Material taking and placing method and pasting equipment

Abstract

The invention provides a material taking and placing method and attaching equipment. The method comprises the steps that the first number of materials on the material taking position of a material shifting device, the second number of materials on the temporary storage position of the material shifting device, the third number of suction nozzles and the states of the suction nozzles are obtained; and according to the first number, the second number, the third number and the states of the suction nozzles, the suction nozzles are controlled to process the materials.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the field of production line technology, and more specifically, to a material taking and placing method and auxiliary pasting equipment. Background Art

[0002] The material picker in the auxiliary pasting equipment can pick the material to the material picking position, and the material picking guide camera can take pictures. By integrating the correction data of visual calculation, the suction nozzle can be controlled to pick up the material at the material picking position and place the picked material at the corresponding discharge position.

[0003] However, if there is material missing during the material picking process, or there is residual material on the suction nozzle before picking up the material, then every material picking thereafter will require avoiding the material picking guidance camera to take pictures after the material at the picking position is picked up. The remaining suction nozzle can only be filled with material after the material picker has picked up the material again and taken the picture, which will reduce the rhythm of the auxiliary equipment and reduce the production capacity of the auxiliary equipment. Summary of the invention

[0004] One purpose of the embodiments of the present disclosure is to provide a material taking and placing method and auxiliary pasting equipment.

[0005] According to a first aspect of an embodiment of the present disclosure, a material loading and unloading method is provided, comprising:

[0006] Obtaining a first quantity of materials at a material picking position of a material dispenser, a second quantity of materials at a buffer position of the material dispenser, a third quantity of suction nozzles, and a state of the suction nozzles;

[0007] The suction nozzle is controlled to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle.

[0008] Optionally, controlling the suction nozzle to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle includes:

[0009] When the first quantity is zero, the state of the suction nozzles indicates that at least one suction nozzle has not sucked up materials, and the second quantity is zero, the suction nozzles that have sucked up materials are controlled to place the sucked materials at the cache position.

[0010] Optionally, controlling the suction nozzle to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle includes:

[0011] When the first quantity is zero, the state of the suction nozzle indicates that at least one suction nozzle has not sucked up material, and the sum of the second quantity and the fourth quantity of material sucked up by the suction nozzle is greater than or equal to the third quantity, the suction nozzle that has not sucked up material is controlled to suck up material placed in the cache position.

[0012] Optionally, controlling the suction nozzle to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle includes:

[0013] When the first quantity is zero, the state of the suction nozzle indicates that at least one suction nozzle has not sucked up material, and the sum of the second quantity and the fourth quantity of material sucked up by the suction nozzle is less than the third quantity, the suction nozzle that sucked up material is controlled to place the sucked material on the cache position.

[0014] Optionally, controlling the suction nozzle to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle includes:

[0015] When the state of the suction nozzles indicates that at least one suction nozzle has material that is not placed at the discharge position and the second quantity is zero, the suction nozzles that have sucked the material are controlled to place the sucked material at the cache position.

[0016] Optionally, controlling the suction nozzle to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle includes:

[0017] When the state of the suction nozzle indicates that at least one suction nozzle has material that is not placed at the discharge position, and the sum of the second quantity and the fourth quantity of the material sucked by the suction nozzle is less than the third quantity, the suction nozzle that has the material sucked is controlled to place the sucked material at the cache position.

[0018] Optionally, controlling the suction nozzle to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle includes:

[0019] When the state of the suction nozzle indicates that at least one suction nozzle has material that is not placed at the discharge position, and the sum of the second quantity and the fourth quantity of the material sucked by the suction nozzle is greater than or equal to the third quantity, the suction nozzle that has not sucked the material is controlled to suck the material placed at the cache position.

[0020] Optionally, controlling the suction nozzle to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle includes:

[0021] When the states of the suction nozzles indicate that all the suction nozzles have sucked materials, the suction nozzles are controlled to place the sucked materials at the material discharge positions.

[0022] Optionally, controlling the suction nozzle to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle includes:

[0023] The state of the suction nozzles indicates that when all the suction nozzles place the sucked materials at the material discharge position, the suction nozzles are controlled to suck the materials from the material collection position.

[0024] According to a second aspect of the present disclosure, there is provided an auxiliary sticking device, comprising a processor and a memory, wherein the memory is used to store a computer program, and the processor is used to execute the method described in the first aspect of the present disclosure under the control of the computer program.

[0025] According to a third aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method described in the first aspect of the present disclosure is implemented.

[0026] Through the embodiments of the present disclosure, the suction nozzle is controlled to process the material according to the first quantity of materials at the material picking position, the second quantity of materials at the buffer position, the third quantity of the suction nozzle and the state of the suction nozzle. When the number of materials picked up by the suction nozzle is inconsistent with or not in a multiple relationship with the number of remaining materials on the material plate of the material feeder, the processing rhythm of the auxiliary equipment can be improved, and the production capacity and utilization rate of the auxiliary equipment can be improved.

[0027] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0029] Figure 1 is a block diagram showing a hardware configuration of an auxiliary device that can implement an embodiment of the present disclosure;

[0030] Figure 2 is a flow chart of a material loading and unloading method according to an embodiment of the present disclosure;

[0031] Figure 3 is a flow chart of an example of a material loading and unloading method according to an embodiment of the present disclosure;

[0032] Figure 4 It is a block diagram of an auxiliary device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0033] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0034] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0035] Technologies, methods and equipment known to persons of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods and equipment should be considered part of the specification.

[0036] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0037] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0038] <Hardware Configuration>

[0039] Figure 1 Detailed description is a block diagram showing a hardware configuration of an auxiliary device that can implement an embodiment of the present disclosure.

[0040] like Figure 1 As shown, the auxiliary device 1000 may include a processor 1100, a memory 1200, an interface device 1300, a communication device 1400, a display device 1500, an input device 1600, a speaker 1700, a microphone 1800, and the like. Among them, the processor 1100 may be a processor CPU, a microprocessor MCU, and the like. The memory 1200 includes, for example, a ROM (read-only memory), a RAM (random access memory), a non-volatile memory such as a hard disk, and the like. The interface device 1300 includes, for example, a USB interface, a headphone interface, and the like. The communication device 1400 is, for example, capable of wired or wireless communication, and may specifically include Wifi communication, Bluetooth communication, 2G / 3G / 4G / 5G communication, and the like. The display device 1500 is, for example, a liquid crystal display screen, a touch display screen, and the like. The input device 1600 may include, for example, a touch screen, a keyboard, a somatosensory input, and the like. The user may input / output voice information through the speaker 1700 and the microphone 1800.

[0041] Figure 1The auxiliary device shown is merely illustrative and does not in any way limit the present disclosure, its application or use. In the embodiments of the present disclosure, the memory 1200 of the auxiliary device 1000 is used to store instructions, and the instructions are used to control the processor 1100 to operate to perform any one of the methods provided in the embodiments of the present disclosure. It should be understood by those skilled in the art that although Figure 1 In the figure, multiple devices are shown for the auxiliary device 1000, but the present disclosure may only involve some of the devices, for example, the auxiliary device 1000 only involves the processor 1100 and the memory 1200. The technicians can design instructions according to the scheme disclosed in the present disclosure. How instructions control the processor to operate is well known in the art, so it will not be described in detail here.

[0042] <Method Example>

[0043] The present disclosure provides a material taking and placing method, which can be implemented by auxiliary pasting equipment.

[0044] Figure 2 The figure is a flow chart of a material loading and unloading method according to an embodiment of the present disclosure.

[0045] like Figure 2 As shown, the method includes steps S2100 to S2200 as shown below:

[0046] Step S2100, obtaining a first quantity of materials at a material picking position of a material selector, a second quantity of materials at a buffer position of the material selector, a third quantity of suction nozzles, and a state of the suction nozzles.

[0047] In this embodiment, the material picker in the auxiliary pasting device can pick up the material to the material picking position, and the suction nozzle picks up the material at the material picking position and places it at the corresponding material discharging position.

[0048] Furthermore, the number of suction nozzles may be pre-set according to actual conditions.

[0049] In this embodiment, the material picker non-stick plate has multiple material picking positions, and the first quantity of material located at the material picking position can be determined by taking a picture of the material picking position by a camera; or, the first quantity of material located at the material picking position can be determined by a sensor for detecting whether there is material at the material picking position.

[0050] Furthermore, the non-stick plate of the material dispenser also has multiple cache positions, and the cache positions can be photographed by a camera to determine the second quantity of materials located at the cache positions; or, the second quantity of materials located at the cache positions can be determined by a sensor for detecting whether there are materials at the cache positions.

[0051] In this embodiment, the state of the suction nozzle may include at least one of the following: whether the suction nozzle sucks material, whether the suction nozzle sucks material from the material picking position, whether the suction nozzle places the material at the material discharging position, etc.

[0052] Step S2200, controlling the suction nozzle to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle.

[0053] In this embodiment, controlling the suction nozzle to process the material may include controlling the suction nozzle to suck the material, and / or controlling the suction nozzle to place the sucked material.

[0054] In one embodiment of the present disclosure, the suction nozzles are controlled to process materials according to the first quantity, the second quantity, the third quantity and the state of the suction nozzles, including: when the state of the suction nozzles indicates that all the suction nozzles have sucked up materials, the suction nozzles are controlled to place the sucked materials at the discharge position.

[0055] After the suction nozzle is controlled to suck the material at the material picking position, if the state of the suction nozzle indicates that all the suction nozzles have sucked the material, the suction nozzle is controlled to place the sucked material at the material discharging position.

[0056] In one embodiment, if the first quantity of the material at the material picking position is zero, the material picker is controlled to pick the material to the material picking position again, and then the suction nozzle is controlled to suck the material at the material picking position. On this basis, the first quantity of the material at the material picking position, the second quantity of the material at the buffer position, the third quantity of the suction nozzle, and the state of the suction nozzle are re-obtained, and then the suction nozzle is controlled to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle.

[0057] In another embodiment, if the first quantity of the material at the material picking position is not zero, the suction nozzle is controlled to suck the material at the material picking position. On this basis, the first quantity of the material at the material picking position, the second quantity of the material at the buffer position, the third quantity of the suction nozzle, and the state of the suction nozzle are re-acquired, and then the suction nozzle is controlled to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle.

[0058] In one embodiment of the present disclosure, the suction nozzle is controlled to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle, including: when the first quantity is zero, the state of the suction nozzle indicates that at least one suction nozzle has not sucked up the material, and the second quantity is zero, the suction nozzle that has sucked up the material is controlled to place the sucked material in the cache position.

[0059] In this embodiment, the first number is zero and the state of the suction nozzle indicates that at least one suction nozzle has not sucked up the material, indicating that the material at the material taking position has been sucked up by the suction nozzle, but the suction nozzle has not been full.

[0060] If all materials at the material picking position are sucked by the suction nozzle, at least one suction nozzle does not suck materials, and there is no material at the buffer position, the materials sucked by the suction nozzle are placed at the buffer position.

[0061] When the suction nozzle is controlled to place the sucked material at the buffer position, the material distributor is controlled to re-displace the material to the material picking position, and then the suction nozzle is controlled to suck the material at the material picking position. On this basis, the first quantity of the material at the material picking position, the second quantity of the material at the buffer position, the third quantity of the suction nozzle, and the state of the suction nozzle are re-obtained, and then the suction nozzle is controlled to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle.

[0062] In one embodiment of the present disclosure, the suction nozzle is controlled to process materials according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle, including: when the first quantity is zero, the state of the suction nozzle indicates that at least one suction nozzle has not sucked up materials, and the sum of the second quantity and a fourth quantity of materials sucked up by the suction nozzle is greater than or equal to the third quantity, the suction nozzle that has not sucked up materials is controlled to suck up materials placed in the cache position.

[0063] If all materials at the material picking position are sucked up by the suction nozzle, at least one suction nozzle does not suck up materials, there are materials at the cache position, and the sum of the second quantity of materials at the cache position and the fourth quantity of materials sucked up by the suction nozzle is greater than or equal to the third quantity of the suction nozzle, by controlling the suction nozzle that does not suck up materials to take the materials placed at the cache position, all suction nozzles can be ensured to have materials sucked up.

[0064] When the suction nozzle without sucking materials is controlled to take the materials placed at the buffer position, the suction nozzle can be controlled to place the sucked materials at the discharge position.

[0065] In one embodiment of the present disclosure, the suction nozzle is controlled to process materials according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle, including: when the first quantity is zero, the state of the suction nozzle indicates that at least one suction nozzle has not sucked up materials, and the sum of the second quantity and a fourth quantity of materials sucked up by the suction nozzle is less than the third quantity, the suction nozzle that sucked up materials is controlled to place the sucked materials in a cache position.

[0066] When the suction nozzle is controlled to place the sucked material at the buffer position, the material distributor is controlled to re-displace the material to the material picking position, and then the suction nozzle is controlled to suck the material at the material picking position. On this basis, the first quantity of the material at the material picking position, the second quantity of the material at the buffer position, the third quantity of the suction nozzle, and the state of the suction nozzle are re-obtained, and then the suction nozzle is controlled to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle.

[0067] In one embodiment of the present disclosure, the suction nozzle is controlled to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle, including: when the state of the suction nozzle indicates that all the suction nozzles place the sucked material at the discharge position, the suction nozzle is controlled to suck the material from the picking position.

[0068] After the suction nozzle is controlled to place the sucked material at the discharge position, if the state of the suction nozzle indicates that all the suction nozzles place the sucked material at the discharge position, it means that there is no remaining material on the suction nozzle, and the suction nozzle can be controlled to suck the material from the material collection position. On this basis, the first quantity of the material at the material collection position, the second quantity of the material at the buffer position, the third quantity of the suction nozzle, and the state of the suction nozzle are re-obtained, and then the suction nozzle is controlled to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle.

[0069] In one embodiment of the present disclosure, the suction nozzle is controlled to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle, including: when the state of the suction nozzle indicates that at least one suction nozzle has material that is not placed at the discharge position and the second quantity is zero, the suction nozzle with the material is controlled to place the sucked material at the cache position.

[0070] After controlling the suction nozzle to place the sucked material on the discharge position, if the state of the suction nozzle indicates that at least one suction nozzle has material that is not placed on the discharge position, it means that there is still material on the suction nozzle. Therefore, it is possible to detect whether there is still material at the cache position. If there is no material at the cache position, that is, the second quantity is zero, the suction nozzle can be controlled to place the remaining material that is not placed at the discharge position at the cache position.

[0071] On this basis, the suction nozzle can be controlled to suck the material at the material picking position, and re-obtain the first quantity of the material at the material picking position, the second quantity of the material at the cache position, the third quantity of the suction nozzle, and the state of the suction nozzle; then according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle, the suction nozzle is controlled to process the material.

[0072] In one embodiment of the present disclosure, the suction nozzle is controlled to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle, including: when the state of the suction nozzle indicates that at least one suction nozzle has material that is not placed at the discharge position, and the sum of the second quantity and the fourth quantity of the material sucked by the suction nozzle is less than the third quantity, the suction nozzle with the material is controlled to place the sucked material at the cache position.

[0073] After controlling the suction nozzle to place the sucked material on the discharge position, if the state of the suction nozzle indicates that at least one suction nozzle has material that is not placed on the discharge position, it means that there is still material on the suction nozzle, and it can be detected whether there is still material at the cache position. If there is material at the cache position, that is, the second quantity is not zero, then it is determined whether the sum of the second quantity of the material at the cache position and the fourth quantity of the material sucked by the suction nozzle is greater than or equal to the third quantity. If the sum of the second quantity and the fourth quantity is less than the third quantity, the suction nozzle can be controlled to place the sucked material at the cache position.

[0074] On this basis, the suction nozzle can be controlled to suck the material at the material picking position, and re-obtain the first quantity of the material at the material picking position, the second quantity of the material at the cache position, the third quantity of the suction nozzle, and the state of the suction nozzle; then according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle, the suction nozzle is controlled to process the material.

[0075] In one embodiment of the present disclosure, the suction nozzle is controlled to process materials according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle, including: when the state of the suction nozzle indicates that at least one suction nozzle has materials that are not placed at the discharge position, and the sum of the second quantity and the fourth quantity of the materials sucked by the suction nozzle is greater than or equal to the third quantity, the suction nozzle that has not sucked the material is controlled to suck the material placed at the cache position.

[0076] After controlling the suction nozzle to place the sucked material on the discharge position, if the state of the suction nozzle indicates that at least one suction nozzle has material that is not placed on the discharge position, it means that there is still material on the suction nozzle, and it can be detected whether there is still material at the cache position. If there is material at the cache position, that is, the second quantity is not zero, then it is determined whether the sum of the second quantity of the material at the cache position and the fourth quantity of the material sucked by the suction nozzle is greater than or equal to the third quantity. If the sum of the second quantity and the fourth quantity is greater than or equal to the third quantity, the suction nozzle that has not sucked the material can be controlled to suck the material placed at the cache position.

[0077] On this basis, the suction nozzle can be controlled to place the sucked material at the discharge position, and re-obtain the first quantity of the material at the material picking position, the second quantity of the material at the cache position, the third quantity of the suction nozzle, and the state of the suction nozzle, and then control the suction nozzle to process the material based on the first quantity, the second quantity, the third quantity and the state of the suction nozzle.

[0078] Through the embodiments of the present disclosure, the suction nozzle is controlled to process the material according to the first quantity of materials at the material picking position, the second quantity of materials at the buffer position, the third quantity of the suction nozzle and the state of the suction nozzle. When the number of materials picked up by the suction nozzle is inconsistent with or not in a multiple relationship with the number of remaining materials on the material plate of the material feeder, the processing rhythm of the auxiliary equipment can be improved, and the production capacity and utilization rate of the auxiliary equipment can be improved.

[0079] Specifically, this embodiment can reduce the number of avoidance photography actions of the auxiliary sticking equipment in its action flow, thereby saving the time of one visually guided photography process and one complete photography avoidance action, thereby improving the processing rhythm of the auxiliary sticking equipment, and further improving the production capacity and utilization rate of the auxiliary sticking equipment.

[0080] In this embodiment, the buffer position can be used to buffer the remaining materials on the suction nozzle. Specifically, when there is no material at the buffer position, if the materials at the material taking position are taken out but the suction nozzle is not full, or if there is still remaining material after the suction nozzle places the material at the material discharging position and assembles it, the suction nozzle is preferentially controlled to place the material at the buffer position.

[0081] When there is material at the cache position, if the material at the material picking position is taken but the suction nozzle is not full, and the sum of the second quantity of material at the cache position and the fourth quantity of material remaining on the suction nozzle is greater than or equal to the third quantity of the suction nozzle, or if there is remaining material after the suction nozzle places the material at the material discharge position and assembles it, and the sum of the second quantity of material at the cache position and the fourth quantity of material remaining on the suction nozzle is greater than or equal to the third quantity of the suction nozzle, then the suction nozzle is preferentially controlled to suck the material at the cache position.

[0082] When there is material at the cache position, if the material at the material picking position is taken out but the suction nozzle is not full, and the sum of the second quantity of material at the cache position and the fourth quantity of material remaining on the suction nozzle is less than the third quantity of the suction nozzle, or if there is remaining material after the suction nozzle places the material at the material discharge position and assembles it, and the sum of the second quantity of material at the cache position and the fourth quantity of material remaining on the suction nozzle is less than the third quantity of the suction nozzle, the suction nozzle is preferentially controlled to place the material at the cache position.

[0083] Figure 3 FIG. 1 is a flow chart of an example of a material handling method according to an embodiment of the present disclosure. Figure 3 As shown, the method may include:

[0084] Step S3001, controlling the suction nozzle to suck the material at the material picking position.

[0085] Step S3002, determine whether the first quantity of material at the material picking position is zero and the suction nozzle is full of material, if not, execute step S3003; if yes, execute step S3007.

[0086] Step S3003, determine whether there is material in the cache position, if yes, execute step S3004; if not, execute step S3006.

[0087] Step S3004, determine whether the sum of the second quantity of materials at the cache position and the fourth quantity of materials sucked by the suction nozzle is greater than or equal to the third quantity of the suction nozzle, if so, execute step S3005; if not, execute step S3006.

[0088] Step S3005, controlling the suction nozzle that has not sucked the material to suck the material from the buffer position.

[0089] Step S3006, controlling the suction nozzle that sucks the material to place the sucked material in the buffer position.

[0090] Step S3007, controlling the suction nozzle to place the sucked material at the discharge position.

[0091] Step S3008, determining whether the suction nozzles have placed the sucked materials at the discharge position, if not, executing step S3009; if yes, executing step S3001.

[0092] Step S3009, determine whether there is material in the cache position, if yes, execute step S3010; if not, execute step S3012.

[0093] Step S3010, determine whether the sum of the second quantity of materials at the cache position and the fourth quantity of materials sucked by the suction nozzle is greater than or equal to the third quantity of the suction nozzle, if so, execute step S3011; if not, execute step S3012.

[0094] Step S3011, controlling the suction nozzle that has not sucked the material to suck the material from the buffer position.

[0095] After executing step S3011, continue to execute step S3007.

[0096] Step S3012, controlling the suction nozzle that sucks the material to place the sucked material at the buffer position.

[0097] After executing step S3012, continue to execute step S3001.

[0098] <Attachment auxiliary equipment embodiment>

[0099] This embodiment provides a sticking auxiliary device, such as Figure 4 As shown, the auxiliary device 4000 may include a processor 4100 and a memory 4200, the memory 4200 is used to store a computer program, and the processor 4100 is used to control the auxiliary device to execute the method of any embodiment of the present disclosure under the control of the computer program.

[0100] <Readable Storage Medium Embodiment>

[0101] This embodiment provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the method described in any method embodiment of the present disclosure is executed.

[0102] The present invention may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present invention.

[0103] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0104] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0105] The computer program instructions for performing the operation of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be personalized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present invention.

[0106] Various aspects of the present invention are described herein with reference to the flow charts and / or block diagrams of the methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each box of the flow chart and / or block diagram and the combination of each box in the flow chart and / or block diagram can be implemented by computer-readable program instructions.

[0107] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0108] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0109] The flow charts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a part of a module, a program segment or an instruction, and a part of the module, a program segment or an instruction contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that it is equivalent to implement it by hardware, implement it by software, and implement it by combining software and hardware.

[0110] Embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the marketplace, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present invention is defined by the appended claims.

Claims

1. A material handling method, characterized in that: include: Obtaining a first quantity of materials at a material picking position of a material dispenser, a second quantity of materials at a buffer position of the material dispenser, a third quantity of suction nozzles, and a state of the suction nozzles; The suction nozzle is controlled to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle.

2. The method according to claim 1, characterized in that The controlling the suction nozzle to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle comprises: When the first quantity is zero, the state of the suction nozzles indicates that at least one suction nozzle has not sucked up materials, and the second quantity is zero, the suction nozzles that have sucked up materials are controlled to place the sucked materials at the cache position.

3. The method according to claim 1, characterized in that The controlling the suction nozzle to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle comprises: When the first quantity is zero, the state of the suction nozzle indicates that at least one suction nozzle has not sucked up material, and the sum of the second quantity and the fourth quantity of material sucked up by the suction nozzle is greater than or equal to the third quantity, the suction nozzle that has not sucked up material is controlled to suck up material placed in the cache position.

4. The method according to claim 1, characterized in that: The controlling the suction nozzle to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle comprises: When the first quantity is zero, the state of the suction nozzle indicates that at least one suction nozzle has not sucked up material, and the sum of the second quantity and the fourth quantity of material sucked up by the suction nozzle is less than the third quantity, the suction nozzle that sucked up material is controlled to place the sucked material on the cache position.

5. The method according to claim 1, characterized in that The controlling the suction nozzle to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle comprises: When the state of the suction nozzles indicates that at least one suction nozzle has material that is not placed at the discharge position and the second quantity is zero, the suction nozzles that have sucked the material are controlled to place the sucked material at the cache position.

6. The method according to claim 1, characterized in that The controlling the suction nozzle to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle comprises: When the state of the suction nozzle indicates that at least one suction nozzle has material that is not placed at the discharge position, and the sum of the second quantity and the fourth quantity of the material sucked by the suction nozzle is less than the third quantity, the suction nozzle that has the material sucked is controlled to place the sucked material at the cache position.

7. The method according to claim 1, characterized in that The controlling the suction nozzle to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle comprises: When the state of the suction nozzle indicates that at least one suction nozzle has material that is not placed at the discharge position, and the sum of the second quantity and the fourth quantity of the material sucked by the suction nozzle is greater than or equal to the third quantity, the suction nozzle that has not sucked the material is controlled to suck the material placed at the cache position.

8. The method according to claim 1, characterized in that The controlling the suction nozzle to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle comprises: When the states of the suction nozzles indicate that all the suction nozzles have sucked materials, the suction nozzles are controlled to place the sucked materials at the material discharge positions.

9. The method according to claim 1, characterized in that: The controlling the suction nozzle to process the material according to the first quantity, the second quantity, the third quantity and the state of the suction nozzle comprises: The state of the suction nozzles indicates that when all the suction nozzles place the sucked materials at the material discharge position, the suction nozzles are controlled to suck the materials from the material collection position.

10. A sticking auxiliary device, characterized in that: The method comprises a processor and a memory, wherein the memory is used to store a computer program, and the processor is used to execute the method according to any one of claims 1 to 9 under the control of the computer program.

Images