Control method of feeding device

Abstract

According to the control method of the feeding device, the materials at the feeding end are detected before feeding, the feeding parameters of the feeding assemblies at all the positions are determined according to the detection result, the materials at the discharging end are detected after feeding, and the lifting parameters of the lifting device are determined according to the detection result; therefore, material deviation generated before and after the feeding process is reduced as much as possible, the possibility of material deviation is reduced, meanwhile, the feeding safety threat of materials with non-uniform quality and the adverse effect on the appearance of the materials are reduced, the feeding safety and the appearance quality of the materials are improved, and the production efficiency is improved. And meanwhile, a basis can be provided for setting of subsequent lifting parameters, and the accuracy, safety and effectiveness of the subsequent lifting process are guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of feeding device control technology, and in particular to a feeding device control method. Background Art

[0002] The loading process of the loading device is often to place the material on the feed end of the feeding component, send the material from the feed end to the discharge end through the feeding component, and then lift the material to the height of the chuck side hanger by the lifting device at the discharge end. After the chuck side hanger slides to the axial preset position of the material, the material is clamped by the chuck side hanger and then transported to the rear machine tool for corresponding laser cutting and other corresponding operations.

[0003] During the loading process, the transported materials are usually in long strips to facilitate the subsequent laser cutting operation. On the one hand, the feeding, lifting and clamping processes will inevitably cause the material to be placed offset, which will eventually cause a certain degree of offset to the position of the material on the top of the machine tool, which will have an adverse effect on the efficiency and quality of the subsequent automated laser cutting work; At the same time, since the material mass is not evenly distributed along its axial direction, it may cause material deviation during feeding, lifting and clamping, which will also reduce the feeding stability and pose a safety hazard to the material itself and the feeding environment; On the other hand, the material itself may be adversely affected by unexpected scratches and scratches during the feeding, lifting and clamping process. The material may also be scratched and scratched on the surface during the loading process due to the offset of the material placement. These will have an adverse effect on the quality of the material after the final laser cutting.

[0004] Therefore, there is an urgent need to provide a control method for a feeding device to solve the defects and shortcomings in the above-mentioned prior art. Summary of the invention

[0005] In order to solve the defects and shortcomings in the prior art, the present invention provides a control method for a feeding device.

[0006] The specific scheme provided by the present invention is: A control method for a feeding device, characterized in that it comprises the following steps: S1: Place the material at the feeding end of the feeding component; S2: Perform pre-feeding inspection on the material at the feeding end position, and determine the feeding parameters of the feeding components at each position according to the inspection results; S3: Start the feeding component to feed the top material from the feeding end to the discharging end; S4: Detect the material at the discharge end after feeding, and determine the lifting parameters of the lifting device according to the detection results; S5: Perform a pre-lifting inspection on the material, and determine whether the lifting device opening and closing conditions are met based on the inspection results. When the conditions are met, the lifting device is controlled to open; otherwise, the lifting device is kept closed; S6: Start the lifting device to lift the initial height of the material discharge position to the height of the chuck side bracket; S7: Detect the material after lifting, and determine the working parameters of the chuck side bracket and the chuck according to the detection results; S8: Start the chuck side bracket, so that the chuck side bracket slides on the frame to the chuck working position through the sliding assembly; S9: The clamping action of the material at different positions is realized by the chuck installed on the chuck side bracket; S10: After the clamped material is lifted to a preset height above the machine tool, the material is lowered to the top of the machine tool through the chuck side bracket; S11: The chuck on the chuck side bracket cancels the clamping force on the material and returns to the initial position after being lifted again; S12: Detect the location and appearance of the material, and optimize the feeding parameters, lifting parameters, chuck side bracket and chuck working parameters accordingly based on the detection results.

[0007] As a further preferred embodiment of the present invention, in step S2, The pre-feeding inspection of the material at least includes the inspection of the placement deviation and center of mass distribution of the material before feeding; The determined feeding parameters of the feeding components at each position at least include feeding height, feeding stroke and feeding speed; And the priority of determining the feeding height is higher than the priority of determining the feeding stroke, and the priority of determining the feeding stroke is higher than the priority of determining the feeding speed.

[0008] As a further preferred embodiment of the present invention, in step S4, The post-feeding inspection of the material at least includes the inspection of the placement deviation and center of mass distribution of the material after feeding; The lifting parameters of the lifting device determined include at least lifting power, lifting stroke and lifting speed; And the priority of determining the lifting power is higher than the priority of determining the lifting stroke, and the priority of determining the lifting stroke is higher than the priority of determining the lifting speed.

[0009] As a further preferred embodiment of the present invention, in step S5, the opening and closing conditions of the lifting device include: 1) The material to be lifted is located in the upper inner central area of ​​the lifting device; 2) The adjacent material on the rear side does not contact the upper internal area of ​​the lifting device.

[0010] As a further preferred embodiment of the present invention, in step S7, The post-lifting inspection of the material shall at least include the inspection of the height and center of mass distribution of the material after lifting; The determined working parameters of the chuck side hanger include at least the number of chuck side hangers in use, the working position of the chuck side hanger, the sliding speed of the chuck side hanger, the lifting height and lifting power of the chuck side hanger; The determined working parameters of the chuck include at least the working quantity of the chuck, the opening and closing sequence of the chuck, and the clamping force of the chuck.

[0011] As a further preferred embodiment of the present invention, the material is a hollow square tube.

[0012] As a further preferred embodiment of the present invention, when determining the number of chuck side hangers to be used, it is necessary to ensure that the chuck side hangers can be evenly distributed in the axial direction of the material.

[0013] As a further preferred embodiment of the present invention, when determining the working position of the chuck side bracket, 1) There is no redundant chuck side bracket between the initial position and the target position of the chuck side bracket; 2) Determine the working position of the chuck side bracket according to the shortest distance between the initial position and the target position of the chuck side bracket.

[0014] As a further preferred embodiment of the present invention, the determined chuck opening and closing sequence includes: The chuck opening sequence is synchronous opening; The closing order of the chuck is from the position far away from the center of mass of the material to the direction close to the center of mass of the material, and the chuck is closed gradually.

[0015] As a further preferred embodiment of the present invention, in step S12, Detect the position of the material. When the material position exceeds the preset position range, only the working parameters of the chuck side bracket and the chuck are optimized accordingly. Detect the appearance of the material. When the appearance of the material exceeds the preset standard, the feeding parameters, lifting parameters, chuck side bracket and chuck working parameters are optimized accordingly, and the optimization priority meets the following requirements: lifting parameters < feeding parameters < chuck side bracket and chuck working parameters.

[0016] Compared with the prior art, the present invention can achieve the following technical effects: 1) The present invention provides a control method for a feeding device, which performs a pre-feeding detection on the material at the feeding end position, and determines the feeding parameters of the feeding components at each position according to the detection results, and performs a post-feeding detection on the material at the discharging end position, and determines the lifting parameters of the lifting device according to the detection results, thereby reducing the material offset before and after the feeding process as much as possible. While reducing the possibility of material offset, it also reduces the feeding safety threat of materials with uneven mass arrangement and the adverse effect on the material appearance, thereby improving the feeding safety and material appearance quality. At the same time, it can provide a basis for the setting of subsequent lifting parameters to ensure the accuracy, safety and effectiveness of the subsequent lifting process.

[0017] 2) The present invention provides a control method for a feeding device, by detecting the material before lifting and judging whether the opening and closing conditions of the lifting device are met according to the detection results, and detecting the material after lifting and determining the working parameters of the chuck side hanger and the chuck according to the detection results, so as to minimize the material displacement before and after the lifting process. While reducing the possibility of material displacement, it also reduces the safety threat of the lifting process of materials with uneven mass arrangement and the adverse effect on the appearance of the materials, thereby improving the safety of the lifting process and the quality of the material appearance, and at the same time can provide a basis for the subsequent setting of the chuck side hanger and the chuck parameters, to ensure the accuracy, safety and effectiveness of the subsequent clamping process.

[0018] 3) The present invention provides a control method for a feeding device, which detects the position of the material and the appearance of the material, and optimizes the feeding parameters, lifting parameters, chuck side hanger and chuck working parameters accordingly according to the detection results. By detecting the position of the material and the appearance of the material before the laser cutting operation, the degree of influence of the material feeding process on the material position deviation and the material appearance can be determined, and then the lifting parameters, feeding parameters and the chuck side hanger and chuck working parameters can be continuously and continuously optimized, thereby further improving the feeding safety and feeding accuracy, and improving the feeding quality and feeding precision. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A flow chart of the steps of the control method provided by the present invention.

[0020] Figure 2 This is a schematic structural diagram of the feeding device provided by the present invention.

[0021] Figure 3 This is a structural side view of the feeding device provided by the present invention. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply 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 limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0024] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0025] [First embodiment] like Figure 1-3 The present invention provides a control method for a feeding device, comprising the following steps: S1: placing material A at the feeding end of the feeding component 1; in this embodiment, the material A to be transported is a hollow square tube, and those skilled in the art know that other long strip materials with uniform or uneven mass distribution can also be transported according to actual cutting requirements; S2: Perform a pre-feeding inspection on the material at the feeding end position, and determine the feeding parameters of the feeding components at each position according to the inspection results; in this embodiment, The pre-feeding inspection of the material at least includes the inspection of the placement offset and center of mass distribution of the material before feeding; to determine whether there is a placement offset at the feeding end of the material before feeding, and to determine the center of mass distribution of the material to be transported, so as to provide a basis for determining the feeding parameters of the subsequent feeding component; The feeding parameters of the feeding components at each position determined include at least the feeding height, feeding stroke and feeding speed; since the materials are often manually fed to the feeding end position, improper manual operation or uneven height of the materials themselves may lead to inconsistent feeding heights, so corresponding actions need to be taken to achieve consistent material heights, such as sounding an alarm to prompt the operator to rearrange the materials, or adding a lifting device at the bottom of the feeding components at each position to achieve self-height adjustment, etc.; the feeding stroke determines whether the materials can accurately and smoothly reach the top of the position where the lifting device is located; and the feeding speed determines the working efficiency of the feeding process and the feeding spacing, which in turn affects the subsequent opening and closing actions of the lifting device; And the priority of determining the feeding height is higher than the priority of determining the feeding stroke, and the priority of determining the feeding stroke is higher than the priority of determining the feeding speed. This is because on the one hand, the feeding height determines the stability and safe operation of the feeding process, and on the other hand, the feeding height also determines the determination of the specific values ​​of the feeding stroke and the feeding speed. Therefore, it is necessary to give priority to determining the feeding height; and when there is an offset in the placement of the material at the feeding end, the feeding strokes of the feeding components 1 at different axial positions of the material are also different. In order to eliminate or reduce the offset at the discharge end, different feeding strokes also require that the feeding speeds of the feeding components 1 at different axial positions be set to be different from each other. Therefore, it is necessary to set the priority of determining the feeding stroke to be higher than the priority of determining the feeding speed. S3: Start the feeding component to send the top material from the feeding end position to the discharging end position, thereby completing the feeding action; S4: Perform post-feeding inspection on the material at the discharge end, and determine the lifting parameters of the lifting device according to the inspection results; perform pre-feeding inspection on the material at the feed end, and determine the feeding parameters of the feeding components at each position according to the inspection results, and perform post-feeding inspection on the material at the discharge end, and determine the lifting parameters of the lifting device according to the inspection results, so as to reduce the material offset before and after the feeding process as much as possible. While reducing the possibility of material offset, it also reduces the feeding safety threat of materials with uneven quality arrangement and the adverse effect on the appearance of the materials, improves the feeding safety and material appearance quality, and can provide a basis for the setting of subsequent lifting parameters to ensure the accuracy, safety and effectiveness of the subsequent lifting process; The post-feeding detection of the material at least includes detecting the placement offset and center of mass distribution of the material after feeding; to determine whether there is a placement offset at the discharge end of the material after feeding, and to determine the center of mass distribution of the material to be transported, thereby providing a basis for determining the lifting parameters of the subsequent lifting device 2; The lifting parameters of the determined lifting device at least include lifting power, lifting stroke and lifting speed; since the lifting device 2 is correspondingly arranged on one side of each feeding assembly 1, when the material has a position offset or a center of mass offset at the discharge end, in order to ensure that the offset can be eliminated or reduced when the material is lifted to a high position, the lifting device 2 corresponding to each position needs to provide different lifting power, lifting stroke and lifting speed; And the priority of determining the lifting power is higher than the priority of determining the lifting stroke, and the priority of determining the lifting stroke is higher than the priority of determining the lifting speed; this is because the determination of the lifting power first determines whether the material can be lifted at the axial position, and secondly, on the basis of being able to lift the material, the determination of the lifting power also affects the lifting stroke and the lifting speed, so it needs to be determined first; similarly, when there is an offset in the placement of materials at a low position, the lifting strokes of the lifting devices 2 at different axial positions of the materials are also different accordingly. In order to eliminate or reduce the offset when the material is lifted to a high position, different lifting strokes also require that the lifting speeds of the lifting devices 2 at different axial positions also need to be set to be different from each other, so it is necessary to set the priority of determining the lifting stroke to be higher than the priority of determining the lifting speed; S5: Perform a pre-lifting inspection on the material, and determine whether the lifting device opening and closing conditions are met based on the inspection results. When the conditions are met, the lifting device is controlled to open; otherwise, the lifting device is kept closed. In this embodiment, the opening and closing conditions of the lifting device include: 1) The material to be lifted is located in the central area above the lifting device; this allows the material to be lifted from a low position to a high position evenly and stably through the lifting device; 2) The adjacent materials at the rear side do not contact the upper inner area of ​​the lifting device, so that the lifting action of the lifting device on the current material will not be adversely affected by the subsequent materials delivered; S6: Start the lifting device to lift the initial height of the material discharge position to the height of the chuck side bracket; S7: Detect the material after lifting, and determine the working parameters of the chuck side bracket and the chuck according to the detection results; detect the material before lifting, and determine whether the lifting device opening and closing conditions are met according to the detection results, and detect the material after lifting, and determine the working parameters of the chuck side bracket and the chuck according to the detection results, so as to reduce the material offset before and after the lifting process as much as possible. While reducing the possibility of material offset, it also reduces the safety threat of the lifting process of materials with uneven mass arrangement and the adverse effect on the appearance of the materials, improves the safety of the lifting process and the appearance quality of the materials, and can provide a basis for the subsequent setting of the chuck side bracket and the chuck parameters, ensuring the accuracy, safety and effectiveness of the subsequent clamping process; The post-lifting inspection of the material at least includes the inspection of the height and center of mass distribution of the material after lifting, so as to minimize the material displacement before and after the lifting process. While reducing the possibility of material displacement, it also reduces the safety threat of the lifting process of materials with uneven mass distribution and the adverse effect on the appearance of the material; The working parameters of the chuck side hanger to be determined include at least the number of chuck side hangers in use, the working position of the chuck side hanger, the sliding speed of the chuck side hanger, the lifting height and lifting power of the chuck side hanger; the number of chuck side hangers in use and the working position determine whether the material can be lifted and lowered in the future, and can also achieve the safety and stability of the lifting process; the sliding speed of the chuck side hanger affects the sliding stroke and sliding efficiency of the chuck side hanger in the axial direction of the material from the initial position to the target position; the lifting height and lifting power of the chuck side hanger affect whether the material can be stably lifted and sent to the top of the rear machine tool in the future; Since the feeding material in this embodiment uses a long hollow square tube structure with uniform mass distribution, when determining the number of chuck side hangers to be used, it is necessary to ensure that the chuck side hangers can be evenly distributed in the axial direction of the material, so as to ensure that the chuck side hangers at different axial positions can subsequently achieve uniform and stable clamping and lifting operations on the material; correspondingly, when the feeding material uses a long strip structure with non-uniform mass distribution, the distribution number and distribution position of the chuck side hangers in the axial direction of the material need to be adjusted accordingly; like Figure 2 As shown, the initial position of the chuck side bracket (not shown) is set at the end position of one side of the slide rail 3; and when determining the working position of the chuck side bracket, 1) There are no redundant chuck side hangers between the initial position and the target position of the chuck side hangers; to ensure that all chuck side hangers on the slide rail 3 can be used, and no unused chuck side hangers will exist between the clamped chuck side hangers, so as to further improve the use efficiency of the chuck side hangers; 2) Determine the working position of the chuck side bracket according to the shortest distance between the initial position and the target position of the chuck side bracket, so that each chuck side bracket can slide the shortest distance on the slide rail 3 to finally reach the target position on the slide rail 3, thereby further reducing the sliding distance and improving the working efficiency of the chuck side bracket; In this embodiment, the determined working parameters of the chuck include at least the number of chuck working, the opening and closing sequence of the chuck, and the clamping force of the chuck; the chuck is arranged on different planes of the chuck side bracket, so that the clamping action on different sides of the material can be realized, and then the clamping is performed from different dimensions to improve the clamping stability; the clamping force of the chuck determines the degree of clamping of the material by the chuck; and the opening and closing sequence of the chuck determines the possible safety impact of the chuck on the surrounding environment when the material falls when the chuck is opened and closed; In this embodiment, the determined chuck opening and closing sequence includes: The opening sequence of the chucks is synchronous opening. At this time, since the material is located on the top of the lifting device as a whole and supported by the lifting device, the chucks at each position can be opened synchronously to reduce the opening time and improve the opening efficiency; The order of closing the chucks is from the position away from the center of mass of the material to the direction close to the center of mass of the material. The chucks are gradually closed. At this time, the material is located on the top of the machine tool. It is also possible that the mass distribution is uneven or there is an offset. Relatively speaking, since the center of mass of long strips of material is often concentrated inside rather than at the end, closing the chuck away from the center of mass of the material first can help the end of the long strip of material to contact the top of the machine tool first, thereby providing stable support for the overall drop of the subsequent material.

[0026] S8: Start the chuck side bracket, so that the chuck side bracket slides on the frame to the chuck working position through the sliding assembly; S9: The clamping action of the material at different positions is realized by the chuck installed on the chuck side bracket; S10: After the clamped material is lifted to a preset height above the machine tool, the material is lowered to the top of the machine tool through the chuck side bracket; S11: The chuck on the chuck side bracket cancels the clamping force on the material and returns to the initial position after being lifted again; S12: Detect the position of the material and the appearance of the material, and optimize the feeding parameters, lifting parameters, chuck side hanger and chuck working parameters accordingly according to the detection results; By detecting the position of the material and the appearance of the material, the feeding parameters, lifting parameters, chuck side hanger and chuck working parameters are optimized accordingly according to the detection results. By detecting the position of the material and the appearance of the material before the laser cutting operation, the degree of influence of the material feeding process on the material position deviation and the material appearance can be determined, and then the lifting parameters, feeding parameters and chuck side hanger and chuck working parameters are continuously and continuously optimized, so as to further improve the feeding safety and feeding accuracy, and improve the feeding quality and feeding precision; In this step, Detect the position of the material. When the position of the material exceeds the preset position range, only the working parameters of the chuck side bracket and the chuck are optimized accordingly. This is because compared with the feeding and lifting processes, the feeding process due to clamping and lifting has a greater impact on the position of the material exceeding the preset position range. Therefore, at this time, only the working parameters of the chuck side bracket and the chuck are optimized accordingly. Detect the appearance of the material. When the appearance of the material exceeds the preset standard, the feeding parameters, lifting parameters, chuck side hanger and chuck working parameters are optimized accordingly, and the optimization priority meets the following conditions: lifting parameters < feeding parameters < chuck side hanger and chuck working parameters. This is because the chuck side hanger and chuck need to clamp the material at various axial positions. The chuck clamping action and clamping force have the greatest impact on the material appearance. During the feeding process, the bottom of the material needs to be in direct contact with the feeding device (transmission devices such as sprockets and chains), which will also have a certain impact on the material appearance. The lifting process has the least impact on the material appearance. Therefore, the optimization priority needs to be set to meet the following conditions: lifting parameters < feeding parameters < chuck side hanger and chuck working parameters.

[0027] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and range of equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A control method for a feeding device, characterized in that: The following steps are involved: S1: Place the material at the feeding end of the feeding component; S2: Perform pre-feeding inspection on the material at the feeding end position, and determine the feeding parameters of the feeding components at each position according to the inspection results; S3: Start the feeding component to feed the top material from the feeding end to the discharging end; S4: Detect the material at the discharge end after feeding, and determine the lifting parameters of the lifting device according to the detection results; S5: Perform a pre-lifting inspection on the material, and determine whether the lifting device opening and closing conditions are met based on the inspection results. When the conditions are met, the lifting device is controlled to open; otherwise, the lifting device is kept closed; S6: Start the lifting device to lift the initial height of the material discharge position to the height of the chuck side bracket; S7: Detect the material after lifting, and determine the working parameters of the chuck side bracket and the chuck according to the detection results; S8: Start the chuck side bracket, so that the chuck side bracket slides on the frame to the chuck working position through the sliding assembly; S9: The clamping action of the material at different positions is realized by the chuck installed on the chuck side bracket; S10: After the clamped material is lifted to a preset height above the machine tool, the material is lowered to the top of the machine tool through the chuck side bracket; S11: The chuck on the chuck side bracket cancels the clamping force on the material and returns to the initial position after being lifted again; S12: Detect the location and appearance of the material, and optimize the feeding parameters, lifting parameters, chuck side bracket and chuck working parameters accordingly based on the detection results.

2. A control method for a feeding device according to claim 1, characterized in that: In the step S2, The pre-feeding inspection of the material at least includes the inspection of the placement deviation and center of mass distribution of the material before feeding; The determined feeding parameters of the feeding components at each position at least include feeding height, feeding stroke and feeding speed; And the priority of determining the feeding height is higher than the priority of determining the feeding stroke, and the priority of determining the feeding stroke is higher than the priority of determining the feeding speed.

3. The control method of a feeding device according to claim 1, characterized in that: In the step S4, The post-feeding inspection of the material at least includes the inspection of the placement deviation and center of mass distribution of the material after feeding; The lifting parameters of the lifting device determined include at least lifting power, lifting stroke and lifting speed; And the priority of determining the lifting power is higher than the priority of determining the lifting stroke, and the priority of determining the lifting stroke is higher than the priority of determining the lifting speed.

4. The control method of a feeding device according to claim 1, characterized in that: In step S5, the opening and closing conditions of the lifting device include: 1) The material to be lifted is located in the upper inner central area of ​​the lifting device; 2) The adjacent material on the rear side does not contact the upper internal area of ​​the lifting device.

5. The control method of a feeding device according to claim 1, characterized in that: In step S7, The post-lifting inspection of the material shall at least include the inspection of the height and center of mass distribution of the material after lifting; The determined working parameters of the chuck side hanger include at least the number of chuck side hangers in use, the working position of the chuck side hanger, the sliding speed of the chuck side hanger, the lifting height and lifting power of the chuck side hanger; The determined working parameters of the chuck include at least the working quantity of the chuck, the opening and closing sequence of the chuck, and the clamping force of the chuck.

6. A control method for a feeding device according to claim 5, characterized in that: The material is a hollow square tube.

7. A control method for a feeding device according to claim 6, characterized in that: When determining the number of chuck side hangers to be used, it is necessary to ensure that the chuck side hangers can be evenly distributed in the axial direction of the material.

8. A control method for a feeding device according to claim 6, characterized in that: When determining the working position of the chuck side bracket, 1) There is no redundant chuck side bracket between the initial position and the target position of the chuck side bracket; 2) Determine the working position of the chuck side bracket according to the shortest distance between the initial position and the target position of the chuck side bracket.

9. A control method for a feeding device according to claim 6, characterized in that: The determined chuck opening and closing sequence includes: The chuck opening sequence is synchronous opening; The closing order of the chuck is from the position far away from the center of mass of the material to the direction close to the center of mass of the material, and the chuck is closed gradually.

10. A control method for a feeding device according to claim 1, characterized in that: In the step S12, Detect the position of the material. When the material position exceeds the preset position range, only the working parameters of the chuck side bracket and the chuck are optimized accordingly. Detect the appearance of the material. When the appearance of the material exceeds the preset standard, the feeding parameters, lifting parameters, chuck side bracket and chuck working parameters are optimized accordingly, and the optimization priority meets the following requirements: Lifting parameters < feeding parameters < working parameters of chuck side bracket and chuck.

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