A control method of a feeding device

Abstract

The application provides a control method of a feeding device. The feeding parameters of feeding assemblies at each position are determined according to the detection results of the material at the feeding end position before feeding, and the lifting parameters of the lifting device are determined according to the detection results of the material at the feeding end position after feeding, so as to reduce the material deviation as much as possible before and after the feeding process. The feeding safety threat of the material with non-uniform arrangement and the adverse effect on the appearance of the material are reduced, the feeding safety and the appearance quality of the material are improved, and the setting of the subsequent lifting parameters is provided with a basis, so that the precision, safety and effectiveness of the subsequent lifting process are ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of loading device control technology, and in particular to a control method of a loading device. BACKGROUND

[0002] The loading process of the loading device is usually to place the material at the feeding end of the feeding assembly, send the material from the feeding end to the discharging end through the feeding assembly, lift the material to the height of the chuck side hanger by the lifting device at the discharging end position, slide the chuck side hanger to the axial preset position of the material, clamp the material by the chuck side hanger, and then transport the material to the rear machine tool for corresponding laser cutting and other corresponding operations.

[0003] In the loading process, since the transported material is usually in a strip shape to facilitate subsequent laser cutting operations, on the one hand, the placement of the material will inevitably deviate during the feeding, lifting and clamping processes, and therefore the position of the material on the top of the machine tool will be deviated to a certain extent, which will adversely affect the efficiency and quality of the subsequent automatic laser cutting work.

[0004] At the same time, since the material quality is not uniformly arranged along the axial direction, the material may deviate during the feeding, lifting and clamping processes, which will also reduce the stability of the loading, and pose a safety hazard to the material itself and the loading environment.

[0005] On the other hand, the material itself may be scratched and grabbed during the feeding, lifting and clamping processes, and the appearance of the material may be scratched during the loading process due to the deviation of the material placement, which will adversely affect the quality of the material after laser cutting.

[0006] Therefore, it is necessary to provide a control method of a loading device to solve the defects and deficiencies in the prior art. SUMMARY

[0007] In order to solve the defects and deficiencies in the prior art, the present application provides a control method of a loading device.

[0008] The specific scheme provided by the present application is as follows:

[0009] A control method of a loading device, characterized in that it comprises the following steps:

[0010] S1: placing the material at the feeding end position of the feeding assembly;

[0011] S2: detecting the material at the feeding end position before feeding, and determining the feeding parameters of each position feeding assembly according to the detection result;

[0012] S3: Start the feeding assembly to feed the top material from the feeding end position to the discharging end position;

[0013] S4: Detect the material at the discharging end position after feeding, and determine the lifting parameter of the lifting device according to the detection result;

[0014] S5: Detect the material before lifting, and determine whether the lifting device opening and closing condition is met according to the detection result, when the condition is met, control the lifting device to open; otherwise, keep the lifting device closed;

[0015] S6: Start the lifting device to lift the material from the initial height of the discharging position to the height of the chuck side hanger;

[0016] S7: Detect the material after lifting, and determine the working parameter of the chuck side hanger and the chuck according to the detection result;

[0017] S8: Start the chuck side hanger to make the chuck side hanger slide on the rack to the chuck working position through the sliding assembly;

[0018] S9: Realize the clamping action of the material at different positions through the chuck installed on the chuck side hanger;

[0019] S10: After lifting the clamped material to the preset height above the machine tool, lower the material to the top of the machine tool through the chuck side hanger;

[0020] S11: The chuck on the chuck side hanger cancels the clamping force of the material, and returns to the initial position after being lifted again;

[0021] S12: Detect the position and appearance of the material, and optimize the feeding parameter, lifting parameter, working parameter of the chuck side hanger and chuck according to the detection result.

[0022] As a further preferred embodiment of the present application, in the step S2,

[0023] The feeding before the material is detected at least includes detecting the placement offset condition and the mass center distribution condition of the material before feeding;

[0024] The determined feeding parameter of each position feeding assembly at least includes feeding height, feeding stroke and feeding speed;

[0025] And the determination priority of the feeding height is higher than that of the feeding stroke, and the determination priority of the feeding stroke is higher than that of the feeding speed.

[0026] As a further preferred embodiment of the present application, in the step S4,

[0027] The post-feeding detection on the material at least includes detection on the placement deviation and the mass center distribution of the material after feeding;

[0028] The determined lifting parameters of the lifting device at least include lifting power, lifting stroke and lifting speed;

[0029] The determination priority of the lifting power is higher than that of the lifting stroke, and the determination priority of the lifting stroke is higher than that of the lifting speed.

[0030] As a further preferred embodiment of the present application, in the step S5, the start-stop condition of the lifting device includes

[0031] 1) the whole of the material to be lifted is located above the inner central region of the lifting device;

[0032] 2) the rear adjacent material does not contact the upper inner region of the lifting device.

[0033] As a further preferred embodiment of the present application, in the step S7,

[0034] The post-lifting detection on the material at least includes detection on the height and mass center distribution of the material after lifting;

[0035] The determined working parameters of the chuck-side hanger at least include the number of chuck-side hangers used, 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;

[0036] The determined working parameters of the chuck at least include the number of chucks used, the start-stop sequence of the chuck and the chuck clamping force.

[0037] As a further preferred embodiment of the present application, the material is a hollow square tube.

[0038] As a further preferred embodiment of the present application, when determining the number of chuck-side hangers used, it is necessary to ensure that the chuck-side hangers are evenly distributed in the axial direction of the material.

[0039] As a further preferred embodiment of the present application, when determining the working position of the chuck-side hanger,

[0040] 1) according to the absence of redundant chuck-side hangers between the initial position and the target position of the chuck-side hanger;

[0041] 2) according to the shortest distance between the initial position and the target position of the chuck-side hanger to determine the working position of the chuck-side hanger.

[0042] As a further preferred embodiment of the present application, the determined start-stop sequence of the chuck includes:

[0043] The start sequence of the chuck is synchronous start.

[0044] The chuck closing sequence is that the chuck is gradually closed from the direction of moving away from the material centroid position to the direction of moving close to the material centroid position.

[0045] As a further preferred embodiment of the present application, in the step S12,

[0046] The position of the material is detected, and when the position of the material exceeds the preset position range, only the working parameters of the chuck side hanger and the chuck are correspondingly optimized.

[0047] The appearance condition of the material is detected, and when the appearance condition of the material exceeds the preset standard, the working parameters of the feeding parameter, the lifting parameter, the chuck side hanger and the chuck are all correspondingly optimized, and the optimization priority thereof satisfies: lifting parameter < feeding parameter < working parameters of the chuck side hanger and the chuck.

[0048] Compared with the prior art, the present application can realize the technical effects including:

[0049] 1) The present application provides a control method of a feeding device, which detects the material at the feeding end position before feeding, determines the feeding parameters of each position feeding component according to the detection result, detects the material at the discharging end position after feeding, and determines the lifting parameters of the lifting device according to the detection result, so as to reduce the material deviation and placement as much as possible before and after the feeding process, reduce the feeding safety threat of the material with non-uniform quality arrangement and the adverse effect on the appearance of the material, improve the feeding safety and the appearance quality of the material, and provide a basis for the subsequent setting of the lifting parameters, thereby ensuring the precision, safety and effectiveness of the subsequent lifting process.

[0050] 2) The present application provides a control method of a feeding device, which detects the material before lifting, judges whether the lifting device opening and closing condition is met according to the detection result, detects the material after lifting, and determines the working parameters of the chuck side hanger and the chuck according to the detection result, so as to reduce the material deviation and placement as much as possible before and after the lifting process, reduce the lifting process safety threat of the material with non-uniform quality arrangement and the adverse effect on the appearance of the material, improve the lifting process safety and the appearance quality of the material, and provide a basis for the subsequent setting of the chuck side hanger and the chuck parameters, thereby ensuring the precision, safety and effectiveness of the subsequent clamping process.

[0051] 3) The application provides a control method of the feeding device, the feeding parameter, the lifting parameter, the chuck side hanger and the working parameter of the chuck are optimized according to the detection result by detecting the position and the appearance of the material, the position and the appearance of the material are detected before the laser cutting operation, the influence degree of the position and the appearance of the material on the feeding process of the material can be determined, and the lifting parameter, the feeding parameter, the chuck side hanger and the working parameter of the chuck are continuously and continuously optimized, so that the feeding safety and the feeding accuracy are further improved, and the feeding quality and the feeding precision are improved. BRIEF DESCRIPTION OF DRAWINGS

[0052] Fig. 1 The step flow chart of the control method provided by the application is provided.

[0053] Fig. 2 The structural schematic diagram of the feeding device provided by the application is provided.

[0054] Fig. 3 The structural side view of the feeding device provided by the application is provided. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the application will be clearly and completely described in combination with the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, not all. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the application.

[0056] In the description of the application, it should be noted that the terms "up", "down", "in", "out", "front end", "rear end", "both ends", "one end", "the other end" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation of the application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0057] In the description of the application, it should be noted that unless otherwise specified and limited, the terms "mounting", "provided with", "connection" and the like should be understood broadly, for example, "connection" can be fixed connection, can also be detachable connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through intermediate medium, can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0058] [First embodiment]

[0059] As Figs. 1-3 shown is a control method of a feeding device provided by the present application, comprising the following steps:

[0060] S1: placing the material A at the feeding end position of the feeding assembly 1; in this embodiment, the material A to be transported is a hollow square tube, which is known to those skilled in the art, and other long strip-shaped materials with uniform or non-uniform mass distribution can also be transported according to actual cutting needs;

[0061] S2: detecting the material at the feeding end position before feeding, and determining the feeding parameters of the feeding assembly at each position according to the detection results; in this embodiment,

[0062] The pre-feeding detection of the material at least includes detecting the placement offset condition and the mass center distribution condition of the material before feeding; to determine whether there is a placement offset condition at the feeding end position of the material before feeding, and to determine the mass center distribution of the material to be transported, thereby providing a basis for determining the feeding parameters of the subsequent feeding assembly;

[0063] The determined feeding parameters of the feeding assembly at each position at least include the feeding height, the feeding stroke and the feeding speed; since the material is often manually sent to the feeding end position, improper manual operation or uneven height of the material itself may cause inconsistent feeding height, so corresponding actions need to be taken to achieve consistent material height, such as issuing an alarm to prompt the operator to reposition the material, or adding a lifting device at the bottom of each feeding assembly to achieve self-height adjustment, etc.; the feeding stroke determines whether the material can accurately and smoothly reach above the position where the lifting device is located; and the feeding speed determines the work efficiency of the feeding process and the feeding interval, thereby affecting the opening and closing actions of the subsequent lifting device;

[0064] And the determination priority of the feeding height is higher than that of the feeding stroke, and the determination priority of the feeding stroke is higher than that of the feeding speed, because on the one hand the feeding height determines the stable 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, so the feeding height needs to be determined first; when the material at the feeding end position is placed with an offset, the feeding stroke of the feeding assembly 1 at different axial positions of the material is also different, so that the feeding speed of the feeding assembly 1 at different axial positions also needs to be set to be different from each other, so the determination priority of the feeding stroke needs to be set to be higher than that of the feeding speed;

[0065] S3: start the feeding assembly, and feed the top material from the feeding end position to the discharging end position, so as to complete the feeding action;

[0066] S4: after feeding the material at the discharging end position, detection is performed, and the lifting parameters of the lifting device are determined according to the detection result; by performing detection before feeding the material at the feeding end position, and determining the feeding parameters of each position feeding assembly according to the detection result, and performing detection after feeding the material at the discharging end position, and determining the lifting parameters of the lifting device according to the detection result, the material offset placement generated before and after the feeding process is reduced as much as possible, while reducing the possibility of material offset placement, the safety threat of non-uniformly arranged material and the adverse effect on the appearance of the material are also reduced, the feeding safety and the appearance quality of the material are improved, and the subsequent lifting parameter setting can be provided, and the precision, safety and effectiveness of the subsequent lifting process are ensured;

[0067] The post-feeding detection of the material at least includes detection of the placement offset condition and the center of mass distribution condition of the material after feeding; whether the material at the discharging end position after feeding has a placement offset condition is determined, and the center of mass distribution of the material to be transported is determined, so as to provide a basis for determining the lifting parameters of the subsequent lifting device 2;

[0068] The determined lifting parameters of the 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 at the discharging end position has a position offset or a center of mass offset, in order to ensure that the offset can be eliminated or reduced when the material is lifted to a high position, the lifting power, the lifting stroke and the lifting speed provided by the lifting device 2 corresponding to each position are all different;

[0069] The determination priority of the lifting power is higher than that of the lifting stroke, and the determination priority of the lifting stroke is higher than that of 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 the determination priority needs to be determined; similarly, when the material placed at a low position has an offset, the lifting stroke of the lifting device 2 at different axial positions of the material is also different, so that the lifting speed of the lifting device 2 at different axial positions also needs to be set to be different, so the determination priority of the lifting stroke needs to be set to be higher than that of the lifting speed;

[0070] S5: detecting the material before lifting, and judging whether the lifting device meets the opening and closing conditions according to the detection results, when the conditions are met, the lifting device is opened, otherwise, the lifting device is kept closed; in this embodiment, the opening and closing conditions of the lifting device include:

[0071] 1) the whole of the material to be lifted is located in the upper central region of the lifting device; in this way, the material can be lifted uniformly and stably from the low position to the high position by the lifting device;

[0072] 2) the rear adjacent material does not contact the upper central region 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 material;

[0073] S6: starting the lifting device to lift the initial height of the material at the discharge position to the height of the chuck side hanger;

[0074] S7: detecting the material after lifting, and determining the working parameters of the chuck side hanger and the chuck according to the detection results; by detecting the material before lifting, and judging whether the lifting device meets the opening and closing conditions 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, the material offset and placement before and after lifting is reduced as much as possible, the safety threat of the lifting process of the material with uneven quality arrangement and the adverse effect on the appearance of the material are reduced, the safety of the lifting process and the appearance quality of the material are improved, and the subsequent setting of the parameters of the chuck side hanger and the chuck is provided with basis to ensure the precision, safety and effectiveness of the subsequent clamping process;

[0075] The detection of the material after lifting at least includes detecting the height and centroid distribution of the material after lifting; in order to reduce the material offset and placement before and after lifting as much as possible, the safety threat of the lifting process of the material with uneven quality arrangement and the adverse effect on the appearance of the material are reduced;

[0076] The determined working parameters of the chuck side hanger at least include the number of chuck side hangers used, 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 used and the working position determine whether the subsequent lifting of the material can be realized, and the safety and stability of the lifting process can also be realized; the sliding speed of the chuck side hanger affects the sliding stroke and sliding efficiency of the chuck side hanger from the initial position to the target position in the axial direction of the material; the lifting height and lifting power of the chuck side hanger affect whether the material can be stably lifted and sent to the upper side of the rear machine tool;

[0077] Since the feeding material in the embodiment is a long hollow square tube structure with uniform mass distribution, when determining the number of chuck side hangers, it is necessary to ensure that the chuck side hangers are uniformly distributed in the axial direction of the material to ensure that the chuck side hangers at different axial positions can uniformly and stably clamp and lift the material. Correspondingly, when the feeding material is a long strip structure with non-uniform mass distribution, the number and position of the chuck side hangers in the axial direction of the material need to be adjusted accordingly.

[0078] As shown in Fig. 2 , the initial position of the chuck side hanger (not shown) is set at one end of the slide rail 3; and when determining the working position of the chuck side hanger,

[0079] 1) According to the initial position and target position of the chuck side hanger, there is no redundant chuck side hanger, so that all chuck side hangers on the slide rail 3 can be used, and there will be no unused chuck side hangers between the clamped chuck side hangers, so as to further improve the use efficiency of the chuck side hanger;

[0080] 2) According to the shortest distance between the initial position and the target position of the chuck side hanger, the working position of the chuck side hanger is determined, so that each chuck side hanger 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 hanger;

[0081] In the embodiment, the determined working parameters of the chuck include at least the number of chucks, 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 hanger, so that the clamping action of the material on different sides can be realized, and then clamping from different dimensions can improve the clamping stability. The clamping force of the chuck determines the clamping degree of the chuck on the material. The opening and closing sequence of the chuck determines the possible safety influence on the surrounding environment when the chuck is opened and closed when the material falls;

[0082] In the embodiment, the determined opening and closing sequence of the chuck includes:

[0083] The opening sequence of the chuck is synchronous opening, at this time, since the material as a whole is located at the top of the lifting device and is supported by the lifting device, the chuck at each position can be opened synchronously to reduce the opening time and improve the opening efficiency;

[0084] The chuck closing sequence is that the chucks are gradually closed from the direction away from the material centroid position to the direction close to the material centroid position. At this time, the material is located on the top of the machine tool. It is also possible that the material is out of position due to uneven mass distribution. Relatively speaking, since the centroid of the long strip-shaped material is often concentrated in the interior rather than the end, closing the chuck away from the material centroid position first can facilitate the end of the long strip-shaped material to contact the top of the machine tool first, thereby providing stable support for the subsequent overall material falling.

[0085] S8: Start the chuck side hanger, so that the chuck side hanger slides on the rack through the sliding assembly to the chuck working position;

[0086] S9: The clamping action on different positions of the material is realized through the chucks installed on the chuck side hanger;

[0087] 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 hanger;

[0088] S11: The chuck on the chuck side hanger cancels the clamping force on the material, and after being lifted again, returns to the initial position;

[0089] S12: Detect the position of the material and the appearance of the material, and optimize the working parameters of the feeding parameters, lifting parameters, chuck side hanger and chuck according to the detection results. Through the detection of the position of the material and the appearance of the material, the working parameters of the feeding parameters, lifting parameters, chuck side hanger and chuck are optimized according to the detection results. Through the detection of the position of the material and the appearance of the material by laser cutting operation, the influence degree of the material position offset and the appearance of the material caused by the material feeding process can be determined, and the continuous and continuous optimization of the lifting parameters, feeding parameters and working parameters of the chuck side hanger and chuck is realized, thereby further improving the feeding safety and feeding accuracy, improving the feeding quality and feeding precision;

[0090] In this step,

[0091] 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 hanger and the chuck are optimized. This is because, compared with the feeding and lifting processes, the clamping and lifting feeding process has a greater impact on the material position exceeding the preset position range. Therefore, only the working parameters of the chuck side hanger and the chuck are optimized at this time;

[0092] The appearance of the material is detected, and when the appearance of the material exceeds the preset standard, the feeding parameter, the lifting parameter, the working parameter of the chuck side hanger and the chuck are all optimized correspondingly, and the optimization priority thereof satisfies: lifting parameter < feeding parameter < working parameter of chuck side hanger and chuck. This is because the chuck side hanger and the chuck need to clamp the material at each position in the axial direction, and the chuck clamping action and clamping force and other factors have the greatest influence on the appearance of the material. In the feeding process, the bottom of the material needs to be in direct contact with the feeding device (chain wheel and chain transmission device), so it will also have a certain influence on the appearance of the material. The lifting process has the lowest influence on the appearance of the material, so the optimization priority needs to be set to satisfy: lifting parameter < feeding parameter < working parameter of chuck side hanger and chuck.

[0093] It will be apparent to those skilled in the art that the application is not limited to the details of the above-exemplified embodiments and that the application can be implemented in other particular forms without departing from the spirit or essential characteristics of the application. The embodiments should therefore be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the above description, and it is therefore intended that all changes and modifications that come within the meaning and range of equivalency of the claims are resolvable thereunder. Any reference signs in the claims should not be construed as limiting the claims concerned.

Claims

1. A control method of a feeding device, characterized by: The method comprises the following steps: S1: placing the material at the feeding end position of the feeding assembly; S2: detecting the material at the feeding end position before feeding, and determining the feeding parameters of the feeding assembly at each position according to the detection result; S3: starting the feeding assembly to feed the material at the top from the feeding end position to the discharging end position; S4: detecting the material at the discharging end position after feeding, and determining the lifting parameters of the lifting device according to the detection result; S5: detecting the material before lifting, and determining whether the lifting device meets the opening and closing conditions according to the detection result; when the conditions are met, the lifting device is opened; otherwise, the lifting device remains closed; S6: starting the lifting device to lift the material from the initial height of the discharging position to the height of the chuck side hanger; S7: detecting the material after lifting, and determining the working parameters of the chuck side hanger and the chuck according to the detection result; S8: starting the chuck side hanger to slide on the rack to the working position of the chuck through the sliding assembly; S9: clamping the material at different positions through the chuck installed on the chuck side hanger; S10: lifting the clamped material to a preset height above the machine tool, and then lowering the material to the top of the machine tool through the chuck side hanger; S11: the chuck on the chuck side hanger releases the clamping force on the material, and the material is lifted back to the initial position after being lifted again; S12: detecting the position and appearance of the material, and optimizing the feeding parameters, lifting parameters, working parameters of the chuck side hanger and chuck according to the detection result.

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

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

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

5. The control method of the feeding device according to claim 1, characterized in that: In the step S7, the post-lifting detection of the material at least includes detecting the height and mass center distribution of the material after lifting; the determined working parameters of the chuck side hanger at least include the number of chuck side hangers used, 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 at least include the number of chucks, the opening and closing sequence of the chucks and the clamping force of the chucks.

6. The control method of a feeding device according to claim 5, wherein: The material is selected as a hollow square tube.

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

8. The control method of the feeding device according to claim 6, characterized in that: When determining the working position of the chuck side hanger, 1) according to the initial position and the target position of the chuck side hanger, there is no redundant chuck side hanger; 2) according to the shortest distance between the initial position and the target position of the chuck side hanger, the working position of the chuck side hanger is determined.

9. The control method of the 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 chuck closing sequence is that the chuck is gradually closed from the direction away from the material centroid position to the direction close to the material centroid position.

10. The control method of the feeding device according to claim 1, characterized in that: In the step S12, detecting the position of the material, when the position of the material exceeds the preset position range, only the working parameters of the chuck side hanger and the chuck are correspondingly optimized; detecting the appearance condition of the material, when the appearance condition of the material exceeds the preset standard, the working parameters of the feeding parameter, the lifting parameter, the chuck side hanger and the chuck are all correspondingly optimized, and the optimization priority thereof satisfies: lifting parameter < feeding parameter < working parameter of chuck side hanger and chuck.

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