 603 to 604, the image acquisition device acquires a preliminary image in a preset manner.

[0089] Step 605: The image acquisition device uploads the prepared image to the computer device.

[0090] This process involves uploading the prepared image.

[0091] Step 606: The computer device receives the prepared image.

[0092] Step 607: The computer device identifies the current tray type in the prepared image and identifies the flexible material type.

[0093] Step 608: The computer device determines the vibration formula corresponding to the flexible material based on the type of flexible material.

[0094] In this embodiment of the application, the vibration formulation includes a preset material tray corresponding to the flexible material.

[0095] In step 609, the computer device, in response to the fact that the preset material tray is of the same type as the current material tray, sends a vibration command to the main control board and an image acquisition command to the image acquisition device.

[0096] Step 610: In response to the inconsistency between the preset tray and the current tray, the computer device generates a tray replacement instruction, which is used to instruct the tray replacement device to replace the tray.

[0097] In this embodiment of the application, the tray replacement instruction includes a tray identifier, which is an identifier carried by the tray itself.

[0098] In one example, the tray has a corresponding QR code, and the tray changing device is equipped with a QR code reader. During the tray changing process, the tray changing device reads the QR code corresponding to the candidate tray through the QR code reader to obtain the candidate tray identifier. In response to the candidate tray identifier matching the tray identifier, the candidate tray is determined to be the tray to be replaced.

[0099] In other embodiments of this application, the computer device can identify whether the tray matches the flexible material, and the tray replacement process is a manual replacement process. This application does not limit the specific method of tray replacement. Optionally, after determining that the tray needs to be replaced, step 609 is executed.

[0100] Step 611: The computer device sends an irradiation command to the main control board.

[0101] In some embodiments of this application, the material tray is implemented as a light-transmitting tray. When the flexible material vibration separation device is equipped with a light source board, the computer equipment can send an illumination command to the main control board to control the light source board to emit light.

[0102] In this case, the vibration formulation may also include a light source type corresponding to the flexible material. The light source plate also has different light emission modes, and the irradiation command instructs the light source plate to emit light in the light emission form corresponding to the flexible material.

[0103] Step 612: The computer device receives the recipe selection signal.

[0104] Optionally, in some embodiments of this application, the computer device is equipped with a touch screen, which facilitates the staff to intuitively confirm the working status of the flexible feeding station. In some cases, the computer device can directly select the formula corresponding to the flexible material through the formula selection signal generated on the touch screen.

[0105] In this case, the vibration signal is generated based on the formula selection signal.

[0106] In some scenarios, the computer device needs to determine a new recipe. In this case, steps 613 to 616 describe the process of creating a new recipe.

[0107] Step 613: The computer device receives the recipe creation signal.

[0108] Step 614: The computer device displays a recipe selection control on the touchscreen based on the recipe creation signal.

[0109] Step 615: The computer device receives the recipe content selection signal.

[0110] In this embodiment, the recipe content selection signal is a signal generated by operating the recipe content selection control.

[0111] Optionally, the formulation content includes the flexible material corresponding to the formulation, the tray markings corresponding to the formulation, and the vibration mode corresponding to the formulation.

[0112] Step 616: The computer device generates and stores the new recipe based on the recipe content selection signal.

[0113] Through the above process, other formulations corresponding to flexible materials are generated.

[0114] Step 617: The main control board receives the vibration command.

[0115] Step 618: The main control board executes vibration operation based on the vibration command.

[0116] Steps 617 to 618 show the process of the main control board receiving instructions and controlling the flexible material vibration separation device to vibrate.

[0117] Step 619: The image acquisition device receives the image acquisition command.

[0118] Step 620: The image acquisition device sends working images back to the computer device at preset time intervals based on the image acquisition command.

[0119] This process refers to the real-time image acquisition process performed by the image acquisition device during the operation of the flexible material vibration separation device.

[0120] Step 621: The computer device receives the working image.

[0121] Step 622: In response to the working image indicating that the flexible materials are separating from each other, the computer device sends a grasping command to the industrial robot.

[0122] In this embodiment of the application, the gripping command is used to instruct the industrial robot to grip the flexible material in the tray.

[0123] In summary, the method provided in this application embodiment, in a flexible feeding station, by setting up magnetically connected separable trays and storing the corresponding tray types in a computer device, after determining the type of flexible material acquired by the image acquisition device through the computer device, determines the vibration method based on the specific identification results of the flexible material, and performs flexible material grasping and selection work based on image recognition when the vibration formula is consistent with the tray, thereby improving the adaptability of the production line to vibration separation work for different flexible materials.

[0124] The above are merely optional embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A vibration-based method for separating flexible materials, characterized in that, The method is applied to a flexible feeding station, which includes computer equipment, image acquisition equipment, flexible material vibration separation device, and industrial robot. The flexible material vibration separation device includes a material tray, a main control board, and a separation device body. The material tray is magnetically connected to the separation device body. The main control board is located inside the flexible material vibration separation device. The material tray is used to carry flexible materials. The computer device is communicatively connected to the image acquisition device, the main control board, and the industrial robot. The image acquisition position of the image acquisition device is opposite to the material tray; The method includes: The image acquisition device acquires a preliminary image, which includes the current material tray and the flexible material located within the material tray; and uploads the preliminary image to the computer device. The computer device receives the preliminary image; identifies the type of the current tray in the preliminary image and identifies the type of the flexible material; determines a vibration formula corresponding to the flexible material based on the type of the flexible material, the vibration formula including a preset tray corresponding to the flexible material; in response to the preset tray being of the same type as the current tray, sends a vibration command to the main control board and an image acquisition command to the image acquisition device. The main control board receives the vibration command and executes vibration operations based on the vibration command. The image acquisition device receives an image acquisition command and, based on the image acquisition command, feeds back working images to the computer device at preset time intervals. The computer device receives the working image; in response to the working image indicating that the flexible materials are to separate from each other, it sends a gripping instruction to the industrial robot, the gripping instruction being used to instruct the industrial robot to grip the flexible materials in the tray.

2. The method according to claim 1, characterized in that, The flexible feeding station also includes a tray changing device, which is communicatively connected to the computer equipment. The method further includes: In response to the inconsistency between the preset tray and the current tray, the computer device generates a tray replacement instruction, which instructs the tray replacement device to perform a tray replacement. The tray replacement instruction includes a tray identifier. The computer device then sends the tray replacement instruction to the tray replacement device. The tray changing device allows the user to receive a tray changing instruction and perform tray changing based on the tray identifier in the tray changing instruction.

3. The method according to claim 2, characterized in that, The tray has a corresponding QR code, and the tray replacement device is also equipped with a QR code reading device; The tray changing device performs tray changing based on the tray identifier in the tray changing instruction, including: The tray replacement device reads the QR code corresponding to the candidate tray using a QR code reader to obtain the candidate tray identifier corresponding to the candidate tray; in response to the candidate tray identifier being consistent with the tray identifier, the candidate tray is determined to be the tray to be replaced.

4. The method according to claim 1, characterized in that, The material tray is a light-transmitting tray, and the flexible material vibration separation device also includes a light source plate. The light source plate is inside the body of the separation device, and the light emission position of the light source plate passes through the material tray. The light source board is communicatively connected to the main control board; The method further includes: In response to the fact that the preset tray and the current tray are of the same type, the computer device sends an illumination command to the main control board, the illumination command being used to control the light source board to emit light.

5. The method according to claim 4, characterized in that, The vibration formulation also includes a light source type corresponding to the flexible material; In response to the fact that the preset tray and the current tray are of the same type, the computer device sends an illumination command to the main control board. The illumination command is used to control the light source board to emit light, including: In response to the fact that the preset material tray and the current material tray are of the same type, the computer device sends an irradiation command to the main control board. The irradiation command includes the type of the light source and is used to control the light source board to emit light in a light-emitting form corresponding to the flexible material.

6. The method according to claim 1, characterized in that, The number of image acquisition devices is at least two; The method further includes: The computer device receives an image acquisition device selection signal; and sends an image acquisition command to the image acquisition device corresponding to the image acquisition device selection signal. The image acquisition device is used to receive the image acquisition instruction and acquire the preliminary image based on the image acquisition instruction.

7. The method according to claim 1, characterized in that, The computer device is also equipped with a touch screen; The method further includes: The computer device receives a recipe selection signal; based on the recipe selection signal, it sends the vibration command to the main control board. The recipe selection signal is a signal generated after the touch screen receives a trigger operation.

8. The method according to claim 7, characterized in that, The method further includes: The computer device receives a recipe creation signal; displays a recipe content selection control on the touch screen based on the recipe creation signal; receives a recipe content selection signal, which is a signal generated by operating the recipe content selection control; and generates and stores a new recipe based on the recipe content selection signal.

9. A flexible feeding station, characterized in that, The flexible feeding station includes computer equipment, image acquisition equipment, flexible material vibration separation device, and industrial robot; The flexible material vibration separation device includes a material tray, a main control board, and a separation device body. The material tray is magnetically connected to the separation device body. The main control board is located inside the flexible material vibration separation device. The material tray is used to carry flexible materials. The computer device is communicatively connected to the image acquisition device, the main control board, and the industrial robot. The image acquisition position of the image acquisition device is opposite to the material tray; The flexible feeding station is used to perform the vibration-based flexible material separation method as described in any one of claims 1 to 8.

Images