Material supplementing system and material supplementing method

Abstract

A material supplementing system comprises a mechanical arm, a clamping jaw, an image capturing module and a processor. The mechanical arm is provided with a rotating electric claw, the image acquisition module is arranged on the mechanical arm, the processor is provided with a processing unit and a memory device which are coupled with each other, an image identification model is stored in the memory device, and the processor is electrically connected to the mechanical arm and the image acquisition module. The image capturing module captures an image of the material barrel, and the processor processes the image to obtain a three-dimensional coordinate corresponding to the outer cover. And the processor controls the mechanical arm and the rotating electric claw to pick up the outer cover by referring to the three-dimensional coordinates. The processor then controls the robotic arm and the rotating claw to pick up the inner cap with reference to the three-dimensional coordinates. The processor controls the mechanical arm and the rotating electric claw to pick up the extraction pipe and moves the extraction pipe with reference to the three-dimensional coordinates to suck the raw materials.

Description

Technical Field

[0001] The invention relates to a feeding system, a clamping claw used in the feeding system and a feeding method, in particular to a feeding system capable of automatically feeding, a clamping claw used in the feeding system and a feeding method. Background Art

[0002] Photoresist liquid is used for coating when manufacturing color filters or liquid crystal panel components in the industry, and the photoresist liquid of the coating machine needs to be continuously replenished. Generally speaking, the photoresist liquid is packaged in barrels, and the replenishment and replacement of the photoresist liquid need to rely on manpower. The procedures are quite complicated and labor-intensive. If the operation is not careful during the replacement of the barrel, there is a risk of the photoresist liquid being cut off, which indirectly affects the manufacturing quality of the color filter or liquid crystal panel components. Therefore, in order to improve the automation efficiency in the factory and reduce labor costs, it is necessary to provide a replenishment system to meet the requirements of modern automated factories. Summary of the invention

[0003] To solve the above problems, an embodiment of the present invention provides a feeding system for feeding from a barrel, wherein the barrel has an outer cover and an inner cover, and the barrel has raw materials, and the feeding system includes a robotic arm, a gripper, an image capture module and a processor. The robotic arm has a rotating electric gripper. The gripper is disposed on the rotating electric gripper. The image capture module is disposed on the robotic arm. The processor has a coupled processing unit and a memory device, and the memory device stores an image recognition model, wherein the processor is electrically connected to the robotic arm and the image capture module. The image capture module captures at least one image of the barrel, and the processor processes at least one image to obtain the three-dimensional coordinates corresponding to the outer cover. The processor controls the robotic arm and the rotating electric gripper with reference to the three-dimensional coordinates so that the gripper picks up the outer cover. The processor then controls the robotic arm and the rotating electric gripper with reference to the three-dimensional coordinates so that the gripper picks up the inner cover. The processor controls the gripper on the robotic arm to move to pick up the extraction tube, and controls the robotic arm to move the extraction tube with reference to the three-dimensional coordinates to absorb the raw materials.

[0004] In one embodiment of the feeding system, the processor uses the image recognition model to identify the at least one image to obtain a two-dimensional coordinate corresponding to the outer cover, and the processor obtains depth information corresponding to the outer cover through the image capture module to generate the three-dimensional coordinate in combination with the two-dimensional coordinate.

[0005] In an embodiment of the feeding system, the image capture module has a lidar, and the image capture module obtains the depth information through the lidar.

[0006] In one embodiment of the feeding system, a pressure sensor is further provided on the rotating electric claw, wherein:

[0007] When the processor controls the clamp to pick up the outer cover, the inner cover or the extraction tube, the pressure sensor senses the pressure when the clamp picks up the outer cover, the inner cover or the extraction tube and sends a feedback signal to the processor; and

[0008] When the processor determines that the feedback signal reaches a default threshold, the processor controls the rotating electric claw to stop the claw from applying force to the outer cover, the inner cover or the extraction tube.

[0009] One embodiment of the present invention provides a feeding method using a feeding system, wherein the feeding system is used to feed from a barrel, wherein the barrel is located on a reference plane and has an outer cover and an inner cover, wherein the barrel has raw materials, and wherein the feeding system comprises a robotic arm, a rotating electric claw, a clamping claw, and an image capture module, wherein the rotating electric claw is disposed on the robotic arm, the clamping claw is disposed on the rotating electric claw, the robotic arm has a rotating electric claw, the clamping claw is disposed on the rotating electric claw, and the image capture module is disposed on the robotic arm. The feeding method comprises the following steps. At least one image of the barrel is captured by the image capture module; at least one image is processed to obtain the three-dimensional coordinates corresponding to the outer cover; the robotic arm and the rotating electric claw are controlled with reference to the three-dimensional coordinates so that the clamping claw picks up the outer cover; the robotic arm and the rotating electric claw are controlled with reference to the three-dimensional coordinates so that the clamping claw picks up the inner cover; and the robotic arm and the rotating electric claw are controlled so that the clamping claw picks up the extraction tube, and the robotic arm is controlled with reference to the three-dimensional coordinates to move the extraction tube to absorb the raw materials.

[0010] In one embodiment of the feeding method using the feeding system, the following steps are also included:

[0011] The at least one image is recognized by an image recognition model to obtain a two-dimensional coordinate corresponding to the outer cover, and depth information corresponding to the outer cover is obtained by the image capture module to generate the three-dimensional coordinate in combination with the two-dimensional coordinate.

[0012] In an embodiment of the feeding method using the feeding system, the image capture module has a lidar, and the image capture module obtains the depth information through the lidar.

[0013] In one embodiment of the feeding method using the feeding system, the following steps are also included:

[0014] sensing the pressure when the clamping claw picks up the outer cover, the inner cover or the extraction tube and sending a feedback signal; and

[0015] When the feedback signal reaches a threshold value, the rotating electric claw is controlled to stop applying force to the outer cover, the inner cover or the extraction tube.

[0016] One embodiment of the present invention further provides a clamping jaw of a feeding system, wherein the clamping jaw is arranged on a rotating electric clamping jaw of a robot arm, and the rotating electric clamping jaw has a first driving part and a second driving part that can move toward and away from each other in a first direction, and the clamping jaw includes a first auxiliary jaw and a second auxiliary jaw. The first auxiliary jaw is arranged and connected to the first driving part, and the first auxiliary jaw includes a first substrate, a first inner clamping arm and a first outer support arm. The first inner clamping arm is arranged on the first substrate. The first outer support arm is arranged on the first substrate, and is misaligned with the first inner clamping arm in the first direction and in a second direction perpendicular to the first direction. The second auxiliary jaw includes a second substrate, a second inner clamping arm and a second outer support arm. The second inner clamping arm is arranged on the second substrate and is opposite to the first inner clamping arm. The second outer support arm is arranged on the second substrate and is opposite to the first outer support arm, and is misaligned with the second inner clamping arm in the first direction and in the second direction. Wherein, the spacing between the first inner clamping arm and the second inner clamping arm in the first direction is greater than the spacing between the first outer support arm and the second outer support arm in the first direction.

[0017] In one embodiment of the clamp of the feeding system, the first substrate includes a first surface, a second surface opposite to the first surface, a first side surface connecting the first surface and the second surface, a second side surface adjacent to the first side surface and connecting the first surface and the second surface, and a first cylindrical surface adjacent to the first side surface and the second side surface and connecting the first surface and the second surface, and the first substrate is connected to the first driving part through the second surface.

[0018] In one embodiment of the clamp of the feeding system, a first arc rib is arranged on the first surface, the first inner clamp arm is protruded from one end of the first arc rib and is adjacent to the first arc surface and the first side surface, and the first outer support arm is protruded from the other end of the first arc rib and is adjacent to the first arc surface and the second side surface.

[0019] In one embodiment of the clamping jaws of the feeding system, the first inner clamping arm includes a first column and a first protrusion, the first protrusion is protruded from the first column, a first picking groove is formed between the first protrusion and the first surface, the first protrusion also includes at least one first secondary protrusion, the at least one first secondary protrusion is protruded from the first protrusion, and the protruding direction of the at least one first secondary protrusion is parallel to the first surface.

[0020] In one embodiment of the clamping jaws of the feeding system, the first outer support arm includes a second column and a second protrusion, the second protrusion is protruding from the second column, and a first hanging groove is formed between the second protrusion and the first arc rib.

[0021] In one embodiment of the clamp of the feeding system, when the clamp picks up an outer cover of a barrel, the robot arm drives the clamp through the rotating electric clamp so that the first secondary protrusion of the first inner clamp arm abuts against the outer cover.

[0022] In one embodiment of the clamp of the feeding system, when the clamp picks up the inner cover of a barrel, the robotic arm drives the clamp through the rotating electric clamp so that the second column of the first outer support arm extends into the pull ring of the inner cover and the first hanging groove abuts against the pull ring of the inner cover.

[0023] In one embodiment of the clamp of the feeding system, when the clamp picks up an extraction tube, the robot arm drives the clamp through the rotating electric clamp so that the first picking groove of the first inner clamp arm abuts against the outer flange of the extraction tube.

[0024] In one embodiment of the clamp of the feeding system, when the first surface of the first substrate is parallel to a reference plane, the height of the first inner clamp arm in a direction perpendicular to the reference plane is equal to the height of the first outer support arm in a direction perpendicular to the reference plane.

[0025] According to the feeding system of the present invention, the image capture module captures the image of the barrel, the processor processes the image to obtain the three-dimensional coordinates corresponding to the outer cover; the processor controls the mechanical arm and the rotating electric claw to pick up the outer cover with reference to the three-dimensional coordinates; the processor then controls the mechanical arm and the rotating electric claw to pick up the inner cover with reference to the three-dimensional coordinates; the processor controls the mechanical arm and the rotating electric claw to pick up the extraction tube, and moves the extraction tube with reference to the three-dimensional coordinates to absorb the raw materials. In this way, the feeding system can automatically replenish the raw materials to the machine, improve the automation efficiency and reduce the labor cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a schematic diagram of a feeding system according to an embodiment of the present invention.

[0027] Figure 2 is based on Figure 1 A system block diagram of a feeding system of an embodiment of the present invention.

[0028] Figure 3 is based on Figure 1 A schematic diagram of the explosion structure of a material barrel of an embodiment of the present invention.

[0029] Figure 4A This is a feeding method according to an embodiment of the present invention.

[0030] Figure 4B is based on Figure 4A The fed-batch method of the embodiment.

[0031] Figure 5A Schematic diagram of the connection state between the clamp and the rotating electric clamp according to an embodiment of the present invention.

[0032] Figure 5B is based on Figure 5A A schematic structural diagram of the first auxiliary jaw of the clamping jaw of an embodiment.

[0033] Figure 5C is based on Figure 5A A schematic structural diagram of the second auxiliary jaw of the clamping jaw of an embodiment.

[0034] Figure 5D is based on Figure 5A Schematic diagram of the closed state of the clamping jaws of the embodiment.

[0035] Fig. 6A is based on FIG. 5A to FIG. 5D Schematic diagram of the clamping claw picking up the outer cover of the bucket according to the embodiment.

[0036] Figure 6B is based on FIG. 5A to FIG. 5D Schematic diagram of the clamping claw picking up the inner cover of the bucket according to the embodiment.

[0037] Figure 6C is based on FIG. 5A to FIG. 5D Schematic diagram of the gripper picking up the extraction tube according to an embodiment.

[0038] Wherein, the reference numerals are:

[0039] 1 Feeding system

[0040] 10 pedestals

[0041] 11Robotic Arm

[0042] 12 Rotating Electric Claws

[0043] 121 Pressure Sensor

[0044] 122 first driving unit

[0045] 123 Second drive unit

[0046] 13 jaws

[0047] 131 The first claw

[0048] 1310 first substrate

[0049] 1311 First Surface

[0050] 13110 first arc rib

[0051] 13111 First End

[0052] 13112 Second end

[0053] 1312 Second Surface

[0054] 1313First cylindrical surface

[0055] 1314 First side

[0056] 1315 Second side

[0057] 13151, 13251 contact surface

[0058] 1316 first inner clamp arm

[0059] 13161 First Pillar

[0060] 13162 First Bump

[0061] 13163 The first bulge

[0062] 13164 First Pickup Groove

[0063] 1317 First outer support arm

[0064] 13171 Second pillar

[0065] 13172 Second bulge

[0066] 13173 First suspension groove

[0067] 1318 first locking hole

[0068] 132 Second claw

[0069] 1320 Second substrate

[0070] 1321 Third Surface

[0071] 13210 Second arc rib

[0072] 13211 Third End

[0073] 13212 Fourth End

[0074] 1322 Fourth Surface

[0075] 1323 Second cylindrical surface

[0076] 1324 The third side

[0077] 1325 The fourth side

[0078] 1326 Second inner clamp arm

[0079] 13261 The third pillar

[0080] 13262 The third bulge

[0081] 13263 Second protrusion

[0082] 13264 Second pickup groove

[0083] 1327 Second outer support arm

[0084] 13271 Fourth Pillar

[0085] 13272 Fourth Bump

[0086] 13273 Second suspension groove

[0087] 1328 Second locking hole

[0088] 14Image Capture Module

[0089] 15 processors

[0090] 151 Memory Device

[0091] 152 processing units

[0092] 20 barrel system

[0093] 21 Outer cover

[0094] 211 outer surface

[0095] 212 inner surface

[0096] 213 Bump

[0097] 214 internal thread

[0098] 22 Inner cover

[0099] 221 pull ring

[0100] 222 inner plug

[0101] 23 barrels

[0102] 24 Extraction tube

[0103] 25 Opening

[0104] 26 thread part

[0105] 27 Barrel

[0106] 241 outer flange

[0107] 30 Reference plane

[0108] 40 Barrel cover temporary storage area

[0109] 50 Inner cover discard area

[0110] 60 Extraction tube placement

[0111] D1, D2, D3 directions

[0112] g spacing

[0113] Steps S101 to S107, S201 to S202 DETAILED DESCRIPTION

[0114] Various embodiments will be described below, and those with ordinary knowledge in the art should be able to easily understand the spirit and principles of the present invention by referring to the description with the accompanying drawings. However, although some specific embodiments will be specifically described in the text, these embodiments are only illustrative and are not considered to be limiting or exhaustive in all aspects. Therefore, for those with ordinary knowledge in the art, various changes and modifications to the present invention should be obvious and easily achievable without departing from the spirit and principles of the present invention.

[0115] In the various embodiments of the present invention, "upper", "lower", "left", "right", "front" or "rear" is used herein to describe the relationship between one component and another component, and is only used to illustrate the orientation presented in the diagram, and does not limit its actual position. The device in the accompanying drawings does not limit the orientation or orientation of its components due to the flipping of the device. In addition, in order to clearly indicate the directional relationship between different diagrams, the Cartesian coordinate system (XYZ coordinate system, i.e., rectangular coordinate system) is used as an example in some of the diagrams to indicate the corresponding directions, but the present invention is not limited thereto.

[0116] Figure 1 is a schematic diagram of a feeding system according to an embodiment of the present invention, Figure 2 is based on Figure 1 Please refer to the system block diagram of the feeding system of the embodiment. Figure 1 and Figure 2The feeding system 1 is used to replenish the raw material from the barrel system 20. In this embodiment, the feeding system 1 is, for example, a photoresist feeding system, the barrel system 20 is, for example, a photoresist storage barrel system, and the raw material is, for example, photoresist. The photoresist feeding system is suitable for feeding the photoresist to a machine (such as a coating machine), but the feeding system 1 can also be used for feeding other types of raw materials, and the present invention is not limited thereto. The barrel system 20 is disposed on a reference plane 30, and the barrel system 20 has an object to be picked up, such as an outer cover 21, an inner cover 22, and an extraction tube 24 described later. The feeding system 1 includes a robot arm 11, a gripper 13, an image capture module 14 and a processor 15. The base 10 of the robot arm 11 is disposed on a reference plane 30. The robot arm 11 has a rotating electric gripper 12. The gripper 13 is disposed on the rotating electric gripper 12 to pick up the outer cover 21, the inner cover 22 and the extraction tube 24. The gripper 13 can be rotated and moved by the rotating electric gripper 12 to change the relative position between the gripper 13 and the object to be picked up so that the gripper 13 can pick up the object to be picked up more easily. In addition, the image capture module 14 is disposed on the robot arm 11 to capture an image of the outer cover 21. The image capture module 14 is, for example, equipped with a laser imaging detection and ranging (Lidar), which can capture an image of the outer cover 21 with depth information (that is, three-dimensional space information) and provide it to the processor 15.

[0117] The processor 15 is electrically connected to the robot arm 11, the rotating electric gripper 12, the gripper 13 and the image capture module 14, wherein the processor 15 has a processing unit 152 and a memory device 151 coupled to each other. The processor 15 is, for example, a single-core or multi-core central processing unit (CPU), or other programmable general-purpose or special-purpose microprocessor (Microprocessor), digital signal processor (Digital Signal Processor, DSP), programmable controller, application specific integrated circuit (Application Specific Integrated Circuit, ASIC) or other similar components or a combination of the above components. The processor 15 can also be a computer control system with computing capabilities such as a desktop computer, a notebook computer, a workstation (work station), an industrial computer, a server host, etc., but the present invention is not limited thereto. The memory device 151 is, for example, any type of non-transient, volatile, non-volatile data storage device, and the memory device 151 stores an image recognition model, such as a convolutional neural network (CNN) algorithm, for the processor 15 to run and access. In this embodiment, the image capture module 14 captures at least one image of the outer cover 21 of the barrel 23, and the processor 15 processes at least one image to obtain the three-dimensional coordinates corresponding to the outer cover 21. The processor 15 then controls the robot arm 11 and the rotating electric claw 12 with reference to the three-dimensional coordinates so that the gripper 13 picks up the outer cover 21. The processor 15 then controls the robot arm 11 and the rotating electric claw 12 with reference to the three-dimensional coordinates so that the gripper 13 picks up the inner cover 22. Finally, the processor 15 controls the gripper 13 on the robot arm 11 to move to pick up the extraction tube 24, and controls the robot arm 15 to move the extraction tube 24 with reference to the three-dimensional coordinates to absorb the raw material.

[0118] In detail, the processor 15 can overlap the coordinate system of the robot arm 11 with the coordinate system of the image capture module 14, and then the processor 15 runs the convolutional neural network algorithm stored in the memory device 151 to detect the two-dimensional coordinates of the outer cover 21 in the coordinate system of the image capture module. Next, the image capture module 14 photographs the object to be picked up to obtain the Euclidean distance (also known as the Euclidean distance) between the center of the image capture module 14 and the center of the outer cover 21. The image capture module 14 obtains depth information through, for example, a lidar. The processor 15 combines the depth information with the two-dimensional coordinates to generate the three-dimensional coordinates of the outer cover 21 relative to the coordinate system of the robot arm 11. The depth information is, for example, the Euclidean distance between the center of the image capture module 14 and the center of the outer cover 21. The Euclidean distance is the distance between two points in space. The processor 15 then calculates the three-dimensional coordinates of the outer cover 21 relative to the coordinate system of the robot arm 11 based on the two-dimensional coordinates and the Euclidean distance. In this embodiment, the three-dimensional coordinates (X, Y, Z) can be expressed by the following formula:

[0119]

[0120] Wherein (u0, v0) is the 2D coordinate of the center of the image in the coordinate system of the image capture module 14, (u, v) is the 2D coordinate of the outer cover 21 in the coordinate system of the image capture module 14, L is the Euclidean distance, and fx is the focal length of the image capture module 14. In this way, the processor 15 can determine the 3D coordinate of the outer cover 21.

[0121] Figure 3 is based on Figure 1 Schematic diagram of the explosion structure of the barrel of the embodiment. Please refer to Figure 1 , Figure 2 and Figure 3 The barrel system 20 includes a barrel 23 and an extraction pipe 24 (not shown). Figure 3 ), the barrel 23 further includes a barrel body 27, an inner cover 22 and an outer cover 21, wherein an opening 25 is provided on the barrel body 27, and a threaded portion 26 is provided around the opening 25. When the barrel 23 is not opened, the inner cover 22 is plugged into the opening 25 by an inner plug 222 described later and closes the opening 25, and the outer cover 21 is provided with an inner threaded portion 214 described later, for example, and the outer cover 21 can rotate along the thread of the threaded portion 26 so that the inner threaded portion 214 is engaged with the threaded portion 26 and covers the inner cover 22, and the extraction tube 24 is placed in the extraction tube placement 60 (shown in FIG. Figure 1 In this embodiment, the processor 15 controls the gripper 13 on the robot arm 11 to the above three-dimensional coordinates to pick up the outer cover 21. After the gripper 13 picks up the outer cover 21, the processor 15 controls the robot arm 11 to drive the gripper 13 to move the outer cover 21 to the barrel cover temporary storage area 40 (shown in FIG. Figure 1 ) to place the outer cover 21. In this way, when the entire refilling process is completed, the processor 15 can selectively control the robot arm 11 to drive the gripper 13 to move the outer cover 21 from the barrel cover temporary storage area 40 to the above-mentioned three-dimensional coordinates, so as to cover the outer cover 21 back to the barrel 23 for the next refilling process.

[0122] Please continue to refer to Figure 1 , Figure 2 and Figure 3, the processor 15 then controls the gripper 13 on the robot arm 11 to the above-mentioned three-dimensional coordinates. Since the position coordinates of the inner cover 22 of the barrel 23 do not overlap with the position coordinates of the outer cover 21 at the same three-dimensional coordinates, but there is a slight difference between them in the Z-axis direction, the processor 15 can control the robot arm 11 to move along the direction D1 perpendicular to the reference plane 30 so that the gripper 13 picks up the inner cover 22 of the barrel 23. At this time, after the gripper 13 picks up the inner cover 22, the processor 15 can control the robot arm 11 to drive the gripper 13 to discard the inner cover 22, for example, to move the inner cover 22 to an inner cover discarding area 50 (shown in FIG. 4 ) different from the above-mentioned barrel cover temporary storage area 40. Figure 1 Next, the processor 15 controls the robot arm 11 to move to the extraction tube placement location 60 (shown in FIG. Figure 1 ) so that the gripper 13 picks up the extraction tube 24, and the extraction tube placement area 60 is, for example, different from the barrel cover temporary storage area 40 and the inner cover discarding area 50 mentioned above. Finally, the processor 15 controls the robot arm 11 to move the extraction tube 24 to the three-dimensional coordinates so that the extraction tube 24 absorbs the raw materials in the barrel 23 to complete the feeding process. It should be noted that if Figure 1 As shown, the coordinates of the barrel cover temporary storage area 40, the inner cover discarding area 50 and the extraction tube placement 60 of the present embodiment are, for example, pre-recorded in the memory device 151, wherein the barrel cover temporary storage area 40, the inner cover discarding area 50 and the extraction tube placement 60 are all located on the reference plane 30, however, in other variant embodiments, the barrel cover temporary storage area 40, the inner cover discarding area 50 and the extraction tube placement 60 may not be on the same plane, and may not be arranged on the reference plane 30, the present invention is not limited to this.

[0123] Please continue to refer to Figure 1 , Figure 2 and Figure 3The feeding system 1 can also selectively set a pressure sensor 121 on the rotating electric claw 12 to sense the pressure generated when the clamp 13 clamps the object to be picked up (the outer cover 21, the inner cover 22 or the extraction tube 24) and generate a feedback signal to the processor 15 in real time. The processor 15 can receive this feedback signal (such as the clamping force, the unit can be Newton or kgf, etc.) and control the clamp 13 accordingly. In detail, when the processor 15 controls the rotating electric claw 12 to make the clamp 13 pick up the outer cover 21, the inner cover 22 or the extraction tube 24, the pressure sensor 121 senses the pressure when the clamp 13 picks up the outer cover 21, the inner cover 22 or the extraction tube 24 and sends a feedback signal to the processor 15. Then, when the processor 15 determines that the feedback signal reaches the default threshold, the processor 15 controls the rotating electric claw 12 to stop the clamping claw 13 from applying force to the outer cover 21, the inner cover 22 or the extraction tube 24, so that the clamping claw 13 can be matched with the outer cover 21, the inner cover 22 or the extraction tube 24 of various sizes to pick up, and the objects to be picked up will not be damaged due to the excessive clamping force of the clamping claw 13. In addition, the processor 15 also includes a control interface (not shown), which can display the alignment image of the clamping claw 13 and the outer cover 21, the current coordinates of the outer cover 21, the value of the feedback signal, and the operation interface of the clamping claw 13, etc., so that the user can manually operate the clamping claw 13 to pick up various objects to be picked up (the outer cover 21, the inner cover 22 or the extraction tube 24 in this embodiment), but the present invention is not limited to this.

[0124] Figure 4A is a feeding method according to an embodiment of the present invention. The feeding method of FIG4 may correspond to Figure 1 , Figure 2 The refilling system 1 is refilled from the material tank 23. Please refer to Figure 1 As shown in FIG. 4 , step S101 is first performed, and at least one image of the barrel 23 is captured by the image capture module 14. Then, step S102 is performed, and at least one image is processed to obtain the three-dimensional coordinates corresponding to the outer cover 21. When step S102 is performed, step S106 can be performed, and at least one image is recognized by the image recognition model to obtain the two-dimensional coordinates corresponding to the outer cover 21, and the depth information corresponding to the outer cover 21 is obtained through the image capture module 14 to combine the two-dimensional coordinates to generate three-dimensional coordinates, wherein the method of obtaining the three-dimensional coordinates is as described above and will not be repeated here. Then, step S103 is performed, and the robot arm 11 and the rotating electric claw 12 are controlled with reference to the three-dimensional coordinates so that the gripper 13 picks up the outer cover 21. In detail, the gripper 13 on the robot arm 11 is controlled to pick up the outer cover 21 at the three-dimensional coordinate and move it to the barrel cover temporary storage area 40. When the entire refilling process is completed, the robot arm 11 can be selectively controlled to move the outer cover 21 from the barrel cover temporary storage area 40 to this three-dimensional coordinate to cover the outer cover 21 back to the barrel 23.

[0125] Then, step S104 is performed, and the robot arm 11 and the rotating electric claw 12 are controlled with reference to the three-dimensional coordinates so that the gripper 13 picks up the inner cover 22. Specifically, the gripper 13 on the robot arm 11 is controlled to the three-dimensional coordinates and then moves in a direction perpendicular to the reference plane 30 to pick up the inner cover 22 of the barrel 23 and discard it. After the gripper 13 picks up the inner cover 22, the robot arm 11 can be controlled to move the inner cover 22 to the inner cover discarding area 50. Finally, step S105 is performed, and the robot arm 11 and the rotating electric claw 12 are controlled to make the gripper 13 pick up the extraction tube 24, and the robot arm 11 is controlled to move the extraction tube 24 with reference to the three-dimensional coordinates to absorb the raw material. Specifically, the robot arm 11 is controlled to move to the extraction tube placement 60 to pick up the extraction tube 24, and move the extraction tube 24 to the three-dimensional coordinates to absorb the raw material, completing the feeding process. After the feeding process is completed, this feeding method can also be selectively implemented on another barrel, and the present invention is not limited to this.

[0126] Figure 4B is based on Figure 4A For the feeding method of the embodiment, please refer to Figures 1 to 4B . When the gripper 14 picks up the outer cover 21, the inner cover 22 or the extraction tube 24, that is, when performing steps S103, S104 and S105, the following steps can also be performed. Step S201, sensing the pressure when the gripper 14 picks up the outer cover 21, the inner cover 22 or the extraction tube 24 and sending a feedback signal, wherein the feeding system 1 can be provided with a pressure sensor 121 on the rotating electric gripper 12 to sense the pressure generated when the gripper 13 grips the object to be picked up (the outer cover 21, the inner cover 22 or the extraction tube 24) and generate a feedback signal in real time; and step S202, when the feedback signal reaches the threshold value, the rotating electric gripper 14 is controlled to stop applying force to the outer cover 21, the inner cover 22 or the extraction tube 24, so that the gripper 13 can be matched with outer covers 21, the inner cover 22 or the extraction tube 24 of various sizes to pick up, and these objects to be picked up will not be damaged due to excessive clamping force of the gripper 13.

[0127] Figure 5A Schematic diagram of the connection state between the clamp and the rotating electric clamp according to an embodiment of the present invention. Figure 5B is based on Figure 5A A schematic structural diagram of the first auxiliary jaw of the clamping jaw of an embodiment. Figure 5C is based on Figure 5B A schematic structural diagram of the second auxiliary jaw of the clamping jaw of an embodiment. Figure 5D is based on Figure 5A Schematic diagram of the closed state of the clamping jaws of the embodiment. Please refer to Figure 2 , FIG. 5A to FIG. 5D , FIG. 5A to FIG. 5D The clamping jaw 13 can be applied to Figure 1The feeding system 1. The gripper 13 is disposed on the rotating electric gripper 12 of the robot arm 11, and the gripper 13 includes a first auxiliary gripper 131 and a second auxiliary gripper 132 relative to the first auxiliary gripper, and the rotating electric gripper 12 has a first driving part 122 and a second driving part 123 that can move toward and away from each other in a direction D2 (for example, parallel to the X-axis direction), wherein the first auxiliary gripper 131 is connected to the first driving part 122, and the second auxiliary gripper 132 is connected to the second driving part 123. When the processor 15 controls the robot arm 11 to drive the gripper 13 to pick up the object to be picked up (the outer cover 21, the inner cover 22 or the extraction tube 24 in this embodiment), the processor 15 can control the rotating electric gripper 12 to drive the first auxiliary gripper 131 and the second auxiliary gripper 132 to perform various actions such as gripping, rotating, and separating that can help the gripper 13 pick up the object to be picked up.

[0128] Please continue to refer to FIG. 5A to FIG. 5DThe first auxiliary claw 131 includes a first substrate 1310, a first inner clamping arm 1316 and a first outer support arm 1317. The first inner clamping arm 1316 is disposed on the first substrate 1310, and the first outer support arm 1317 is also disposed on the first substrate 1310. The first outer support arm 1317 and the first inner clamping arm 1316 are staggered in a direction D2 and a direction D3 perpendicular to the direction D2 (for example, parallel to the Y-axis direction) so that no mechanical interference occurs between the first outer support arm 1317 and the first inner clamping arm 1316. In detail, the first substrate 1310 includes a first surface 1311, a second surface 1312 opposite to the first surface 1311, a first side surface 1314 connecting the first surface 1311 and the second surface 1312, a second side surface 1315 adjacent to the first side surface 1314 and connecting the first surface 1311 and the second surface 1312, and a first cylindrical curved surface 1313 adjacent to the first side surface 1314 and the second side surface 1315 and connecting the first surface 1311 and the second surface 1312. When the first auxiliary claw 131 is viewed in the Z-axis direction, it can be seen that the first auxiliary claw 131 is generally fan-shaped, that is, the length of the first side surface 1314 in the X-axis direction may be equal to the length of the second side surface 1315 in the Y-axis direction. However, in other embodiments, the length of the first side surface 1314 in the X-axis direction may not be equal to the length of the second side surface 1315 in the Y-axis direction to match the barrel cover design of different barrels. In addition, the first substrate 1310 further has a first arc rib 13110, which is disposed on the first surface 1311 and has a first end 13111 and a second end 13112 opposite to the first end 13111, wherein the first end 13111 is adjacent to the first side surface 1314, and the second end 13112 is adjacent to the second side surface 1315, and the first end 13111 can be coplanar with at least a portion of the first side surface 1314, and the second end 13112 can be coplanar with at least a portion of the second side surface 1315 (e.g., the contact surface 13151 of the second side surface 1315). In addition, the first substrate 1310 is connected to the first driving portion 122 of the rotating electric claw 12 through the second surface 1312 to avoid the first inner clamping arm 1316 and the first outer support arm 1317 described later from causing mechanical interference with the rotating electric claw 12.

[0129] Please continue to refer to FIG. 5A to FIG. 5DThe first inner clamp arm 1316 is protruded from the first end 13111 of the first arc rib 13110 and is adjacent to the first arc surface 1313 and the first side surface 1314. In detail, the first inner clamp arm 1316 includes a first column 13161 and a first protrusion 13162, wherein the first protrusion 13162 is protruded from the first column 13161, and a first picking groove 13164 is formed between the first protrusion 13162 and the first surface 1311. In this embodiment, the first picking groove 13164 is used to pick up the extraction tube 24. In addition, the first protrusion 13162 also includes at least one first auxiliary protrusion 13163 ( Figure 5B 2 first secondary protrusions 13163 are schematically shown in the figure, but not limited thereto), the first secondary protrusion 13163 is protruded from the first protrusion 13162, and the protruding direction of the first secondary protrusion 13163 is parallel to the first surface 1311 (that is, the XY plane), and in this embodiment, the first secondary protrusion 13163 is used to pick up the outer cover 21. In addition, the first outer support arm 1317 is protruded from the second end 13112 of the first arc rib 13110 and is adjacent to the first arc surface 1313 and the second side surface 1315 (in this embodiment, it is adjacent to the contact surface 13151 of the second side surface 1315). In detail, the first outer support arm 1317 includes a second column 13171 and a second protrusion 13172. The second protrusion 13172 is protruded from the second column 13171, and a first hanging groove 13173 is formed between the second protrusion 13172 and the first arc rib 13110. In this embodiment, the first hanging groove 13173 is used to pick up the inner cover 22.

[0130] Please continue to refer to FIG. 5A to FIG. 5D The second auxiliary claw 1320 includes a second substrate 1320, a second inner clamping arm 1326 and a second outer support arm 1327. The second inner clamping arm 1326 is disposed on the second substrate 1320. The second outer support arm 1317 is also disposed on the second substrate 1320. The second outer support arm 1327 and the second inner clamping arm 1326 are staggered in the direction D2 and in the direction D3 perpendicular to the direction D2, so that there is no mechanical interference between the second outer support arm 1327 and the second inner clamping arm 1326. The spacing g between the first inner clamping arm 1316 and the second inner clamping arm 1326 in the direction D2 (shown in FIG. Figure 5D ) is greater than the distance between the first outer support arm 1317 and the second outer support arm 1327 in the direction D2 ( Figure 5DThe spacing between the first outer support arm 1317 and the second outer support arm 1327 in the direction D2 is 0, that is, the first outer support arm 1317 is close to the second outer support arm 1327 to match the pull rings of various sizes of the barrel as much as possible, but not limited to this), so that the clamp 13 can match and pick up bucket lids and pull rings of various sizes. In detail, the second substrate 1320 includes a third surface 1321, a fourth surface 1322 relative to the third surface 1321, a third side surface 1324 connecting the third surface 1321 and the fourth surface 1322, a fourth side surface 1325 adjacent to the third side surface 1324 and connecting the third surface 1321 and the fourth surface 1322, and a second cylindrical surface 1323 adjacent to the third side surface 1324 and the fourth side surface 1325 and connecting the third surface 1321 and the fourth surface 1322. When observing the second auxiliary claw 132 in the Z-axis direction, it can be found that the second auxiliary claw 132 is also roughly fan-shaped, that is, the length of the third side 1324 in the X-axis direction can be equal to the length of the fourth side 1325 in the Y-axis direction. However, in other embodiments, the length of the third side 1324 in the X-axis direction may not be equal to the length of the fourth side 1325 in the Y-axis direction to match the barrel cover design of different barrels. In addition, the second substrate 1320 further has a second arc rib 13210, which is disposed on the third surface 1321 and has a third end 13211 and a fourth end 13212 opposite to the third end 13211, wherein the third end 13211 is adjacent to the third side surface 1324, and the fourth end 13212 is adjacent to the fourth side surface 1325, wherein the third end 13211 can be coplanar with at least a portion of the third side surface 1324, and the fourth end 13212 can be coplanar with at least a portion of the fourth side surface 1325 (e.g., the contact surface 13251 of the fourth side surface 1325). In addition, the second substrate 1320 is connected to the second driving portion 123 of the rotating electric claw 12 through the fourth surface 1322 to avoid mechanical interference between the second inner clamping arm 1326 and the second outer support arm 1327 described later and the rotating electric claw 12.

[0131] Please continue to refer to FIG. 5A to FIG. 5D , the second inner clamp arm 1326 is protruded from the third end 13211 of the second arc rib 13210 and is adjacent to the second arc surface 1323 and the third side surface 1324. In detail, the second inner clamp arm 1326 includes a third column 13261 and a third protrusion 13262, wherein the third protrusion 13262 is protruded from the third column 13261, and a third picking groove 13264 is formed between the third protrusion 13262 and the third surface 1321. In this embodiment, the third picking groove 13264 is used to pick up the extraction tube 24 together with the first picking groove 13164. In addition, the third protrusion 13262 also includes at least one second auxiliary protrusion 13263 ( Figure 5C2 second secondary protrusions 13263 are schematically shown in the figure, but not limited thereto), the second secondary protrusion 13263 is protruded from the third protrusion 13262, and the protruding direction of the second secondary protrusion 13263 is parallel to the third surface 1321 (that is, the XY plane), and in this embodiment, the second secondary protrusion 13263 and the first secondary protrusion 13163 jointly pick up the outer cover 21. In addition, the second outer support arm 1327 is protruded from the fourth end 13212 of the second arc rib 13210 and is adjacent to the second arc surface 1323 and the fourth side surface 1325 (in this embodiment, it is adjacent to the contact surface 13251 of the fourth side surface 1325). In detail, the second outer support arm 1327 includes a fourth column 13271 and a fourth protrusion 13272. The fourth protrusion 13272 is protruded from the fourth column 13271, and a second hanging groove 13273 is formed between the fourth protrusion 13272 and the second arc rib 13210. In this embodiment, the second hanging groove 13273 is used to pick up the inner cover 22 together with the first hanging groove 13271. In addition, when the rotating electric claw 12 drives the first auxiliary claw 131 to fit the second auxiliary claw 132, the second side surface 1315 of the first auxiliary claw 131 is at least partially fitted to the fourth side surface 1325 of the second auxiliary claw 132, for example, the contact surface 13151 of the second side surface 1315 is fitted to the contact surface 13251 of the fourth side surface 1325. In this way, the first outer support arm 1317 and the second outer support arm 1327 can fit each other when picking up the inner cover 22 so as to extend into the various pull ring sizes of the inner covers 22 of various barrels 23 as much as possible.

[0132] Please continue to refer to FIG. 5A to FIG. 5D In this embodiment, the first auxiliary claw 131 can be integrally formed, and the second auxiliary claw 132 can also be integrally formed. In the first auxiliary claw 131, when the first substrate 1311 is parallel to the reference plane 30 (shown in FIG. Figure 1, that is, parallel to the XY plane), the height of the first inner clamp arm 1316 in the direction perpendicular to the reference plane 30 (that is, in the Z-axis direction) is equal to the height of the first outer support arm 1317 in the direction perpendicular to the reference plane 30. Similarly, in the second auxiliary claw 132, when the second substrate 1321 is parallel to the reference plane 30, the height of the second inner clamp arm 1326 in the direction perpendicular to the reference plane 30 is equal to the height of the second outer support arm 1327 in the direction perpendicular to the reference plane 30, so that the manufacturing difficulty of the first auxiliary claw 131 and the second auxiliary claw 132 can be reduced. However, in other variations, the height of the first inner clamp arm 1316 in the direction perpendicular to the reference plane 30 may not be equal to the height of the first outer support arm 1317 in the direction perpendicular to the reference plane 30, and the height of the second inner clamp arm 1326 in the direction perpendicular to the reference plane 30 may not be equal to the height of the second outer support arm 1327 in the direction perpendicular to the reference plane 30, and the present invention is not limited thereto. In addition, the first auxiliary claw 131 is, for example, mirror-symmetrical with the second auxiliary claw 132, wherein the first side surface 1314 of the first auxiliary claw 131 is, for example, perpendicular to the second side surface 1315, and the third side surface 1324 of the second auxiliary claw 132 is, for example, perpendicular to the fourth side surface 1325. Such a design can also reduce the difficulty of manufacturing the first auxiliary claw 131 and the second auxiliary claw 132.

[0133] In this embodiment, the first substrate 1310 of the first auxiliary claw 131 has at least two first locking holes 1318 and at least two locking members (not shown). The first locking holes 1318 communicate with the first surface 1311 and the second surface 1312. The locking members are respectively disposed through the first locking holes 1318 from the first surface 1311 so that the first substrate 1310 is locked to the first driving portion 122 of the rotating electric claw 12 through the second surface 1312. The second substrate 1320 of the second auxiliary claw 132 also has at least two second locking holes 1328 and at least two locking members (not shown). The second locking holes 1328 communicate with the third surface 1321 and the fourth surface 1322. The locking members are respectively disposed through the third locking holes 1328 from the third surface 1321 so that the second substrate 1320 is locked to the second driving portion 123 of the rotating electric claw 12 through the fourth surface 1312. In this way, the first auxiliary claw 131 and the second auxiliary claw 132 can be fixed to the first driving part 122 and the second driving part 123 respectively without displacement relative to the rotating electric claw 12 , thereby increasing the control accuracy of the clamping claw 13 .

[0134] Fig. 6A is based on FIG. 5A to FIG. 5D Schematic diagram of the clamp picking up the outer cover of the bucket in the embodiment. Please refer to Figure 1 , Figure 3 , FIG. 5A to FIG. 5D and Fig. 6AIn this embodiment, the outer cover 21 of the barrel 23 includes an outer surface 211 and an inner surface 212 opposite to each other, the outer surface 211 has a plurality of protrusions 213, and the inner surface 212 is provided with an inner thread portion 214. When the clamp 13 picks up the outer cover 21, the robot arm 11 drives the clamp 13 by rotating the electric claw 12, so that the first secondary protrusion 13163 of the first inner clamp arm 1316 and the second secondary protrusion 13263 of the second inner clamp arm 1326 jointly clamp the protrusions 213 of the outer cover 21, and then the robot arm 11 can rotate the clamp 13 by rotating the electric claw 12 so that the first secondary protrusion 13163 and the second secondary protrusion 13263 abut against these protrusions 213, so that the outer cover 21 and the barrel 23 can be loosened in a rotational manner along the inner thread portion 214, and the picking action of the outer cover 21 is completed.

[0135] Figure 6B is based on FIG. 5A to FIG. 5D Schematic diagram of the clamp picking up the inner cover of the bucket in the embodiment. Please refer to Figure 1 , Figure 3 , FIG. 5A to FIG. 5D and Figure 6B In this embodiment, the inner cover 22 of the barrel 23 has a pull ring 221 and an inner plug 222. When the barrel 23 is not opened, the inner plug 222 is used for the inner cover 22 to plug the opening 25 of the barrel 23. When the gripper 13 picks up the inner cover 22, the robot arm 11 drives the gripper 13 by rotating the electric gripper 12, so that the second column 13171 of the first outer support arm 1317 and the fourth column 13271 of the second outer support arm 1327 are extended into the pull ring 221 of the inner cover 22 of the barrel 23, and the pull ring 221 of the inner cover 22 is supported by the first hanging groove 13173 and the second hanging groove 13273. In detail, the second column 13171 and the fourth column 13271 can move in the +X direction and the -X direction respectively to tighten the pull ring 211. Next, the robot arm 11 can move the first auxiliary claw 131 and the second auxiliary claw 132 along the Z-axis direction by rotating the electric claw 12, so that the second protrusion 13172 and the fourth protrusion 13272 respectively abut against the pull ring 221, so that the pull ring 221 can be pulled up in the +Z-axis direction to separate the inner plug 222 from the opening 25 of the barrel 23.

[0136] Figure 6C is based on FIG. 5A to FIG. 5D Schematic diagram of the clamping jaws picking up the extraction tube in the embodiment. Figure 1 , Figure 3 , FIG. 5A to FIG. 5D and Figure 6CIn this embodiment, the extraction tube 24 is provided with an outer flange 241, for example. When the clamp 13 picks up the extraction tube 24, the robot arm 11 drives the clamp 13 by rotating the electric clamp 12, so that the first picking groove 13164 of the first inner clamp arm 1316 and the second picking groove 13264 of the second inner clamp arm 1326 jointly clamp the outer flange 241 of the extraction tube 24. In this way, the first auxiliary claw 131 and the second auxiliary claw 132 of the clamp 13 can pick up the extraction tube 24 from the extraction tube placement 60, completing the picking action of the extraction tube 24.

[0137] In summary, the image capture module captures the image of the barrel, the processor processes the image to obtain the three-dimensional coordinates corresponding to the outer cover; the processor controls the robot arm and the rotating electric claw to pick up the outer cover with reference to the three-dimensional coordinates; the processor then controls the robot arm and the rotating electric claw to pick up the inner cover with reference to the three-dimensional coordinates; the processor controls the robot arm and the rotating electric claw to pick up the extraction tube, and moves the extraction tube with reference to the three-dimensional coordinates to absorb the raw materials. In this way, the feeding system can automatically replenish the raw materials to the machine, improving automation efficiency and reducing labor costs.

[0138] The present invention has been described by the above-mentioned relevant embodiments, however, the above-mentioned embodiments are only examples for implementing the present invention. It must be pointed out that the disclosed embodiments do not limit the scope of the present invention. On the contrary, modifications and equivalent settings included in the spirit and scope of the claims are all included in the scope of the present invention.

Claims

1. A feeding system for feeding from a barrel, the barrel having an outer cover and an inner cover, the barrel containing raw materials, characterized in that: The feeding system includes: A robotic arm having a rotating electric claw; A clamping claw, disposed on the rotating electric claw; an image capture module, disposed on the robotic arm; and a processor having a processing unit and a memory device coupled to each other, wherein an image recognition model is stored in the memory device, wherein the processor is electrically connected to the robot arm and the image capture module; The image capture module captures at least one image of the barrel, and the processor processes the at least one image to obtain a three-dimensional coordinate corresponding to the outer cover; wherein the processor controls the robot arm and the rotating electric gripper with reference to the three-dimensional coordinates so that the gripper picks up the outer cover; The processor then controls the robot arm and the rotating electric gripper with reference to the three-dimensional coordinates so that the gripper picks up the inner cover; and The processor controls the gripper on the robot arm to move to pick up an extraction tube, and controls the robot arm to move the extraction tube to absorb the raw material with reference to the three-dimensional coordinates.

2. The feeding system according to claim 1, characterized in that The processor recognizes the at least one image with the image recognition model to obtain a two-dimensional coordinate corresponding to the outer cover. The processor also obtains depth information corresponding to the outer cover through the image capture module to generate the three-dimensional coordinate in combination with the two-dimensional coordinate.

3. The feeding system according to claim 2, characterized in that The image capture module has a lidar, and the image capture module obtains the depth information through the lidar.

4. The feeding system according to claim 1, characterized in that It also includes a pressure sensor disposed on the rotating electric claw, wherein: When the processor controls the clamp to pick up the outer cover, the inner cover or the extraction tube, the pressure sensor senses the pressure when the clamp picks up the outer cover, the inner cover or the extraction tube and sends a feedback signal to the processor; and When the processor determines that the feedback signal reaches a default threshold, the processor controls the rotating electric claw to stop the claw from applying force to the outer cover, the inner cover or the extraction tube.

5. A feeding method using a feeding system, wherein the feeding system is used to feed from a material barrel, the material barrel having an outer cover and an inner cover, the material barrel having raw materials, the feeding system comprising a robotic arm, a rotating electric claw, a clamping claw and an image capture module, the robotic arm having the rotating electric claw, the clamping claw being arranged on the rotating electric claw, the image capture module being arranged on the robotic arm, characterized in that: The feeding method comprises the following steps: Capturing at least one image of the barrel by the image capture module; Processing the at least one image to obtain a three-dimensional coordinate corresponding to the outer cover; controlling the robot arm and the rotating electric gripper with reference to the three-dimensional coordinate so that the gripper picks up the outer cover; Controlling the robot arm and the rotating electric claw with reference to the three-dimensional coordinates so that the claw picks up the inner cover; and The robot arm and the rotating electric claw are controlled to make the gripper pick up an extraction tube, and the robot arm is controlled to move the extraction tube to absorb the raw material with reference to the three-dimensional coordinate.

6. The feeding method according to claim 5, characterized in that The following steps are also included: The at least one image is recognized by an image recognition model to obtain a two-dimensional coordinate corresponding to the outer cover, and depth information corresponding to the outer cover is obtained by the image capture module to generate the three-dimensional coordinate in combination with the two-dimensional coordinate.

7. The feeding method according to claim 6, characterized in that The image capture module has a lidar, and the image capture module obtains the depth information through the lidar.

8. The feed supplement method according to claim 5, characterized in that The following steps are also included: sensing the pressure when the clamping claw picks up the outer cover, the inner cover or the extraction tube and sending a feedback signal; as well as When the feedback signal reaches a threshold value, the rotating electric claw is controlled to stop applying force to the outer cover, the inner cover or the extraction tube.

9. A gripper of a feeding system, the gripper being arranged on a rotating electric gripper of a robot arm, the rotating electric gripper having a first driving part and a second driving part which can move toward and away from each other in a first direction; characterized in that: The gripper includes: A first auxiliary claw is arranged to be connected to the first driving part, and the first auxiliary claw has: a first substrate; a first inner clamping arm, disposed on the first substrate; and a first outer support arm, disposed on the first substrate, and offset from the first inner clamp arm in the first direction and in a second direction perpendicular to the first direction; and A second auxiliary claw is arranged to be connected to the second driving part, and the second auxiliary claw has: a second substrate; a second inner clamping arm, disposed on the second substrate and opposite to the first inner clamping arm; and A second outer support arm is disposed on the second substrate and is opposite to the first outer support arm and is offset from the second inner clamp arm in both the first direction and the second direction; Wherein, the distance between the first inner clamping arm and the second inner clamping arm in the first direction is greater than the distance between the first outer supporting arm and the second outer supporting arm in the first direction.

10. The clamping jaw according to claim 9, characterized in that The first substrate includes a first surface, a second surface opposite to the first surface, a first side surface connecting the first surface and the second surface, a second side surface adjacent to the first side surface and connecting the first surface and the second surface, and a first cylindrical surface adjacent to the first side surface and the second side surface and connecting the first surface and the second surface, and the first substrate is connected to the first driving unit through the second surface.

11. The clamping jaw according to claim 10, characterized in that A first arc rib is disposed on the first surface, the first inner clamp arm is protruded from one end of the first arc rib and is adjacent to the first arc surface and the first side surface, and the first outer support arm is protruded from the other end of the first arc rib and is adjacent to the first arc surface and the second side surface.

12. The clamping jaw according to claim 11, characterized in that The first inner clamp arm includes a first column and a first protrusion, the first protrusion is protruded from the first column, a first picking groove is formed between the first protrusion and the first surface, the first protrusion also includes at least one first secondary protrusion, the at least one first secondary protrusion is protruded from the first protrusion, and the protruding direction of the at least one first secondary protrusion is parallel to the first surface.

13. The clamping jaw according to claim 11, characterized in that The first outer support arm includes a second column and a second protrusion. The second protrusion is protruding from the second column, and a first hanging groove is formed between the second protrusion and the first arc rib.

14. The clamping jaw according to claim 12, characterized in that When the clamping claw picks up an outer cover of a barrel, the mechanical arm drives the clamping claw through the rotating electric claw to make the first auxiliary protrusion of the first inner clamping arm abut against the outer cover.

15. The clamping jaw according to claim 13, characterized in that When the clamping claw picks up the inner cover of a barrel, the robot arm drives the clamping claw through the rotating electric claw, so that the second column of the first outer support arm extends into the pull ring of the inner cover and the first hanging groove abuts against the pull ring of the inner cover.

16. The clamping jaw according to claim 12, characterized in that When the clamping claw picks up an extraction tube, the robot arm drives the clamping claw through the rotating electric claw to make the first picking groove of the first inner clamping arm abut against the outer flange of the extraction tube.

17. The clamping jaw according to claim 9, characterized in that When the first surface of the first substrate is parallel to a reference plane, the height of the first inner clamping arm in a direction perpendicular to the reference plane is equal to the height of the first outer supporting arm in a direction perpendicular to the reference plane.

Images