Feeding method, feeding system and computer readable storage medium

Abstract

The application 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 following steps: obtaining a positioning signal of a tool trolley; detecting angle offset data between a clamp and the tool trolley; detecting X-direction offset data and Y-direction offset data between the clamp and the tool trolley; calculating an actual stacking point according to the angle offset data, the X-direction offset data and the Y-direction offset data, and obtaining a material taking point according to the actual stacking point. The feeding method provided by the application performs algorithm compensation in the rotating direction, the X-direction and the Y-direction respectively, so that the positioning error of the tool trolley is controlled within a small error range, the accuracy of the stacking coordinates is significantly improved, the posture of a robot is automatically adjusted, and interference and collision between the clamp and the tool trolley do not exist in the material taking and feeding process.

Description

Technical Field

[0001] This invention relates to the field of feeding system technology, specifically to feeding methods, feeding systems, and computer-readable storage media. Background Technology

[0002] A chassis loading system typically includes a robot and a fixture. The robot controls the fixture to grip and transport the chassis from the tooling carriage. The fixture is usually an electromagnet. However, in practical applications, the material handling gap between the fixture and the tooling carriage is small. Due to factors such as tooling carriage positioning errors, tooling carriage deformation, and deviations in the material's position on the chassis, materials are easily missed during the handling process, and materials are easily knocked off by the tooling carriage after handling. This can lead to collisions with the chassis that was previously handled during further handling by the robot. Furthermore, because the KEBA system (Industrial Automation Control System) robot lacks anti-collision functionality, the fixture can cause secondary collisions with the tooling carriage during initial impacts, resulting in severe deformation of the tooling carriage and breakage of the fixture mechanism. This affects product quality and increases 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 missing material, collision and material retention caused by factors such as tooling car positioning error, tooling car interlayer deformation and chassis material inlet position deviation.

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

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

[0006] The angular offset data between the detection fixture and the tooling carriage;

[0007] Detect the X-direction offset data and Y-direction offset data between the fixture and the tooling carriage;

[0008] The actual palletizing point is calculated based on the angle offset data, the X-direction offset data, and the Y-direction offset data, and the material picking point is obtained based on the actual palletizing point.

[0009] Beneficial effects: The actual palletizing point is calculated based on the angular offset data, X-direction offset data, and Y-direction offset data. Algorithm compensation can be performed in the rotation direction, X-direction, and Y-direction to control the positioning error of the tooling cart within a small error range, significantly improving the accuracy of the palletizing coordinates. The picking point is obtained based on the actual palletizing point, and the robot's posture is automatically adjusted to ensure that there is no interference or collision between the fixture and the tooling cart during the picking and loading process. Furthermore, the compensated actual palletizing point can adapt to and accommodate the deformation of the tooling cart's interlayer and the deviation of the material's incoming position on the tooling cart, avoiding missed picking during the picking process and preventing the picking material from being knocked off by the tooling cart after picking. In addition, during the robot's further picking process, collisions caused by the chassis remaining after the previous picking are avoided. Furthermore, through algorithmic compensation in the rotation direction, X direction, and Y direction, collision avoidance can be achieved on robots without collision avoidance function. This prevents the gripper on the robot from causing secondary collisions to the tooling carriage when it is bumped or hit, prevents the tooling carriage from being severely deformed due to collisions, and prevents the gripper from breaking due to collisions, thus ensuring product quality and reducing production costs.

[0010] In one alternative implementation, it further includes:

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

[0012] Obtain the first material handling signal when the fixture picks up the material;

[0013] Control the fixture to leave the tooling carriage, and obtain a second material handling signal after leaving the tooling carriage;

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

[0015] Beneficial effects: Controlling the subsequent material handling of the fixture based on the comparison result of the first material handling signal and the second material handling signal can achieve the effect of preventing mistakes, and can also perform secondary material handling for the stuck material, ensuring the quality of the material and ensuring the stability of production.

[0016] In one optional implementation, the angular offset data between the detection fixture and the tooling carriage includes:

[0017] Control the clamp to rotate and shift from a preset zero point;

[0018] The rotation positioning signal of the fixture is obtained through the first position detection structure;

[0019] The rotation position is obtained based on the rotation positioning signal;

[0020] The angle offset data is obtained based on the rotation to the position and the preset zero point;

[0021] Control the clamp to rotate to the rotation point.

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

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

[0024] Control the fixture to move a first preset distance along the X direction and along the Y direction from the rotation point, and leave the tooling carriage to reach the first preset point;

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

[0026] The X-direction positioning signal and Y-direction positioning signal of the fixture are obtained through the second position detection structure;

[0027] The X-direction movement distance is obtained based on the X-direction arrival signal, and the Y-direction movement distance is obtained based on the Y-direction arrival signal;

[0028] The X-direction offset data is obtained based on the first preset distance and the X-direction movement distance, and the Y-direction offset data is obtained based on the first preset distance and the Y-direction movement distance.

[0029] Beneficial effects: The robot first controls the gripper to move away from the tooling carriage along the X and Y directions at a first preset distance, and then controls the gripper to move closer to the tooling carriage. When the gripper moves closer to the tooling carriage, the second position detection structure sends a positioning signal. The actual moving distance of the gripper in the X and Y directions when the positioning signal is obtained is recorded. The X-direction offset data and Y-direction offset data can be obtained by subtracting the first preset distance from the actual moving distance.

[0030] In one optional implementation, calculating the actual palletizing point based on the angle offset data, the X-direction offset data, and the Y-direction offset data includes:

[0031] The X-point of the actual palletizing point is obtained by adding the first preset distance to the X-point of the first preset point and subtracting the X-direction offset data.

[0032] In one optional implementation, calculating the actual palletizing point based on the angle offset data, the X-direction offset data, and the Y-direction offset data includes:

[0033] 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.

[0034] In one optional implementation, controlling the subsequent material handling of the fixture based on 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 picking layer is completed and there is no material retention. The clamp is controlled to load the material, and after loading, the robot and the clamp are controlled to pick up the material of the next layer.

[0036] Beneficial effects: By comparing the first and second material picking signals, it can be determined whether the current material picking layer has completed picking and whether there is any material retention. When the first and second material picking signals are consistent, it is considered that the current material picking layer has completed picking and there is no material retention. This can achieve the effect of preventing mistakes during the feeding process.

[0037] In one optional implementation, controlling the subsequent material handling of the fixture based on the comparison result includes:

[0038] 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 stuck in the current material picking layer. The clamp is controlled to pick up the material, and after the material is picked up, the robot and the clamp are controlled to continue picking up the material in the current material picking layer.

[0039] Determine whether the first material picking signal is zero; if yes, control the robot and the fixture to pick up material from the next layer; if no, control the robot and the fixture to pick up material from the current material picking layer.

[0040] Beneficial effects: By comparing the first and second material picking signals, it can be determined whether the current material picking layer has completed picking and whether there is any material retention. If the first and second material picking signals are inconsistent, it is considered that material has fallen out or is retained in the current material picking layer, thus achieving a mistake-proof effect during the feeding process. When material has fallen out or is retained 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 layer, and picking can proceed to the next layer; if the first material picking signal is not zero, it is considered that there is material retention in the current layer, and the material in the current layer can be removed first.

[0041] In one optional implementation, calculating the actual palletizing point based on the angle offset data, the X-direction offset data, and the Y-direction offset data includes:

[0042] The control vision system performs image correction and material reading based on the angle offset data, the X-direction offset data, and the Y-direction offset data, and calculates the actual palletizing point and the number of stacked layers of the material.

[0043] Secondly, the present invention also provides a feeding system for performing the above-described feeding method.

[0044] Thirdly, the present invention also provides a computer-readable storage medium storing computer instructions, which, when executed, implement the above-described feeding method.

[0045] Beneficial effects: The computer-readable storage medium provided by the present invention, by adopting the feeding method of the above-described embodiments, has all the technical effects of the feeding method described above. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the specific embodiments or related technologies of the present invention, the drawings used in the description of the specific embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

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

[0048] Figure 2 This is a schematic diagram of a second process for a feeding method according to an embodiment of the present invention;

[0049] Figure 3 This is a schematic diagram of a third process of a feeding method according to an embodiment of the present invention;

[0050] Figure 4 This is a schematic diagram of the fourth process of a feeding method according to an embodiment of the present invention;

[0051] Figure 5 This is a schematic diagram of the fifth process of a feeding method according to an embodiment of the present invention;

[0052] Figure 6 This is a schematic diagram from one perspective of a feeding system according to an embodiment of the present invention;

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

[0054] Figure 8 This is a schematic diagram of a clamp according to an embodiment of the present invention;

[0055] Figure 9 This is a schematic diagram of a clamp according to an embodiment of the present invention from another perspective.

[0056] Explanation of reference numerals in the attached figures:

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

[0058] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0059] In practical applications, the small gap between the fixture 2 and the tooling carriage 1 makes it easy for errors in the positioning of the tooling carriage 1, deformation of the tooling carriage 1's interlayer, and deviations in the material's position on the chassis to lead to missed material removal during the material handling process. Furthermore, materials may be knocked off by the tooling carriage 1 after being removed, and during further material handling by the robot 5, the chassis may be impacted by the material left behind from the previous removal. Since the KEBA system (industrial automation control system) robot 5 lacks anti-collision functionality, the fixture 2 may collide with the tooling carriage 1 a second time during initial impacts, causing severe deformation of the tooling carriage 1 and breakage of the fixture 2 mechanism. This affects product quality and increases production costs.

[0060] The following is combined Figures 1 to 9 The following describes embodiments of the present invention.

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

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

[0063] After the tooling carriage 1 is in place, it can be fixed by the positioning mechanism 7 to perform preliminary positioning. The positioning mechanism 7 includes a positioning bracket and a rotary clamping cylinder; after the tooling carriage 1 enters the bottom of the positioning bracket, the rotary clamping cylinder clamps and fixes it. After the positioning mechanism 7 has initially positioned the tooling carriage 1, it can send a positioning signal to the robot 5.

[0064] S2, Detection data of the angular offset between the fixture 2 and the tooling vehicle 1.

[0065] By acquiring angular offset data, the angular deviation between the gripper 2 on robot 5 and the material on tooling carriage 1 can be determined. Gripper 2 is installed on the flange coordinate end axis of robot 5, which can be a 6-axis robot. Specifically, gripper 2 can be an electromagnet gripper 2.

[0066] S3. Detect the X-direction offset data and Y-direction offset data between the fixture 2 and the tooling carriage 1.

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

[0068] S4. Calculate the actual palletizing point based on the angle offset data, the X-direction offset data, and the Y-direction offset data, and obtain the material picking point based on the actual palletizing point.

[0069] The actual palletizing point is calculated based on the angle offset data, X-direction offset data, and Y-direction offset data. Algorithm compensation can be performed in the rotation direction, X-direction, and Y-direction to control the positioning error of the tooling carriage 1 within a small error range, significantly improving the accuracy of the palletizing coordinates. The picking point is obtained based on the actual palletizing point, and the posture of the robot 5 is automatically adjusted to ensure that there is no interference or collision between the fixture 2 and the tooling carriage 1 during the picking and loading process. Furthermore, the compensated actual palletizing point can adapt to and accommodate the deformation of the interlayer of the tooling carriage 1 and the deviation of the material receiving position on the tooling carriage 1, avoiding missed picking during the picking process and avoiding the situation where the picked material is knocked off by the tooling carriage 1 after picking. In addition, during the further picking process of the robot 5, the impact caused by the chassis that was stuck during the previous picking is avoided. Furthermore, through algorithmic compensation in the rotation direction, X direction, and Y direction, anti-collision function can be implemented on robot 5, which does not have anti-collision function. This prevents the fixture 2 on robot 5 from colliding with the tooling carriage 1 during impacts, prevents the tooling carriage 1 from being severely deformed due to the collision, and prevents the fixture 2 from breaking due to the collision, thus ensuring product quality and reducing production costs.

[0070] In one embodiment, it also includes:

[0071] S5. Control the fixture 2 to enter the tooling car 1 and move to the picking point to pick up materials according to the actual stacking point.

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

[0073] S6. Obtain the first material handling signal when the clamp 2 picks up the material.

[0074] In a specific implementation, a first material handling signal is obtained by an inductive switch 6 located at the bottom of the fixture 2. The first material handling signal can be obtained as a value based on binary. When the inductive switch 6 does not sense any material, the value is zero, and the first material handling signal is zero; when the inductive switch 6 senses any material, the value is not zero.

[0075] S7. Control the fixture 2 to leave the tooling carriage 1, and obtain a second material handling signal after leaving the tooling carriage 1.

[0076] In a specific implementation, a second material handling signal is obtained by an inductive switch 6 located at the bottom of the fixture 2. The second material handling signal can be obtained as a binary value. When the inductive switch 6 does not detect material, the value is zero, and the second material handling signal is zero; when the inductive switch 6 detects material, the value is not zero.

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

[0078] The subsequent material handling of the fixture 2 is controlled by comparing the first material handling signal and the second material handling signal. This not only prevents mistakes but also allows for secondary material handling of any stuck materials, ensuring material quality and production stability.

[0079] Both the first and second material picking signals can be obtained as a binary value. These values ​​are directly compared. If the values ​​are equal, it is considered that the material picking of the current picking layer is completed and there is no material retention. If the values ​​are inconsistent, it is considered that material has fallen out or material has been retained in the current picking layer.

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

[0081] S21. Control the clamp 2 to rotate and shift from a preset zero point.

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

[0083] S22. Obtain the rotation positioning signal of the clamp 2 through the first position detection structure 3.

[0084] The first position detection structure 3 can be a limit switch.

[0085] S23. Obtain the rotation position based on the rotation position signal.

[0086] S24. Obtain the angle offset data based on the rotation point and the preset zero point.

[0087] S25. Control the clamp 2 to rotate to the rotation point.

[0088] The first position detection structure 3 obtains the rotation position signal of the fixture 2, which makes it easy to obtain the rotation position point. The angle offset data can be calculated based on the rotation position point. The angle offset data is then compensated by an algorithm to improve the accuracy of the fixture 2's posture and achieve a better anti-collision effect.

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

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

[0091] S31. Control the clamp 2 to move a first preset distance along the X direction and along the Y direction from the rotation point, and leave the tooling carriage 1 to reach the first preset point.

[0092] S32. Control 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. Obtain the X-direction positioning signal and Y-direction positioning signal of the fixture 2 through the second position detection structure 4.

[0094] S34. Obtain the X-direction movement distance based on the X-direction arrival signal, and obtain the Y-direction movement distance based on the Y-direction arrival signal.

[0095] S35. Obtain the X-direction offset data based on the first preset distance and the X-direction movement distance, and obtain the Y-direction offset data based on the first preset distance and the Y-direction movement distance.

[0096] Robot 5 first controls gripper 2 to move away from tooling carriage 1 along the X and Y directions at a first preset distance, and then controls gripper 2 to move closer to tooling carriage 1. The second position detection structure 4 sends a positioning signal when gripper 2 moves closer to tooling carriage 1. The actual moving distance of gripper 2 in the X and Y directions when the positioning signal is obtained is recorded. The actual moving distance minus the first preset distance can be used to obtain the X-direction offset data and Y-direction offset data.

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

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

[0099] In one embodiment, calculating the actual palletizing point based on the angle offset data, the X-direction offset data, and the Y-direction offset data includes:

[0100] The X-point of the actual palletizing point is obtained by adding the first preset distance to the X-point of the first preset point and subtracting the X-direction offset data.

[0101] Ideally, when the tooling vehicle 1 has no positioning error, the first preset distance and the offset data in the X direction are consistent; when the first preset distance and the offset data in the X direction are inconsistent, 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, calculating the actual palletizing point based on the angle offset data, the X-direction offset data, and the Y-direction offset data includes:

[0103] 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.

[0104] Ideally, when tooling carriage 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 inconsistent, that is, when tooling carriage 1 has a positioning error, the positioning error can be calibrated using the above-mentioned calculation compensation method.

[0105] In one embodiment, controlling the subsequent material handling of the fixture 2 based on 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 retention. The clamp 2 is controlled to load the material, and after loading, the robot 5 and the clamp 2 are controlled to pick up the material of the next layer.

[0107] By comparing the first and second material picking signals, it can be determined whether the current material picking layer has completed picking and whether there is any material retention. When the first and second material picking signals are consistent, it is considered that the current material picking layer has completed picking and there is no material retention. This can achieve the effect of preventing mistakes during the material feeding process.

[0108] In one embodiment, controlling the subsequent material handling of the fixture 2 based on the comparison result includes:

[0109] 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 stuck in the current material picking layer. The clamp 2 is controlled to pick up the material, and after the material is picked up, the robot 5 and the clamp 2 are controlled to continue picking up the material in the current material picking layer.

[0110] Determine whether the first material picking signal is zero; if yes, control the robot 5 and the fixture 2 to pick up material from the lower layer; if no, control the robot 5 and the fixture 2 to pick up material from the current material picking layer.

[0111] By comparing the first and second material picking signals, it can be determined whether the current material picking layer has completed picking and whether there is any material retention. If the first and second material picking signals are inconsistent, it is considered that material has fallen out or is retained in the current material picking layer. This can achieve a mistake-proof effect during the material feeding process. When material has fallen out or is retained 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 layer, and picking can proceed to the next layer; if the first material picking signal is not zero, it is considered that there is material retention in the current layer, and the material in the current layer can be removed first.

[0112] In a specific implementation, the material may be a pallet, and the pallets are stacked vertically in the tooling cart 1.

[0113] In one embodiment, calculating the actual palletizing point based on the angle offset data, the X-direction offset data, and the Y-direction offset data includes:

[0114] The control vision system performs image correction and material reading based on the angle offset data, the X-direction offset data, and the Y-direction offset data, and calculates the actual palletizing point and the number of stacked layers of the material.

[0115] The vision system can quickly calculate the actual palletizing point and the number of stacked layers of materials, and perform algorithmic compensation in the rotation direction, X direction, and Y direction to control the positioning error of the tooling carriage 1 within a small error range, significantly improving the accuracy of the palletizing coordinates. The picking point is obtained based on the actual palletizing point, and the posture of the robot 5 is automatically adjusted to ensure that there is no interference or collision between the fixture 2 and the tooling carriage 1 during the picking and loading process. It can also adapt to and accommodate the deformation of the interlayer of the tooling carriage 1 and the deviation of the material receiving position on the tooling carriage 1 through the compensated actual palletizing point, avoiding missed picking during the picking process and avoiding the situation where the picked material is knocked off by the tooling carriage 1 after picking. In addition, it avoids the impact caused by the chassis that was stuck in the previous picking process during the further picking process of the robot 5. Furthermore, through algorithmic compensation in the rotation direction, X direction, and Y direction, anti-collision function can be implemented on robot 5, which does not have anti-collision function. This prevents the fixture 2 on robot 5 from colliding with the tooling carriage 1 during impacts, prevents the tooling carriage 1 from being severely deformed due to the collision, and prevents the fixture 2 from breaking due to the collision, thus ensuring product quality and reducing production costs.

[0116] According to an embodiment of the present invention, in another aspect, a feeding system is also provided for performing the above-described feeding method, comprising:

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

[0118] S2, Detection data of the angular offset between the fixture 2 and the tooling vehicle 1.

[0119] S3. Detect the X-direction offset data and Y-direction offset data between the fixture 2 and the tooling carriage 1.

[0120] S4. Calculate the actual palletizing point based on the angle offset data, the X-direction offset data, and the Y-direction offset data, and obtain the material picking point based on the actual palletizing point.

[0121] S5. Control the fixture 2 to enter the tooling car 1 and move to the picking point to pick up materials according to the actual stacking point.

[0122] S6. Obtain the first material handling signal when the clamp 2 picks up the material.

[0123] S7. Control the fixture 2 to leave the tooling carriage 1, and obtain a second material handling signal after leaving the tooling carriage 1.

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

[0125] The actual palletizing point is calculated based on the angle offset data, X-direction offset data, and Y-direction offset data. Algorithm compensation can be performed in the rotation direction, X-direction, and Y-direction to control the positioning error of the tooling carriage 1 within a small error range, significantly improving the accuracy of the palletizing coordinates. The picking point is obtained based on the actual palletizing point, and the posture of the robot 5 is automatically adjusted to ensure that there is no interference or collision between the fixture 2 and the tooling carriage 1 during the picking and loading process. Furthermore, the compensated actual palletizing point can adapt to and accommodate the deformation of the interlayer of the tooling carriage 1 and the deviation of the material receiving position on the tooling carriage 1, avoiding missed picking during the picking process and avoiding the situation where the picked material is knocked off by the tooling carriage 1 after picking. In addition, during the further picking process of the robot 5, the impact caused by the chassis that was stuck during the previous picking is avoided. Furthermore, through algorithmic compensation in the rotation direction, X direction, and Y direction, anti-collision function can be implemented on robot 5, which does not have anti-collision function. This prevents the fixture 2 on robot 5 from colliding with the tooling carriage 1 during impacts, prevents the tooling carriage 1 from being severely deformed due to the collision, and prevents the fixture 2 from breaking due to the collision, thus 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 inductive switch 6. The fixture 2 can be an electromagnet fixture 2, installed on the end axis of the flange coordinate of the robot 5. The robot 5 can be a 6-axis robot, used to execute the feeding method described above. The first position detection structure 3 is a limit switch, located 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 located on the side of the fixture 2. An inductive switch 6 is located at the bottom of the fixture 2, which can acquire a first picking signal and a second picking signal. There can be at least two inductive switches 6, spaced apart along the length of the fixture 2.

[0127] According to an embodiment of the present invention, in another aspect, a computer-readable storage medium is also provided, the computer-readable storage medium storing computer instructions, which, when executed, implement the above-described feeding method.

[0128] The computer-readable storage medium provided by the present invention, by adopting the feeding method described above, has all the technical effects of the feeding method described above.

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

Claims

1. A feeding method, characterized in that, include: Obtain the arrival signal of the tooling vehicle (1); The angular offset data between the inspection fixture (2) and the tooling carriage (1); Detect the X-direction offset data and Y-direction offset data between the fixture (2) and the tooling car (1); The actual palletizing point is calculated based on the angle offset data, the X-direction offset data, and the Y-direction offset data, and the material picking point is obtained based on the actual palletizing point. According to the actual stacking point, the clamp (2) is controlled to enter the tooling car (1) and move to the picking point to pick up the material; Obtain the first material handling signal when the fixture (2) picks up the material; Control the fixture (2) to leave the tooling carriage (1), and obtain a second material handling signal after leaving the tooling carriage (1); The first material picking signal and the second material picking signal are compared, and the subsequent material picking of the fixture (2) is controlled according to the comparison result. The first material picking signal and the second material picking signal are both obtained by binary. The values ​​are directly compared. When the values ​​are equal, it is considered that the material picking of the current material picking layer is completed and there is no material retention. When the values ​​are inconsistent, it is considered that there is material falling out or material retention in the current material picking layer.

2. The feeding method according to claim 1, characterized in that, The angular offset data between the detection fixture (2) and the tooling carriage (1) includes: Control the clamp (2) to rotate and shift from a preset zero point; The rotation positioning signal of the fixture (2) is obtained by the first position detection structure (3); The rotation position is obtained based on the rotation positioning signal; The angle offset data is obtained based on the rotation to the position and the preset zero point; Control the clamp (2) to rotate to the rotation point.

3. The feeding method according to claim 2, characterized in that, The detection of X-direction offset data and Y-direction offset data between the fixture (2) and the tooling carriage (1) includes: Control the clamp (2) to move a first preset distance along the X direction and along the Y direction from the rotation point, and leave the tooling car (1) to reach the first preset point; Control the fixture (2) to move from the first preset point along the X and Y directions and approach the tooling car (1); The X-direction positioning signal and Y-direction positioning signal of the fixture (2) are obtained by the second position detection structure (4); The X-direction movement distance is obtained based on the X-direction arrival signal, and the Y-direction movement distance is obtained based on the Y-direction arrival signal; The X-direction offset data is obtained based on the first preset distance and the X-direction movement distance, and the Y-direction offset data is obtained based on the first preset distance and the Y-direction movement distance.

4. The feeding method according to claim 3, characterized in that, The step of calculating the actual palletizing point based on the angle offset data, the X-direction offset data, and the Y-direction offset data includes: 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 palletizing point; And / or, add the first preset distance to the Y point of the first preset point and subtract the Y-direction offset data to obtain the Y point of the actual palletizing point.

5. The feeding method according to claim 1, characterized in that, The subsequent material handling of the fixture (2) based on the comparison results includes: If the first material picking signal is consistent with the second material picking signal, then control the fixture (2) to pick up the material, and after the material is picked up, control the robot (5) and the fixture (2) to pick up the material from the lower layer.

6. The feeding method according to claim 1, characterized in that, The subsequent material handling of the fixture (2) based on the comparison results includes: If the first material picking signal is inconsistent with the second material picking signal, the clamp (2) is controlled to pick up the material, and after the material is picked up, the robot (5) and the clamp (2) are controlled to continue picking up the material from the current material picking layer. Determine whether the first material picking signal is zero; if yes, control the robot (5) and the fixture (2) to pick up material from the lower layer; if no, control the robot (5) and the fixture (2) to pick up material from the current material picking layer.

7. The feeding method according to claim 1, characterized in that, The step of calculating the actual palletizing point based on the angle offset data, the X-direction offset data, and the Y-direction offset data includes: The control vision system performs image correction and material reading based on the angle offset data, the X-direction offset data, and the Y-direction offset data, and calculates the actual palletizing point and the number of stacked layers of the material.

8. A feeding system, characterized in that, Used to perform the feeding method according to any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions, which, when executed, implement the feeding method according to any one of claims 1 to 7.

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