Feeding method, feeding system and computer readable storage medium

Abstract

The invention relates to the technical field of feeding systems, and discloses a feeding method, a feeding system and a computer readable storage medium. The feeding method comprises the steps that an in-place signal of a tool car is obtained; angle deviation data between the clamp and the tool car are detected; x-direction offset data and Y-direction offset data between the clamp and the tool vehicle are detected; and calculating an actual stacking point according to the angle deviation data, the X-direction deviation data and the Y-direction deviation data, and obtaining a material taking point according to the actual stacking point. According to the feeding method provided by the invention, algorithm compensation is carried out in the rotating direction, the X direction and the Y direction respectively, so that the positioning error of the tool vehicle is controlled within a small error range, the accuracy of stacking coordinates is remarkably improved, the posture of the robot is automatically adjusted, and it is guaranteed that interference and collision do not exist between the clamp and the tool vehicle in the material taking and feeding process.

Description

Technical Field

[0001] The present invention relates to the technical field of feeding systems, and in particular to a feeding method, a feeding system and a computer-readable storage medium. Background Art

[0002] The loading system of the chassis generally includes a robot and a fixture. The robot controls the fixture to grab and move the chassis on the tooling vehicle. The fixture is usually an electromagnet fixture. However, in actual applications, the gap between the fixture and the interlayer of the tooling vehicle is small. Due to factors such as the positioning error of the tooling vehicle, the deformation of the interlayer of the tooling vehicle, and the deviation of the incoming position of the chassis, it is easy to cause leakage during the material picking process, and the material is easily knocked off by the tooling vehicle after picking up. In the process of further picking up materials by the robot, it is easy to cause collision due to the chassis left over from the last material picking. In addition, because the robot of the KEBA system (industrial automation control system) does not have an anti-collision function, the fixture collides with the tooling vehicle for the second time when it is knocked and hit, causing serious deformation of the tooling vehicle and breaking of the fixture mechanism, affecting product quality and increasing production costs. Summary of the invention

[0003] In view of this, the present invention provides a feeding method, a feeding system and a computer-readable storage medium to solve the problems of missed materials, collisions and material retention caused by factors such as errors in tool vehicle positioning, deformation of the tool vehicle interlayer and deviations in the chassis incoming material position.

[0004] In a first aspect, the present invention provides a feeding method, comprising:

[0005] Obtain the arrival signal of the tooling vehicle;

[0006] Detecting angle offset data between the fixture and the tooling vehicle;

[0007] Detecting X-direction offset data and Y-direction offset data between the fixture and the tooling vehicle;

[0008] The actual stacking point is calculated according to the angle offset data, the X-direction offset data and the Y-direction offset data, and the material picking point is obtained according to the actual stacking point.

[0009] Beneficial effects: The actual stacking point is calculated according to the angle offset data, the X-direction offset data and the Y-direction offset data, and algorithm compensation can be performed in the rotation direction, X direction and Y direction respectively to control the positioning error of the tooling vehicle within a smaller error range, significantly improving the accuracy of the stacking coordinates, obtaining the material picking point according to the actual stacking point, and automatically adjusting the posture of the robot to ensure that there is no interference and collision between the fixture and the tooling vehicle during the material picking and loading process; the actual stacking point after compensation can also be used to adapt to and accommodate the deformation of the interlayer of the tooling vehicle and the deviation of the material incoming position on the tooling vehicle, so as to avoid missing materials during the material picking process, and avoid the situation where the materials are knocked off by the tooling vehicle after the materials are picked up, and then in the process of further picking up materials by the robot, avoid the collision caused by the chassis that was stranded during the last material picking. Moreover, by performing algorithm compensation in the rotation direction, X direction, and Y direction respectively, the anti-collision function can also be implemented on robots without anti-collision function, thereby preventing the fixture on the robot from colliding with the tooling vehicle for the second time when it collides with the robot, preventing the tooling vehicle from being severely deformed due to collision, and preventing the fixture from breaking due to collision, thereby ensuring product quality and reducing production costs.

[0010] In an optional implementation, it also includes:

[0011] According to the actual stacking point, the fixture is controlled to enter the tooling vehicle and move to the material picking point to pick up materials;

[0012] Acquire a first material picking signal when the clamp picks up material;

[0013] Controlling the fixture to leave the tooling vehicle, and obtaining a second material picking signal after leaving the tooling vehicle;

[0014] The first material picking signal and the second material picking signal are compared, and the subsequent material picking of the clamp is controlled according to the comparison result.

[0015] Beneficial effect: The subsequent material picking of the clamp is controlled according to the comparison result of the first material picking signal and the second material picking signal, which can achieve the anti-fool effect and perform secondary picking of the retained material to ensure the quality of the material and the stability of production.

[0016] In an optional implementation, the angle offset data between the detection fixture and the tooling vehicle includes:

[0017] Controlling the fixture to rotate and deviate from a preset zero point;

[0018] Acquiring a rotation signal of the clamp through a first position detection structure;

[0019] Acquire a rotation position according to the rotation position signal;

[0020] Acquire the angle offset data according to the rotation to the position and the preset zero point;

[0021] The clamp is controlled to rotate to the rotation position.

[0022] Beneficial effect: By obtaining the rotation signal of the fixture through the first position detection structure, it is convenient to obtain the rotation position through the rotation signal. The angle offset data can be calculated based on the rotation position. The angle offset data is compensated by algorithm, which can improve the accuracy of the fixture posture and achieve better anti-collision effect.

[0023] In an optional implementation, the detecting of the X-direction offset data and the Y-direction offset data between the fixture and the tooling vehicle includes:

[0024] Control the fixture to move from the rotation position to a first preset distance in the X direction and in the Y direction respectively, leaving the tooling vehicle to reach a first preset point;

[0025] Controlling the fixture to move from the first preset point along the X direction and the Y direction and approach the tooling vehicle;

[0026] Acquire an X-direction in-position signal and a Y-direction in-position signal of the fixture through a second position detection structure;

[0027] Acquire the moving distance in the X direction according to the X direction arrival signal, and acquire the moving distance in the Y direction according to the Y direction arrival signal;

[0028] The X-direction offset data is acquired according to the first preset distance and the X-direction moving distance, and the Y-direction offset data is acquired according to the first preset distance and the Y-direction moving distance.

[0029] Beneficial effect: The robot first controls the fixture to move away from the tooling vehicle along the X direction and the Y direction according to the first preset distance, and then controls the fixture to approach the tooling vehicle. When the fixture approaches the tooling vehicle, an in-position signal is sent through the second position detection structure, and the actual moving distance of the fixture in the X direction and the Y direction when the in-position signal is obtained is recorded. The X-direction offset data and the Y-direction offset data can be obtained by subtracting the first preset distance from the actual moving distance.

[0030] In an optional implementation, the calculating the actual palletizing point according to the angle offset data, the X-direction offset data and the Y-direction offset data comprises:

[0031] The first preset distance is added to the X point of the first preset point and the X-direction offset data is subtracted to obtain the X point of the actual stacking point.

[0032] In an optional implementation, the calculating the actual palletizing point according to the angle offset data, the X-direction offset data and the Y-direction offset data comprises:

[0033] The first preset distance is added to the Y point of the first preset point and the Y direction offset data is subtracted to obtain the Y point of the actual stacking point.

[0034] In an optional embodiment, controlling the subsequent material taking of the clamp according to the comparison result includes:

[0035] If the first material picking signal is consistent with the second material picking signal, it is considered that the material picking of the current material picking layer is completed and there is no material left, the clamp is controlled to load the material, and after loading the material, the robot and the clamp are controlled to pick up the material from the next layer.

[0036] Beneficial effect: By comparing the first material picking signal with the second material picking signal, it can be known whether the current material picking layer has completed material picking and whether there is any material retention. When the first material picking signal is consistent with the second material picking signal, it is considered that the current material picking layer has completed material picking and there is no material retention, which can achieve a fool-proof effect during the loading process.

[0037] In an optional embodiment, controlling the subsequent material taking of the clamp according to the comparison result includes:

[0038] If the first material picking signal is inconsistent with the second material picking signal, it is considered that material has fallen out or is retained in the current material picking layer, and the clamp is controlled to load the material, and after loading the material, the robot and the clamp are controlled to continue to pick up material from the current material picking layer;

[0039] Determine whether the first material picking signal is zero; if so, control the robot and the clamp to pick up materials at the lower layer; if not, control the robot and the clamp to pick up materials at the current material picking layer.

[0040] Beneficial effect: By comparing the first material-picking signal with the second material-picking signal, it can be known whether the current material-picking layer has finished picking up materials and whether there is any material retention. If the first material-picking signal is inconsistent with the second material-picking signal, it is considered that there is material falling out or material retention in the current material-picking layer, so that the fool-proof effect can be achieved during the loading process. When there is material falling out or material retention in the current material-picking layer, the first material-picking signal can be judged. If the first material-picking signal is zero, it is considered that there is no material in the current material layer, and the material can be picked up from the next layer; if the first material-picking signal is not zero, it is considered that there is material retention in the current material layer, and the material in the current material layer can be taken away first.

[0041] In an optional implementation, the calculating the actual palletizing point according to the angle offset data, the X-direction offset data and the Y-direction offset data comprises:

[0042] The visual system is controlled to perform image correction and material reading according to the angle offset data, the X-direction offset data and the Y-direction offset data, and the actual stacking point and the number of stacking layers of the material are calculated.

[0043] In a second aspect, the present invention also provides a feeding system for executing the above-mentioned feeding method.

[0044] In a third aspect, the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and when the computer instructions are executed, the above-mentioned feeding method is implemented.

[0045] Beneficial effects: The computer-readable storage medium provided by the present invention has all the technical effects of the above-mentioned loading method by adopting the loading method of the above-mentioned implementation method. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the related technologies, the drawings required for use in the specific embodiments or the related technical descriptions will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 This is a schematic diagram of a first flow chart of a feeding method according to an embodiment of the present invention;

[0048] Figure 2 A second schematic flow chart of a feeding method according to an embodiment of the present invention;

[0049] Figure 3 A third flow chart of a feeding method according to an embodiment of the present invention;

[0050] Figure 4 A fourth flow chart of a feeding method according to an embodiment of the present invention;

[0051] Figure 5 A fifth flow chart of a feeding method according to an embodiment of the present invention;

[0052] Figure 6 A schematic diagram of a feeding system according to an embodiment of the present invention from one viewing angle;

[0053] Figure 7 A schematic diagram of a feeding system according to an embodiment of the present invention from another perspective;

[0054] Figure 8 A schematic diagram of a clamp from one viewing angle according to an embodiment of the present invention;

[0055] Fig. 9 The figure is a schematic diagram of a clamp according to an embodiment of the present invention from another viewing angle.

[0056] Description of reference numerals:

[0057] 1. Tooling vehicle; 2. Fixture; 3. First position detection structure; 4. Second position detection structure; 5. Robot; 6. Induction switch; 7. Positioning mechanism. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0059] In actual application, due to the small gap between the clamp 2 and the interlayer of the tool vehicle 1, the positioning error of the tool vehicle 1, the deformation of the interlayer of the tool vehicle 1, and the deviation of the chassis material position, etc., are all likely to cause leakage during the material picking process, and the material is easily knocked off by the tool vehicle 1 after picking up. Then, in the process of further picking up materials by the robot 5, it is easy to cause collision due to the chassis left over from the last material picking. In addition, because the robot 5 of the KEBA system (industrial automation control system) has no anti-collision function, the clamp 2 collides with the tool vehicle 1 for the second time when it collides, causing serious deformation of the tool vehicle 1 and breaking of the clamp 2 mechanism, affecting product quality and increasing production costs.

[0060] Combine the following Figures 1 to 9 , describing an embodiment of the present invention.

[0061] According to an embodiment of the present invention, on the one hand, a feeding method is provided, comprising:

[0062] S1. Obtain the arrival signal of tooling vehicle 1.

[0063] After the tooling vehicle 1 is in place, the positioning mechanism 7 can be used to fix the tooling vehicle 1 and perform preliminary positioning of the tooling vehicle 1. The positioning mechanism 7 includes a positioning bracket and a rotating clamping cylinder; after the tooling vehicle 1 enters the bottom of the positioning bracket, the rotating clamping cylinder clamps and fixes it. After the positioning mechanism 7 preliminarily positions the tooling vehicle 1, a signal of arrival can be sent to the robot 5.

[0064] S2, detecting the angle offset data between the fixture 2 and the tooling vehicle 1.

[0065] By acquiring the angle offset data, the angle deviation between the fixture 2 on the robot 5 and the material on the tooling vehicle 1 can be known. The fixture 2 is installed on the flange coordinate end axis of the robot 5, and the robot 5 can be a 6-axis robot. Specifically, the fixture 2 can be an electromagnet fixture 2.

[0066] S3, detecting the X-direction offset data and the Y-direction offset data between the fixture 2 and the tooling vehicle 1.

[0067] The X direction and the Y direction are mutually perpendicular horizontal directions, and both the X direction and the Y direction are perpendicular to the rotation axis. By acquiring the X direction offset data and the Y direction offset data, the deviation between the fixture 2 on the robot 5 and the material on the tooling vehicle 1 in the X direction and the Y direction can be known.

[0068] S4, calculating an actual stacking point according to the angle offset data, the X-direction offset data and the Y-direction offset data, and acquiring a material picking point according to the actual stacking point.

[0069] The actual stacking point is calculated according to the angle offset data, the X-direction offset data and the Y-direction offset data, and algorithm compensation can be performed in the rotation direction, the X-direction and the Y-direction respectively to control the positioning error of the tooling vehicle 1 within a smaller error range, significantly improve the accuracy of the stacking coordinates, obtain the material picking point according to the actual stacking point, and automatically adjust the posture of the robot 5 to ensure that there is no interference and collision between the fixture 2 and the tooling vehicle 1 during the material picking and loading process; the actual stacking point after compensation can also be used to adapt to and accommodate the deformation of the interlayer of the tooling vehicle 1 and the deviation of the material incoming position on the tooling vehicle 1, so as to avoid missing materials during the material picking process and avoid the situation where the materials are knocked off by the tooling vehicle 1 after picking, and then in the process of further picking up materials by the robot 5, avoid the collision caused by the chassis retained by the last material picking. Moreover, by performing algorithm compensation in the rotation direction, X direction and Y direction respectively, the anti-collision function can also be implemented on the robot 5 without the anti-collision function, so as to avoid the secondary collision of the clamp 2 on the robot 5 with the tooling vehicle 1 when it is knocked or hit, prevent the tooling vehicle 1 from being seriously deformed due to the collision, and prevent the clamp 2 from being broken due to the collision, thereby ensuring product quality and reducing production costs.

[0070] In one embodiment, it further includes:

[0071] S5. According to the actual stacking point, control the fixture 2 to enter the tooling vehicle 1 and move to the material picking point to pick up materials.

[0072] In a specific implementation, the fixture 2 is controlled to enter the tooling vehicle 1 and move to the material picking point to pick up materials according to the actual stacking point, including: controlling the fixture 2 to descend from the actual stacking point to the material picking point above the material, or controlling the fixture 2 to move horizontally from the actual stacking point to the material picking point above the material.

[0073] S6, obtaining a first material picking signal when the clamp 2 picks up a material.

[0074] In a specific implementation, the first material picking signal is obtained by the induction switch 6 disposed at the bottom of the clamp 2, and the first material picking signal can obtain a value according to binary. When the induction switch 6 does not sense the material, the value is zero, and the first material picking signal is zero; when the induction switch 6 senses the material, the value is not zero.

[0075] S7 , controlling the fixture 2 to leave the tooling vehicle 1 , and obtaining a second material picking signal after leaving the tooling vehicle 1 .

[0076] In a specific implementation, the second material picking signal is obtained by the induction switch 6 disposed at the bottom of the clamp 2. The second material picking signal can obtain a value according to binary. When the induction switch 6 does not sense the material, the value is zero and the second material picking signal is zero; when the induction switch 6 senses the material, the value is not zero.

[0077] S8. Compare the first material picking signal with the second material picking signal, and control the subsequent material picking of the clamp 2 according to the comparison result.

[0078] The subsequent material picking of the clamp 2 is controlled according to the comparison result of the first material picking signal and the second material picking signal, which can achieve the anti-fool effect and perform secondary material picking on the retained materials, thereby ensuring the quality of the materials and the stability of production.

[0079] The first material taking signal and the second material taking signal can both obtain a numerical value based on binary system, and the numerical values ​​are directly compared. When the numerical values ​​are equal, it is considered that the material taking of the current material taking layer is completed and there is no material retained; when the numerical values ​​are inconsistent, it is considered that material has fallen out or there is material retained in the current material taking layer.

[0080] In one embodiment, the angle offset data between the detection fixture 2 and the tooling vehicle 1 includes:

[0081] S21, controlling the fixture 2 to rotate and offset from a preset zero point.

[0082] The preset zero point may be the current initial position of the robot 5 and the fixture 2 .

[0083] S22 , obtaining a rotation-to-position signal of the clamp 2 through the first position detection structure 3 .

[0084] The first position detection structure 3 may be a travel switch.

[0085] S23, obtaining a rotation position according to the rotation position signal.

[0086] S24. Acquire the angle offset data according to the rotation to the position and the preset zero point.

[0087] S25, controlling the fixture 2 to rotate to the rotation position.

[0088] By obtaining the rotation position signal of the clamp 2 through the first position detection structure 3, the rotation position can be obtained conveniently through the rotation position signal. The angle offset data can be calculated based on the rotation position. The angle offset data is compensated by algorithm, which can improve the accuracy of the clamp 2 posture and achieve a better anti-collision effect.

[0089] In a specific embodiment, before controlling the fixture 2 to rotate and deviate from a preset zero point, the robot 5 may first control the fixture 2 to rise to the top of the tooling vehicle 1 to avoid collision and interference with the tooling vehicle 1 during subsequent rotation.

[0090] In one embodiment, the detecting of the X-direction offset data and the Y-direction offset data between the fixture 2 and the tooling vehicle 1 includes:

[0091] S31, controlling the fixture 2 to move from the rotation position along the X direction and along the Y direction by a first preset distance respectively, leaving the tooling vehicle 1 and arriving at a first preset point.

[0092] S32 , controlling the fixture 2 to move from the first preset point along the X direction and the Y direction and approach the tooling vehicle 1 .

[0093] S33 , obtaining an X-direction in-position signal and a Y-direction in-position signal of the clamp 2 through the second position detection structure 4 .

[0094] S34, acquiring the X-direction moving distance according to the X-direction arrival signal, and acquiring the Y-direction moving distance according to the Y-direction arrival signal.

[0095] S35 . Acquire the X-direction offset data according to the first preset distance and the X-direction moving distance, and acquire the Y-direction offset data according to the first preset distance and the Y-direction moving distance.

[0096] The robot 5 first controls the fixture 2 to move away from the tooling vehicle 1 along the X direction and the Y direction according to the first preset distance, and then controls the fixture 2 to approach the tooling vehicle 1. When the fixture 2 approaches the tooling vehicle 1, the second position detection structure 4 sends an in-position signal, and records the actual moving distance of the fixture 2 in the X direction and the Y direction when the in-position signal is obtained. The X-direction offset data and the Y-direction offset data can be obtained by subtracting the first preset distance from the actual moving distance.

[0097] In a specific implementation, the movement and calculation compensation in the X direction and the movement and calculation compensation in the Y direction may be performed separately or simultaneously.

[0098] In a specific embodiment, the second position detection structure 4 includes an X-direction photoelectric sensor and a Y-direction photoelectric sensor.

[0099] In one embodiment, the calculating the actual palletizing point according to the angle offset data, the X-direction offset data and the Y-direction offset data comprises:

[0100] The first preset distance is added to the X point of the first preset point and the X-direction offset data is subtracted to obtain the X point of the actual stacking point.

[0101] In an ideal situation, that is, when the tooling vehicle 1 has no positioning error, the first preset distance and the X-direction offset data are consistent; when the first preset distance and the X-direction offset data are consistent, that is, when the tooling vehicle 1 has a positioning error, the positioning error can be calibrated by the above calculation compensation method.

[0102] In one embodiment, the calculating the actual palletizing point according to the angle offset data, the X-direction offset data and the Y-direction offset data comprises:

[0103] The first preset distance is added to the Y point of the first preset point and the Y direction offset data is subtracted to obtain the Y point of the actual stacking point.

[0104] In an ideal situation, that is, when the tooling vehicle 1 has no positioning error, the first preset distance and the Y-direction offset data are consistent. When the first preset distance and the Y-direction offset data are consistent, that is, when the tooling vehicle 1 has a positioning error, the positioning error can be calibrated by the above calculation compensation method.

[0105] In one embodiment, the controlling the subsequent material taking of the clamp 2 according to the comparison result includes:

[0106] If the first material picking signal is consistent with the second material picking signal, it is considered that the material picking of the current material picking layer is completed and there is no material left, and the clamp 2 is controlled to load the material, and after loading the material, the robot 5 and the clamp 2 are controlled to pick up the material from the next layer.

[0107] By comparing the first material picking signal with the second material picking signal, it can be known whether the current material picking layer has completed material picking and whether there is any material retention. When the first material picking signal is consistent with the second material picking signal, it is considered that the current material picking layer has completed material picking and there is no material retention. This can achieve a fool-proof effect during the loading process.

[0108] In one embodiment, the controlling the subsequent material taking of the clamp 2 according to the comparison result includes:

[0109] If the first material picking signal is inconsistent with the second material picking signal, it is considered that material has fallen out or is retained in the current material picking layer, and the clamp 2 is controlled to load the material, and after loading the material, the robot 5 and the clamp 2 are controlled to continue to pick up the material from the current material picking layer;

[0110] Determine whether the first material picking signal is zero; if so, control the robot 5 and the clamp 2 to pick up materials at the lower layer; if not, control the robot 5 and the clamp 2 to pick up materials at the current material picking layer.

[0111] By comparing the first material-picking signal with the second material-picking signal, it can be known whether the current material-picking layer has finished picking up materials and whether there is any material retention. If the first material-picking signal is inconsistent with the second material-picking signal, it is considered that there is material falling out or material retention in the current material-picking layer, so that the fool-proof effect can be achieved during the loading process. When there is material falling out or material retention in the current material-picking layer, the first material-picking signal can be judged. If the first material-picking signal is zero, it is considered that there is no material in the current material layer, and the material can be picked up from the next layer; if the first material-picking signal is not zero, it is considered that there is material retention in the current material layer, and the material in the current material layer can be taken away first.

[0112] In a specific implementation, the material may be a pallet, and the pallets are stacked in sequence in the tooling vehicle 1 along the vertical direction.

[0113] In one embodiment, the calculating the actual palletizing point according to the angle offset data, the X-direction offset data and the Y-direction offset data comprises:

[0114] The visual system is controlled to perform image correction and material reading according to the angle offset data, the X-direction offset data and the Y-direction offset data, and the actual stacking point and the number of stacking layers of the material are calculated.

[0115] The actual stacking point and the number of stacking layers of materials can be quickly calculated through the visual system, so as to perform algorithm compensation in the rotation direction, X direction and Y direction respectively, so as to control the positioning error of the tooling vehicle 1 within a smaller error range, significantly improve the accuracy of the stacking coordinates, obtain the material picking point according to the actual stacking point, and automatically adjust the posture of the robot 5 to ensure that there is no interference and collision between the fixture 2 and the tooling vehicle 1 during the material picking and loading process; the actual stacking point after compensation can also be used to adapt to and accommodate the deformation of the interlayer of the tooling vehicle 1 and the deviation of the material incoming position on the tooling vehicle 1, so as to avoid missing materials during the material picking process, and avoid the situation where the materials are knocked off by the tooling vehicle 1 after picking, and then in the process of further picking up materials by the robot 5, avoid the collision caused by the chassis that was stranded during the last material picking. Moreover, by performing algorithm compensation in the rotation direction, X direction and Y direction respectively, the anti-collision function can also be implemented on the robot 5 without the anti-collision function, so as to avoid the secondary collision of the clamp 2 on the robot 5 with the tooling vehicle 1 when it is knocked or hit, prevent the tooling vehicle 1 from being seriously deformed due to the collision, and prevent the clamp 2 from being broken due to the collision, thereby ensuring product quality and reducing production costs.

[0116] According to an embodiment of the present invention, on the other hand, a feeding system is provided for executing the above-mentioned feeding method, comprising:

[0117] S1. Obtain the arrival signal of tooling vehicle 1.

[0118] S2, detecting the angle offset data between the fixture 2 and the tooling vehicle 1.

[0119] S3, detecting the X-direction offset data and the Y-direction offset data between the fixture 2 and the tooling vehicle 1.

[0120] S4, calculating an actual stacking point according to the angle offset data, the X-direction offset data and the Y-direction offset data, and acquiring a material picking point according to the actual stacking point.

[0121] S5. According to the actual stacking point, control the fixture 2 to enter the tooling vehicle 1 and move to the material picking point to pick up materials.

[0122] S6, obtaining a first material picking signal when the clamp 2 picks up a material.

[0123] S7 , controlling the fixture 2 to leave the tooling vehicle 1 , and obtaining a second material picking signal after leaving the tooling vehicle 1 .

[0124] S8. Compare the first material picking signal with the second material picking signal, and control the subsequent material picking of the clamp 2 according to the comparison result.

[0125] The actual stacking point is calculated according to the angle offset data, the X-direction offset data and the Y-direction offset data, and algorithm compensation can be performed in the rotation direction, the X-direction and the Y-direction respectively to control the positioning error of the tooling vehicle 1 within a smaller error range, significantly improve the accuracy of the stacking coordinates, obtain the material picking point according to the actual stacking point, and automatically adjust the posture of the robot 5 to ensure that there is no interference and collision between the fixture 2 and the tooling vehicle 1 during the material picking and loading process; the actual stacking point after compensation can also be used to adapt to and accommodate the deformation of the interlayer of the tooling vehicle 1 and the deviation of the material incoming position on the tooling vehicle 1, so as to avoid missing materials during the material picking process and avoid the situation where the materials are knocked off by the tooling vehicle 1 after picking, and then in the process of further picking up materials by the robot 5, avoid the collision caused by the chassis retained by the last material picking. Moreover, by performing algorithm compensation in the rotation direction, X direction and Y direction respectively, the anti-collision function can also be implemented on the robot 5 without the anti-collision function, so as to avoid the secondary collision of the clamp 2 on the robot 5 with the tooling vehicle 1 when it is knocked or hit, prevent the tooling vehicle 1 from being seriously deformed due to the collision, and prevent the clamp 2 from being broken due to the collision, thereby ensuring product quality and reducing production costs.

[0126] The feeding system includes a robot 5, a fixture 2, a first position detection structure 3, a second position detection structure 4 and an induction switch 6; the fixture 2 can be an electromagnet fixture 2, which is installed on the end axis of the robot 5 flange coordinate, and the robot 5 can be a 6-axis robot, and the robot 5 is used to perform the above-mentioned feeding method. The first position detection structure 3 is a travel switch, which is arranged on the side of the fixture 2; the second position detection structure 4 includes an X-direction photoelectric sensor and a Y-direction photoelectric sensor, both of which are arranged on the side of the fixture 2. An induction switch 6 is provided at the bottom of the fixture 2, and the induction switch 6 can obtain the first material picking signal and the second material picking signal; there can be at least two induction switches 6, which are spaced apart along the length direction of the fixture 2.

[0127] According to an embodiment of the present invention, on another aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and when the computer instructions are executed, the above-mentioned feeding method is implemented.

[0128] The computer-readable storage medium provided by the present invention has all the technical effects of the above-mentioned loading method by adopting the loading method of the above-mentioned implementation method.

[0129] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the present application.

Claims

1. A feeding method, characterized in that: include: Obtaining a signal indicating that the tooling vehicle (1) has arrived; Detecting angle offset data between the fixture (2) and the tooling vehicle (1); Detecting X-direction offset data and Y-direction offset data between the fixture (2) and the tooling vehicle (1); The actual stacking point is calculated according to the angle offset data, the X-direction offset data and the Y-direction offset data, and the material picking point is obtained according to the actual stacking point.

2. The feeding method according to claim 1, characterized in that: Also includes: According to the actual stacking point, the clamp (2) is controlled to enter the tooling vehicle (1) and move to the material picking point to pick up materials; Acquiring a first material picking signal when the clamp (2) picks up a material; Controlling the clamp (2) to leave the tooling vehicle (1), and obtaining a second material picking signal after leaving the tooling vehicle (1); The first material picking signal and the second material picking signal are compared, and the subsequent material picking of the clamp (2) is controlled according to the comparison result.

3. The feeding method according to claim 1, characterized in that: The angle offset data between the detection fixture (2) and the tooling vehicle (1) includes: Controlling the fixture (2) to rotate and deviate from a preset zero point; Acquiring a rotation position signal of the clamp (2) through a first position detection structure (3); Acquire a rotation position according to the rotation position signal; Acquire the angle offset data according to the rotation to the position and the preset zero point; The clamp (2) is controlled to rotate to the rotation position.

4. The feeding method according to claim 3, characterized in that: The detecting of the X-direction offset data and the Y-direction offset data between the fixture (2) and the tooling vehicle (1) comprises: Controlling the clamp (2) to move a first preset distance from the rotation position along the X direction and along the Y direction respectively, leaving the tooling vehicle (1) to reach a first preset point; Controlling the clamp (2) to move from the first preset point along the X direction and the Y direction and approach the tooling vehicle (1); Acquiring an X-direction in-position signal and a Y-direction in-position signal of the clamp (2) through a second position detection structure (4); Acquire the moving distance in the X direction according to the X direction arrival signal, and acquire the moving distance in the Y direction according to the Y direction arrival signal; The X-direction offset data is acquired according to the first preset distance and the X-direction moving distance, and the Y-direction offset data is acquired according to the first preset distance and the Y-direction moving distance.

5. The feeding method according to claim 4, characterized in that: The calculating the actual palletizing point according to the angle offset data, the X-direction offset data and the Y-direction offset data comprises: Add the first preset distance to the X point of the first preset point and subtract the X-direction offset data to obtain the X point of the actual stacking point; And / or, the Y point of the actual palletizing point is obtained by adding the first preset distance to the Y point of the first preset point and subtracting the Y direction offset data.

6. The feeding method according to claim 2, characterized in that: The method of controlling the subsequent material taking of the clamp (2) according to the comparison result comprises: If the first material picking signal is consistent with the second material picking signal, the clamp (2) is controlled to load the material, and after loading the material, the robot (5) and the clamp (2) are controlled to pick up the material from the lower layer.

7. The feeding method according to claim 2, characterized in that: The method of controlling the subsequent material taking of the clamp (2) according to the comparison result comprises: If the first material picking signal is inconsistent with the second material picking signal, the clamp (2) is controlled to load the material, and after loading the material, the robot (5) and the clamp (2) are controlled to continue to pick up the material from the current material picking layer; Determine whether the first material picking signal is zero; if so, control the robot (5) and the clamp (2) to pick up materials at the lower layer; if not, control the robot (5) and the clamp (2) to pick up materials at the current material picking layer.

8. The feeding method according to claim 1, characterized in that: The calculating the actual palletizing point according to the angle offset data, the X-direction offset data and the Y-direction offset data comprises: The visual system is controlled to perform image correction and material reading according to the angle offset data, the X-direction offset data and the Y-direction offset data, and the actual stacking point and the number of stacking layers of the material are calculated.

9. A feeding system, characterized in that: Used to execute the feeding method described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and when the computer instructions are executed, the feeding method described in any one of claims 1 to 8 is implemented.

Images