Control method of feeding and discharging equipment, feeding and discharging equipment and storage medium

Abstract

The invention discloses a control method of feeding and discharging equipment, the feeding and discharging equipment and a storage medium, and relates to the technical field of equipment control, the control method of the feeding and discharging equipment comprises the steps that in response to a work instruction, a target station corresponding to the work instruction is determined, and the target station is a first station or a second station; if the target station is not located in the preset working area, the target station is transferred to the preset working area based on a conversion assembly, so that the positions of the first station and the second station are exchanged; and the mechanical arm module is controlled based on the work instruction, and loading and unloading actions are executed on the conveying belt and the target station. The technical effects that continuous production can be achieved, the downtime is shortened, and the feeding and discharging efficiency is improved are achieved.

Description

Technical Field

[0001] This application relates to the technical field of equipment control, and particularly to a control method for loading and unloading equipment, a loading and unloading equipment, and a storage medium. Background Art

[0002] In modern manufacturing, an efficient, precise, and flexible material loading and unloading process is crucial for enhancing the overall production efficiency. With the continuous improvement of product refinement, various precision materials are widely used in the production process, which poses strict requirements on the performance of the loading and unloading equipment.

[0003] Currently, traditional single-station loading and unloading machines mainly rely on manual labor for loading and unloading operations. Operators need to frequently stop the machine to switch workstations to complete the replacement of materials. Even if some equipment uses a single-station robotic arm to optimize efficiency, in actual operation, its essence is still a single-station operation mode. However, due to the limitation of a single station, the equipment must pause and wait for loading and unloading operations after each material processing, resulting in a large amount of time gaps in the production process and hindering production efficiency. Summary of the Invention

[0004] The main purpose of this application is to provide a control method for loading and unloading equipment, a loading and unloading equipment, and a storage medium, aiming to solve the technical problem that the equipment must pause and wait for loading and unloading operations after each material processing, resulting in a large amount of time gaps in the production process and hindering production efficiency.

[0005] To achieve the above purpose, this application provides a control method for a loading and unloading equipment. The loading and unloading equipment includes a first workstation, a second workstation, a conveyor belt, and a robotic arm module. The control method of the loading and unloading equipment includes:

[0006] In response to a work instruction, determine the target workstation corresponding to the work instruction, where the target workstation is the first workstation or the second workstation;

[0007] If the target workstation is not located in the preset working area, transfer the target workstation to the preset working area based on a conversion component so that the positions of the first workstation and the second workstation are swapped;

[0008] Control the robotic arm module based on the work instruction to perform loading and unloading actions on the conveyor belt and the target workstation.

[0009] In an embodiment, after the step of "in response to a work instruction, determine the target workstation corresponding to the work instruction, where the target workstation is the first workstation or the second workstation", it includes:

[0010] If the target work station is located in the preset working area, control the robotic arm module based on the work instruction to perform loading and unloading operations for the conveyor belt and the target work station.

[0011] In one embodiment, at least one target carrier is provided at the first work station and the second work station, and an adsorption component is provided at the end of the robotic arm module. The step of controlling the robotic arm module based on the work instruction to perform loading and unloading operations for the conveyor belt and the target work station includes:

[0012] If the work instruction is a loading instruction, obtain the position of the board, the size of the board, and the target carrier;

[0013] Adjust the opening and closing size of the adsorption component according to the size of the board;

[0014] Determine the movement path and adsorption force of the robotic arm according to the position of the board, the target carrier, and the size of the board;

[0015] Control the adsorption component to grab the board and move it to the target work station based on the movement path and the adsorption force, so that the target carrier grabs the board.

[0016] In one embodiment, the step of determining the movement path and adsorption force of the robotic arm according to the position of the board, the target carrier, and the size of the board includes:

[0017] Determine the estimated distance according to the position of the board and the target carrier;

[0018] Determine the mass of the board based on the thickness, length, and width of the board corresponding to the size of the board;

[0019] Determine the adsorption force according to the mass of the board and the estimated distance;

[0020] Determine the movement path based on the estimated distance and the size of the board.

[0021] In one embodiment, the step of controlling the adsorption component to grab the board and move it to the target work station based on the movement path and the adsorption force, so that the target carrier grabs the board includes:

[0022] Control the robotic arm module to move to the initial position based on the position of the board and the size of the board;

[0023] Control the adsorption component to adsorb the board according to the adsorption force;

[0024] Control the robotic arm module to move based on the movement path so that the board is aligned with the target carrier;

[0025] If the optoelectronic positioning sensor of the target vehicle detects the board, control the opening and closing of the jaw mechanism of the target vehicle according to the thickness of the board to grip the board.

[0026] In one embodiment, the step of controlling the opening and closing of the jaw mechanism of the target vehicle according to the thickness of the board to grip the board includes:

[0027] Determine the locking force and the opening and closing angle according to the thickness of the board;

[0028] Based on the locking force and the opening and closing angle, control the opening and closing of the jaw mechanism of the target vehicle to grip the board.

[0029] In one embodiment, at least one grid of target vehicles is arranged at the first station and the second station, and an adsorption component is arranged at the end of the robotic arm module. The step of controlling the robotic arm module based on the work instruction to perform the loading and unloading actions for the conveyor belt and the target station includes:

[0030] If the work instruction is an unloading instruction, control the robotic arm module to move to the associated position of the target vehicle;

[0031] Read the near-field communication tag associated with the target vehicle;

[0032] If the near-field communication tag is empty information, control the robotic arm module to move to the next vehicle.

[0033] In one embodiment, after the step of reading the near-field communication tag associated with the target vehicle, it includes:

[0034] According to the tag information of the near-field communication tag, determine the board parameters of the board gripped by the target vehicle;

[0035] Determine the adsorption force according to the board parameters, and determine the movement path according to the board parameters and the target placement position corresponding to the conveyor belt;

[0036] Control the adsorption component to adsorb the board according to the adsorption force;

[0037] Control the jaw mechanism of the target vehicle to open;

[0038] Control the robotic arm to move the board to the target placement position according to the movement path.

[0039] In addition, to achieve the above object, the present application further provides a loading and unloading device, which includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the control method of the loading and unloading device as described above.

[0040] In addition, to achieve the above object, the present application further provides a storage medium, which is a computer-readable storage medium, and a program for implementing the control method of the loading and unloading device is stored on the computer-readable storage medium, and the program for implementing the control method of the loading and unloading device is executed by the processor to implement the steps of the control method of the loading and unloading device as described above.

[0041] The present application provides a control method for a loading and unloading device. The loading and unloading device of the present application includes a first station, a second station, a conveyor belt, and a robotic arm module. First, the present application determines a target station corresponding to the work instruction in response to the work instruction, and the target station is the first station or the second station; if the target station is not located in the preset work area, the target station is transferred to the preset work area based on a conversion component so that the positions of the first station and the second station are swapped; the robotic arm module is controlled based on the work instruction to perform loading and unloading operations for the conveyor belt and the target station. This solves the technical problem in the related art that after each material is processed, the equipment must pause and wait for the loading and unloading operation, resulting in a large amount of time gaps in the production process and hindering the production efficiency. It realizes the technical effect of continuous production through an alternating operation mode, reduces the downtime, and at the same time reduces the risk of material damage through precise positioning and flexible clamping. Description of the Drawings

[0042] The drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present application and used together with the specification to explain the principles of the present application.

[0043] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0044] Figure 1 It is a schematic flowchart provided for Embodiment 1 of the control method of the loading and unloading device of the present application;

[0045] Figure 2 It is a schematic flowchart provided for Embodiment 2 of the control method of the loading and unloading device of the present application;

[0046] Figure 3It is a schematic flowchart provided by the fourth embodiment of the control method for the loading and unloading equipment of the present application;

[0047] Figure 4 It is a schematic diagram of the hardware structure involved in the loading and unloading equipment of the present application.

[0048] The realization of the purpose, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. Detailed Embodiments

[0049] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0050] In order to better understand the technical solutions of the present application, the following will be described in detail in conjunction with the accompanying drawings of the specification and specific embodiments.

[0051] Currently, traditional single-station loading and unloading machines have problems such as low efficiency, frequent manual intervention, and easy material deformation and scratching. For example, manual loading and unloading requires frequent shutdowns to switch workstations, resulting in production interruptions, and it is easy to cause scratches and scrapping of precision materials (such as glass and thin plates) due to improper operation. In addition, most existing equipment uses a fixed structure and is difficult to adapt to workpieces of different sizes or shapes, lacking flexibility. Although some automated equipment optimizes efficiency through a single-station robotic arm, it still cannot achieve continuous production and has a high maintenance cost.

[0052] The main solution of the present application is: in response to a work instruction, determine the target workstation corresponding to the work instruction, where the target workstation is the first workstation or the second workstation; if the target workstation is not located in the preset work area, transfer the target workstation to the preset work area based on a conversion component so that the positions of the first workstation and the second workstation are swapped; control the robotic arm module based on the work instruction to perform loading and unloading operations on the conveyor belt and the target workstation. The present application realizes continuous production through an alternating operation mode, reduces downtime, and at the same time reduces the risk of material damage through precise positioning and flexible clamping.

[0053] It should be noted that the execution subject of this embodiment can be the loading and unloading equipment, or a computing service device with data processing, network communication, and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or a loading and unloading equipment capable of implementing the above functions. This embodiment does not make specific limitations on this. The following takes the loading and unloading equipment as the execution subject as an example to describe this embodiment and the following embodiments.

[0054] Based on this, Embodiment 1 of the present application proposes a control method for a loading and unloading equipment. Please refer to Figure 1 , the control method of the loading and unloading equipment includes steps S10 to S30:

[0055] Step S10, in response to a work instruction, determine a target work station corresponding to the work instruction, where the target work station is the first work station or the second work station.

[0056] In this embodiment, the loading and unloading device includes a first work station, a second work station, a conveyor belt, and a robotic arm module. The first work station and the second work station are quickly switched by a cylinder or an inductive sensor, and the switching time ≤ 3 seconds. The first work station is configured with a number of grid carriers, such as a 36-grid carrier, and the single-grid size is adapted to the PCB shape, and there is a buffer gap, such as 19.5 mm. The second work station has the same specifications as the first work station, and seamless feeding is achieved through alternating operations. The carrier is built-in with an RFID chip to automatically identify the PCB model and call the corresponding parameters. The loading and unloading device also includes a servo drive system, such as using a high-precision servo motor (rated power 400W, rated speed 3000 rpm), equipped with a harmonic reducer (reduction ratio 1:5), the output torque ≥ 5N·m, and the repeat positioning accuracy is ±0.005 mm. The loading and unloading device also includes a bidirectional lead screw transmission mechanism, such as consisting of a ball screw (lead 5 mm) and a linear guide (load capacity ≥ 100 kg), to achieve synchronous opening and closing of the clamping mechanism in the carrier, and the opening stroke of the clamp is 10 ± 0.1 mm. The clamping mechanism of the loading and unloading device also includes a force feedback control system, built-in with a strain gauge type torque sensor (range 0-10N·m, accuracy ±0.5% FS), to monitor the closing force in real time and automatically adjust the locking force according to the PCB thickness. The clamping mechanism includes two groups of symmetrically arranged wedge blocks (hardness HRC60, surface titanium-plated), and is linearly opened and closed by a servo motor drive to adapt to PCB carriers of different thicknesses (0.2-7 mm). The carrier is also provided with an optoelectronic positioning sensor: an inductive proximity sensor (response time 0.1 ms) is used to ensure that the opening action of the clamp is triggered after the PCB is in place, and the positioning error ≤ ±0.02 mm. The first work station or the second work station integrates a lifting module and a flexible clamping component to adapt to various specifications of materials. The end of the robotic arm module is equipped with an adsorption component for non-contact grasping of the PCB board. The self-adaptive anti-scratching handling system includes intelligent sensors and a dynamic adjustment mechanism. The intelligent sensors detect the position and state of the PCB board in real time, and the dynamic adjustment mechanism adjusts the handling path and speed according to the detection results to avoid damage to the surface of the PCB board; the dynamic scheduling control algorithm is based on a multi-station parallel scheduling strategy to optimize the operation process and achieve efficient loading and unloading.

[0057] It should be noted that the work instruction: is a control signal that contains specific information about the loading and unloading tasks, such as the material type, the processing quantity, the target work station, etc. It can be generated in various ways and is used to guide the loading and unloading equipment to carry out work. The target work station: refers to the specific work station where the material loading and unloading operation needs to be carried out under the current work instruction, that is, the first work station or the second work station. The first work station and the second work station: specific areas in the loading and unloading equipment for placing materials. They have the same specification configuration and can work alternately to achieve a continuous material loading and unloading process.

[0058] As an alternative implementation, when the control system of the loading and unloading equipment receives a work instruction from the production management system, manual input by the operator, or other external control sources, it will parse the instruction. The control system will determine the target work station corresponding to this work instruction based on the task information in the instruction, such as the material type, processing requirements, etc., combined with the status of the current first work station and the second work station (such as whether it is idle, whether there is a fault, etc.). The target work station is the first work station or the second work station.

[0059] Step S20, if the target work station is not located in the preset working area, transfer the target work station to the preset working area based on the conversion component, so as to swap the positions of the first work station and the second work station.

[0060] In this embodiment, the preset working area: a specifically demarcated area in the loading and unloading equipment. In this area, the robotic arm module can perform the material loading and unloading operations on the work station according to the established procedures and accuracy requirements. The conversion component: a device composed of a cylinder or an inductive sensor, etc. Its function is to realize the rapid switching and transfer of the work station, ensure that the work station can reach the preset working area in time, and the switching time can usually be controlled within ≤3 seconds.

[0061] After determining the target work station, the system will check whether the target work station is in the preset working area. The preset working area is a specific area preset by the equipment. In this area, the robotic arm module can accurately and efficiently perform the loading and unloading operations on the work station. If the target work station is not in the preset working area, the conversion component will be activated. The conversion component is usually composed of a cylinder or an inductive sensor. It can quickly and accurately transfer the target work station to the preset working area, and at the same time swap the positions of the first work station and the second work station.

[0062] Step S30, control the robotic arm module based on the work instruction to perform the loading and unloading actions on the conveyor belt and the target work station.

[0063] In this embodiment, the loading and unloading actions are divided into loading actions or unloading actions. After the target station is transferred to the preset working area, the control system will precisely control the robotic arm module according to the specific requirements of the work instructions. The robotic arm module will first move above the conveyor belt, and through the adsorption component mounted on its end, use the intelligent sensor to detect the position and state of the material on the conveyor belt in real time. Then, the adsorption component grabs the material in a non-contact manner, and then the robotic arm module accurately places the material on the carrier at the target station. The RFID chip built into the carrier will automatically identify the model of the material and call the corresponding parameters to ensure that the material is correctly placed. When the material arrives, the photoelectric positioning sensor on the carrier will detect the signal and trigger the opening action of the clamping mechanism. The clamping mechanism realizes synchronous opening and closing through the bidirectional lead screw transmission mechanism. During the closing process, the force feedback control system will monitor the closing force in real time and automatically adjust the locking force according to the thickness of the material to ensure that the material is stably clamped and not damaged. After the material is processed at the station, the robotic arm module will grab the processed material again and place it on the conveyor belt to complete the unloading action.

[0064] Exemplarily, in a PCB production factory, there are a large number of PCB boards of different models that need to be processed. According to the production plan, the production management system sends a work instruction to the loading and unloading equipment, requiring it to perform a loading operation on a batch of PCB boards of model X. After receiving the work instruction, the control system of the loading and unloading equipment parses it. At this time, the system detects that the first station is in an idle state and is capable of processing PCB boards of model X, so it determines the first station as the target station. The control system checks and finds that the first station is not currently within the preset working area. Immediately, the conversion component (cylinder) starts working and smoothly transfers the first station to the preset working area within 2 seconds, while the positions of the first station and the second station are swapped. After receiving the signal from the control system, the robotic arm module moves above the conveyor belt. The adsorption component at its end uses an intelligent sensor to continuously detect the position and status of the PCB boards of model X on the conveyor belt. When a suitable PCB board is detected, the adsorption component is activated and grabs the PCB board firmly in a non-contact manner. The robotic arm module moves the grabbed PCB board to the carrier at the first station. The RFID chip built into the carrier automatically identifies that the model of the PCB board is X and calls the corresponding parameters to ensure that the PCB board is accurately placed in the appropriate position. When the PCB board is in place, the optoelectronic positioning sensor (inductive proximity sensor) on the carrier detects the signal within 0.1 ms and triggers the opening action of the clamping mechanism. The clamping mechanism realizes synchronous opening and closing through a ball screw transmission mechanism and clamps the PCB board. During the clamping process, the strain gauge torque sensor built into the force feedback control system continuously monitors the closing force and automatically adjusts the locking force according to the thickness of the PCB board (assumed to be 1.6 mm) to ensure that the PCB board is stably clamped without being damaged. When the PCB board is processed at the first station, the robotic arm module moves to the first station again. Under the control of the force feedback control system, the clamping mechanism releases the PCB board, and the adsorption component grabs the processed PCB board again. The robotic arm module places the processed PCB board on the conveyor belt, and the conveyor belt transports it away, completing the unloading action.

[0065] Further, after the step of determining the target station corresponding to the work instruction, where the target station is the first station or the second station, it includes: If the target station is located within the preset working area, based on the work instruction, control the robotic arm module to perform loading and unloading actions for the conveyor belt and the target station.

[0066] In this embodiment, the preset working area is the area where the robotic arm module works, that is, the robotic arm module moves the board from the conveyor belt to the preset working area, or the robotic arm module moves the board from the preset working area to the conveyor belt.

[0067] If the currently determined target work station is already within the preset working area, directly execute the step of controlling the robotic arm module based on the work instruction to perform loading and unloading operations on the conveyor belt and the target work station.

[0068] During the entire production process, the first work station and the second work station alternate in operation. When the first work station is processing, the second work station can prepare for loading; when the first work station finishes processing and unloads, the second work station can start processing, achieving continuous production, greatly improving production efficiency, and at the same time reducing the risk of damage to the PCB board through precise positioning and flexible clamping methods.

[0069] Based on any of the above embodiments, in Embodiment 2 of the present application, referring to FIG. 2, the step of controlling the robotic arm module based on the work instruction to perform loading and unloading operations on the conveyor belt and the target work station includes:

[0070] Step A10, if the work instruction is a loading instruction, obtain the position of the plate, the size of the plate, and the target carrier.

[0071] In this embodiment, the work instruction is a signal used to instruct the loading and unloading equipment to perform specific operations. The loading instruction clearly requires the equipment to move the plate from the conveyor belt to the target work station. The position of the plate refers to the specific coordinate information of the plate on the conveyor belt, and the size of the plate includes physical parameters such as the length, width, and height of the plate. The target carrier is a device located on the first work station or the second work station for placing the plate, and there is at least one grid of target carriers provided on the first work station and the second work station.

[0072] As an alternative implementation, when the control system of the loading and unloading equipment receives the loading instruction, it will obtain the specific position of the plate on the conveyor belt through a vision sensor or a position sensor installed near the conveyor belt. At the same time, the system will read the size information of this batch of plates from the production management system or a pre-set database. For the target carrier, the system will clarify the specific target carrier number and position information on this work station according to the previously determined target work station.

[0073] Step A20, adjust the opening and closing size of the adsorption component according to the size of the plate.

[0074] In this embodiment, the adsorption component is a component installed at the end of the robotic arm module for grasping the plate, and its opening and closing size determines the range that can grasp the plate. Adjusting the opening and closing size according to the plate size is to ensure that the adsorption component can stably and effectively grasp the plate.

[0075] As an alternative implementation, the control system calculates the appropriate opening and closing size to which the adsorption component needs to be adjusted based on the obtained sheet size. Then, by controlling the driving device connected to the adsorption component, such as an electric push rod or a cylinder, the opening and closing state of the adsorption component is changed to make its opening and closing size match the sheet size. For example, if the sheet is wider, the driving device will increase the opening and closing size of the adsorption component; if the sheet is narrower, the opening and closing size will be decreased.

[0076] Step A30: Determine the movement path and adsorption force of the robotic arm according to the sheet position, the target carrier, and the sheet size.

[0077] In this embodiment, the movement path of the robotic arm refers to the movement trajectory of the robotic arm from the initial position to the position of grasping the sheet and then to the position of placing the sheet on the target carrier. The adsorption force refers to the magnitude of the suction force exerted by the adsorption component when grasping the sheet. An appropriate adsorption force can ensure that the sheet will not fall during handling and will not cause damage to the sheet.

[0078] As an alternative implementation, the control system uses the information such as the obtained sheet position, the target carrier position, and the sheet size, combines the kinematic model and workspace limitations of the robotic arm, and calculates the optimal movement path of the robotic arm through a path planning algorithm. For the adsorption force, the system will determine an appropriate adsorption force value according to factors such as the material, weight, and size of the sheet, referring to a pre-set adsorption force parameter table. For example, for a heavier sheet, the adsorption force will be appropriately increased; for a fragile sheet, the adsorption force will be decreased on the premise of ensuring stable grasping.

[0079] Step A40: Control the adsorption component to grasp the sheet and move it to the target work station based on the movement path and the adsorption force, so that the target carrier can clamp the sheet.

[0080] In this embodiment, controlling the movement of the robotic arm based on the movement path means that the robotic arm accurately moves to the sheet position and grasps the sheet according to the calculated path, and then moves to the target work station. The adsorption force control ensures that the adsorption component can stably grasp the sheet. The target carrier clamping the sheet means that when the sheet is moved to a suitable position above the target carrier, the clamping mechanism of the target carrier is activated to fix the sheet on the carrier.

[0081] As an alternative embodiment, the control system sends the calculated movement path and adsorption force parameters to the drive system of the robotic arm and the control module of the adsorption assembly. The robotic arm accurately moves to the position of the sheet according to the movement path, and the adsorption assembly grabs the sheet with the set adsorption force. Then, the robotic arm transports the sheet along the movement path above the target carrier at the target station. When the sheet reaches the appropriate position, the optoelectronic positioning sensor on the target carrier detects the sheet-in-place signal and triggers the clamping mechanism to start. The clamping mechanism realizes synchronous opening and closing through a bidirectional lead screw transmission mechanism, clamps the sheet, and at the same time the adsorption assembly stops adsorption, completing the loading process.

[0082] Exemplarily, in an electronic device manufacturing factory, it is necessary to perform a loading operation on PCB boards of various specifications for subsequent processing. The production management system sends a loading instruction to the loading and unloading equipment, requiring a batch of PCB boards of model Y to be transported to the target carrier at the first station. After receiving the instruction, the control system of the loading and unloading equipment obtains the specific position of this batch of PCB boards on the conveyor belt through a vision sensor installed above the conveyor belt. At the same time, it reads from the database that the size of the PCB board of model Y is 200 mm in length and 150 mm in width. According to the previously determined target station being the first station, the system determines the target carrier number and position at the first station. The control system calculates the opening and closing size that the adsorption assembly needs to be adjusted to as 210 mm in length and 160 mm in width (leaving a certain safety margin) according to the size of the PCB board. Then, it adjusts the opening and closing size of the adsorption assembly to the appropriate size by controlling the electric push rod. The control system uses information such as the PCB board position, the target carrier position, and the PCB board size, combines with the kinematic model of the robotic arm, and calculates the movement path of the robotic arm through a path planning algorithm. Considering the material and weight of the PCB board, referring to the adsorption force parameter table, it determines the adsorption force to be 5 N. The control system sends the movement path and adsorption force parameters to the robotic arm and the adsorption assembly. The robotic arm accurately moves to the position of the PCB board according to the movement path, and the adsorption assembly grabs the PCB board with an adsorption force of 5 N. Then, the robotic arm transports the PCB board along the movement path above the target carrier at the first station. When the PCB board reaches the appropriate position above the target carrier, the optoelectronic positioning sensor on the target carrier detects the signal and triggers the clamping mechanism to start. The clamping mechanism clamps the PCB board through a bidirectional lead screw transmission mechanism, and the adsorption assembly stops adsorption, completing the loading process.

[0083] Optionally, step A30 includes:

[0084] Step A31, determining an estimated distance according to the position of the sheet and the target carrier.

[0085] In this embodiment, the position of the board refers to the specific coordinate information of the board on the conveyor belt, which can clarify the position of the board in space. The target carrier is a device for placing the board at the first station or the second station, and the position of the target carrier is known and fixed. The estimated distance refers to the approximate spatial distance that the robotic arm moves from the position where the board is located to the position of the target carrier, and it is an important reference basis for the motion path planning of the robotic arm.

[0086] As an alternative implementation, the control system of the loading and unloading equipment obtains the three-dimensional coordinates (x1, y1, z1) of the board on the conveyor belt and the three-dimensional coordinates (x2, y2, z2) of the target carrier at the station. Through the spatial distance calculation formula Calculate the straight-line distance from the position of the board to the position of the target carrier by the robotic arm, and use this as the estimated distance. Considering the motion characteristics of the robotic arm and the working space limitations, the straight-line distance may also be appropriately corrected, such as avoiding obstacles and other factors, and finally obtaining a more accurate estimated distance.

[0087] Step A32: Determine the mass of the board based on the board thickness, board length, and board width of the board size.

[0088] In this embodiment, the board size includes three physical parameters: board thickness, board length, and board width, which determine the volume of the board. The mass of the board refers to the weight of the board, which is related to the material and volume of the board. The volume of the board can be calculated through the size of the board, and then combined with the density of the board material, the mass of the board can be determined.

[0089] As an alternative implementation, the control system first calculates the volume V = L × W × H of the board according to the obtained board length L, board width W, and board thickness H. Then, query the density ρ corresponding to the board material from the pre-set database. Finally, calculate the mass of the board according to the mass calculation formula m = ρ × V. For example, if the board is an aluminum plate and the density of the aluminum plate is known as ρ_aluminum, the mass of the aluminum plate can be accurately calculated through the above steps.

[0090] Step A33: Determine the adsorption force according to the mass of the board and the estimated distance.

[0091] In this embodiment, the adsorption force refers to the magnitude of the suction force applied by the adsorption component when grasping the board. An appropriate adsorption force can ensure that the board will not fall during the handling process and will not cause damage to the board. The mass of the board and the estimated distance are the key factors for determining the adsorption force. The greater the mass of the board, the greater the adsorption force required; the longer the estimated distance, in order to prevent the board from shaking and falling during the handling process, the adsorption force also needs to be appropriately increased.

[0092] As an alternative implementation, the control system refers to a pre-set adsorption force parameter table based on the calculated sheet quality and the estimated distance. This parameter table is obtained through a large number of experiments and tests, and records the appropriate adsorption force values corresponding to different combinations of sheet quality and estimated distance. For example, when the sheet quality is m1 and the estimated distance is d1, the corresponding adsorption force F1 is found from the parameter table. If there is no exactly matching value in the parameter table, the control system will use an interpolation algorithm to calculate the appropriate adsorption force.

[0093] Step A34, determine the movement path based on the estimated distance and the sheet size.

[0094] In this embodiment, the movement path refers to the specific movement trajectory of the robotic arm from the position where the sheet is located to the position of the target carrier. It needs to comprehensively consider factors such as the estimated distance, the sheet size, and the working space limitation of the robotic arm. The estimated distance determines the general movement range of the robotic arm, and the sheet size affects the posture and actions of the robotic arm during grasping and handling.

[0095] As an alternative implementation, the control system uses information such as the estimated distance and the sheet size, combines the kinematic model of the robotic arm and the working space limitation, and determines the movement path through a path planning algorithm. First, determine the general movement direction and range of the robotic arm according to the estimated distance. Then, considering the size of the sheet, especially the length and width of the sheet, adjust the grasping posture and handling height of the robotic arm to avoid collisions between the sheet and surrounding equipment during movement. For example, if the sheet is longer, the robotic arm may need to adopt a higher handling height or a special grasping posture. At the same time, the joint movement limitation and speed planning of the robotic arm will also be considered to ensure that the robotic arm can complete the handling task smoothly and efficiently. Finally, a safe and feasible movement path is generated.

[0096] Through the above steps, the loading and unloading equipment can accurately and stably transport the PCB board from the conveyor belt to the carrier at the target station, preparing for subsequent processing operations. And during the process, the adsorption force is adaptively adjusted, and the PCB board will not be scratched.

[0097] Optionally, step A40 includes:

[0098] Step A41, control the robotic arm module to move to the initial position based on the sheet position and the sheet size.

[0099] In this embodiment, the position of the sheet refers to the specific coordinate information of the sheet on the conveyor belt, which clarifies the specific position of the sheet in space. The sheet size includes physical parameters such as the length, width, and height of the sheet, and these parameters will affect the posture and position of the robotic arm when grasping the sheet. The initial position is the preparation position before the robotic arm starts to execute the grasping action. The determination of this position needs to comprehensively consider the sheet position and size to ensure that the robotic arm can accurately and stably grasp the sheet.

[0100] As an alternative embodiment, after the control system of the loading and unloading equipment receives the sheet position and size information, it calculates the appropriate initial position coordinates according to the kinematic model and workspace range of the robotic arm. Then, it sends a control command to the drive system of the robotic arm module to drive the movement of each joint of the robotic arm, so that the adsorption component at the end of the robotic arm moves to this initial position. During the movement, the control system will monitor the position and posture of the robotic arm in real time to ensure that it moves accurately according to the predetermined trajectory.

[0101] Step A42: Control the adsorption component to adsorb the sheet according to the adsorption force.

[0102] In this embodiment, the adsorption force refers to the magnitude of the suction force exerted by the adsorption component when grasping the sheet. An appropriate adsorption force can ensure that the sheet will not fall during handling and will not cause damage to the sheet. The adsorption component is a component installed at the end of the robotic arm module for grasping the sheet, and it fixes the sheet by generating suction force.

[0103] As an alternative embodiment, the control system sends a corresponding control signal to the control module of the adsorption component according to the previously calculated adsorption force value. The adsorption component adjusts the internal suction force generating device, such as a vacuum pump or an electromagnetic chuck, according to this signal to generate a suction force matching the adsorption force value. When the robotic arm moves to the initial position, the adsorption component approaches the sheet and adsorbs the sheet with the adjusted suction force. During the adsorption process, the control system will monitor in real time whether the adsorption force is stable, and will make timely adjustments if there are any deviations.

[0104] Step A43: Control the robotic arm module to move based on the movement path so that the sheet is aligned with the target carrier.

[0105] In this embodiment, the movement path refers to the specific movement trajectory of the robotic arm from the initial position to the position of the target carrier, which is pre-planned according to factors such as the sheet position, the target carrier position, and the sheet size. The target carrier is a device located at the first station or the second station for placing the sheet. Ensuring that the sheet is accurately aligned with the target carrier is the key to ensuring the smooth progress of subsequent clamping operations.

[0106] As an alternative implementation, the control system sends the pre-planned movement path information to the drive system of the robotic arm module. The drive system controls each joint of the robotic arm to move at a predetermined speed and angle according to the path information, so that the robotic arm moves along the movement path. During the movement, the control system will real-time monitor the position and posture of the robotic arm through the sensors installed on the robotic arm, compare with the movement path, and make timely adjustments if there is any deviation to ensure that the sheet can be accurately aligned with the target vehicle.

[0107] Step A44, if the photoelectric positioning sensor of the target vehicle detects the sheet, control the opening and closing of the clamping mechanism of the target vehicle according to the thickness of the sheet to clamp the sheet.

[0108] In this embodiment, the photoelectric positioning sensor is a sensor installed on the target vehicle, which can detect whether the sheet reaches the appropriate position of the target vehicle. When the sheet is detected, a signal will be sent to the control system. The sheet thickness is an important physical parameter of the sheet, which determines the size that the clamping mechanism of the target vehicle needs to open and close. The clamping mechanism is a component on the target vehicle used to fix the sheet, and it realizes the clamping of the sheet through the opening and closing action.

[0109] As an alternative implementation, when the robotic arm moves the sheet above the target vehicle and aligns it, if the photoelectric positioning sensor of the target vehicle detects the sheet, it will immediately send a signal to the control system. After receiving the signal, the control system calculates the size that the clamping mechanism needs to open and close according to the previously obtained sheet thickness information. Then, a control instruction is sent to the driving device of the clamping mechanism to drive the clamping mechanism to open and close according to the calculated size, and clamp the sheet on the target vehicle. During the clamping process, the control system will real-time monitor the opening and closing state and clamping force of the clamping mechanism to ensure that the sheet is stably clamped and not damaged.

[0110] Optionally, controlling the opening and closing of the clamping mechanism of the target vehicle according to the thickness of the sheet to clamp the sheet includes: determining the locking force and opening and closing angle according to the thickness of the sheet; controlling the opening and closing of the clamping mechanism of the target vehicle based on the locking force and the opening and closing angle to clamp the sheet.

[0111] In this embodiment, the sheet thickness is one of the key physical parameters of the sheet. Sheets of different thicknesses need to be adapted to different locking forces and opening and closing angles of the clamping mechanism to achieve stable clamping without damaging the sheet. The locking force determines the clamping force exerted by the clamping mechanism on the sheet. If the force is too small, the sheet may loosen and displace during the processing; if the force is too large, it may cause indentation, cracking and other damages to the sheet. The opening and closing angle is directly related to the sheet thickness, and a suitable opening and closing angle can ensure that the clamping jaws accurately contact and clamp the sheet.

[0112] As an alternative embodiment, the control system has a pre-established database that correlates the thickness of the sheet material with the locking force and the opening / closing angle. When the sheet material thickness information is obtained, the system directly queries the database to find the matching locking force and opening / closing angle values. If there is no exactly matching thickness data in the database, the system will use a linear interpolation algorithm to calculate the values applicable to the current sheet material thickness based on the locking force and opening / closing angle corresponding to adjacent thicknesses. For example, it is known that when the sheet material thickness in the database is 1 mm, the locking force is 3 N and the opening / closing angle is 30°; when the thickness is 2 mm, the locking force is 5 N and the opening / closing angle is 40°. When the thickness of the sheet material to be gripped is 1.5 mm, through linear interpolation calculation, the locking force is (3 + 5) ÷ 2 = 4 N, and the opening / closing angle is (30 + 40) ÷ 2 = 35°.

[0113] In this embodiment, the gripper mechanism is an execution component on the target carrier for gripping and fixing the sheet material. It consists of a motor, a transmission device, and grippers. The control instructions for the locking force and the opening / closing angle will determine the specific actions of the gripper mechanism, thereby achieving precise gripping of the sheet material.

[0114] As an alternative embodiment, the control system converts the calculated or queried locking force and opening / closing angle information into control signals and sends them to the drive motor controller of the gripper mechanism. For the control of the opening / closing angle, the motor controller drives the motor to rotate a specific angle according to the signal, and converts the rotational motion of the motor into a linear opening / closing motion of the grippers through a transmission device (such as a lead screw-nut mechanism, a rack and pinion mechanism, etc.), so that the grippers reach the predetermined opening / closing angle. During the closing process of the grippers, when they come into contact with the sheet material, the force sensor starts to work and continuously monitors the force exerted by the grippers on the sheet material. When the force reaches the preset locking force, the motor controller adjusts the motor output power to maintain this locking force and completes the stable gripping of the sheet material.

[0115] Further, after the sheet material is placed on the target carrier and clamped, the sheet material parameters are determined according to the sheet material, and the sheet material parameters are written into the near-field communication tag of the target carrier for subsequent processing or blanking.

[0116] Based on any of the above embodiments, in the third embodiment of the present application, an adsorption component is provided at the end of the robotic arm module. The steps of controlling the robotic arm module based on the work instruction to perform loading and unloading operations on the conveyor belt and the target station include:

[0117] Step B10, if the work instruction is an unloading instruction, control the robotic arm module to move to the associated position of the target carrier.

[0118] In this embodiment, the work instruction is a command that guides the loading and unloading equipment to perform specific operations. The unloading instruction clearly requires the equipment to carry the board on the target carrier to the conveyor belt. The target carrier is a device for placing the board at the first station or the second station. The associated position of the target carrier refers to the specific position where the robotic arm module can accurately grasp the board on the target carrier. This position is related to the spatial position of the target carrier and is usually a position directly above or on the side of the target carrier that is convenient for grasping.

[0119] As an alternative implementation, when the control system of the loading and unloading equipment receives the unloading instruction, it first determines the target station (the first station or the second station) and the target carrier at that station. Then, based on the position information of the target carrier stored in advance, combined with the kinematic model and the working space range of the robotic arm module, it calculates the coordinate of the associated position that the robotic arm module needs to move to. Next, the control system sends a control instruction to the drive system of the robotic arm module to drive the movement of each joint of the robotic arm, so that the adsorption component at the end of the robotic arm moves to this associated position. During the movement, the control system will monitor the position and posture of the robotic arm in real time to ensure that it moves accurately along the predetermined trajectory.

[0120] Step B20: Read the near-field communication tag associated with the target carrier.

[0121] In this embodiment, the near-field communication tag is an electronic tag installed on the target carrier, which stores information related to the board on the target carrier, such as the model of the board, the processing status, etc. By reading the near-field communication tag, the control system can obtain the detailed information of the board on the target carrier to determine whether the unloading operation needs to be performed.

[0122] As an alternative implementation, when the robotic arm module moves to the associated position of the target carrier, the near-field communication reader installed on the robotic arm will approach the near-field communication tag on the target carrier. The near-field communication reader communicates with the near-field communication tag by emitting electromagnetic waves of a specific frequency and reads the information stored in the tag. The read information will be transmitted to the control system, and the control system will analyze and process the information.

[0123] Step B30: If the near-field communication tag contains empty information, control the robotic arm module to move to the next carrier.

[0124] In this embodiment, the empty information in the near-field communication tag indicates that there may be no board placed on the target carrier or the relevant information of the board has not been correctly written into the tag. In this case, in order to improve the unloading efficiency, it is necessary to control the robotic arm module to move to the next carrier to continue the inspection and unloading operations.

[0125] As an alternative implementation, after receiving the information transmitted by the near-field communication reader, the control system determines whether the tag information is empty. If it is empty, the control system calculates the associated position coordinates of the next vehicle based on the preset vehicle arrangement order and the movement ability of the robotic arm. Then, it sends a new control instruction to the drive system of the robotic arm module to drive the robotic arm to move to the associated position of the next vehicle, and repeats steps B10 and B20 until a vehicle with valid information is found or all vehicles are traversed.

[0126] Exemplarily, in an automotive parts manufacturing factory, it is necessary to perform blanking operations on the processed automotive parts. The factory adopts the above-mentioned loading and unloading equipment. Multiple target vehicles are set at the first station and the second station, and each vehicle is associated with a near-field communication tag for storing part information. The production management system sends a blanking instruction to the loading and unloading equipment, requesting to perform a blanking operation on the target vehicle at the first station. After receiving the instruction, the control system of the loading and unloading equipment determines the first target vehicle at the first station as the current operation object. According to the pre-stored position information of the vehicle, it calculates that the associated position coordinates that the robotic arm module needs to move to are (300, 400, 70). The control system sends a control instruction to the drive system of the robotic arm module to drive the robotic arm to move to this associated position. When the robotic arm module moves to the associated position, the near-field communication reader installed on the robotic arm approaches the near-field communication tag on the target vehicle to read the information in the tag. After a short communication process, the reader transmits the read information to the control system. The control system judges the read information and finds that the near-field communication tag contains empty information. The control system calculates the associated position coordinates of the second target vehicle at the first station as (320, 420, 70) according to the preset vehicle arrangement order. It sends a new control instruction to the drive system of the robotic arm module to drive the robotic arm to move to the associated position of the second target vehicle and continue the tag reading and judgment operations.

[0127] Through the above steps, the loading and unloading equipment can efficiently and accurately inspect and perform blanking operations on the target vehicle, improving production efficiency and automation.

[0128] Based on any of the above embodiments, in the fourth embodiment of the present application, referring to Figure 3 , after the step of reading the near-field communication tag associated with the target vehicle, it includes:

[0129] Step B40, determining the sheet parameters of the sheet clamped by the target vehicle according to the tag information of the near-field communication tag.

[0130] In this embodiment, the tag information of the near-field communication tag includes various data related to the sheet material clamped on the target vehicle. These data can be pre-entered and used to identify the characteristics of the sheet material. The sheet material parameters are specific values describing the physical properties of the sheet material, such as the size (length, width, height), material, weight, etc. of the sheet material. These parameters are crucial for determining the adsorption force and the movement path subsequently.

[0131] As an alternative implementation, when the control system of the loading and unloading equipment receives the tag information transmitted by the near-field communication reader, it will analyze it. If the tag information adopts a specific coding format, the control system will convert it into readable data according to the corresponding decoding rules. For example, a specific code in the tag information may represent the material of the sheet material. The control system will convert the code into the specific material name by querying the pre-established code-material comparison table. At the same time, the tag information will also include the size data of the sheet material. The control system directly extracts these data as the length, width, and height parameters of the sheet material. For the weight of the sheet material, if it is not directly given in the tag information, the control system can calculate the weight of the sheet material according to the material and size of the sheet material, combined with the density information of the material (stored in the database), through the mass calculation formula m = ρ×V (where m is the mass, ρ is the density, and V is the volume, and the volume is calculated from the length, width, and height).

[0132] Step B50, determine the adsorption force according to the sheet material parameters, and determine the movement path according to the sheet material parameters and the target placement position corresponding to the conveyor belt.

[0133] In this embodiment, the adsorption force refers to the magnitude of the suction force that the adsorption component needs to apply when grasping the sheet material. It needs to be determined according to parameters such as the weight and material of the sheet material to ensure that the sheet material will not fall during handling. The target placement position is a specific position preset on the conveyor belt for placing the sheet material. The movement path is the specific trajectory of the robotic arm moving from the target vehicle position to the target placement position on the conveyor belt. It needs to comprehensively consider factors such as the size of the sheet material, the working space of the robotic arm, and the surrounding obstacles.

[0134] As an alternative implementation, for the determination of the adsorption force, the control system will refer to the pre-established adsorption force parameter table. This parameter table records the appropriate adsorption force values corresponding to sheet materials of different materials and different weights. The control system looks up the corresponding adsorption force in the parameter table according to the material and weight of the sheet material determined previously. If there is no exactly matching value in the parameter table, an interpolation algorithm will be used for estimation. For example, it is known that when the weight of the sheet material in the parameter table is m1, the adsorption force is F1, and when the weight is m2, the adsorption force is F2. The current weight of the sheet material is m0 (m1 < m0 < m2), then the adsorption force F0 = F1 + (F2 - F1) / (m2 - m1)×(m0 - m1) can be calculated through linear interpolation.

[0135] For the determination of the movement path, the control system first obtains the coordinate information of the target placement position corresponding to the conveyor belt. Then, combining the size of the plate and the kinematic model of the robotic arm, a path planning algorithm is used to calculate the movement path. During the planning process, factors such as the joint movement limits of the robotic arm, the working space range, and the presence of obstacles around are considered. For example, if the plate is long, in order to avoid collision with surrounding equipment during movement, the robotic arm may need to adopt a higher handling height or a special posture. At the same time, the path will also be optimized to ensure that the robotic arm can move the plate to the target placement position in the shortest time and the most stable manner.

[0136] Step B60, control the adsorption component to adsorb the plate according to the adsorption force.

[0137] In this embodiment, the adsorption component is a component installed at the end of the robotic arm module for grasping the plate. It can generate a corresponding suction force according to the adsorption force set by the control system and firmly adsorb the plate.

[0138] As an alternative implementation, the control system converts the calculated adsorption force value into a control signal and sends it to the control module of the adsorption component. The control module of the adsorption component adjusts the internal suction force generating device, such as a vacuum pump or an electromagnetic chuck, according to this signal. Taking the vacuum pump as an example, the control module will adjust the power of the vacuum pump to generate a suction force matching the adsorption force value. When the adsorption component approaches the plate, under the action of the set adsorption force, the plate is stably adsorbed on the adsorption component. During the adsorption process, the control system will monitor in real time whether the adsorption force is stable. If there are fluctuations, the control signal will be adjusted in time to ensure that the adsorption force always remains near the set value.

[0139] Step B70, control the jaw mechanism of the target carrier to open.

[0140] In this embodiment, the jaw mechanism of the target carrier is a device for gripping the plate. After the plate is firmly adsorbed by the adsorption component, it is necessary to control the jaw mechanism to open and release the plate so that the robotic arm can smoothly carry away the plate.

[0141] As an alternative implementation, when the control system confirms that the adsorption component has successfully adsorbed the plate, it will send an opening instruction to the driving device of the jaw mechanism of the target carrier. The driving device of the jaw mechanism usually consists of a motor and a transmission mechanism. After receiving the instruction, the motor starts to operate and drives the jaws to open through the transmission mechanism (such as gear-rack transmission, ball screw-nut transmission, etc.). During the process of the jaws opening, the control system will use the position sensor installed on the jaw mechanism to monitor the opening and closing state of the jaws in real time to ensure that the jaws are fully opened and will not hinder the handling of the plate.

[0142] Step B80, control the robotic arm to move the board to the target placement position according to the movement path.

[0143] In this embodiment, the robotic arm needs to accurately move the adsorption component adsorbed with the board from the target vehicle position to the target placement position of the conveyor belt according to the pre-planned movement path.

[0144] As an alternative implementation, the control system converts the planned movement path information into motion commands for each joint of the robotic arm and sends them to the drive system of the robotic arm. The drive system controls each joint of the robotic arm to move at a predetermined speed and angle according to these commands, so that the robotic arm moves along the movement path. During the movement, sensors (such as position sensors, attitude sensors, etc.) installed on the robotic arm will real-time feedback the actual position and attitude information of the robotic arm. The control system compares the actual information with the planned path. If a deviation is found, it will timely adjust the motion parameters of the joints to correct the movement trajectory of the robotic arm, ensuring that the board can be accurately moved to the target placement position of the conveyor belt. When the robotic arm reaches the target placement position, the control system controls the adsorption component to reduce the adsorption force and place the board on the conveyor belt to complete the blanking operation.

[0145] Exemplarily, it is necessary to perform a blanking operation on the processed PCB board. The factory uses the above-mentioned loading and unloading equipment. Multiple target vehicles are set at the first station and the second station. Each vehicle grips different specifications of PCB boards, and each vehicle is associated with a near-field communication tag. The conveyor belt is used to convey the blanked PCB boards to the next process. After the control system of the loading and unloading equipment receives the blanking instruction, the robotic arm moves to the associated position of a certain target vehicle at the first station and reads the near-field communication tag information associated with the vehicle. The tag information shows that the material of the PCB board is oak, with a length of 2000 mm, a width of 500 mm, and a thickness of 20 mm. The control system queries the database and learns that the density of oak is 0.75 g / cm 3 , convert the unit of the PCB board size to centimeters and calculate the volume V = 200×50×2 = 20000 cm 3, and then according to the mass calculation formula \(m = \rho\times V=0.75\times20000 = 15000g = 15kg\), the weight parameter of the PCB board is determined. The control system refers to the adsorption force parameter table and finds that there is no adsorption force value in the parameter table that exactly matches the 15kg oak PCB board. Given that the adsorption force is 18N when the weight is 12kg and 22N when the weight is 18kg, through linear interpolation calculation, the adsorption force \(F\) of the current PCB board is \(F = 18+(22 - 18) / (18 - 12)\times(15 - 12)=20N\). At the same time, the control system obtains the target placement position coordinates corresponding to the conveyor belt. Combining the size of the PCB board and the kinematic model of the robotic arm, the movement path is calculated using the path planning algorithm. Considering the relatively long length of the PCB board, the robotic arm will increase the handling height in the planned path to avoid collision with surrounding equipment. The control system converts the adsorption force of 20N into a control signal and sends it to the control module of the adsorption component. The control module of the adsorption component adjusts the power of the vacuum pump so that the adsorption component generates a suction force of 20N. When the adsorption component approaches the PCB board, the PCB board is stably adsorbed. After the control system confirms that the PCB board is firmly adsorbed, it sends an opening instruction to the jaw mechanism driving device of the target carrier. The motor drives the rack and pinion transmission mechanism to gradually open the jaws. The position sensor real-time feedbacks the opening and closing state of the jaws to ensure that the jaws are fully opened. The control system converts the movement path information into the movement instructions of the robotic arm joints and sends them to the drive system. The robotic arm moves along the predetermined path. During the process, the sensor real-time feedbacks the position and attitude information, and the control system adjusts the joint movement parameters in a timely manner according to the feedback. Finally, the robotic arm accurately moves the PCB board to the target placement position on the conveyor belt, the adsorption component reduces the adsorption force, and places the PCB board on the conveyor belt to complete the blanking operation.

[0146] If the work instruction is a blanking instruction, control the robotic arm module to move to the associated position of the target carrier; read the near-field communication tag associated with the target carrier; determine the board parameters of the board grasped by the target carrier according to the tag information of the near-field communication tag; determine the adsorption force according to the board parameters, and determine the movement path according to the board parameters and the target placement position corresponding to the conveyor belt; control the adsorption component to adsorb the board according to the adsorption force; control the jaw mechanism of the target carrier to open; control the robotic arm to move the board to the target placement position according to the movement path. Through multi-station parallel scheduling, non-contact adsorption handling and dynamic anti-scratching control, the technical problems of low efficiency of traditional equipment and easy damage to the PCB surface are solved. The problem of low production efficiency of the existing loading and unloading method is solved.

[0147] The present application provides a loading and unloading device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the control method of the loading and unloading device in Embodiment 1 above.

[0148] Reference is made below Figure 4 , which shows a schematic structural diagram of a loading and unloading device suitable for implementing the embodiments of the present application. The loading and unloading device in the embodiments of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, personal digital assistants (PDAs), tablet computers, vehicle-mounted terminals, etc., and fixed terminals such as digital TVs, desktop computers, and the like. Figure 4 The loading and unloading device shown is only an example and should not impose any limitation on the functions and usage scope of the embodiments of the present application.

[0149] As Figure 4 shown, the loading and unloading device may include a processing device 1001 (such as a central processing unit, a graphics processing unit, etc.), which may execute various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. In the random access memory 1004, various programs and data required for the operation of the loading and unloading device are also stored. The processing device 1001, the read-only memory 1002, and the random access memory 1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems may be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 may allow the loading and unloading device to communicate with other devices wirelessly or wiredly to exchange data. Although the figure shows a loading and unloading device having various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or provided alternatively.

[0150] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product that includes a computer program carried on a computer-readable medium, and the computer program includes program code for performing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by a processing device 1001, the above-mentioned functions defined in the methods of the embodiments disclosed in the present application are executed.

[0151] The loading and unloading equipment provided by the present application adopts the control method of the loading and unloading equipment in the above-mentioned embodiments, and can solve the technical problem that the equipment must pause and wait for the loading and unloading operation every time after completing the processing of a material, resulting in a large number of time gaps in the production process and hindering the production efficiency. Compared with the prior art, the beneficial effects of the loading and unloading equipment provided by the present application are the same as those of the loading and unloading equipment provided by the above-mentioned embodiments, and other technical features in the loading and unloading equipment are the same as those disclosed in the method of the previous embodiment, and will not be elaborated here.

[0152] It should be understood that each part disclosed in the present application can be implemented by hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in a suitable manner in any one or more embodiments or examples.

[0153] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application, and all should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0154] The present application provides a computer-readable storage medium having computer-readable program instructions (i.e., computer programs) stored thereon, and the computer-readable program instructions are used to execute the control method of the loading and unloading equipment in the above-mentioned embodiments.

[0155] The computer-readable storage medium provided by this application can be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or components, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this embodiment, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, device, or component. The program code contained on the computer-readable storage medium can be transmitted using any suitable medium, including but not limited to: wires, optical cables, radio frequency (RF), etc., or any suitable combination of the above.

[0156] The above computer-readable storage medium can be included in the loading and unloading device; it can also exist independently without being assembled into the loading and unloading device.

[0157] The above computer-readable storage medium carries one or more programs. When the above one or more programs are executed by the loading and unloading device, the loading and unloading device is caused to: in response to a work instruction, determine the target work station corresponding to the work instruction, where the target work station is the first work station or the second work station; if the target work station is not located in the preset work area, transfer the target work station to the preset work area based on a conversion component so that the positions of the first work station and the second work station are swapped; control the robotic arm module based on the work instruction to perform loading and unloading operations on the conveyor belt and the target work station.

[0158] Computer program code for performing the operations of this application can be written in one or more programming languages or combinations thereof. The above-mentioned programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, by using an Internet service provider to connect through the Internet).

[0159] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and this module, program segment, or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks can occur in a different order from that marked in the accompanying drawings. For example, two consecutive blocks shown can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0160] The modules described in the embodiments of this application can be implemented in software or in hardware. Among them, the name of the module does not constitute a limitation on the unit itself in some cases.

[0161] The readable storage medium provided by this application is a computer-readable storage medium. The computer-readable storage medium stores computer-readable program instructions (i.e., computer programs) for performing the control method of the above-mentioned loading and unloading equipment, and can solve the technical problem that the equipment must pause and wait for the loading and unloading operation every time after completing the processing of a material, resulting in a large amount of time gaps in the production process and hindering the production efficiency. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by this application are the same as those of the control method of the loading and unloading equipment provided in the above embodiments, and will not be elaborated here.

[0162] An embodiment of the present application provides a computer program product, including a computer program, and when the computer program is executed by a processor, it implements the steps of the control method of the loading and unloading device as described above.

[0163] The computer program product provided by the present application can solve the technical problem that the device must pause and wait for the loading and unloading operation every time a material is processed, resulting in a large number of time gaps in the production process and hindering the production efficiency. Compared with the prior art, the beneficial effects of the computer program product provided by the embodiment of the present application are the same as those of the control method of the loading and unloading device provided by the above embodiment, and will not be elaborated here.

[0164] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent scope of the present application.

Claims

1. A control method for loading and unloading equipment, characterized in that: The loading and unloading equipment includes a first station, a second station, a conveyor belt and a robotic arm module, and the control method of the loading and unloading equipment includes: In response to a work instruction, determining a target workstation corresponding to the work instruction, wherein the target workstation is the first workstation or the second workstation; If the target workstation is not located in the preset work area, the target workstation is transferred to the preset work area based on the conversion component, so that the positions of the first workstation and the second workstation are swapped; The robot arm module is controlled based on the work instruction to perform loading and unloading actions on the conveyor belt and the target workstation.

2. The method according to claim 1, characterized in that After the step of determining, in response to the work instruction, a target workstation corresponding to the work instruction, wherein the target workstation is the first workstation or the second workstation, the method further comprises: If the target workstation is located in a preset work area, the robot arm module is controlled based on the work instruction to perform loading and unloading actions on the conveyor belt and the target workstation.

3. The method according to claim 1 or 2, characterized in that The first station and the second station are provided with at least one target carrier, the end of the robot module is provided with an adsorption component, and the step of controlling the robot module based on the work instruction to perform loading and unloading actions on the conveyor belt and the target station includes: If the work instruction is a loading instruction, obtain the plate position, plate size and the target carrier; Adjusting the opening and closing size of the adsorption component according to the size of the plate; Determine the movement path and adsorption strength of the robot arm according to the position of the plate, the target carrier and the size of the plate; Based on the moving path and the adsorption force, the adsorption component is controlled to grab the plate and move to the target station, so that the target carrier clamps the plate.

4. The method according to claim 3, characterized in that The step of determining the moving path and the adsorption strength of the robot arm according to the position of the plate, the target carrier and the size of the plate includes: Determining an estimated distance according to the plate position and the target carrier; determining a plate mass based on a plate thickness, a plate length, and a plate width of the plate dimensions; Determining the adsorption strength according to the mass of the plate and the estimated distance; The moving path is determined based on the estimated distance and the size of the plate.

5. The method according to claim 3, characterized in that The step of controlling the adsorption component to grasp the plate and move to the target station based on the moving path and the adsorption force so that the target carrier clamp grasps the plate includes: Controlling the robot arm module to move to an initial position based on the position of the plate and the size of the plate; Controlling the adsorption component to adsorb the plate according to the adsorption strength; Controlling the movement of the robot module based on the movement path so that the plate is aligned with the target carrier; If the photoelectric positioning sensor of the target carrier detects the plate, the clamping mechanism of the target carrier is controlled to open and close according to the thickness of the plate to clamp the plate.

6. The method according to claim 5, characterized in that The step of controlling the opening and closing of the clamping mechanism of the target carrier according to the thickness of the plate to clamp the plate comprises: Determine the locking force and the opening and closing angle according to the thickness of the plate; The clamping mechanism of the target carrier is controlled to open and close based on the locking force and the opening and closing angle to clamp the plate.

7. The method according to claim 1 or 2, characterized in that: The first station and the second station are provided with at least one target carrier, the end of the robot module is provided with an adsorption component, and the step of controlling the robot module based on the work instruction to perform loading and unloading actions on the conveyor belt and the target station includes: If the work instruction is a material unloading instruction, control the robot arm module to move to the associated position of the target carrier; reading a near field communication tag associated with the target vehicle; If the near field communication tag contains empty information, the robot module is controlled to move to the next carrier.

8. The method according to claim 7, characterized in that After the step of reading the near field communication tag associated with the target vehicle, the method further comprises: Determining plate parameters of the plate grasped by the target carrier according to the tag information of the near field communication tag; Determining the adsorption strength according to the plate parameters, and determining the moving path according to the plate parameters and the target placement position corresponding to the conveyor belt; Control the adsorption component to adsorb the plate according to the adsorption strength; Controlling the clamping mechanism of the target carrier to open; The robot arm is controlled to move the plate to the target placement position according to the moving path.

9. A loading and unloading device, characterized in that: The loading and unloading equipment comprises: a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the control method for the loading and unloading equipment according to any one of claims 1 to 8.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the control method for loading and unloading equipment according to any one of claims 1 to 8 are implemented.

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