Method and system for picking items in a rectangular tray using a gantry mechanism

Abstract

The application discloses a gantry mechanism material taking method and system in a rectangular tray, which accurately calculates the storage specifications of the materials in the tray and the material taking parameters of the gantry mechanism to ensure that each material taking operation is accurate. The method is suitable for rectangular material trays of different specifications and quantities, and only needs to adjust relevant parameters. The system adopts an instruction operation mode, reduces code editing and device debugging workload, makes the code logic clear, easy to expand and maintain. Through programming and instruction control, the automatic material taking of the gantry mechanism is realized, and the production efficiency is improved. At the same time, the system records and clears the cumulative material taking frequency, which is convenient for subsequent process control and data analysis. In addition, the system avoids repeated calculation of X-axis and Y-axis coordinates, improves the overall efficiency, and simplifies subsequent processing through data sets. The method and system can accurately control the position of the gantry mechanism, realize high-precision material taking, and are flexible to configure and suitable for various application scenarios.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial automation, and in particular to a method and system for a gantry mechanism to retrieve materials in a rectangular tray. Background Art

[0002] With the rapid development, efficiency upgrades, and technological updates of my country's manufacturing industry, the development of automation has become a future industry development trend. Automated equipment can operate 24 hours a day without human intervention, thereby greatly improving production efficiency. Automated production lines can achieve seamless connections between processes and reduce waiting time during the production process. Automated systems can also monitor and analyze production data in real time, promptly identify and adjust problems, further improve production efficiency, and reduce labor costs. Matrix pallet sorting has a place in the automation industry. Traditional sorting mainly relies on manual labor, and its speed is limited by factors such as physical strength, proficiency, and susceptibility to fatigue and work-related injuries. The amount of products processed per hour is limited. In addition, traditional sorting methods usually require a larger area to place goods and perform sorting operations, resulting in low space utilization.

[0003] Chinese patent application CN117270451A discloses a rectangular array pick-and-place algorithm, system, and PLC based on a PLC control platform. The algorithm sets the parameters of the pick-up and discharge rectangles, uses visual feedback to detect the status of the material tray, and determines the position of the pick-up and discharge through complex loops and conditional judgments. Although this method has achieved automation to a certain extent, when dealing with large rectangular arrays or when the material specifications need to be frequently changed, its parameter setting and algorithm implementation are relatively cumbersome and the computational efficiency is not high. At the same time, traditional pick-and-place systems often rely on fixed pick-and-place devices and servo motor drives. Although they can complete basic pick-and-place tasks, their flexibility and adaptability are limited when faced with materials of different sizes and shapes. In addition, traditional pick-and-place algorithms usually require multiple loops and judgments when calculating the material pick-up position, which increases the complexity and calculation time of the system to a certain extent.

[0004] In view of the above shortcomings, the present invention optimizes the material picking method so that the manipulator does not stop during the point-to-point movement while effectively improving efficiency and stability. Summary of the Invention

[0005] The present invention discloses a method and system for a gantry mechanism to retrieve materials from a rectangular pallet. The programming of the gantry mechanism to retrieve materials from a rectangular pallet is modularized, which can reduce the difficulty of debugging, improve the equipment precision, and can be applied in multiple industries. The program is simple and convenient to call.

[0006] A first aspect of an embodiment of the present invention discloses a method for a gantry mechanism to retrieve materials from a rectangular tray, the method comprising the following steps:

[0007] S1. Determine the storage specifications of the materials in the pallet, including the number of materials stored horizontally (M), the number of materials stored vertically (N), the number of materials that can be taken out horizontally by the gantry (P), and the horizontal and vertical equal distances (A and B) of the materials in the pallet;

[0008] S2. Based on the number M of materials stored horizontally on the pallet and the number P of materials that the gantry takes out horizontally each time, calculate the number of times J required to take out all the materials horizontally, J = ceil(M / P), where ceil represents the rounding up function;

[0009] S3. Based on the number of materials stored longitudinally (N) and the number of times (J) required to retrieve all the materials transversely, calculate the total number of times (K) required for the gantry mechanism to retrieve a pallet, where K = J * N.

[0010] S4. Use the D(H1, Jn) instruction to call the calculation formula of the X-axis coordinate, perform J calculations, obtain J X-axis coordinate values ​​and record them;

[0011] Use the D (H1, Kn) instruction to call the Y-axis coordinate calculation formula and perform K calculations to obtain K Y-axis coordinate values ​​and record them;

[0012] Use the [INCP DH2] command to calculate and record the number of times the gantry mechanism has taken materials.

[0013] S5, using the obtained X-axis and Y-axis coordinates to guide the servo material picking address of the gantry mechanism to complete the current material picking operation;

[0014] S6. When the gantry mechanism takes the last material in the matrix tray, it will use the [MOV K0 DH2] instruction to perform a reset operation to wait for the program to enter the next material taking cycle.

[0015] Preferably, the calculation formula of the X-axis coordinate is: the X-axis coordinate of the n-th material picking in the gantry mechanism in the horizontal direction = the n-th material in the pallet in the horizontal direction * the horizontal equidistance A + the X-axis coordinate of the starting position of the material picking;

[0016] The calculation formula of the Y-axis coordinate is: The Y-axis coordinate of the nth material picking in the longitudinal direction of the gantry mechanism =

[0017] The nth material in the longitudinal direction of the pallet * the longitudinal equidistance B + the Y-axis coordinate of the starting position of the material removal.

[0018] Preferably, the configuration steps of the D(H1, Jn) instruction in the “using the D(H1, Jn) instruction to call the calculation formula of the X-axis coordinate to perform J calculations, obtain J X-axis coordinate values ​​and record them” are as follows:

[0019] Define a data item named D90, set the data type of the D90 data item to an integer type, and set the initial value of the D90 data item to 0;

[0020] Configure the D90 data item so that, based on the number of times J required to remove all horizontal materials, it first obtains all the times at the same X-axis coordinate and records them as one X-axis coordinate value. The number of times at the same X-axis coordinate is only calculated once, that is, only J X-axis coordinates need to be calculated to remove the entire pallet;

[0021] The D90 data item is configured to calculate and obtain J X-axis coordinate values ​​according to the calculation formula of the X-axis coordinate, record the J X-axis coordinate values ​​and store them as a data set.

[0022] Preferably, the configuration steps of the D(H1, Kn) instruction in the “using the D(H1, Kn) instruction to call the calculation formula of the Y-axis coordinate to perform K calculations, obtain K Y-axis coordinate values ​​and record them” are as follows:

[0023] Define a data item named D90, set the data type of the D90 data item to an integer type, and set the initial value of the D90 data item to 0;

[0024] Configure the D90 data item so that, based on the number of times J required to remove all horizontal materials, it first obtains all the times at the same Y-axis coordinate and records them as one Y-axis coordinate value. The number of times at the same Y-axis coordinate is only calculated once, that is, only K Y-axis coordinates need to be calculated to remove the entire pallet;

[0025] The D90 data item is configured to calculate and obtain K Y-axis coordinate values ​​according to the calculation formula of the Y-axis coordinate, record the K Y-axis coordinate values ​​and store them as a data set.

[0026] Preferably, the configuration step of the D(H1, Jn) instruction further includes:

[0027] Define a data item named D9548 and set the data type of the D9548 item to 32-bit Signed type;

[0028] Configure the D9548 data item so that it obtains and records the spacing of the material loading gantry in the X-axis direction based on the horizontal equal distance A of the materials in the tray, and its initial value is set to 0;

[0029] The configuration steps of the D (H1, Kn) instruction also include:

[0030] Define a data item named D9648 and set the data type of the D9648 item to 32-bit Signed type;

[0031] The D9648 data item is configured to obtain and record the spacing of the material loading gantry in the Y-axis direction based on the longitudinal equidistance B of the materials in the pallet, and its initial value is set to 0.

[0032] Preferably, the configuration steps of the [INCP DH2] instruction include:

[0033] Set a data item named D176 to record the number of times the gantry mechanism takes materials. The data type is integer and the initial value is set to 0.

[0034] The D176 data item is configured so that before each gantry mechanism performs a material-picking operation, the value of D176 is increased by 1 to cumulatively record the number of times the gantry mechanism has taken materials. The accumulated data represents how many times the gantry has taken materials from the rectangular tray.

[0035] Preferably, the clearing operation is performed using the [MOV K0 DH2] instruction to clear the data of the number of material fetching times of the gantry mechanism in the [INCPDH2] instruction.

[0036] A second aspect of an embodiment of the present invention discloses a system for retrieving materials from a rectangular tray using a gantry mechanism, and the system employs the method described in the first embodiment, comprising:

[0037] Data setting module 1 is used to set the storage specifications of materials in the tray, the number of materials each time the gantry takes materials horizontally, the horizontal and vertical spacing of materials in the tray, and other data;

[0038] The material taking times counter module 2 is used to record the number of times the gantry mechanism takes materials;

[0039] The position calculation module 3 calculates the coordinates of the X-axis and Y-axis of the gantry mechanism according to the data set by the data setting module 1 and the number of times recorded by the material collection counter module 2;

[0040] The servo control module 4 controls the gantry mechanism to pick up materials according to the position calculated by the position calculation module 3.

[0041] Preferably, the material taking times counter module 2 adds 1 to the data before each material taking by the gantry mechanism, and clears the data after taking the last material in the matrix tray, waiting to enter the next material taking cycle.

[0042] Preferably, the position calculation module 3 calculates the calculation formulas of the X-axis and Y-axis coordinates of the gantry mechanism according to the horizontal spacing of the materials in the pallet and the number of materials picked up by the gantry each time, as well as the vertical spacing of the materials in the pallet and the number of materials stored vertically, and automatically corrects the servo picking address of the gantry mechanism according to the number of times the materials are picked up.

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] 1. This method ensures accurate and precise material handling by precisely calculating the material storage specifications within the pallet and the gantry mechanism's material handling parameters. This method is adaptable to rectangular pallets of varying sizes and quantities, requiring only adjustments to relevant parameters (such as M, N, P, A, and B). This method utilizes command-based operations (such as D(H1, Jn), D(H1, Kn), and [INCP DH2]) to reduce code editing and equipment debugging workloads. Furthermore, it provides clear, easy-to-understand, and reference-friendly code logic, making the system easy to expand and maintain, and facilitating functional upgrades based on actual needs. Through programming and command control, the gantry mechanism achieves automated material handling, reducing manual intervention and improving production efficiency. The system clearly tracks the status of each material handling operation by recording and resetting the cumulative number of material handling attempts, facilitating subsequent process control and data analysis.

[0045] 2. By calculating each different X-axis coordinate only once and each different Y-axis coordinate only once, duplicate calculations are avoided, thereby improving overall efficiency. The data set format makes subsequent processing or analysis simpler and faster. Furthermore, this configuration method is easily scalable to accommodate material pallets of varying sizes and quantities. Furthermore, the D(H1, Jn) and D(H1, Kn) configurations reduce programming complexity, as no additional logic is required to handle duplicate X-axis coordinates.

[0046] 3. Through precise data setting and position calculation, this system accurately controls the position of the gantry mechanism on the X and Y axes, achieving high-precision material retrieving. The collaborative operation of the retrieving counter module and the position calculation module ensures the continuity and stability of the retrieving process, allowing the system to be flexibly configured to suit different pallet specifications and material layouts. The data setting module provides convenient parameter settings, making the system adaptable to various application scenarios. The retrieving counter module also records each retrieving operation, providing a foundation for data recording and statistical analysis. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is a schematic diagram of the steps of the first embodiment of the present invention;

[0048] Figure 2 This is a structural block diagram of the second embodiment disclosed in the present invention;

[0049] Figure 3 It is a structural diagram of a control system according to the third embodiment disclosed in the present invention; DETAILED DESCRIPTION

[0050] The following examples further illustrate the features of the present invention and other related features to facilitate understanding by those skilled in the art:

[0051] Example 1

[0052] like Figure 1 As shown, a method for a gantry mechanism to retrieve materials from a rectangular tray includes the following steps:

[0053] S1. Determine the storage specifications of the materials in the pallet, including the number of materials stored horizontally (M), the number of materials stored vertically (N), the number of materials that can be taken out horizontally by the gantry (P), and the horizontal and vertical equal distances (A and B) of the materials in the pallet;

[0054] S2. Based on the number M of materials stored horizontally on the pallet and the number P of materials that the gantry takes out horizontally each time, calculate the number of times J required to take out all the materials horizontally, J = ceil(M / P), where ceil represents the rounding up function;

[0055] S3. Based on the number of materials stored longitudinally (N) and the number of times (J) required to retrieve all the materials transversely, calculate the total number of times (K) required for the gantry mechanism to retrieve a pallet, where K = J * N.

[0056] S4. Use the D(H1, Jn) instruction to call the calculation formula of the X-axis coordinate, perform J calculations, obtain J X-axis coordinate values ​​and record them;

[0057] Use the D (H1, Kn) instruction to call the Y-axis coordinate calculation formula and perform K calculations to obtain K Y-axis coordinate values ​​and record them;

[0058] Use the [INCP DH2] command to calculate and record the number of times the gantry mechanism has taken materials.

[0059] S5, using the obtained X-axis and Y-axis coordinates to guide the servo material picking address of the gantry mechanism to complete the current material picking operation;

[0060] S6. When the gantry mechanism takes the last material in the matrix tray, it will use the [MOV K0 DH2] instruction to perform a reset operation to wait for the program to enter the next material taking cycle.

[0061] In specific implementations, the D(H1,Kn) instruction, where D is a call instruction, H1 is a specified calculation function or module, and Jn is a parameter, indicates the nth calculation of the X-axis coordinate. The D(H1,Kn) instruction, where D is a call instruction, H1 is a specified calculation function or module, and Kn is a parameter, indicates the nth calculation of the Y-axis coordinate.

[0062] As described above, this method ensures accurate material removal every time by precisely calculating the material storage specifications within the pallet and the gantry mechanism's material removal parameters. This method is adaptable to rectangular material pallets of varying specifications and quantities, requiring only adjustments to relevant parameters (such as M, N, P, A, and B). This method utilizes command-based operations (such as D(H1, Jn), D(H1, Kn), and [INCP DH2]) to reduce code editing and equipment debugging workloads. Furthermore, it provides clear, easy-to-understand, and reference-friendly code logic, making the system easy to expand and maintain, and facilitating functional upgrades based on actual needs. Through programming and command control, the gantry mechanism achieves automated material removal, reducing manual intervention and improving production efficiency. The system clearly tracks the status of each material removal, facilitating subsequent process control and data analysis by recording and resetting the cumulative number of material removals.

[0063] Specifically, as an optional implementation, the calculation formula of the X-axis coordinate is: the X-axis coordinate of the n-th material picking in the gantry mechanism in the horizontal direction = the n-th material in the pallet in the horizontal direction * the horizontal equidistance A + the X-axis coordinate of the starting position of the picking;

[0064] The calculation formula of the Y-axis coordinate is: The Y-axis coordinate of the nth material picking in the longitudinal direction of the gantry mechanism =

[0065] The nth material in the longitudinal direction of the pallet * the longitudinal equidistance B + the Y-axis coordinate of the starting position of the material removal.

[0066] The following is an example of applying the X-axis coordinate calculation formula and the Y-axis coordinate calculation formula method to a rectangular pallet that can hold 15 items horizontally and 4 items vertically:

[0067] The rectangular tray can hold 15 items horizontally and 4 items vertically. The gantry can retrieve 5 items at a time. The horizontal spacing of the items in the tray is 22mm and the vertical spacing is 72mm.

[0068] Calculate the number of times required to remove all horizontal materials (J = ceil(15 / 5) = 3). The total number of times the gantry mechanism removes a pallet (K = 3*4 = 12). Calculate the X-axis coordinate of the gantry mechanism: The gantry mechanism requires 12 times to remove a pallet. The X-axis coordinates coincide for the 1st, 4th, 7th, and 10th material removals. The X-axis coordinates coincide for the 2nd, 5th, 8th, and 11th material removals. The X-axis coordinates coincide for the 3rd, 6th, 9th, and 12th material removals. Therefore, we only need to calculate the X-axis coordinates of the gantry mechanism for the 1st, 2nd, and 3rd material removal positions.

[0069] The starting position of material picking = the X-axis coordinate of the first material picking of the gantry mechanism; the 5th horizontal position of the pallet * 22mm + the starting position of material picking = the X-axis coordinate of the second horizontal material picking of the gantry mechanism; the 10th horizontal position of the pallet * 22mm + the starting position of material picking = the X-axis coordinate of the third horizontal material picking of the gantry mechanism.

[0070] Through the above calculation, all the material picking positions of the gantry mechanism X axis can be obtained.

[0071] Gantry Y-axis position calculation: Four materials are stored vertically on the pallet, indicating that the gantry has four Y-axis reclaim positions. The Y-axis of the gantry overlaps for the 1st, 2nd, and 3rd reclaim positions. It also overlaps for the 4th, 5th, and 6th reclaim positions. It also overlaps for the 7th, 8th, and 9th reclaim positions. It also overlaps for the 10th, 11th, and 12th reclaim positions. Therefore, we only need to calculate the 1st, 4th, 7th, and 10th reclaim positions.

[0072] The starting position of the material picking is the Y-axis position of the gantry mechanism for the first material picking; the first longitudinal position of the pallet * 72mm + the starting position of the material picking is the Y-axis position of the gantry mechanism for the fourth material picking; the second longitudinal position of the pallet * 72mm + the starting position of the material picking is the Y-axis position of the gantry mechanism for the seventh material picking; the third longitudinal position of the pallet * 72mm + the starting position of the material picking is the Y-axis position of the gantry mechanism for the tenth material picking;

[0073] Through the above calculation, all the material picking positions of the Y axis of the gantry mechanism can be obtained.

[0074] As described above, the formula directly reflects the relationship between the X-axis and Y-axis coordinates and the position of the material in the pallet when the gantry mechanism picks up the material, allowing operators and programmers to intuitively understand the process and results of the coordinate calculation.

[0075] As a specific implementation, the configuration steps of the D(H1, Jn) instruction in the above “using the D(H1, Jn) instruction to call the calculation formula of the X-axis coordinate to perform J calculations, obtain J X-axis coordinate values ​​and record them” are as follows:

[0076] Define a data item named D90, set the data type of the D90 data item to integer (INT), and set the initial value of the D90 data item to 0;

[0077] Configure the D90 data item so that, based on the number of times J required to remove all horizontal materials, it first obtains all the times at the same X-axis coordinate and records them as one X-axis coordinate value. The number of times at the same X-axis coordinate is only calculated once, that is, only J X-axis coordinates need to be calculated to remove the entire pallet;

[0078] The D90 data item is configured to calculate and obtain J X-axis coordinate values ​​according to the calculation formula of the X-axis coordinate, record the J X-axis coordinate values ​​and store them as a data set.

[0079] The configuration steps of the D(H1, Kn) instruction in the above "Use the D(H1, Kn) instruction to call the calculation formula of the Y-axis coordinate to perform K calculations, obtain K Y-axis coordinate values ​​and record them" are as follows:

[0080] Define a data item named D90, set the data type of the D90 data item to integer (INT), and set the initial value of the D90 data item to 0;

[0081] Configure the D90 data item so that, based on the number of times J required to remove all horizontal materials, it first obtains all the times at the same Y-axis coordinate and records them as one Y-axis coordinate value. The number of times at the same Y-axis coordinate is only calculated once, that is, only K Y-axis coordinates need to be calculated to remove the entire pallet;

[0082] The D90 data item is configured to calculate and obtain K Y-axis coordinate values ​​according to the calculation formula of the Y-axis coordinate, record the K Y-axis coordinate values ​​and store them as a data set.

[0083] As described above, by calculating each different X-axis coordinate only once and each different Y-axis coordinate only once, duplicate calculations are avoided, thereby improving overall efficiency. The data set format makes subsequent processing or analysis simpler and faster. Furthermore, this configuration method is easily scalable to accommodate different material pallet sizes and quantities. Furthermore, the D(H1, Jn) and D(H1, Kn) configurations reduce programming complexity, as no additional logic is required to handle duplicate X-axis coordinates.

[0084] As a specific implementation, the configuration step of the D(H1, Jn) instruction further includes:

[0085] Define a data item named D9548 and set the D9548 data type item to 32-bit Signed type.

[0086] Configure the D9548 data item so that it obtains and records the spacing of the material loading gantry in the X-axis direction based on the horizontal equal distance A of the materials in the tray, and its initial value is set to 0;

[0087] The configuration steps of the D (H1, Kn) instruction also include:

[0088] Define a data item named D9648 and set the D9648 data type item to 32-bit Signed type.

[0089] The D9648 data item is configured to obtain and record the spacing of the material loading gantry in the Y-axis direction based on the longitudinal equidistance B of the materials in the pallet, and its initial value is set to 0.

[0090] As mentioned above, using 32-bit Signed data items ensures sufficient precision to represent the interval values ​​in the X and Y axes. By recording the interval values ​​as separate data items, these values ​​can be easily adjusted to accommodate different pallet specifications and material layouts, making the system more flexible and adaptable to various application scenarios. Separating the data items recording the interval values ​​from the formulas used to calculate the X and Y coordinates ensures data integrity and independence, helping to maintain data accuracy during subsequent processing or analysis.

[0091] As an optional implementation, the configuration steps of the [INCP DH2] instruction include:

[0092] Set a data item named D176 to record the number of times the gantry mechanism takes materials. The data type is integer (INT) and the initial value is set to 0.

[0093] The D176 data item is configured so that before each gantry mechanism performs a material-picking operation, the value of D176 is increased by 1 to cumulatively record the number of times the gantry mechanism has taken materials. The accumulated data represents how many times the gantry has taken materials from the rectangular tray.

[0094] As mentioned above, the material retrieving progress of the gantry mechanism can be tracked in real time through the D176 data item.

[0095] The accumulated number of material removals can be used as a basis for preventing duplicate material removal, helping to optimize production processes and improve overall efficiency. In the event of a fault or abnormality, the value of the D176 data item can be used as a basis for troubleshooting and diagnosis. Specifically, by analyzing the D176 value, the number of material removals before the fault occurred can be determined, thereby narrowing the scope of troubleshooting.

[0096] As an optional implementation, the [MOV K0 DH2] instruction is used to perform a clear operation to clear the data of the number of times the gantry mechanism takes materials in the [INCPDH2] instruction.

[0097] Example 2

[0098] like Figure 2 As shown, a system for a gantry mechanism to retrieve materials from a rectangular tray, using the method described in Example 1, includes:

[0099] Data setting module 1 is used to set the storage specifications of materials in the tray, the number of materials each time the gantry takes materials horizontally, the horizontal and vertical spacing of materials in the tray, and other data;

[0100] The material taking times counter module 2 is used to record the number of times the gantry mechanism takes materials;

[0101] The position calculation module 3 calculates the coordinates of the X-axis and Y-axis of the gantry mechanism according to the data set by the data setting module 1 and the number of times recorded by the material collection counter module 2;

[0102] The servo control module 4 controls the gantry mechanism to pick up materials according to the position calculated by the position calculation module 3.

[0103] The material taking times counter module 2 adds 1 to the data before each material taking by the gantry mechanism, and clears the data after taking the last material in the matrix tray, waiting to enter the next material taking cycle.

[0104] The position calculation module 3 calculates the calculation formulas of the X-axis and Y-axis coordinates of the gantry mechanism based on the horizontal spacing of the materials in the pallet and the number of materials picked up by the gantry each time, as well as the vertical spacing of the materials in the pallet and the number of materials stored vertically, and automatically corrects the gantry mechanism servo picking address according to the number of times the materials are picked up.

[0105] As described above, through precise data setting and position calculation, this system accurately controls the position of the gantry mechanism on the X and Y axes, achieving high-precision material retrieving. The collaborative operation of the retrieving counter module and the position calculation module ensures the continuity and stability of the retrieving process, allowing the system to be flexibly configured to suit different pallet specifications and material layouts. The data setting module provides convenient parameter settings, making the system adaptable to various application scenarios. The retrieving counter module also records each retrieving operation, providing a basis for data recording and statistical analysis.

[0106] like Figure 3 As shown, a control system includes:

[0107] A memory 601 storing executable program code;

[0108] a processor 602 coupled to the memory 601;

[0109] The processor 602 calls the executable program code stored in the memory 601 to execute the method of the gantry mechanism for taking materials from the rectangular tray in the first embodiment.

[0110] An embodiment of the present invention discloses a computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute Figure 1 The method of gantry mechanism to take materials from rectangular pallet.

[0111] An embodiment of the present invention further discloses a computer program product, wherein when the computer program product is run on a computer, the computer is caused to execute part or all of the steps of the methods in the above method embodiments.

[0112] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program. The program can be stored in a computer-readable storage medium, including a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium capable of carrying or storing data.

[0113] The above is a detailed introduction to a method and system for a gantry mechanism to retrieve materials in a rectangular pallet disclosed in an embodiment of the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for taking materials from a rectangular tray using a gantry mechanism, characterized in that: The following steps are involved: S1. Determine the storage specifications of the materials in the pallet, including the number of materials stored horizontally (M), the number of materials stored vertically (N), the number of materials that can be taken out horizontally by the gantry (P), and the horizontal and vertical equal distances (A and B) of the materials in the pallet; S2. Based on the number M of materials stored horizontally on the pallet and the number P of materials that the gantry takes out horizontally each time, calculate the number of times J required to take out all the materials horizontally, J = ceil(M / P), where ceil represents the rounding up function; S3. Based on the number of materials stored longitudinally (N) and the number of times (J) required to retrieve all the materials transversely, calculate the total number of times (K) required for the gantry mechanism to retrieve a pallet, where K = J * N. S4. Use the D(H1, Jn) instruction to call the calculation formula of the X-axis coordinate, perform J calculations, obtain J X-axis coordinate values ​​and record them; Use the D (H1, Kn) instruction to call the Y-axis coordinate calculation formula and perform K calculations to obtain K Y-axis coordinate values ​​and record them; Use the [INCP DH2] command to calculate and record the number of times the gantry mechanism has taken materials. S5, using the obtained X-axis and Y-axis coordinates to guide the servo material picking address of the gantry mechanism to complete the current material picking operation; S6. When the gantry mechanism takes the last material in the rectangular tray, it will use the [MOV K0 DH2] instruction to perform a reset operation to wait for the program to enter the next material taking cycle; The calculation formula of the X-axis coordinate is: the X-axis coordinate of the n-th horizontal material picking of the gantry mechanism = the n-th material on the pallet * the horizontal equidistance A + the X-axis coordinate of the starting position of the picking; The calculation formula of the Y-axis coordinate is: The Y-axis coordinate of the nth material picking in the longitudinal direction of the gantry mechanism = The nth material in the longitudinal direction of the pallet * the longitudinal equidistance B + the Y-axis coordinate of the starting position of the material removal; The configuration steps for the D(H1, Jn) instruction in the above "Use the D(H1, Jn) instruction to call the X-axis coordinate calculation formula, perform J calculations, obtain J X-axis coordinate values, and record them" are as follows: Define a data item named D90, set the data type of the D90 data item to an integer type, and set the initial value of the D90 data item to 0; Configure the D90 data item so that, based on the number of times J required to remove all horizontal materials, it first obtains all the times at the same X-axis coordinate and records them as one X-axis coordinate value. The number of times at the same X-axis coordinate is only calculated once, that is, only J X-axis coordinates need to be calculated to remove the entire pallet; The D90 data item is configured to calculate and obtain J X-axis coordinate values ​​according to the calculation formula of the X-axis coordinate, record the J X-axis coordinate values ​​and store them as a data set.

2. The method for taking materials from a rectangular tray by a gantry mechanism according to claim 1, characterized in that: The configuration steps for the D(H1, Kn) instruction in the above "Use the D(H1, Kn) instruction to call the Y-axis coordinate calculation formula, perform K calculations, obtain K Y-axis coordinate values, and record them" are as follows: Define a data item named D90, set the data type of the D90 data item to an integer type, and set the initial value of the D90 data item to 0; Configure the D90 data item so that, based on the number of times J required to remove all horizontal materials, it first obtains all the times at the same Y-axis coordinate and records them as one Y-axis coordinate value. The number of times at the same Y-axis coordinate is only calculated once, that is, only K Y-axis coordinates need to be calculated to remove the entire pallet; The D90 data item is configured to calculate and obtain K Y-axis coordinate values ​​according to the calculation formula of the Y-axis coordinate, record the K Y-axis coordinate values ​​and store them as a data set.

3. The method for taking materials from a rectangular tray by a gantry mechanism according to claim 2, characterized in that: The configuration steps for the D (H1, Jn) instruction also include: Define a data item named D9548 and set the type of the D9548 data item to 32-bit Signed type; Configure the D9548 data item so that it obtains and records the spacing of the material loading gantry in the X-axis direction based on the horizontal equal distance A of the materials in the tray, and its initial value is set to 0; The configuration steps of the D (H1, Kn) instruction also include: Define a data item named D9648 and set the data type of the D9648 item to 32-bit Signed type; The D9648 data item is configured to obtain and record the spacing of the material loading gantry in the Y-axis direction based on the longitudinal equidistance B of the materials in the pallet, and its initial value is set to 0.

4. The method for taking materials from a rectangular tray by a gantry mechanism according to claim 1, characterized in that , the configuration steps of the [INCPDH2] instruction include: Set a data item named D176 to record the number of times the gantry mechanism takes materials. The data type is integer and the initial value is set to 0. The D176 data item is configured so that before each gantry mechanism performs a material-picking operation, the value of D176 is increased by 1 to cumulatively record the number of times the gantry mechanism has taken materials. The accumulated data represents how many times the gantry has taken materials from the rectangular tray.

5. The method for taking materials from a rectangular tray by a gantry mechanism according to claim 4, characterized in that ,Use the [MOVK0 DH2] instruction to perform the clearing operation to clear the data of the number of material picking times of the gantry mechanism in the [INCP DH2] instruction.

6. A system for taking materials from a rectangular tray using a gantry mechanism, characterized in that: The method according to any one of claims 1 to 5, comprising: The data setting module (1) is used to set the storage specifications of the materials in the tray, the amount of materials that the gantry can take out each time, and the horizontal and vertical spacing data of the materials in the tray; A material taking times counter module (2) is used to record the number of times the gantry mechanism takes materials; The position calculation module (3) calculates the coordinates of the X-axis and Y-axis of the gantry mechanism according to the data set by the data setting module (1) and the number of times recorded by the material picking counter module (2); The servo control module (4) controls the gantry mechanism to pick up materials according to the position calculated by the position calculation module (3).

7. The system for taking materials from a rectangular tray using a gantry mechanism according to claim 6, characterized in that: The material picking times counter module (2) adds 1 to the data before each material picking by the gantry mechanism, and clears the data after the last material in the rectangular tray is picked up, waiting to enter the next material picking cycle process.

8. The system for taking materials from a rectangular tray using a gantry mechanism according to claim 6, characterized in that: The position calculation module (3) calculates the calculation formulas of the X-axis and Y-axis coordinates of the gantry mechanism according to the horizontal spacing of the materials in the tray and the number of materials each time the gantry takes materials horizontally, as well as the vertical spacing of the materials in the tray and the number of materials stored vertically, and automatically corrects the gantry mechanism servo material taking address according to the number of times the materials are taken.

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