A method of vibrating a pendulum disc

Abstract

The present application relates to the technical field of magnet production and packaging, and in particular to a vibration tray arranging method. The present application considers the possibility of deformation of the hole and groove of the packaging box, and in combination with the pre-judgment of the position relationship between the product and the clamping jaw by the detection mechanism, when the automatic arrangement of the product is affected by the size deformation of the hole and groove of the packaging box and cannot be corresponded with the hole and groove at the fixed coordinates, the clamping jaw drives the product to move around the set hole and groove coordinates to try, and in the moving process, the local vibration of the clamping jaw is generated through the pre-adjusted moving path and speed parameters, that is, the inclined state of the magnetic ring is swung back and forth on a certain moving path, so that when the hole and groove abut against the side wall of the magnetic ring on the moving path, the clamping jaw can be easily shaken off and dropped into the hole and groove through short-distance swinging. The present application improves the tray arranging success rate, reduces the risk of two-layer tray arranging or even multi-layer tray arranging, and is beneficial to improving the tray arranging efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of magnet production and packaging, and particularly relates to a vibration stacking method. BACKGROUND

[0002] A magnetic ring is a ring-shaped magnetic conductor, which is usually made of ferrite material and is easy to break. After the magnetic ring is produced, the magnetic ring needs to be stacked. Since manual stacking is low in efficiency, currently, an automatic device is usually used to place the magnetic ring into a packaging box slot: a mechanical hand clamps the product, then places the product into a corresponding slot of the packaging box according to a set coordinate, and after the action is completed, the mechanical hand directly retreats.

[0003] In order to improve the utilization rate of the box and maximize the production capacity of the equipment, two or more layers of products need to be placed in each packaging box slot. If the first layer of stacking is not ideal (blocks the slot entrance), the product cannot be placed into the slot in the second layer of stacking. Since the packaging box is made of foam and the size may change during production or transportation, consistency is difficult to guarantee. Moreover, the mechanical hand places the product according to the set fixed coordinate, so for the same coordinate setting and the same packaging box specification, some products can completely fall into the packaging box slot, and some products cannot fall into the slot. Those products that do not fall into the slot will block the packaging box slot. Therefore, when two layers of products are placed in each packaging box slot, if the first layer of products blocks the slot, when the mechanical hand claw descends, the product on the hand claw will collide with the product in the first layer that does not fall into the slot, and the product will be crushed (since it is a magnet, it is easy to break). Moreover, the products in the packaging box are finished products that have passed the appearance inspection and are directly sent to the customer, so the risk is extremely high. Therefore, considering the high risk of two-layer stacking, the existing technology adopts a stacking method in which only one layer of product is placed in each packaging box slot, and then the products in two packaging boxes are manually combined into one box, thereby reducing the stacking efficiency. SUMMARY

[0004] The present application aims at the problem that the existing technology is easy to be affected by the deformation of the packaging box slot when the claw places the magnetic ring product according to the set fixed coordinate, thereby increasing the risk of two or more layers of stacking, and provides a vibration stacking method, which can increase the number of automatic stacking layers while reducing the stacking risk and improving the stacking efficiency.

[0005] In order to achieve the above-mentioned purpose, the technical scheme adopted by the present application is as follows:

[0006] A vibration stacking method, comprising the following steps:

[0007] A detection mechanism is arranged to detect whether the product is separated from the claw and / or whether the product enters the packaging box slot;

[0008] When the clamping jaw clamps the product to reach the preset hole groove coordinate position of the packaging box, the clamping jaw is released, and it is detected whether the product falls into the hole groove corresponding to the coordinate,

[0009] If the product falls into the hole groove, the clamping jaw is returned to the feeding position to clamp the next product and continue to arrange the tray,

[0010] If the product does not fall into the hole groove, the clamping jaw drives the product to move around the set hole groove coordinate as a center to try, and the clamping jaw is locally vibrated through the preset moving path and speed parameters in the moving process until the product completely falls into the hole groove.

[0011] The vibration tray arranging method considers the possibility of deformation of the hole groove of the packaging box, and the position relationship between the product and the clamping jaw is previously judged by the detection mechanism. When the product cannot be automatically arranged to correspond to the hole groove at the fixed coordinate due to the influence of the size deformation of the hole groove of the packaging box, the clamping jaw drives the product to move around the set hole groove coordinate as a center to try. In the moving process, the magnetic ring is tilted and dragged by the clamping jaw because the clamping jaw and the magnetic ring are in the released state, so that the attachment points are generated between the upper edge of the magnetic ring and the clamping jaw and between the end of the clamping jaw and the inner wall of the magnetic ring. Therefore, the clamping jaw is locally vibrated through the previously debugged moving path and speed parameters in the moving process, that is, the tilted state of the magnetic ring is swung back and forth on a certain moving path, so that the magnetic ring can be easily shaken off the clamping jaw and dropped into the hole groove when the hole groove abuts against the side wall of the magnetic ring on the moving path.

[0012] The vibration tray arranging method improves the tray arranging success rate, reduces the risk of two-layer tray arranging or even multi-layer tray arranging, and greatly reduces the frequency of placing the packaging box by the operator when the two-layer or more tray arranging is completed at one time by using the automatic equipment, thereby reducing the labor intensity of the operator and improving the tray arranging efficiency. The "one time" means uninterrupted, not simultaneous. The vibration tray arranging method is not only suitable for the conventional tray arranging mode of one layer, but also especially suitable for two-layer tray arranging, and can be applied to multi-layer tray arranging.

[0013] Preferably, the moving path of the clamping jaw is preset as follows: taking the feeding point as a center, sequentially moving forward by 1mm-3mm, moving backward by 1mm-3mm, returning to the feeding point, moving leftward by 1mm-3mm, and moving rightward by 1mm-3mm; or the moving path of the clamping jaw is preset as a spiral expansion shape or a wave shape, etc. After the magnetic ring is separated from the clamping jaw and enters the hole groove along the preset path, the clamping jaw can return to the feeding point coordinate and then return to the next feeding point, or the clamping jaw can be directly reset to the next feeding point.

[0014] Preferably, the running speed of the clamping jaw along the preset moving path is controlled to be 100mm / s-180mm / s, so that the clamping jaw moves quickly in the preset path.

[0015] Preferably, the acceleration time required for the control gripper servo motor to accelerate from 0 r / min to 3000 r / min is within 0.1 s~0.4 s, so that the gripper moves quickly and generates local vibration in a short time.

[0016] Preferably, the detection mechanism detects the product again every time the product is vibrated until the product falls into the packaging box hole slot, so as to ensure the accuracy of the detection result and improve the tray placing rate.

[0017] Preferably, detection mechanisms are arranged on opposite sides of the packaging box to detect whether the product is separated from the end of the gripper, which is convenient and does not occupy space.

[0018] Preferably, at least one set of detection mechanisms is arranged on each row / column of the packaging box. If the packaging box is arranged in the form of an array with multiple rows and multiple columns, at least one set of detection mechanisms is arranged on each row or column to ensure that all products can be detected.

[0019] Preferably, detection mechanisms are arranged corresponding to each hole slot of the packaging box to detect whether the product enters the hole slot, prevent misoperation, and facilitate accurate positioning of the product at each hole slot coordinate to determine whether the tray placing is successful, which serves as a reference for detection and subsequent control scheme.

[0020] Preferably, the detection mechanism is embedded in the middle of the inner wall of the hole slot.

[0021] Preferably, the detection mechanism uses a reflection optical fiber, which includes a transmitting end and a receiving end arranged opposite to each other.

[0022] In summary, due to the adoption of the above technical solutions, the present application has the following advantages:

[0023] The present application improves the tray placing success rate and reduces the risk of two-layer or even multi-layer tray placing. When the two-layer or more tray placing is completed by the automatic equipment at one time, the frequency of placing the packaging box by the operator can be greatly reduced, the labor intensity of the operator is reduced, and the tray placing efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is a schematic diagram of the arrangement structure of the detection mechanism in Example 1.

[0025] Figure 2 is a schematic diagram of the arrangement structure of the detection mechanism in Example 2.

[0026] Figure 3 is a schematic diagram of the arrangement structure of the detection mechanism in Example 3.

[0027] Figure 4 is a schematic diagram of the process of the vibration tray placing method of the present application.

[0028] Figure 5 This is a schematic diagram of the arc movement path in this embodiment.

[0029] Figure 6 This is a schematic diagram of the path when the gripper's movement path is spiraling and expanding.

[0030] Figure 7 This is a schematic diagram of the path when the gripper's movement path is wavy.

[0031] Icons: 1-clamp; 2-groove; 3-magnetic ring; 4-packaging box; 5-through-fiber optic cable. Detailed Implementation

[0032] The present invention will now be described in detail with reference to the accompanying drawings.

[0033] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0034] Example 1

[0035] This embodiment provides a vibration-assisted placement method for quickly and accurately placing magnetic ring products into the slots of packaging boxes. Specifically,

[0036] like Figure 1 As shown, a set of through-beam optical fibers 5 is set below the end of the material feeding position corresponding to the dropping position of the gripper 1 on the opposite side of the packaging box 4. The transmitting end of the optical fiber sends light, and the receiving end on the opposite side receives the light to determine whether the products between the through-beam optical fibers 5 have detached from the end of the gripper 1 and entered the slot 2.

[0037] The plating steps are as follows:

[0038] (1) The gripper 1 clamps the product from the feeding point: The gripper 1 is inserted into the magnetic ring 3 and is in an open state. The product is clamped by the tension force of the gripper on the inner wall of the magnetic ring 3. One product corresponds to one gripper 1.

[0039] (2) According to the preset path coordinates, the gripper 1 clamps the product and moves it to the position directly above the corresponding feeding point, so that the product and the packaging box 4 hole slot 2 are concentric;

[0040] (3) The gripper 1 descends vertically along the Z-axis to the unloading position;

[0041] (4) After descending to the position, the product is released by the control of the gripper 1 cylinder. At this time, if the hole position size of the packaging box 4 is normal, the product will vertically fall into the hole slot 2 of the packaging box 4 due to the action of gravity. If the hole position size of the packaging box 4 is abnormal, the product may not completely fall into the hole slot 2, and part of the product will fall on the surface of the packaging box 4, and at this time the end of the gripper 1 is still in the magnetic ring 3.

[0042] When there is a product that does not enter the hole slot 2, the emitted light of the optical fiber will be blocked by the product, so that the receiving end cannot receive the light, and at this time the optical fiber outputs an ON signal to the main control PLC. After the PLC receives the signal, the servo motors of the X axis and the Y axis of the gripper 1 are controlled, and the products are discharged from the center of the current set hole slot 2 coordinates (50mm, 25mm) according to the pre-adjusted movement parameters. The grippers move forward and backward and left and right at high speed in a circular arc, specifically: the moving sequence of the gripper is: forward to (50mm, 26mm) → backward to (50mm, 24mm) → return to (50mm, 25mm) → left to (49mm, 25mm) → right to (51mm, 25mm), that is, the discharge point is taken as the center to move back and forth by 1mm along the longitudinal and transverse directions respectively, and the running speed is controlled to be 100mm / s~180mm / s, the acceleration time required from 0r / min to 3000r / min is within 0.1s~0.4s, so that the gripper 1 produces a short-time local vibration to bring the product that is not discharged into the hole slot 2 of the packaging box 4. After each vibration, the optical fiber will be detected again until the product is completely dropped into the hole slot 2 of the packaging box 4.

[0043] When all the products are discharged into the hole slot 2, the light emitted by the optical fiber will be successfully received by the receiving end, and at this time the optical fiber will not output a signal, and after a waiting time of 0.5s-1s, the gripper 1 is automatically lifted to continue to take the material and repeat the above discarding operation. The waiting time can be reasonably adjusted according to the reaction time of the detection mechanism such as the optical fiber 5.

[0044] It should be noted that the number of optical fibers 5 is determined according to the arrangement form of the hole slot 2 of the packaging box 4. When the packaging box 4 is rectangular and the hole slot 2 is arranged in an array, the optical fiber 5 is arranged on both sides of each column / row of hole slots 2 of the packaging box 4, which is used to detect whether the products corresponding to each column / row of hole slots 2 are separated from the gripper.

[0045] Example 2

[0046] The embodiment provides a vibrating disc placing method for quickly and accurately placing the magnetic ring 3 product to the hole slot 2 of the packaging box 4.

[0047] As Figure 2As shown, a set of opposite light emitting fibers 5 are arranged on the middle of the inner wall of each hole 2 of the packaging box 4, the emitting end of the light emitting fibers sends light, and the receiving end on the opposite side is used for receiving light. According to the output signal of the opposite light emitting fibers 5 in each hole 2 of the packaging box 4, it is judged whether the product at the corresponding coordinate of each hole 2 falls completely into the hole 2, so as to determine the coordinate of the clamp jaw 1 in which the product does not fall into the hole 2, so as to further regulate the clamp jaw 1 at the specific coordinate position.

[0048] The tray arranging step is as follows:

[0049] (1) The clamp jaw 1 clamps the product from the feeding point: the clamp jaw 1 is deeply inserted into the magnetic ring 3 in an open state, and the product is clamped by the tension force of the magnetic ring 3 on the inner wall of the hand jaw, and one product corresponds to one clamp jaw 1.

[0050] (2) According to the pre-set path coordinates, the clamp jaw 1 clamps the product to move to the position directly above the corresponding discharging point, so that the positions of the product and the hole 2 of the packaging box 4 are concentric.

[0051] (3) The clamp jaw 1 vertically descends along the Z axis to the discharging position.

[0052] (4) After descending to the position, the clamp jaw 1 cylinder is controlled to release the product, at this time, if the hole size of the packaging box 4 is normal, the product will vertically drop into the hole 2 of the packaging box 4 due to the action of gravity; if the hole size of the packaging box 4 is abnormal, a plurality of products may not completely drop into the hole 2, and part of the products will drop on the surface of the packaging box 4, and at this time, the end of the clamp jaw 1 is still in the magnetic ring 3.

[0053] When the product does not enter the hole slot 2, the emitted light of the corresponding hole slot 2 optical fiber is received by the receiving end, and the corresponding hole slot 2 optical fiber 5 of the product entering the hole slot 2 is blocked by the product. At this time, the host PLC will determine whether the product does not enter the hole slot 2 according to the state information of the hole slot 2 optical fiber 5, so as to determine the coordinate position of the product not entering the hole slot 2; according to the coordinate position information of the product not entering the hole slot 2, the PLC controls the X-axis and Y-axis servo motors of the corresponding position gripper 1, and according to the pre-adjusted movement parameters, the current set hole slot 2 coordinate (50mm, 25mm) is taken as the center to move, the gripper 1 is moved at high speed in a circular arc forward, backward, left and right, specifically: the moving sequence of the gripper is: forward to (50mm, 26mm)→ backward to (50mm, 24mm)→ return to (50mm, 25mm)→ left to (49mm, 25mm)→ right to (51mm, 25mm), that is, taking the discharging point as the center, respectively moving back and forth along the longitudinal and transverse directions by 1mm, and controlling the running speed to be 100mm / s~180mm / s, the acceleration time required from 0r / min to 3000r / min is within 0.1s~0.4s, so that the gripper 1 produces a short-time local vibration to bring the product not discharged into the packaging box 4 hole slot 2. After each vibration, the optical fiber will detect again until the product completely falls into the packaging box 4 hole slot 2.

[0054] When all the products are put into the hole slot 2, the light of the optical fiber emitting end in all the hole slots 2 is blocked, and the receiving end cannot receive the light. At this time, the optical fiber in each hole slot 2 will send a signal, so that all the products are completely dropped into the hole slot 2, and the automatic rising gripper 1 continues to take the material and repeats the above discharging action.

[0055] Embodiment 3

[0056] The embodiment provides a vibrating disc placing method for quickly and accurately placing a magnetic ring 3 product to a packaging box 4 hole slot 2.

[0057] As shown in Figure 3 , a group of optical fibers 5 are arranged below the end of the discharging position corresponding to the gripper 1 descending on the opposite side of each row / column of the packaging box 4, for detecting whether the product is separated from the gripper 1; meanwhile, a group of optical fibers 5 are arranged on the opposite sides of the middle part of the inner wall of each hole slot 2 of the packaging box 4, for detecting whether the product is completely dropped into the hole slot 2. The emitting end of the optical fiber sends light, and the receiving end of the optical fiber is used for receiving the optical fiber, and the placing state of the product is judged by judging whether the light is received by the receiving end on the opposite side.

[0058] The disc placing step flow is as follows:

[0059] (1) The gripper 1 clamps the product from the feeding point: the gripper 1 deeply enters the inside of the magnetic ring 3 and is in an open state, and the product is clamped by the tension of the gripper on the inner wall of the magnetic ring 3, and one product corresponds to one gripper 1.

[0060] (2) According to the pre-set path coordinates, the clamping jaw 1 clamps the product to move to the position directly above the corresponding feeding point, so that the positions of the product and the hole slot 2 of the packaging box 4 are concentric;

[0061] (3) The clamping jaw 1 vertically descends along the Z axis to the feeding position;

[0062] (4) After descending to the position, the clamping jaw 1 cylinder is controlled to release the product, at this time, if the hole size of the packaging box 4 is normal, the product will vertically drop into the hole slot 2 of the packaging box 4 due to the action of gravity; if the hole size of the packaging box 4 is abnormal, a number of products may not completely drop into the hole slot 2, and part of the products will drop on the surface of the packaging box 4, and at this time, the end of the clamping jaw 1 is still in the magnetic ring 3.

[0063] The signal state of the opposite light fiber 5 arranged on the opposite side of the packaging box 4 and the signal state of the opposite light fiber 5 in each hole slot 2 of the packaging box 4 are detected, the main control ware first judges the signal state of the opposite light fiber 5 arranged on the opposite side of the packaging box 4: when the main control ware detects the shielding signal (assuming the ON signal) output by the upper light fiber, it indicates that there is a product that has not entered the hole slot 2, then the signal state of the opposite light fiber 5 arranged in each hole slot 2 of the packaging box 4 is judged to determine whether the product has completely fallen into the hole slot 2, to prevent misoperation, or further to determine the coordinate information of the product that has not fallen into the hole slot 2; the main control ware PLC controls the servo motor of the X axis and the Y axis of the clamping jaw 1 according to the state information of the product tray, and according to the pre-adjusted movement parameters, the current set hole slot 2 coordinates (50mm, 25mm) are taken as the center for feeding, each clamping jaw moves forward and backward and left and right at a high speed in a circular arc, specifically: the clamping jaw moves in the following order: forward to (50mm, 26mm) → backward to (50mm, 24mm) → back to (50mm, 25mm) → left to (49mm, 25mm) → right to (51mm, 25mm), that is, taking the feeding point as the center, respectively moving back and forth along the longitudinal and transverse directions by 1mm, and controlling the running speed to be 100mm / s~180mm / s, the acceleration time required from 0r / min to 3000r / min is within 0.1s~0.4s, so that the clamping jaw 1 produces a short-time local vibration to bring the product that has not been fed into the hole slot 2 of the packaging box 4, after each vibration, the light fiber will detect again until the product completely falls into the hole slot 2 of the packaging box 4.

[0064] When the main control ware detects that all the light fibers in the lower hole slot 2 output shielding signals, it indicates that the products corresponding to the hole slot 2 coordinates of the current row / column have all fallen into the hole slot 2, then the clamping jaw 1 is automatically raised to continue to take the material, and the above feeding action is repeated. Through the light fiber signals at two different positions, the tray state of the magnetic ring product can be quickly and accurately judged, and the misjudgment rate is extremely low.

[0065] It should be noted that in the above embodiment 1-embodiment 3, the motion planning (including path, pose and running speed, acceleration and other information) of the clamping jaw 1 clamping the product can be pre-set by the host controller, which is a mature technology similar to the path planning of KUKA, ABC industrial robot, and the path of the robot is composed of circular arcs without pure straight lines. In addition, the robot servo motor can adopt the SV-MM08-0R7G-4A0 model of Inovision.

[0066] The vibration swing disc method proposed in the application considers the possibility of deformation of the hole slot 2 of the packaging box 4, and pre-judges the positional relationship between the product and the clamping jaw 1 through the detection mechanism. When the product cannot be automatically placed at the fixed coordinates corresponding to the hole slot 2 due to the size deformation of the hole slot 2 of the packaging box 4, the clamping jaw 1 drives the product to move around the set hole slot 2 coordinates to try. During the movement, the magnetic ring 3 is tilted and dragged by the clamping jaw 1 because the clamping jaw 1 and the magnetic ring 3 are in a loose state, so that the upper edge of the magnetic ring 3 and the clamping jaw 1 and the end of the clamping jaw 1 and the inner wall of the magnetic ring 3 generate dependent points. Therefore, through the pre-adjusted movement path and speed parameters, the clamping jaw 1 generates local vibration during the movement, that is, the tilted state of the magnetic ring 3 is quickly swung back and forth on a certain moving path, so that when the hole slot 2 encounters the side wall of the magnetic ring 3 on the moving path, it can easily get rid of the clamping jaw 1 and fall into the hole slot 2 through short-distance swinging, as shown in Figure 4 .

[0067] The application has strong plasticity, simple and convenient debugging, and can set multiple circular moving paths by changing the moving distance parameters and moving speed parameters of the clamping jaw 1 along the X-axis and Y-axis at the placement point in cooperation with the touch screen and industrial computer, such as Figure 5 the motion route: set coordinate center-advance (①)-retreat (②)-return to set coordinate center (③)-move left (④)-move right (⑤), or like 6 in a spiral expanding shape, like Figure 7The optimal motion parameters are selected to meet the actual production line requirements on the basis of the medium wave shape and the like, which can greatly make up for the problem of misplacement of the tray caused by the dispersion of the packaging box. The specific discharge point coordinates are determined according to the actual plane discharge position and the size of the magnetic ring; since the maximum difference between the outer diameter of the clamp jaw and the inner diameter of the product is 3mm, the displacement variation can be the actual discharge coordinates ±3mm, that is, the single offset amount of each time along the longitudinal and transverse directions to and fro can reach 3mm. In the above-mentioned vibration tray method, when 100 times of continuous placement of the clamp jaw are counted in the placement of 2 layers of products, it is verified that the original tray placement success rate can be improved from 73% to more than 98%. In addition to some detection means, the goal of placing multiple layers can be completely achieved, which greatly reduces the frequency of the operator placing the packaging box and reduces the labor intensity of the operator. The vibration tray method proposed in the application improves the tray placement success rate and can be used to place two layers and more than two layers of targets, and improves the tray placement efficiency.

[0068] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement and improvement within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for vibrating a oscillating disc, characterized in that, Includes the following steps: The testing mechanism is set up to detect whether the product has detached from the gripper (1) and / or whether it has entered the slot (2) of the packaging box (4); When the gripper (1) holds the product and reaches the coordinate position of the preset slot (2) of the packaging box (4), the gripper (1) is released, and it is checked whether the product has detached from the gripper (1) and fallen into the slot (2) at the corresponding coordinate. If a product falls into the slot (2), the gripper (1) will return to the loading position to grip the next product and continue loading. If the product does not fall into the slot (2), the drive gripper (1) moves the product around the set slot (2) coordinates to test. During the movement, the gripper (1) vibrates locally by using the preset movement path and speed parameters until the product completely leaves the gripper (1) and falls into the slot (2). When the product uses a magnetic ring (3), the gripper (1) extends into the magnetic ring (3). During the movement, the gripper (1) and the magnetic ring (3) are in a loose state. After the magnetic ring (3) is tilted, it can be dragged by the gripper (1), so that there are attachment points between the upper edge of the magnetic ring (3) and the gripper (1) and between the end of the gripper (1) and the inner wall of the magnetic ring (3). When the tilted magnetic ring (3) encounters the slot (2) on the movement path and abuts the side wall of the magnetic ring (3), it can get rid of the gripper (1) and fall into the slot (2) by swinging back and forth.

2. The method for a vibrating oscillating disk according to claim 1, characterized in that, The gripper movement path can be preset as follows: with the unloading point as the center, move forward 1mm~3mm, move backward 1mm~3mm, return to the unloading point, move left 1mm~3mm, and move right 1mm~3mm; or, the gripper movement path can be preset as a spiral expansion shape or a wave shape.

3. The method for a vibrating oscillating disk according to claim 1, characterized in that, The speed of the gripper along the preset moving path is controlled to be between 100mm / s and 180mm / s.

4. The method for a vibrating oscillating disk according to claim 1, characterized in that, The acceleration time required to control the gripper servo motor to accelerate from 0 r / min to 3000 r / min is within 0.1s to 0.4s.

5. The method for a vibrating oscillating disk according to claim 1, characterized in that, Each time the product vibrates, the testing agency will test it again until all the products fall into the slot (2) of the packaging box (4).

6. The method for a vibrating oscillating disk according to claim 1, characterized in that, Detection mechanisms are set on opposite sides of the packaging box (4) to detect whether the product has detached from the end of the gripper (1).

7. The method for a vibrating oscillating disk according to claim 6, characterized in that, Each row / column of the packaging box (4) is equipped with at least one testing institution.

8. A method for vibrating a oscillating disk according to any one of claims 1-7, characterized in that, Each slot (2) of the corresponding packaging box (4) is equipped with a detection mechanism to detect whether the product enters the slot (2).

9. The method for a vibrating oscillating disk according to claim 8, characterized in that, The testing mechanism is embedded in the middle of the inner wall of the groove (2).

10. A method for vibrating a oscillating disk according to any one of claims 1-7, characterized in that, The testing agency uses a through-beam optical fiber (5), which includes a transmitter and a receiver, and the transmitter and receiver are set opposite to each other.

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