Stacking mechanism and control method and control system thereof

Abstract

The invention discloses a stacking mechanism and a control method and system thereof, and relates to the technical field of automation. The stacking mechanism comprises a feeding device, a film feeding device, a transferring device and a discharging table, the feeding device comprises a conveying belt, and the conveying belt is provided with a to-be-taken position; the film feeding device comprises two film feeding runners, and a film taking position is arranged between the two film feeding runners; the transferring device comprises a moving assembly and an adsorption assembly, the adsorption assembly comprises a first adsorption part and a second adsorption part, and the protective film adsorbed by the second adsorption part is located on the lower side of the blank adsorbed by the first adsorption part in the height direction of the stacking mechanism; the moving assembly can drive the adsorption assembly to move to the to-be-taken position so that the first adsorption piece can adsorb the material blank, the adsorption assembly with the adsorbed material blank can be moved to the upper side of the film taking position, and the moving assembly can further drive the adsorption assembly with the adsorbed material blank to move downwards, penetrate through the film taking position and place the material blank on the material placing table. The risk that the material blank is scratched is reduced, and the damage probability of the material blank is reduced.

Description

Technical Field

[0001] The present invention relates to the field of automation technology, and in particular to a stacking mechanism, a control method thereof, and a control system. Background Art

[0002] In the prior art, to maximize storage space, finished blanks are commonly stacked for storage, thereby improving space utilization. However, friction and collision between blanks during stacking often cause wear and scratches on the blank surface, which not only damages the blank's appearance but also affects its performance, strength, and service life. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a stacking mechanism that can reduce the risk of scraping between blanks during stacking, thereby reducing the probability of damage to the blanks.

[0004] The present invention also provides a control method and control system for a stacking mechanism, a computer-readable storage medium, and a computer program product.

[0005] The stacking mechanism according to the embodiment of the first aspect of the present invention includes: a loading device, a film loading device, a transfer device and a material unloading platform, the loading device includes a conveyor belt for conveying the material embryo, the end of the conveyor belt is provided with a waiting position, and the material embryo can be parked at the waiting position; the film loading device is arranged on one side of the loading device, the film loading device includes two film feeding channels arranged at intervals, a film taking position is provided between the two film feeding channels, the two film feeding channels can cooperate to convey the protective film to the film taking position, and the protective film can be suspended at the film taking position; the transfer device is arranged on the upper side of the loading device and the film loading device, the transfer device includes a moving component and an adsorption component, and the adsorption component includes interconnected The first adsorption member and the second adsorption member, the first adsorption member is used to adsorb the material embryo, and the second adsorption member is used to adsorb the protective film. Along the height direction of the stacking mechanism, the protective film adsorbed by the second adsorption member is located on the lower side of the material embryo adsorbed by the first adsorption member; the material unloading table is located on the lower side of the film-taking position; wherein, the moving component can drive the adsorption component to move to the waiting position so that the first adsorption member adsorbs the material embryo, and moves the adsorption component that has adsorbed the material embryo to the upper side of the film-taking position, and the moving component can also drive the adsorption component that has adsorbed the material embryo to move downward and pass through the film-taking position, and place the material embryo on the unloading table.

[0006] The stacking mechanism according to the embodiment of the present invention has at least the following beneficial effects:

[0007] The stacking mechanism of the embodiment of the present invention conveys the material blank to the waiting position through the loading device, and the moving component can drive the adsorption component to move, so that the first adsorption component can adsorb the material blank in the waiting position and transfer the material blank to the unloading table; and then the protective film is conveyed to the film taking position through the cooperation of the two film feeding channels. When the moving component drives the adsorption component to perform the transfer task of the next material blank, the second adsorption component can adsorb the protective film on the film taking position during the descending process, and the protective film is located on the lower side of the material blank adsorbed by the first adsorption component. Based on this, when the moving component continues to drive the adsorption component to descend to stack two material blanks, the protective film is located between the two material blanks, thereby isolating the two material blanks from each other, thereby reducing the scratches on the material blanks during the stacking process, not only reducing the risk of wear or scratches on the surface of the material blank, but also reducing the risk of damage to the overall structure of the material blank, ensuring the integrity of the overall structure of the material blank, and improving the production quality of the material blank.

[0008] According to some embodiments of the present invention, the adsorption component also includes a mounting platform, which is connected to the movable component, and the first adsorption component is connected to the mounting platform. Two second adsorption components are provided, and the two second adsorption components are respectively arranged on two opposite sides of the first adsorption component and connected to the mounting platform. The two second adsorption components are respectively used to adsorb the opposite ends of the protective film to keep the protective film in an unfolded state.

[0009] According to some embodiments of the present invention, the first adsorption member and the second adsorption member extend downward along the height direction of the stacking mechanism respectively, the lower end surface of the first adsorption member is provided with a first adsorption hole for adsorbing the material blank, and the lower end surface of the second adsorption member is provided with a second adsorption hole for adsorbing the protective film, and along the height direction of the stacking mechanism, the lower end surface of the second adsorption member is lower than the lower end surface of the first adsorption member.

[0010] According to some embodiments of the present invention, the adsorption assembly further includes a connecting arm, the second adsorption component is installed on the connecting arm, the connecting arm is provided with a slide groove extending along the direction of the line connecting the two second adsorption components, and a slider is protruding from the surface of the mounting platform, and the slider is slidably connected to the slide groove.

[0011] According to some embodiments of the present invention, the adsorption component further includes an image acquisition device and a controller, the image acquisition device is used to acquire image information of the material blank and the protective film, the controller is electrically connected to the image acquisition device and the moving component respectively, and the controller is configured to control the moving component to drive the adsorption component to move in response to the image information of the material blank and the protective film.

[0012] According to some embodiments of the present invention, the conveyor belt is provided with two waiting positions, which are arranged side by side along the width direction of the conveyor belt, and two film taking positions are provided between the two film delivery channels, which are arranged at intervals along the width direction of the conveyor belt. The transfer device includes two adsorption components, which are arranged at intervals along the width direction of the conveyor belt.

[0013] The control method of the stacking mechanism according to the second embodiment of the present invention is applied to the stacking mechanism according to the first embodiment, wherein the unloading table is provided with a first blank, and the control method includes:

[0014] When the adsorption component is located on the upper side of the position to be removed, the moving component is controlled to drive the adsorption component to descend and adsorb the second blank in the position to be removed;

[0015] After the two film delivery channels deliver the first protective film to the film removal position, controlling the moving component to drive the adsorption component to move to the upper side of the film removal position;

[0016] Determining a movement instruction strategy of the moving component according to the relative positions of the first blank and the second blank;

[0017] According to the movement instruction strategy, the moving component is controlled to drive the adsorption component to descend until the adsorption component adsorbs the first protective film in the film taking position and covers the first protective film on the surface of the first material blank, so that the second material blank is stacked on the first material blank covered with the first protective film.

[0018] The control method of the stacking mechanism of the embodiment of the present invention is as follows: when the adsorption component is located on the upper side of the waiting position, the moving component is controlled to drive the adsorption component to descend and adsorb the second material blank in the waiting position; after the first protective film is transported to the film taking position through the two film feeding channels, the moving component is controlled to drive the adsorption component to move to the upper side of the film taking position; according to the relative positions of the first material blank and the second material blank, the movement instruction strategy of the moving component is confirmed; according to the movement instruction strategy, the moving component is controlled to drive the adsorption component to descend until the adsorption component adsorbs the first protective film in the film taking position and covers the surface of the first material blank with the first protective film, so that the second material blank is stacked on the first material blank covered with the first protective film, thereby isolating the two material blanks from each other by the protective film, thereby reducing the scratches on the material blanks during the stacking process, not only reducing the risk of wear or scratches on the surface of the material blanks, but also reducing the risk of damage to the overall structure of the material blanks, ensuring the integrity of the overall structure of the material blanks, and improving the production quality of the material blanks.

[0019] According to some embodiments of the present invention, determining the movement instruction strategy of the moving component according to the relative positions of the first blank and the second blank includes:

[0020] Acquire first transverse coordinate information and first longitudinal coordinate information of the first blank, and second transverse coordinate information and second longitudinal coordinate information of the second blank;

[0021] When the first horizontal coordinate information and the third horizontal coordinate information do not match, determining the movement instruction strategy as the first instruction;

[0022] When the first horizontal coordinate information and the third horizontal coordinate information match, and the first vertical coordinate information and the third vertical coordinate information do not match, determining that the movement instruction strategy is the second instruction;

[0023] The controlling the moving component to drive the adsorption component to descend according to the moving instruction strategy includes:

[0024] When the movement instruction strategy is the first instruction, the moving component is first controlled to drive the adsorption component to move along the length direction of the conveyor belt until the first transverse coordinate information and the second transverse coordinate information match, and then the moving component is controlled to drive the adsorption component to descend and pass through the film taking position, and the moving component is controlled according to the first longitudinal coordinate information and the second longitudinal coordinate information;

[0025] When the movement instruction strategy is the second instruction, the moving component is first controlled to drive the adsorption component to descend and pass through the film taking position, and then the moving component is controlled to drive the adsorption component to move along the width direction of the conveyor belt until the first longitudinal coordinate information and the third longitudinal coordinate information match.

[0026] According to some embodiments of the present invention, the film removal position is provided with a sensing component, and the sensing component is configured to generate a loading instruction in response to the adsorption component passing through the film removal position from bottom to top, and the control method further includes:

[0027] After the second blank is stacked on the first blank covered with the first protective film, in response to the loading instruction, the conveyor belt is controlled to convey the third blank to the waiting position, and the two film conveying channels are controlled to cooperate in conveying the second protective film to the film taking position.

[0028] According to some embodiments of the present invention, a detection component is provided on one side of the unloading table, and the detection component is used to detect the blank placed on the unloading table. The adsorption component also includes an image acquisition device for acquiring image information of the blank. The control method further includes:

[0029] When the unloading platform is empty, in response to a material picking instruction, the moving component is controlled to drive the adsorption component to move to the upper side of the position to be picked up, and a grayscale image of the first blank in the position to be picked up is acquired;

[0030] Acquire a contour feature of the first blank from the grayscale image, and determine target position information of the first blank according to the contour feature;

[0031] Controlling the moving component to adjust the position of the adsorption component according to the target position information;

[0032] The moving component is controlled to drive the adsorption component to descend to adsorb the first material blank, and the first material blank is driven to move toward the unloading platform to place the first material blank on the unloading platform.

[0033] The control system of the stacking mechanism according to the third embodiment of the present invention is applied to the stacking mechanism of the first embodiment, wherein the unloading table is provided with a first blank, and the control system includes:

[0034] The first execution module is configured to control the moving component to drive the adsorption component to descend and adsorb the second blank in the waiting position when the adsorption component is located on the upper side of the waiting position;

[0035] The second execution module is configured to control the moving component to drive the adsorption component to move to the upper side of the film taking position after the two film delivery channels deliver the first protective film to the film taking position;

[0036] a strategy confirmation module, configured to confirm a movement instruction strategy of the moving component according to the relative positions of the first blank and the second blank;

[0037] The third execution module is configured to control the moving component to drive the adsorption component to descend according to the moving instruction strategy until the adsorption component adsorbs the first protective film in the film taking position and covers the first protective film on the surface of the first material blank, so that the second material blank is stacked on the first material blank covered with the first protective film.

[0038] According to the computer-readable storage medium of the fourth embodiment of the present invention, it is used to store computer programs / instructions, which, when executed by a processor, implement the steps of the control method of the stacking mechanism described in the second embodiment.

[0039] According to the computer program product of the fifth embodiment of the present invention, the computer program product includes a computer program / instruction, which, when executed by a processor, implements the steps of the stacking mechanism control method described in the second embodiment.

[0040] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0042] Figure 1 This is a schematic structural diagram of a stacking mechanism according to an embodiment of the present invention;

[0043] Figure 2 It is a front view of a stacking mechanism according to an embodiment of the present invention;

[0044] Figure 3 This is a schematic structural diagram of an adsorption component in an embodiment of the present invention;

[0045] Figure 4 This is a schematic diagram of a first partial state of a stacking mechanism according to an embodiment of the present invention;

[0046] Figure 5 This is a schematic diagram of a second partial state of a stacking mechanism according to an embodiment of the present invention;

[0047] Figure 6 Schematic diagram of a third partial state of a stacking mechanism according to an embodiment of the present invention;

[0048] Figure 7 is a schematic diagram of a fourth partial state of a stacking mechanism according to an embodiment of the present invention;

[0049] Figure 8 is a schematic diagram of a fifth partial state of a stacking mechanism according to an embodiment of the present invention;

[0050] Figure 9 Schematic diagram of a sixth partial state of a stacking mechanism according to an embodiment of the present invention;

[0051] Figure 10 2 is a schematic diagram of a seventh partial state of a stacking mechanism according to an embodiment of the present invention;

[0052] Figure 11 Schematic diagram of an eighth partial state of a stacking mechanism according to an embodiment of the present invention;

[0053] Figure 12 Schematic diagram of a state in which a first blank and a second blank are stacked in an embodiment of the present invention;

[0054] Figure 13 is a schematic diagram of a ninth partial state of a stacking mechanism according to an embodiment of the present invention;

[0055] Figure 14This is a flowchart of a control method for a stacking mechanism according to an embodiment of the present invention;

[0056] Figure 15 Schematic diagram of the structure of a control system of a stacking mechanism in an embodiment of the present invention.

[0057] Figure Number:

[0058] Stacking mechanism 1000;

[0059] Loading device 100; conveyor belt 110; waiting position 111; baffle 120;

[0060] Film loading device 200; film delivery channel 210; film removal position 220;

[0061] Transfer device 300; moving assembly 310; adsorption assembly 320; first adsorption member 321; first adsorption hole 3211; second adsorption member 322; second adsorption hole 3221; mounting platform 323; slider 3231; connecting arm 324; slide groove 3241;

[0062] Unloading table 400;

[0063] First blank 500; second blank 501; third blank 502;

[0064] First protective film 600 . DETAILED DESCRIPTION

[0065] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0066] In the description of the present invention, it should be understood that descriptions involving orientation, such as the orientation or positional relationship indicated by up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0067] In the description of the present invention, "a plurality" refers to more than two. The use of "first" or "second" is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of the indicated technical features, or implicitly indicating the order of the indicated technical features.

[0068] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0069] Blanks are typically stored in stacks to minimize storage space and improve space utilization in warehouses or production lines. However, direct contact between stacked blanks often leads to friction and collision, causing scratches, wear, or even cracks on the blank surface. This not only affects the blank's appearance but can also negatively impact its performance.

[0070] The conventional method of placing a film between two blanks is common. Specifically, a protective film is first prepared on a film-applying device, then accurately applied to the blanks by a film-laying device. Next, a transfer device places another blank on top of the one already covered with the protective film, and this cycle repeats, stacking the blanks. However, the use of a film-laying device not only increases equipment costs but also consumes additional space. Furthermore, since each blank must wait for the film-laying device to complete film removal and placement, this process is time-consuming, affecting the efficiency of blank stacking and reducing the smoothness and overall efficiency of blank storage operations.

[0071] To this end, some embodiments of the present invention provide a stacking mechanism 1000 suitable for storage of cup-shaped blanks, specifically referring to Figures 1 to 15 The stacking mechanism 1000 is shown for illustration.

[0072] Reference Figure 1 and Figure 2 As shown, in an embodiment of the present invention, the stacking mechanism 1000 includes: a loading device 100, a film loading device 200, a transfer device 300, and a material unloading platform 400. The loading device 100 includes a conveyor belt 110 for conveying the blanks. The conveyor belt 110 can be connected to a processing device that performs a pre-processing flow of the blanks. The end of the conveyor belt 110 is provided with a waiting position 111, where the blanks can be parked. In one example, the waiting position 111 is provided with a baffle 120 for stopping the blanks from moving further, thereby causing the blanks to remain in the waiting position 111. In another example, the waiting position 111 is provided with a sensor for sensing the blanks. When the sensor detects that there are blanks in the waiting position 111, it can send a signal to the conveyor belt 110. In response to the signal, the conveyor belt 110 can suspend conveying, thereby causing the blanks to remain in the waiting position 111.

[0073] Continue to refer to Figure 1 and Figure 2As shown, in this embodiment of the present invention, the film loading device 200 is disposed on one side of the loading device 100 in the longitudinal direction. The film loading device 200 includes two film feeding channels 210 spaced apart, with a film removal position 220 disposed between the two film feeding channels 210. The two film feeding channels 210 can cooperate to transport a protective film to the film removal position 220. The film removal position 220 is suitable for accommodating at least one protective film, and the protective film can be suspended at the film removal position 220. When the protective film is suspended at the film removal position 220, the opposite ends of the protective film are respectively fixed to the two film feeding channels 210.

[0074] Continue to refer to Figure 1 and Figure 2 As shown, in an embodiment of the present invention, the transfer device 300 is arranged on the upper side of the loading device 100 and the film loading device 200, and the transfer device 300 includes a moving component 310 and an adsorption component 320, wherein the moving component 310 can drive the adsorption component 320 to move along the length direction of the conveyor belt 110, and can also drive the adsorption component 320 to move along the width direction of the conveyor belt 110, and can also drive the adsorption component 320 to move along the height direction.

[0075] Reference Figure 3 As shown, in this embodiment of the present invention, the adsorption assembly 320 includes a first adsorption member 321 and a second adsorption member 322, which are interconnected. The first adsorption member 321 is used to adsorb the preform, and the second adsorption member 322 is used to adsorb the protective film. In this embodiment, along the height direction of the stacking mechanism 1000, the protective film adsorbed by the second adsorption member 322 is located below the preform adsorbed by the first adsorption member 321. The unloading platform 400 is located below the film removal station 220 and is used to place the preform.

[0076] It can be understood that if a blank has been placed on the unloading table 400, when the first adsorption component 321 adsorbs the blank and the second adsorption component 322 adsorbs the protective film, the protective film is located on the lower side of the blank. Based on this, when the moving component 310 drives the adsorption component 320 to descend toward the unloading table 400 to stack two blanks, the protective film is located between the two blanks. Therefore, when the two blanks are stacked, the protective film can isolate the two blanks from each other.

[0077] In an embodiment of the present invention, the moving component 310 can drive the adsorption component 320 to move to the waiting position 111, so that the first adsorption component 321 adsorbs the material embryo, and moves the adsorption component 320 that has adsorbed the material embryo to the upper side of the film removal position 220. The moving component 310 can also drive the adsorption component 320 that has adsorbed the material embryo to move downward and pass through the film removal position 220, and place the material embryo on the material placement table 400.

[0078] In one example, referring to Figure 10As shown, a first material blank 500 is pre-placed on the unloading table 400, which can be placed manually by the staff or by the adsorption component 320, and this embodiment does not limit this. Based on this, the moving component 310 first drives the adsorption component 320 to move to the upper side of the waiting position 111, and then drives the adsorption component 320 to descend so that the first adsorption component 321 adsorbs the material blank at the waiting position 111; then, the moving component 310 drives the adsorption component 320 to move to the upper side of the film taking position 220. At this time, the two film feeding channels 210 cooperate to transport the protective film to the film taking position 220; the moving component 310 drives the adsorption component 320 to descend. When passing through the film taking position 220, the second adsorption component 322 can adsorb the protective film. At this time, the first adsorption component 321 adsorbs the material blank and the second adsorption component 322 adsorbs the protective film; refer to Figure 11 As shown, the moving component 310 continues to drive the adsorption component 320 to descend, and the protective film covers the surface of the blank placed on the unloading platform 400. Then the first adsorption component 321 stacks another blank on the blank covered with the protective film to achieve stacking of two blanks.

[0079] It is understandable that, referring to Figure 12 As shown, the protective film is located between the two blanks, thereby isolating the two blanks from each other, thereby reducing the risk of scratches on the blanks during the stacking process. This not only reduces the risk of wear or scratches on the blank surface, but also reduces the risk of damage to the overall structure of the blank, ensuring the integrity of the overall structure of the blank and improving the production quality of the blank.

[0080] Reference Figure 3 As shown, in this embodiment of the present invention, the adsorption assembly 320 further includes a mounting platform 323, one end of which is connected to the moving assembly 310, and the other end is connected to the first adsorption member 321. In this embodiment, two second adsorption members 322 are provided, and the two second adsorption members 322 are respectively provided on opposite sides of the first adsorption member 321, and the two second adsorption members 322 are respectively connected to the mounting platform 323. The two second adsorption members 322 can respectively adsorb the opposite ends of the protective film. Therefore, when the two second adsorption members 322 cooperate to adsorb the protective film, the protective film can maintain its unfolded state, thereby ensuring that the protective film can completely cover the surface of the blank located on the unloading platform 400. It should be noted that the first adsorption member 321 can be welded to the mounting platform 323, or it can be fastened to the mounting platform 323 by fasteners, and this embodiment does not limit this.

[0081] Continue to refer to Figure 3As shown, in an embodiment of the present invention, the first adsorption member 321 and the second adsorption member 322 extend downward along the height direction of the stacking mechanism 1000 respectively, wherein the lower end surface of the first adsorption member 321 is provided with a first adsorption hole 3211 for adsorbing the material blank, and the lower end surface of the second adsorption member 322 is provided with a second adsorption hole 3221 for adsorbing the protective film.

[0082] Reference Figure 2 As shown, along the height direction of the stacking mechanism 1000, the lower end surface of the second suction member 322 is lower than the lower end surface of the first suction member 321. Therefore, the second suction hole 3221 is lower than the first suction hole 3211. Therefore, when the first suction member 321 is attached to the blank and the second suction member 322 is attached to the protective film, the protective film is located below the blank. It is understood that along the height direction of the stacking mechanism 1000, the height difference between the second suction hole 3221 and the first suction hole 3211 is greater than or equal to the size of the blank along the height direction of the stacking mechanism 1000.

[0083] Reference Figure 3 As shown, in an embodiment of the present invention, the adsorption assembly 320 further includes a connecting arm 324, wherein the second adsorption component 322 is mounted on the connecting arm 324, and the connecting arm 324 is provided with a slide 3241 extending along the direction of the line connecting the two second adsorption components 322. Specifically, one end of the connecting arm 324 is connected to the second adsorption component 322, and the other end is provided with a slide 3241. Correspondingly, a slider 3231 is formed on the surface of the mounting platform 323, and the slider 3231 is slidably connected to the slide 3241. Based on this, the two second adsorption components 322 can move toward or away from each other, thereby adjusting the distance between the two second adsorption components 322, and then adapting to the adsorption of protective films of different sizes. It should be noted that the second adsorption component 322 can be welded to the connecting arm 324, or it can be fastened to the connecting arm 324 by a fastener, and this embodiment does not limit this.

[0084] In an embodiment of the present invention, the adsorption component 320 also includes an image acquisition device (not shown in the figure) and a controller (not shown in the figure). The image acquisition device is used to acquire image information of the blank and the protective film. The controller is electrically connected to the image acquisition device and the moving component 310 respectively. The controller is configured to control the moving component 310 to drive the adsorption component 320 to move in response to the image information of the blank and the protective film.

[0085] It can be understood that the image acquisition device can capture the image information of the material blank and the protective film in real time, including its key features such as position, size, and shape, so that the controller can issue instructions to the mobile component 310 based on precise data analysis to ensure that the adsorption component 320 can accurately adsorb the material blank and the protective film, greatly reducing operational errors. In addition, it can also reduce the misalignment and deviation of the material blank and the protective film during the stacking process, further reducing the risk of scratches between the material blanks.

[0086] Reference Figure 1 As shown, in the embodiment of the present invention, the conveyor belt 110 is provided with two waiting positions 111, and the two waiting positions 111 are arranged side by side along the width direction of the conveyor belt 110. Two film taking positions 220 are arranged at intervals along the width direction of the conveyor belt 110 between the two film feeding channels 210. It can be understood that the two waiting positions 111 and the two film taking positions 220 are arranged in a one-to-one correspondence. Based on this, referring to Figure 3 As shown, the transfer device 300 includes two adsorption components 320, and the two adsorption components 320 are arranged at intervals along the width direction of the conveyor belt 110. The two adsorption components 320 can respectively adsorb the material embryos in the two waiting positions 111, and can also respectively adsorb the protective films in the two film taking positions 220, thereby realizing the simultaneous stacking operation of two groups of material embryos, thereby improving the stacking efficiency of the material embryos, and further shortening the time spent on the material embryo storage operation.

[0087] Some embodiments of the present invention further provide a control method for a stacking mechanism, which is applied to the stacking mechanism 1000 of the above embodiment, wherein a first blank 500 is placed on the unloading table 400 .

[0088] Reference Figure 14 As shown, in an embodiment of the present invention, the control method of the stacking mechanism includes:

[0089] Step S701 , when the adsorption component 320 is located above the waiting position 111 , the moving component 310 is controlled to drive the adsorption component 320 to descend and adsorb the second blank 501 in the waiting position 111 .

[0090] In step S702 , after the two film delivery channels 210 deliver the first protective film 600 to the film removal position 220 , the moving component 310 is controlled to drive the adsorption component 320 to move to the upper side of the film removal position 220 .

[0091] It is understood that in this embodiment of the present invention, the placement table has already been pre-placed with the first blank 500. Therefore, before the second blank 501 is stacked on the first blank 500, a protective film needs to be placed between the first blank 500 and the second blank 501. Based on this, in this embodiment, when the moving component 310 drives the adsorption component 320 to move to the upper side of the film removal position 220, a protective film waiting to be adsorbed is already suspended on the film removal position 220 located below the second blank 501.

[0092] Step S703 : confirming the movement instruction strategy of the moving component 310 according to the relative positions of the first blank 500 and the second blank 501 .

[0093] It can be understood that, taking into account the slight positional deviations that may exist among the first material blank 500, the second material blank 501 and the first protective film 600 in actual operation, resulting in their failure to be strictly aligned on the same straight line, it is necessary to determine the movement instruction strategy based on their relative positions, wherein the movement instruction strategy refers to the control strategy of the movement path of the adsorption component 320 when the moving component 310 subsequently controls the movement of the adsorption component 320, thereby ensuring that the material blank and the protective film can be accurately stacked together.

[0094] Step S704, according to the movement instruction strategy, controls the moving component 310 to drive the adsorption component 320 to descend until the adsorption component 320 adsorbs the first protective film 600 in the film position 220, and covers the first protective film 600 on the surface of the first material blank 500, so that the second material blank 501 is stacked on the first material blank 500 covered with the first protective film 600.

[0095] In the embodiment of the present invention, referring to Figure 8 As shown, the first blank 500 is placed on the unloading table 400, the moving component 310 drives the adsorption component 320 to move to the upper side of the waiting position 111, and then drives the adsorption component 320 to descend so that the first adsorption component 321 adsorbs the second blank 501 of the waiting position 111, and then the moving component 310 drives the adsorption component 320 to move to the upper side of the film removal position 220. Figure 9 and Figure 10 As shown, the two film delivery channels 210 cooperate to transport the first protective film 600 to the film removal position 220, and then the moving component 310 drives the adsorption component 320 to descend. When passing through the film removal position 220, the second adsorption component 322 can adsorb the first protective film 600. At this time, the first adsorption component 321 adsorbs the second blank 501, and the second adsorption component 322 adsorbs the first protective film 600. Figure 12As shown, the moving component 310 continues to drive the adsorption component 320 to descend, and the first protective film 600 covers the surface of the first material blank 500 placed on the unloading table 400, and then the first adsorption component 321 stacks the second material blank 501 on the first material blank 500 covered with the first protective film 600, thereby realizing the stacking of the two material blanks.

[0096] It is understandable that in actual operation, the first blank 500, the second blank 501, and the first protective film 600 may experience slight positional deviations, which are specifically reflected in differences in their transverse and longitudinal coordinates. The positional deviation of the first protective film 600 can be directly corrected by the two film feed channels 210. It should be noted that in this embodiment of the present invention, transverse coordinate information refers to coordinate information along the length of the conveyor belt 110, and longitudinal coordinate information refers to coordinate information along the width of the conveyor belt 110.

[0097] In this embodiment of the present invention, step S703 includes:

[0098] Step S7031 , obtaining first transverse coordinate information and first longitudinal coordinate information of the first blank 500 , and second transverse coordinate information and second longitudinal coordinate information of the second blank 501 .

[0099] It is understood that in this embodiment of the present invention, the coordinate information of the first blank 500 can be obtained by an image acquisition device or manually input by a staff member, and this embodiment is not limited to this. The coordinate information of the second blank 501 can be obtained by an image acquisition device or calculated based on the travel data of the moving assembly 310, and this embodiment is not limited to this.

[0100] Step S7032: When the first horizontal coordinate information and the third horizontal coordinate information do not match, determining that the movement instruction strategy is the first instruction.

[0101] In the embodiment of the present invention, the first transverse coordinate information and the third transverse coordinate information do not match, which means that the adsorption component 320 needs to be driven by the moving component 310 to move along the length direction of the conveyor belt 110 to adjust the transverse position of the second blank 501.

[0102] Step S7033: When the first horizontal coordinate information and the third horizontal coordinate information match, and the first vertical coordinate information and the third vertical coordinate information do not match, determine that the movement instruction strategy is the second instruction.

[0103] In an embodiment of the present invention, the first transverse coordinate information and the third transverse coordinate information match, and the first longitudinal coordinate information and the third longitudinal coordinate information do not match, which means that it is necessary to drive the adsorption component 320 to move along the width direction of the conveyor belt 110 through the moving component 310 to adjust the longitudinal position of the second material blank 501.

[0104] It is understandable that since the two film delivery channels 210 are spaced apart along the length direction of the conveyor belt 110, if the moving component 310 first drives the adsorption component 320 to descend through the film taking position 220 and then adjusts the lateral position, the moving component 310 is likely to collide with the two film delivery channels 210, causing damage to the equipment.

[0105] To this end, in the embodiment of the present invention, step S704 includes:

[0106] Step S7041, when the movement instruction strategy is the first instruction, first control the moving component 310 to drive the adsorption component 320 to move along the length direction of the conveyor belt 110 until the first horizontal coordinate information and the second horizontal coordinate information match, control the moving component 310 to drive the adsorption component 320 to descend and pass through the film taking position 220, and control the moving component 310 according to the first longitudinal coordinate information and the second longitudinal coordinate information.

[0107] When the movement instruction strategy is the first instruction, the moving component 310 responds to the first instruction, first controls the moving component 310 to drive the adsorption component 320 to move along the length direction of the conveyor belt 110, until the first horizontal coordinate information and the second horizontal coordinate information match, and then controls the moving component 310 to drive the adsorption component 320 to descend and pass through the film taking position 220, that is, before the moving component 310 drives the adsorption component 320 to descend and pass through the film taking position 220, the lateral position is first adjusted, thereby reducing the risk of collision between the moving component 310 and the two film delivery channels 210.

[0108] After the first transverse coordinate information matches the second transverse coordinate information, the moving assembly 310 can then drive the adsorption assembly 320 to descend and pass through the film removal position 220. Since the two film feed channels 210 extend along the width direction of the conveyor belt 110, the two film feed channels 210 have channels extending along the width direction of the conveyor belt 110, providing sufficient operating space for the adsorption assembly 320 to adjust its longitudinal position. Based on this, even if the moving assembly 310 has driven the adsorption assembly 320 to pass through the film removal position 220, the moving assembly 310 can still drive the adsorption assembly 320 to move along the width direction of the conveyor belt 110, ensuring that the longitudinal position of the second blank 501 can be adjusted without colliding with the film feed channels 210.

[0109] Step S7042, when the movement instruction strategy is the second instruction, first control the moving component 310 to drive the adsorption component 320 to descend and pass through the film taking position 220, and then control the moving component 310 to drive the adsorption component 320 to move along the width direction of the conveyor belt 110 until the first longitudinal coordinate information and the third longitudinal coordinate information match.

[0110] In an embodiment of the present invention, when the movement instruction strategy is the second instruction, the moving component 310 responds to the second instruction, directly controls the moving component 310 to drive the adsorption component 320 to descend and pass through the film taking position 220, and then controls the moving component 310 to drive the adsorption component 320 to move along the width direction of the conveyor belt 110, thereby adjusting the longitudinal position of the second material blank 501.

[0111] In an embodiment of the present invention, the film removal position 220 is provided with a sensing component, which is configured to generate a loading instruction in response to the adsorption component 320 passing through the film removal position 220 from bottom to top. The control method of the stacking mechanism also includes:

[0112] In step S705, after the second blank 501 is stacked on the first blank 500 covered with the first protective film 600, in response to the loading instruction, the conveyor belt 110 is controlled to convey the third blank 502 to the waiting position 111, and the two film conveying channels 210 are controlled to cooperate in conveying the second protective film to the film taking position 220.

[0113] Reference Figure 11 As shown, in the embodiment of the present invention, after the second blank 501 is stacked on the first blank 500 covered with the first protective film 600, the moving component 310 drives the adsorption component 320 to rise and pass through the film taking position 220. At this time, the sensing component set at the film taking position 220 can generate a loading instruction. Figure 13 As shown, the conveyor belt 110 responds to the loading instruction and conveys the third blank 502 to the waiting position 111. At the same time, the two film delivery channels 210 respond to the loading instruction and cooperate to convey the second protective film to the film removal position 220. It can be understood that in this embodiment, the loading of the blank to the waiting position 111 and the film loading of the film removal position 220 are completed during the movement of the adsorption assembly 320, thereby improving the smoothness and overall efficiency of the blank storage operation.

[0114] In the embodiment of the present invention, a detection component is provided on one side of the unloading platform 400, and the detection component is used to detect the blank placed on the unloading platform 400. The adsorption component 320 also includes an image acquisition device for acquiring image information of the blank. The control method of the stacking mechanism also includes:

[0115] Step S801 , when the unloading table 400 is empty, in response to the material picking instruction, the moving component 310 is controlled to drive the adsorption component 320 to move to the upper side of the waiting position 111 and obtain the grayscale image of the first blank 500 in the waiting position 111 .

[0116] It will be appreciated that in this embodiment of the present invention, when the detection component detects that there is no blank on the unloading platform 400, it indicates that the unloading platform 400 is unloaded. Based on this, the detection component can generate a material removal instruction. In response to the material removal instruction, the movement component 310 can drive the suction component 320 to move to the upper side of the waiting position 111 and capture a grayscale image of the first blank 500 through the image capture device.

[0117] Step S802 , obtaining the contour features of the first blank 500 from the grayscale image, and determining the target position information of the first blank 500 according to the contour features.

[0118] In an embodiment of the present invention, the target position information can be the coordinates of the central axis of the first blank 500, or the coverage area on the first blank 500 expected to be adsorbed by the first adsorption component 321, or the plane area on the top of the first blank 500. This embodiment does not limit this.

[0119] Step S803 : controlling the moving component 310 to adjust the position of the adsorption component 320 according to the target position information.

[0120] In the embodiment of the present invention, the moving component 310 is controlled to adjust the lateral position and the longitudinal position of the adsorption component 320 according to the target position information, so that the first adsorption component 321 and the first blank 500 can be precisely aligned.

[0121] In step S804 , the moving assembly 310 is controlled to drive the adsorption assembly 320 to descend to adsorb the first blank 500 , and the first blank 500 is driven to move toward the unloading platform 400 to place the first blank 500 on the unloading platform 400 .

[0122] In the embodiment of the present invention, referring to Figure 4 As shown, the unloading platform 400 is empty, the moving component 310 drives the adsorption component 320 to move to the upper side of the waiting position 111, and then drives the adsorption component 320 to descend so that the first adsorption component 321 adsorbs the first blank 500 of the waiting position 111. Figure 5 As shown, then, the moving component 310 drives the adsorption component 320 to move to the upper side of the film removal position 220. Figure 6 and Figure 7 As shown, the moving component 310 drives the adsorption component 320 to descend and pass through the film taking position 220 , and then places the first blank 500 on the unloading platform 400 .

[0123] It can be understood that the embodiment of the present invention isolates the two blanks from each other through a protective film, thereby reducing the scratches on the blanks during the stacking process, which not only reduces the risk of wear or scratches on the surface of the blanks, but also reduces the risk of damage to the overall structure of the blanks, thereby ensuring the integrity of the overall structure of the blanks and improving the production quality of the blanks.

[0124] Some embodiments of the present invention further provide a control system 900 for a stacking mechanism, which is applied to the stacking mechanism 1000 of the above embodiment, wherein a first blank 500 is placed on the unloading table 400 .

[0125] Reference Figure 15 As shown, in an embodiment of the present invention, the control system 900 of the stacking mechanism includes:

[0126] The first execution module 901 is configured to control the moving component 310 to drive the adsorption component 320 to descend and adsorb the second blank 501 in the waiting position 111 when the adsorption component 320 is located on the upper side of the waiting position 111;

[0127] The second execution module 902 is configured to control the moving component 310 to drive the adsorption component 320 to move to the upper side of the film removal position 220 after the two film delivery channels 210 transport the first protective film 600 to the film removal position 220;

[0128] The strategy confirmation module 903 is configured to confirm the movement instruction strategy of the moving component 310 according to the relative positions of the first blank 500 and the second blank 501;

[0129] The third execution module 904 is configured to control the moving component 310 to drive the adsorption component 320 to descend according to the movement instruction strategy until the adsorption component 320 adsorbs the first protective film 600 in the film position 220 and covers the first protective film 600 on the surface of the first material blank 500, so that the second material blank 501 is stacked on the first material blank 500 covered with the first protective film 600.

[0130] It should be noted that the policy confirmation module 903 can also execute steps S7031 to S7033; the third execution module 904 can also execute steps S7041 to S7042 and step S705; and the first execution module 901 can also execute steps S801 to S804.

[0131] Some embodiments of the present invention further provide a computer-readable storage medium for storing a computer program / instruction. When the computer program / instruction is executed by a processor, the steps of the stacking mechanism control method of the above embodiment are implemented.

[0132] Some embodiments of the present invention further provide a computer program product, comprising a computer program / instruction, which implements the steps of the stacking mechanism control method of the above embodiment when the computer program / instruction is executed by a processor.

[0133] The terms "first," "second," "third," "fourth," and the like (if any) in the description of the present invention and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present invention described herein can, for example, be implemented in orders other than those illustrated or described herein. In addition, the terms "including" and "having," and any variations thereof, are intended to cover non-exclusive inclusions, e.g., a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0134] It should be understood that in the present invention, "at least one (item)" refers to one or more, and "plurality" refers to two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can represent: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0135] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0136] In the embodiments of the present invention, the term "module" or "unit" refers to a computer program or a part of a computer program that has a predetermined function and works together with other related parts to achieve a predetermined goal, and can be implemented in whole or in part by using software, hardware (such as processing circuits or memories), or a combination thereof. Similarly, a processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be part of an overall module or unit that includes the function of the module or unit.

[0137] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0138] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0139] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, and other media that can store program codes.

[0140] The step numbers in the above method embodiment are only provided for the convenience of explanation and description, and do not limit the order of the steps. The execution order of each step in the embodiment can be adaptively adjusted according to the understanding of those skilled in the art.

Claims

1. A stacking mechanism, characterized in that: include: The loading device comprises a conveyor belt for conveying the blank, wherein a waiting position is provided at the end of the conveyor belt, and the blank can be parked at the waiting position; A film loading device is arranged at one side of the loading device, the film loading device comprises two film delivery channels arranged at intervals, a film removal position is arranged between the two film delivery channels, the two film delivery channels can cooperate to transport the protective film to the film removal position, and the protective film can be suspended at the film removal position; A transfer device is arranged on the upper side of the material loading device and the film loading device, the transfer device includes a moving component and an adsorption component, the adsorption component includes a first adsorption component and a second adsorption component connected to each other, the first adsorption component is used to adsorb the material embryo, the second adsorption component is used to adsorb the protective film, along the height direction of the stacking mechanism, the protective film adsorbed by the second adsorption component is located at the lower side of the material embryo adsorbed by the first adsorption component; A material unloading platform, located at the lower side of the film taking position; Among them, the moving component can drive the adsorption component to move to the waiting position, so that the first adsorption component adsorbs the material embryo, and moves the adsorption component that has adsorbed the material embryo to the upper side of the film taking position. The moving component can also drive the adsorption component that has adsorbed the material embryo to move downward and pass through the film taking position, and place the material embryo on the material placement table.

2. The stacking mechanism according to claim 1, characterized in that: The adsorption assembly also includes a mounting platform, which is connected to the movable assembly, the first adsorption component is connected to the mounting platform, and two second adsorption components are provided, which are respectively arranged on two opposite sides of the first adsorption component and connected to the mounting platform, and the two second adsorption components are respectively used to adsorb the opposite ends of the protective film to keep the protective film in an unfolded state.

3. The stacking mechanism according to claim 2, characterized in that: The first adsorption member and the second adsorption member extend downwardly along the height direction of the stacking mechanism respectively, the lower end surface of the first adsorption member is provided with a first adsorption hole for adsorbing the material blank, and the lower end surface of the second adsorption member is provided with a second adsorption hole for adsorbing the protective film, and along the height direction of the stacking mechanism, the lower end surface of the second adsorption member is lower than the lower end surface of the first adsorption member.

4. The stacking mechanism according to claim 2, characterized in that: The adsorption assembly also includes a connecting arm, the second adsorption component is installed on the connecting arm, the connecting arm is provided with a slide groove extending along the connecting direction of the two second adsorption components, and a sliding block is protruded from the surface of the mounting platform, and the sliding block is slidably connected to the slide groove.

5. The stacking mechanism according to claim 1, characterized in that: The adsorption component also includes an image acquisition device and a controller, wherein the image acquisition device is used to acquire image information of the material blank and the protective film, and the controller is electrically connected to the image acquisition device and the moving component respectively, and the controller is configured to control the moving component to drive the adsorption component to move in response to the image information of the material blank and the protective film.

6. The stacking mechanism according to claim 1, characterized in that: The conveyor belt is provided with two waiting positions, which are arranged side by side along the width direction of the conveyor belt. Two film taking positions are arranged at intervals along the width direction of the conveyor belt between the two film delivery channels. The transfer device includes two adsorption components, which are arranged at intervals along the width direction of the conveyor belt.

7. A control method for a stacking mechanism, characterized in that: Applied to the stacking mechanism according to any one of claims 1 to 6, the unloading table is provided with a first blank, and the control method comprises: When the adsorption component is located at the upper side of the position to be removed, the moving component is controlled to drive the adsorption component to descend and adsorb the second blank in the position to be removed; After the two film delivery channels deliver the first protective film to the film taking position, controlling the moving component to drive the adsorption component to move to the upper side of the film taking position; Determining a movement instruction strategy of the moving component according to the relative positions of the first blank and the second blank; According to the movement instruction strategy, the moving component is controlled to drive the adsorption component to descend until the adsorption component adsorbs the first protective film in the film taking position and covers the first protective film on the surface of the first material blank, so that the second material blank is stacked on the first material blank covered with the first protective film.

8. The control method of the stacking mechanism according to claim 7, characterized in that: According to the relative positions of the first blank and the second blank, determining the movement instruction strategy of the moving component includes: Acquire first transverse coordinate information and first longitudinal coordinate information of the first embryo, and second transverse coordinate information and second longitudinal coordinate information of the second embryo; When the first horizontal coordinate information and the third horizontal coordinate information do not match, determining that the movement instruction strategy is a first instruction; When the first horizontal coordinate information matches the third horizontal coordinate information, and the first vertical coordinate information does not match the third vertical coordinate information, determining that the movement instruction strategy is a second instruction; The step of controlling the moving component to drive the adsorption component to descend according to the moving instruction strategy includes: When the movement instruction strategy is the first instruction, the moving component is first controlled to drive the adsorption component to move along the length direction of the conveyor belt until the first transverse coordinate information matches the second transverse coordinate information, and then the moving component is controlled to drive the adsorption component to descend and pass through the film taking position, and the moving component is controlled according to the first longitudinal coordinate information and the second longitudinal coordinate information; When the movement instruction strategy is the second instruction, the moving component is first controlled to drive the adsorption component to descend and pass through the film taking position, and then the moving component is controlled to drive the adsorption component to move along the width direction of the conveyor belt until the first longitudinal coordinate information and the third longitudinal coordinate information match.

9. The control method of the stacking mechanism according to claim 7, characterized in that: The film taking position is provided with a sensing component, and the sensing component is configured to generate a loading instruction in response to the adsorption component passing through the film taking position from bottom to top, and the control method further includes: After the second blank is stacked on the first blank covered with the first protective film, in response to the loading instruction, the conveyor belt is controlled to convey the third blank to the waiting position, and the two film conveying channels are controlled to cooperate in conveying the second protective film to the film taking position.

10. The control method of the stacking mechanism according to claim 7, characterized in that: A detection component is provided on one side of the unloading platform, and the detection component is used to detect the material embryo placed on the unloading platform. The adsorption component also includes an image acquisition device for acquiring image information of the material embryo. The control method also includes: When the unloading table is empty, in response to a material taking instruction, the moving component is controlled to drive the adsorption component to move to the upper side of the position to be taken, and a grayscale image of the first blank in the position to be taken is acquired; Acquire the contour features of the first embryo from the grayscale image, and determine the target position information of the first embryo according to the contour features; Controlling the moving component to adjust the position of the adsorption component according to the target position information; The moving component is controlled to drive the adsorption component to descend to adsorb the first material blank, and the first material blank is driven to move toward the material placement platform to place the first material blank on the material placement platform.

11. A control system for a stacking mechanism, characterized in that: Applicable to the stacking mechanism according to any one of claims 1 to 6, the unloading table is provided with a first blank, and the control system comprises: The first execution module is configured to control the moving component to drive the adsorption component to descend and adsorb the second blank in the position to be removed when the adsorption component is located at the upper side of the position to be removed; The second execution module is configured to control the moving component to drive the adsorption component to move to the upper side of the film taking position after the two film delivery channels convey the first protective film to the film taking position; A strategy confirmation module is configured to confirm a movement instruction strategy of the moving component according to the relative positions of the first blank and the second blank; The third execution module is configured to control the moving component to drive the adsorption component to descend according to the moving instruction strategy until the adsorption component adsorbs the first protective film in the film taking position and covers the first protective film on the surface of the first material blank, so that the second material blank is stacked on the first material blank covered with the first protective film.

12. A computer-readable storage medium for storing a computer program / instruction, characterized in that: When the computer program / instructions are executed by a processor, the steps of the method for controlling a stacking mechanism according to any one of claims 7 to 10 are implemented.

13. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the stacking mechanism control method according to any one of claims 7 to 10 are implemented.

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