Coil material picking method, feeding method, mechanism and storage medium

Abstract

The invention provides a roll material picking method, a feeding method, a mechanism and a storage medium, according to the roll material picking method, roll materials on a material conveying trolley can be accurately picked by a robot, the roll materials are provided with center holes in the axial direction, and the method comprises the steps that relative coordinates between the robot and the material conveying trolley are established; according to the relative coordinates, position coordinates of a center hole of the roll material are determined; according to the position coordinates of the center hole, a first air expansion shaft of a robot acts on the interior of the center hole of the roll material and expands and fixes the roll material; and the robot transfers the roll material to the bearing structure through the first inflatable shaft. That is to say, the robot can accurately pick up the roll materials on the material conveying trolley.

Description

Technical Field

[0001] The present application belongs to the technical field of coil material loading, and more specifically, to a coil material picking method, loading method, mechanism and storage medium. Background Art

[0002] In coil processing, the coil needs to be loaded onto the unwinding structure of the unwinding device first, and the coil is fixed by passing the air shaft of the unwinding structure through the center hole of the coil, and then the air shaft drives the coil to rotate to unwind the coil. When loading the coil onto the unwinding structure, a robot is first required to pick up the coil on the material transport trolley, but currently the robot has low picking accuracy for the coil. Summary of the invention

[0003] The present application provides a coil material picking method, which can improve the picking accuracy of the coil material by a robot.

[0004] The technical solution adopted in the present application is a coil picking method, which enables the coil on the material transport trolley to be accurately picked up by the robot, characterized in that the coil is provided with a center hole along the axial direction, and the method comprises:

[0005] Establishing relative coordinates between the robot and the material transport vehicle;

[0006] Determine the position coordinates of the center hole of the coil according to the relative coordinates;

[0007] According to the position coordinates of the center hole, the first inflatable shaft of the robot acts on the center hole of the coil and expands and fixes the coil; and

[0008] The robot transfers the coiled material to the receiving structure via the first air shaft.

[0009] That is to say, before the robot picks up the coil on the material transport cart, it first establishes the relative coordinates between the robot and the material transport cart, and then determines the position coordinates of the center hole of the coil through the relative coordinates. After confirming the position coordinates of the center hole of the coil, the robot uses the first inflatable shaft to act on the center hole of the coil and expand and fix the coil to achieve the picking of the coil. This method can improve the accuracy of the robot's picking of the coil.

[0010] Optionally, the establishing of relative coordinates between the robot and the material transport vehicle further includes:

[0011] Setting a first identification point and a second identification point on the material transport vehicle;

[0012] Enable the robot to identify the first identification point and the second identification point, determine a first coordinate direction according to a line between the first identification point and the second identification point, and determine a second coordinate direction at the first identification point in a direction perpendicular to the first coordinate direction;

[0013] The relative coordinates between the robot and the material transport vehicle are determined according to the first coordinate direction and the second coordinate direction.

[0014] Optionally, the step of causing the robot to identify the first identification point and the second identification point further includes:

[0015] Firstly, the recognition visual center of the robot is made to coincide with the center of the first recognition point to obtain the position information of the first recognition point;

[0016] Then, the recognition visual center of the robot is made to coincide with the center of the second recognition point to obtain the position information of the second recognition point.

[0017] Optionally, determining the position coordinates of the center hole of the coil according to the relative coordinates further includes:

[0018] Setting a storage position for the coiled material on the material transporting trolley, and determining a relative position of the storage position with respect to the first identification point and the second identification point;

[0019] Determining the coordinate position of the storage position according to the relative coordinates and the relative position;

[0020] The position coordinates of the center hole of the coil are determined according to the coordinate position.

[0021] Optionally, the storage position is a limiting groove;

[0022] The step of determining the position coordinates of the center hole of the coil according to the coordinate position also includes:

[0023] The robot moves to the storage position according to the coordinate position;

[0024] The robot obtains an image of the center hole of the coil at the storage position, and corrects the position coordinates of the center hole of the coil according to the image.

[0025] A coil material loading method is used to load the coil material onto an unwinding structure, the method comprising the following steps:

[0026] Use the material transport trolley to transport the coiled material to the loading station;

[0027] At the loading station, the robot transfers the coil to the receiving structure by using the coil picking method, wherein the receiving structure supports the outer peripheral surface of the coil, and makes the center hole of the coil on the receiving structure and the second air shaft of the unwinding structure be located on the same axis;

[0028] The receiving structure drives the coil to move along the axial direction of the coil until the second inflatable shaft is inserted into the central hole, and the second inflatable shaft is expanded to fix the coil.

[0029] That is to say, in the present application, a material transport trolley can be used to transport the coil to the loading station, and then a robot can be used at the loading station to first load the coil to the receiving structure for positioning to ensure that the center hole of the coil and the first inflatable shaft of the unwinding structure are on the same axis, and then the coil is driven by the receiving structure to move along the axial direction of the coil until the first inflatable shaft is inserted into the center hole. After the first inflatable shaft inserted into the center hole expands, the coil can be fixed to complete the loading of the coil. This method can realize the automatic loading of the coil, and there is no need to manually load the coil onto the unwinding structure.

[0030] Optionally, the receiving structure includes two supporting members arranged opposite to each other in a direction perpendicular to the axial direction of the second inflatable shaft, and the supporting members are respectively provided with guide slopes, and the guide slopes correspond to a circumferential surface with the second inflatable shaft as the center and the radius of the coil as the radius;

[0031] The guide slope supports the outer peripheral surface of the coil so that the central hole of the coil can be located on the same axis as the second inflatable shaft of the unwinding structure; and

[0032] The support member can drive the coil to move along the axial direction of the coil.

[0033] Optionally, a stop portion is provided at the end of the support member parallel to the axial direction of the second inflatable shaft, and the stop portion is at least located at the end of the support member away from one end of the unwinding structure, and the stop portion is used to stop the coil in a direction parallel to the axial direction of the second inflatable shaft.

[0034] Optionally, the two support members can be closer to or farther away from each other.

[0035] Optionally, after the second inflatable shaft is expanded to fix the coiled material, the method further comprises:

[0036] The receiving structure is separated from the coil.

[0037] Optionally, an identification code is provided on the coil, and the identification code includes identity information of the coil;

[0038] The method of transferring the coiled material to the receiving structure by using a robot further comprises:

[0039] The robot recognizes the identification code on the coil to obtain the identity information of the coil; and

[0040] The coiled material is transferred to a corresponding receiving structure according to the identity information.

[0041] Optionally, the method of transporting the coiled material to the loading station by using a material transport trolley further includes:

[0042] Pre-store coils in the warehouse;

[0043] Load the corresponding coils in the warehouse onto the material transport cart according to the coil processing information;

[0044] The material transport trolley moves to the loading station according to the predetermined route.

[0045] Optionally, the method further comprises:

[0046] The coiled material is placed on the material transporting trolley in a manner that the axial direction is perpendicular to the material transporting trolley.

[0047] A coil material feeding mechanism is used for feeding coil materials, the coil material is provided with a center hole along the axial direction, and comprises a material transport trolley, a robot, a reeling structure and a receiving structure, the robot is arranged at the feeding station, the receiving structure is located on the path of the robot transferring the coil material, and the receiving structure is arranged corresponding to the reeling structure; wherein,

[0048] The material transport trolley is used to transport the coiled material to the loading station;

[0049] At the loading station, the robot is used to transfer the coil to a receiving structure, wherein the receiving structure supports the outer peripheral surface of the coil, and the central hole of the coil on the receiving structure and the second inflatable shaft of the unwinding structure are located on the same axis;

[0050] The receiving structure is used to receive and drive the coil to move along the axial direction of the coil until the second inflatable shaft is inserted into the central hole, and the second inflatable shaft expands to fix the coil.

[0051] A computer-readable storage medium stores instructions, and a data storage device executes the instructions so that the data storage device implements the coil material loading method. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0053] Figure 1 This is a structural schematic diagram of a coil material feeding mechanism in an embodiment of the present application;

[0054] Figure 2 This is a structural schematic diagram of the receiving structure in the coil material feeding mechanism in the embodiment of the present application;

[0055] Figure 3 This is one of the flow diagrams of the coil material loading method in the embodiment of the present application;

[0056] Figure 4 This is the second flow diagram of the coil material loading method in the embodiment of the present application;

[0057] Figure 5 This is the third flow diagram of the coil material loading method in the embodiment of the present application;

[0058] Figure 6 This is the fourth flow diagram of the coil material loading method in the embodiment of the present application;

[0059] Figure 7 This is the fifth flow diagram of the coil material loading method in the embodiment of the present application;

[0060] Figure 8 This is the sixth flow diagram of the coil material loading method in the embodiment of the present application;

[0061] Fig. 9 This is the seventh flow diagram of the coil material loading method in the embodiment of the present application;

[0062] Fig.10 This is the eighth flow diagram of the coil material loading method in the embodiment of the present application;

[0063] Fig.11 This is the ninth flow chart of the coil material loading method in the embodiment of the present application.

[0064] Reference numerals

[0065] 100, material transport trolley; 110, first identification point; 120, second identification point;

[0066] 200, robot; 210, first inflatable shaft; 220, visual camera; 230, code reader;

[0067] 300, receiving structure; 310, supporting member; 320, guiding inclined surface; 330, stopping portion;

[0068] 400, unwinding structure; 410, second air shaft;

[0069] 500, coil; 510, center hole; 520, identification code. Specific embodiments

[0070] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0071] It should be noted that when a metastructure is referred to as being "fixed to" or "set on" another metastructure, it can be directly on the other metastructure or indirectly on the other metastructure. When a metastructure is referred to as being "connected to" another metastructure, it can be directly connected to the other metastructure or indirectly connected to the other metastructure.

[0072] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element structure referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0073] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of some applications, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0074] Combination Figure 1 and Figure 3 A coil material loading method is used to load a coil material 500 onto an unwinding structure 400, wherein the coil material 500 is provided with a center hole 510 along the axial direction, and the unwinding structure 400 is correspondingly provided with a receiving structure 300, and the method comprises the following steps:

[0075] Step S100, using a material transport trolley to transport the coiled material to a loading station.

[0076] Specifically, a material transport vehicle 100 , such as an AGV vehicle, may be used to transport the coil 500 from a storage location to a loading station, so that the coil 500 can be subsequently loaded onto the unwinding structure 400 .

[0077] Step S300, at the loading station, a robot is used to transfer the coil to a receiving structure, wherein the receiving structure supports the outer peripheral surface of the coil and makes the central hole of the coil on the receiving structure and the second inflatable shaft of the unwinding structure be located on the same axis.

[0078] Specifically, the robot 200 transfers the coil 500 from the material transport cart 100 to the receiving structure 300. The receiving structure 300 supports and receives the outer peripheral surface of the coil 500, and makes the center hole 510 of the coil 500 and the second inflatable shaft 410 of the unwinding structure 400 located on the same axis, so as to achieve the positioning of the coil 500 transferred by the robot 200.

[0079] Step S500, the receiving structure drives the coil to move along the axial direction of the coil to the central hole where the second inflatable shaft is inserted, and the second inflatable shaft is expanded to fix the coil.

[0080] Specifically, after the receiving structure 300 positions the coil 500 and ensures that the center hole 510 of the coil 500 and the second inflatable shaft 410 of the unwinding structure 400 are on the same axis, the receiving structure 300 drives the coil 500 to move along the axial direction of the coil 500, thereby ensuring that the second inflatable shaft 410 on the unwinding structure 400 can be inserted into the center hole 510. When the second inflatable shaft 410 is inserted into the center hole 510 and expands, the coil 500 can be fixed and the loading of the coil 500 is completed.

[0081] That is to say, in the present application, the material coil 500 can be transported to the loading station by using the material transport trolley 100, and then the material coil 500 can be first loaded onto the receiving structure 300 for positioning by using the robot 200 at the loading station to ensure that the center hole 510 of the material coil 500 and the second inflatable shaft 410 of the unwinding structure 400 are located on the same axis, and then the material coil 500 is driven by the receiving structure 300 to move along the axial direction of the material coil 500 until the second inflatable shaft 410 is inserted into the center hole 510. After the second inflatable shaft 410 inserted into the center hole 510 expands, the material coil 500 can be fixed, completing the loading of the material coil 500. This method can realize the automatic loading of the material coil 500, and there is no need to manually load the material coil 500 onto the unwinding structure 400.

[0082] In some embodiments, in combination Figure 1 and Figure 2The receiving structure 300 includes two supporting members 310 arranged opposite to each other in a direction perpendicular to the axial direction of the second inflatable shaft 410, and guide slopes 320 are respectively provided on the supporting members 310. The guide slopes 320 correspond to a circumferential surface with the second inflatable shaft 410 as the center and the radius of the coil 500 as the radius.

[0083] The guide bevel 320 supports the outer circumference of the coil 500 so that the center hole 510 of the coil 500 can be located on the same axis as the second inflatable shaft 410 of the unwinding structure 400. It can be understood that since the supporting surface on the relatively arranged support member 310 corresponds to a circumferential surface with the second inflatable shaft 410 as the center and the radius of the coil 500 as the radius, when the coil 500 is placed on the guide bevel 320, the guide bevel 320 can automatically position the coil 500 so that the center hole 510 of the coil 500 can be located on the same axis as the second inflatable shaft 410 of the unwinding structure 400.

[0084] Furthermore, the support member 310 can drive the coil 500 to move along the axis direction of the coil 500. That is, after the guide slope 320 positions the coil 500, the support member 310 can drive the coil 500 to move along the axis direction of the coil 500.

[0085] Furthermore, a stop portion 330 may be provided at the end of the support member 310 parallel to the axial direction of the second inflatable shaft 410, and the stop portion 330 is at least located at the end of the support member 310 away from the unwinding structure 400. The stop portion 330 is used to stop the roll material 500 in a direction parallel to the axial direction of the second inflatable shaft 410.

[0086] Specifically, when the support member 310 moves along the axial direction of the coil 500 , the stopper 330 pushes the coil 500 to move along its axial direction, so that the coil 500 can move to the point where the second inflatable shaft 410 can be inserted into the central hole 510 .

[0087] It is understandable that when the support member 310 moves, relative sliding may occur between the coil 500 on the support member 310 and the support member 310, so the stopper can stop the coil 500 to ensure that the coil 500 can move to the second inflatable shaft 410 and be inserted into the center hole 510.

[0088] Furthermore, in some embodiments, the two support members 310 can be closer to or farther away from each other.

[0089] It can be understood that the distance between the two support members 310 can be adjusted by allowing the two support members 310 to move closer to or farther away from each other, thereby being able to support coils 500 of different radius sizes, and ensuring that the center hole 510 of the coil 500 and the second inflatable shaft 410 are on the same axis, thereby improving the compatibility of the bearing structure, that is, the coil 500 loading method of the present application can load coils 500 of different sizes.

[0090] See also Figure 4 In some embodiments, step S500, after the second inflatable shaft is expanded to fix the coil, may further include:

[0091] Step S700, separating the receiving structure from the coil.

[0092] For example, in some embodiments, the receiving structure 300 may be away from the unwinding structure 400 in an axial direction parallel to the coil 500 .

[0093] In other embodiments, the coil 500 may be detached by moving the oppositely disposed support members 310 away from each other.

[0094] It can be understood that after the second inflatable shaft 410 expands and fixes the coil 500, the second inflatable shaft 410 can drive the coil 500 to rotate, thereby realizing the unloading of the coil 500. During this process, if the supporting structure 300 is still supporting the coil 500, the coil 500 will rub against the supporting structure 300, causing damage to the coil 500.

[0095] See also Figure 5 In step S300, the coil is transferred to the receiving structure by a robot, and the following steps are also included:

[0096] Step S310, establishing the relative coordinates between the robot and the material transport cart.

[0097] Specifically, the relative position between the robot 200 and the material transporting cart is determined by establishing the relative coordinates between the robot 200 and the material transporting cart.

[0098] It is understandable that after the material transport cart drives the coil 500 to the loading position, the position and angle of the material transport cart at the loading position may deviate. Therefore, each time the material transport cart moves to the loading position, the relative position between the robot 200 and the material transport cart is determined again to ensure that the subsequent robot 200 can accurately transfer the coil 500.

[0099] Step S320, determining the position coordinates of the center hole of the coil according to the relative coordinates.

[0100] It can be understood that when the relative positions between the material transport cart and the robot 200 are determined, the relative positions of the robot 200 and the coil 500 on the material transport cart can be determined, and then the position of the center hole 510 of the coil 500 can be determined.

[0101] Step S330, according to the position coordinates of the center hole, the first inflatable shaft of the robot acts on the center hole of the coil to expand and fix the coil.

[0102] Specifically, after determining the position of the center hole 510 of the coil 500, the first inflatable shaft 210 of the robot 200 can be moved above the center hole 510 of the coil 500, and the first inflatable shaft 210 can be made coaxial with the center hole 510 of the coil 500, and then the first inflatable shaft 210 can be inserted into the center hole 510 by the robot 200 for expansion.

[0103] Step S340: The robot transfers the coiled material to the receiving structure via the first inflatable shaft.

[0104] See also Figure 6 In some embodiments, step S310, establishing the relative coordinates between the robot and the material transport vehicle, may further include the following steps:

[0105] Step S311, setting a first identification point and a second identification point on the material transport vehicle.

[0106] For example, a first identification point 110 and a second identification point 120 may be set at intervals on the material transport vehicle, and the first identification point 110 and the second identification point 120 are MARK points.

[0107] Step S312, enables the robot to identify the first identification point and the second identification point, and determine the first coordinate direction according to the connecting line between the first identification point and the second identification point, and determine the second coordinate direction at the first identification point in a direction perpendicular to the first coordinate direction.

[0108] It can be understood that the positions of the first identification point 110 and the second identification point 120 on the material transport cart are fixed, so the first coordinate direction determined by the line between the first identification point 110 and the second identification point 120 is also fixed relative to the material transport cart. Correspondingly, the second coordinate direction determined at the first identification point 110 in a direction perpendicular to the first coordinate direction is also fixed relative to the material transport cart. Therefore, the position directions of the first coordinate direction and the second coordinate direction relative to the coil 500 on the material transport cart are also fixed.

[0109] Step S313, determining the relative coordinates between the robot and the material transport vehicle according to the first coordinate direction and the second coordinate direction.

[0110] It can be understood that since the first coordinate direction and the second coordinate direction are fixed relative to the material transport cart, the plane coordinates formed by the first coordinate direction and the second coordinate direction are also fixed relative to the material transport cart. For example, the first coordinate direction can be the X-axis direction, and the second coordinate direction can be the Y-axis coordinate. The first coordinate direction and the second coordinate direction can form an XY plane coordinate, and the first identification point 110 or the second identification point 120 can be used as the origin of the XY plane coordinate, and the robot 200 can determine the relative coordinates between the robot 200 and the material transport cart based on the XY plane coordinate.

[0111] Further, see Figure 7 In some embodiments, step S311, setting a first identification point and a second identification point on the material transport vehicle, may further include:

[0112] Step S3111, first make the robot's recognition visual center coincide with the center of the first recognition point, and obtain the position information of the first recognition point.

[0113] Specifically, the robot 200 can identify the first identification point 110 on the material transport vehicle through the visual camera 220. For example, the robot 200 can drive the visual camera 220 to move above the first identification point 110, and make the identification visual center of the visual camera 220 coincide with the center of the first identification point 110, thereby determining and obtaining the position information of the first identification point 110.

[0114] Step S3112, then make the robot's recognition visual center coincide with the center of the second recognition point to obtain the position information of the second recognition point.

[0115] Specifically, after the robot 200 obtains the position information of the first identification point 110 through the visual camera 220, the robot 200 can continue to drive the visual camera 220 to move to the second identification point 120, and make the recognition visual center of the visual camera 220 coincide with the center of the second identification point 120, thereby determining and obtaining the position information of the second identification point 120.

[0116] Further, see Figure 8 In some embodiments, step S320, determining the position coordinates of the center hole of the coil according to the relative coordinates, may further include:

[0117] Step S321, setting a storage position for the coiled material on the material transporting trolley, and determining the relative position of the storage position relative to the first identification point and the second identification point.

[0118] It can be understood that after setting the storage position of the coil 500 on the material transport cart, the position of the coil 500 on the material transport cart can be determined, and the specific position of the coil 500 on the material transport cart can be determined by the relative position between the set first identification point 110 and the second identification point 120.

[0119] For example, when a material transport cart transports a plurality of material coils 500 at the same time, each material coil 500 corresponds to a storage location, and the specific location of each material coil 500 on the material transport cart can be determined.

[0120] Step S322, determining the coordinate position of the storage location according to the relative coordinates and the relative position.

[0121] It can be understood that the robot 200 can determine the relative coordinates between the robot 200 and the material transport cart after identifying the first identification point 110 and the second identification point 120. Because the relative position between the storage position and the material transport cart is known, the coordinate position of the storage position on the material transport cart can be determined through the relative coordinates and relative position.

[0122] Step S323, determining the position coordinates of the center hole of the coil according to the coordinate position.

[0123] Furthermore, in some embodiments, in order to prevent relative displacement between the coil 500 and the material transport cart when the material transport cart drives the coil 500 to move, so as to ensure the position accuracy of the coil 500 on the material transport cart, the storage position on the material transport cart can be a limit groove.

[0124] In some embodiments, the coil 500 is placed on the material transporting trolley 100 in such a manner that the axial direction is perpendicular to the material transporting trolley 100. The limiting groove may be a circular groove.

[0125] In addition, see Fig. 9 In some embodiments, step S323, determining the position coordinates of the center hole of the coil according to the coordinate position, may further include:

[0126] Step S3231, the robot moves to the storage location according to the coordinate position.

[0127] Step S3232: The robot obtains an image of the coil at the storage position and corrects the position coordinates of the center hole of the coil according to the image.

[0128] Specifically, after the robot 200 moves to the storage position according to the coordinate position, the robot 200 re-acquires the image of the coil 500 at the storage position, and then re-corrects and determines the position coordinates of the center hole 510 of the coil 500 based on the acquired image. For example, the robot 200 can locate the inner diameter of the coil 500 after acquiring the image, and then acquire the position coordinates of the center hole 510 of the coil 500.

[0129] It can be understood that when the storage position of the coil 500 is a limiting groove, in order to facilitate the placement and removal of the coil 500, the size of the limiting groove will generally be slightly larger than the size of the coil 500. For example, the diameter of the limiting groove is 10 mm larger than the diameter of the coil 500. Therefore, the position of the coil 500 at the placement position is not accurate. Therefore, it is necessary to determine the position coordinates of the coil 500 at the placement position again to ensure that the first inflatable shaft 210 of the robot 200 can accurately act on the center hole 510 of the coil 500.

[0130] In addition, in some embodiments, when there are multiple unwinding structures 400, each coil 500 may be provided with an identification code 520 such as a QR code, and the identification code 520 may include the identity information of the coil 500 such as the material, length, model, etc. of the coil 500. Fig.10 In step S300, the coil 500 is transferred to the receiving structure 300 by the robot 200, and further includes:

[0131] Step S350: The robot identifies the identification code on the coil to obtain the identity information of the coil.

[0132] Specifically, the robot 200 may be provided with a code reader 230 , and the robot 200 may identify and obtain the identification code 520 on the coil 500 through the code reader 230 .

[0133] Step S360, transferring the coiled material to the corresponding receiving structure according to the identity information.

[0134] In some embodiments, see Fig.11 Step S100, transporting the coil 500 to the loading station by using the material transporting trolley 100, may also include:

[0135] Step S110, pre-storing coils in a warehouse.

[0136] Specifically, coils 500 with different identity information may be pre-stored in the warehouse.

[0137] Step S120, loading the corresponding coils in the warehouse onto the material transport vehicle according to the coil processing information.

[0138] Specifically, the coiled material 500 may be transported to the material transporting cart 100 manually, or the coiled material 500 may be transported to the material transporting cart 100 by the robot 200 .

[0139] Step S130, the material transport vehicle moves to the loading station according to a predetermined route.

[0140] See also Figure 1 The present application also provides a coil feeding mechanism for feeding the coil 500, and the coil 500 is provided with a center hole 510 along the axial direction.

[0141] The coil material 500 loading mechanism includes a material transporting trolley 100, a robot 200, an unwinding structure 400 and a receiving structure 300. The robot 200 is arranged at the loading station, the receiving structure 300 is located on the path of the robot 200 transferring the coil material 500, and the receiving structure 300 is arranged corresponding to the unwinding structure 400.

[0142] The material transporting trolley 100 is used to transport the coiled material 500 to the loading station.

[0143] At the loading station, the robot 200 is used to transfer the coil 500 to the receiving structure 300, wherein the receiving structure 300 supports the outer peripheral surface of the coil 500 and makes the center hole 510 of the coil 500 on the receiving structure 300 and the second inflatable shaft 410 of the unwinding structure 400 located on the same axis.

[0144] The receiving structure 300 is used to receive and drive the coil 500 to move along the axial direction of the coil 500 until the second inflatable shaft 410 is inserted into the central hole 510 , and the second inflatable shaft 410 expands to fix the coil 500 .

[0145] That is to say, in the present application, a material transport trolley can be used to transport the coil to the loading station, and then a robot can be used at the loading station to first load the coil to the receiving structure for positioning to ensure that the center hole of the coil and the second inflatable shaft of the unwinding structure are on the same axis, and then the coil is driven by the receiving structure to move along the axial direction of the coil until the second inflatable shaft is inserted into the center hole. After the second inflatable shaft inserted into the center hole expands, the coil can be fixed to complete the loading of the coil. This method can realize the automatic loading of the coil, and there is no need to manually load the coil onto the unwinding structure.

[0146] In addition, the present application also provides a computer-readable storage medium, in which instructions are stored. The data storage device executes the instructions so that the data storage device implements the coil material loading method of the embodiment of the present application.

[0147] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of some applications should be included in the protection scope of some applications.

Claims

1. A coil picking method, which enables the coil on the material transport vehicle to be accurately picked up by a robot, characterized in that: The coil is provided with a central hole along the axial direction, and the method comprises: Establishing relative coordinates between the robot and the material transport vehicle; Determine the position coordinates of the center hole of the coil according to the relative coordinates; According to the position coordinates of the center hole, the first inflatable shaft of the robot acts on the center hole of the coil and expands and fixes the coil; and The robot transfers the coiled material to the receiving structure via the first air shaft.

2. The coil picking method according to claim 1, characterized in that: The establishing of the relative coordinates between the robot and the material transport vehicle also includes: Setting a first identification point and a second identification point on the material transport vehicle; Enable the robot to identify the first identification point and the second identification point, determine a first coordinate direction according to a line between the first identification point and the second identification point, and determine a second coordinate direction at the first identification point in a direction perpendicular to the first coordinate direction; The relative coordinates between the robot and the material transport vehicle are determined according to the first coordinate direction and the second coordinate direction.

3. The coil picking method according to claim 2, characterized in that: The method of causing the robot to identify the first identification point and the second identification point further includes: Firstly, the recognition visual center of the robot is made to coincide with the center of the first recognition point to obtain the position information of the first recognition point; Then, the recognition visual center of the robot is made to coincide with the center of the second recognition point to obtain the position information of the second recognition point.

4. The coil picking method according to claim 2, characterized in that: The step of determining the position coordinates of the center hole of the coil according to the relative coordinates also includes: Setting a storage position for the coiled material on the material transporting trolley, and determining a relative position of the storage position with respect to the first identification point and the second identification point; Determining the coordinate position of the storage position according to the relative coordinates and the relative position; The position coordinates of the center hole of the coil are determined according to the coordinate position.

5. The coil picking method according to claim 4, characterized in that: The storage position is a limit slot; The step of determining the position coordinates of the center hole of the coil according to the coordinate position also includes: The robot moves to the storage position according to the coordinate position; The robot obtains an image of the center hole of the coil at the storage position, and corrects the position coordinates of the center hole of the coil according to the image.

6. A coil material loading method for loading a coil material onto an unwinding structure, characterized in that: The method comprises the following steps: Use the material transport trolley to transport the coiled material to the loading station; At the loading station, the robot transfers the coil to the receiving structure by using the coil picking method according to any one of claims 1 to 5, wherein the receiving structure supports the outer peripheral surface of the coil, and the central hole of the coil on the receiving structure and the second inflatable shaft of the unwinding structure are located on the same axis; The receiving structure drives the coil to move along the axial direction of the coil until the second inflatable shaft is inserted into the central hole, and the second inflatable shaft is expanded to fix the coil.

7. The coil material feeding method according to claim 6, characterized in that: The receiving structure comprises two supporting members arranged opposite to each other in a direction perpendicular to the axial direction of the second inflatable shaft, and the supporting members are respectively provided with guide slopes, and the guide slopes correspond to a circumferential surface with the second inflatable shaft as the center and the radius of the coil as the radius; The guide slope supports the outer peripheral surface of the coil so that the central hole of the coil can be located on the same axis as the second inflatable shaft of the unwinding structure; and The support member can drive the coil to move along the axial direction of the coil.

8. The coil material feeding method according to claim 7, characterized in that: A stop portion is provided at the end of the support member parallel to the axial direction of the second inflatable shaft, and the stop portion is at least located at the end of the support member away from one end of the unwinding structure, and the stop portion is used to stop the coil in a direction parallel to the axial direction of the second inflatable shaft.

9. The coil material feeding method according to claim 7, characterized in that: The two support members can be moved closer to or farther from each other.

10. The coil material feeding method according to claim 6, characterized in that: After the second inflatable shaft is expanded to fix the coiled material, the method further comprises: The receiving structure is separated from the coil.

11. The coil material feeding method according to any one of claims 6 to 10, characterized in that: The coil is provided with an identification code, wherein the identification code includes identity information of the coil; The method of transferring the coiled material to the receiving structure by using a robot further comprises: The robot recognizes the identification code on the coil to obtain the identity information of the coil; and The coiled material is transferred to a corresponding receiving structure according to the identity information.

12. The coil material feeding method according to any one of claims 6 to 10, characterized in that: The method of transporting the coiled material to the loading station by using a material transport trolley also includes: Pre-store coils in the warehouse; Load the corresponding coils in the warehouse onto the material transport cart according to the coil processing information; The material transport trolley moves to the loading station according to the predetermined route.

13. The coil material feeding method according to claim 12, characterized in that: The method further comprises: The coiled material is placed on the material transporting trolley in a manner that the axial direction is perpendicular to the material transporting trolley.

14. A coil feeding mechanism for feeding coils, wherein the coils are provided with a central hole along the axial direction, characterized in that: It includes a material transport trolley, a robot, an unwinding structure and a receiving structure. The robot is arranged at a loading station, the receiving structure is located on the path of the robot transferring the coil, and the receiving structure is arranged corresponding to the unwinding structure; wherein, The material transport trolley is used to transport the coiled material to the loading station; At the loading station, the robot is used to transfer the coil to a receiving structure, wherein the receiving structure supports the outer peripheral surface of the coil, and the central hole of the coil on the receiving structure and the second inflatable shaft of the unwinding structure are located on the same axis; The receiving structure is used to receive and drive the coil to move along the axial direction of the coil until the second inflatable shaft is inserted into the central hole, and the second inflatable shaft expands to fix the coil.

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and the data storage device executes the instructions so that the data storage device implements the coil material loading method according to any one of claims 1 to 13.

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