Back needle assembling device and back needle assembling method

Abstract

The invention relates to a back stitching device and a back stitching method. The method comprises the steps that a sorting task is obtained, a first mechanical arm is controlled to grab an incoming material box corresponding to the type of a drill bit of the sorting task from an exchange assembly, the incoming material box is placed on a feeding part, a driving part is controlled to drive the feeding part, a temporary storage part and a returning part to move so that the incoming material box can move to a target position, and the sorting task is completed. And the third manipulator is controlled to grab the target material box, the target material box is placed on the discharging assembly, and the second manipulator is controlled to execute sorting operation corresponding to the sorting task according to the incoming material box and the target material box. By adopting the method, the back stitching efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of mechanical drilling, and particularly to a needle matching and returning device and a needle matching and returning method. Background Art

[0002] In the field of PCB mechanical drilling, when a multi-axis drilling machine operates, it is necessary to take drills of the same model from multiple material boxes for drilling, and then put the drills back to the original positions in the material boxes after drilling. Among them, the process of distributing drills of multiple models to the same drilling machine material box is called needle matching, and the process of pulling out and reinstalling drills of multiple models in the drilling machine material box into the corresponding model material boxes is called needle returning.

[0003] In traditional methods, the needle matching and returning operations mainly rely on manual labor. Due to the large variety of drill models and significant differences in the required quantity of each model, the manual needle matching and returning processes are inefficient. Summary of the Invention

[0004] Based on this, in view of the above technical problems, it is necessary to provide a needle matching and returning device and a needle matching and returning method that can improve the efficiency of needle matching and returning.

[0005] In a first aspect, the present application provides a needle matching and returning device, including:

[0006] An exchange mechanism, including an exchange component and at least one first manipulator; the exchange component is used to carry the incoming material box.

[0007] A sorting mechanism, including a feeding component and at least one second manipulator; the feeding component includes a feeding member, a buffer member, a returning member, and a driving member. The feeding member is used to carry the incoming material box placed by the first manipulator, the buffer member is used to carry the buffer material box, the returning member is used to carry the sorted material box, and the driving member is used to drive the feeding member, the buffer member, and the returning member to move so as to move the incoming material box to the target position.

[0008] An unloading mechanism, including at least one third manipulator and an unloading component; the third manipulator is used to grab the target material box and place the target material box on the unloading component; the unloading component is used to carry the target material box; the third manipulator is also used to grab the sorted target material box from the unloading component.

[0009] Wherein, the first manipulator is used to grab the incoming material box from the feeding component and place the incoming material box on the feeding member; the first manipulator is also used to grab the sorted material box from the returning member; the second manipulator is used to pull out the first drill from the incoming material box located at the target position and insert the first drill into the target material box; the second manipulator is also used to pull out the second drill from the target material box and insert the second drill into the incoming material box located at the target position.

[0010] In one embodiment, the feeding assembly includes at least one layer of feeding members, at least one layer of return feeding members flush with the feeding members, and at least one layer of buffer members located below the feeding members and the return feeding members; a driving member is used to drive the feeding members, the buffer members and the return feeding members to move, so as to move the first layer of feeding members to a target position.

[0011] In one embodiment, the feeding assembly includes at least two buffer members, and the feeding members and the return feeding members are respectively located on both sides of the buffer members; a driving member is used to drive the feeding members, the buffer members and the return feeding members to move, so as to cyclically exchange the positions of the feeding members, the buffer members and the return feeding members.

[0012] In one embodiment, the feeding assembly includes at least one layer of feeding members, at least one layer of return feeding members and at least two layers of buffer members, and the feeding members and the return feeding members are respectively located on both sides of the buffer members; a driving member is used to drive the feeding members, the buffer members and the return feeding members to move, so as to cyclically exchange the positions of the feeding members, the buffer members and the return feeding members.

[0013] In one embodiment, the device further includes:

[0014] A feeding mechanism, including an automated storage and retrieval system (AS / RS) and at least one fourth manipulator; the AS / RS is used to store the cartridge; the fourth manipulator is used to grab the incoming cartridge from the AS / RS and place the incoming cartridge on the exchange component; the fourth manipulator is also used to grab the remaining cartridge from the exchange component and place the remaining cartridge on the AS / RS; the fourth manipulator is also used to grab the incoming cartridge after inserting the second drill bit from the exchange component and place the incoming cartridge after inserting the second drill bit on the AS / RS; the fourth manipulator is also used to grab the incoming cartridge after inserting the second drill bit from the AS / RS and place the incoming cartridge after inserting the second drill bit on the exchange component.

[0015] In one embodiment, the device further includes:

[0016] At least one slide rail, and the first manipulator, the second manipulator, the third manipulator and the fourth manipulator are respectively slidably connected to the slide rail.

[0017] In a second aspect, the present application provides a method for matching return needles, including:

[0018] Obtaining a sorting task; the sorting task includes the drill bit model;

[0019] Controlling the first manipulator to grab the incoming cartridge corresponding to the drill bit model from the exchange component and place the incoming cartridge on the feeding member;

[0020] Controlling the driving member to drive the feeding member, the buffer member and the return feeding member to move, so as to move the incoming cartridge to a target position;

[0021] Controlling the third manipulator to grab the target cartridge and place the target cartridge on the discharging component;

[0022] Control the second manipulator to perform the sorting operation corresponding to the sorting task according to the incoming material box and the target box.

[0023] In one embodiment, the sorting task is a needle matching task, and the sorting task further includes the number of drills and the drill layout corresponding to each drill bit model; the steps of controlling the second manipulator to perform the sorting operation corresponding to the sorting task according to the incoming material box and the target box include:

[0024] Control the second manipulator to pull out the corresponding first drill bit from the incoming material box located at the target position according to the number of drills corresponding to each drill bit model;

[0025] Control the second manipulator to insert the first drill bit into the target box carried by the discharging assembly according to the drill layout.

[0026] In one embodiment, the sorting task is a needle returning task, and the drill bit model is the model of the drill bit in the target box; the steps of controlling the second manipulator to perform the sorting operation corresponding to the sorting task according to the incoming material box and the target box include:

[0027] Control the second manipulator to pull out the second drill bit from the target box;

[0028] Control the second manipulator to insert the second drill bit into the incoming material box located at the target position according to the drill bit model;

[0029] Control the driving part to drive the feeding part, the buffer part and the material returning part to move, so as to move the incoming material box inserted with the second drill bit to the initial position;

[0030] Control the first manipulator to grasp the incoming material box inserted with the second drill bit, and place the incoming material box inserted with the second drill bit on the exchange assembly.

[0031] In one embodiment, the method further includes:

[0032] Control the fourth manipulator to grasp the incoming material box corresponding to the drill bit model from the vertical warehouse, and place the incoming material box on the exchange assembly;

[0033] When there is a remaining box with a drill bit model inconsistent with that of the second drill bit on the exchange assembly, control the fourth manipulator to grasp the remaining box and place the remaining box in the vertical warehouse.

[0034] In one embodiment, the method further includes:

[0035] Control the fourth manipulator to grasp the incoming material box inserted with the second drill bit from the exchange assembly, and place the incoming material box inserted with the second drill bit in the vertical warehouse; when the drill bit model is the same as that of the second drill bit, control the fourth manipulator to grasp the incoming material box inserted with the second drill bit from the vertical warehouse, and place the incoming material box inserted with the second drill bit on the exchange assembly.

[0036] In a third aspect, the present application further provides a needle return device, including:

[0037] A task acquisition module for acquiring sorting tasks; the sorting tasks include drill bit models;

[0038] A first grasping module for controlling a first manipulator to grasp a incoming material box corresponding to the drill bit model from an exchange component and place the incoming material box on a feeding member;

[0039] A driving and feeding module for controlling a driving member to drive the feeding member, a buffer member and a return material member to move, so as to move the incoming material box to a target position;

[0040] A second grasping module for controlling a third manipulator to grasp a target box and place the target box on a discharging component;

[0041] A needle return module for controlling a second manipulator to perform sorting operations corresponding to the sorting tasks according to the incoming material box and the target box.

[0042] In a fourth aspect, the present application further provides a computer device, including a memory and a processor, where the memory stores a computer program, and when the processor executes the computer program, the method steps of any one of the second aspects are implemented.

[0043] In a fifth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method steps of any one of the second aspects are implemented.

[0044] In a sixth aspect, the present application further provides a computer program product, including a computer program, and when the computer program is executed by a processor, the method steps of any one of the second aspects are implemented.

[0045] For the above-mentioned needle return device and needle return method, by acquiring sorting tasks, controlling the first manipulator to grasp the incoming material box corresponding to the drill bit model from the exchange component and place the incoming material box on the feeding member, controlling the driving member to drive the feeding member, the buffer member and the return material member to move, so as to move the incoming material box to the target position, controlling the third manipulator to grasp the target box and place the target box on the discharging component, and controlling the second manipulator to perform sorting operations corresponding to the sorting tasks according to the incoming material box and the target box, parallel operations of loading and unloading and needle return can be realized, the waiting time for loading and unloading can be reduced, and thus the needle return efficiency can be improved. Description of the Drawings

[0046] To more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the accompanying drawings required for the description of the embodiments of the present application or related technologies. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0047] Figure 1 Schematic layout diagram of the needle return device in an embodiment;

[0048] Figure 2 Schematic structural diagram of the feeding component in an embodiment;

[0049] Figure 3 Schematic structural diagram of the feeding component in another embodiment;

[0050] Figure 4 Schematic structural diagram of the feeding component in another embodiment;

[0051] Figure 5 Schematic layout diagram of the needle return device in another embodiment;

[0052] Figure 6 Schematic flow diagram of the needle return method in an embodiment;

[0053] Figure 7 Schematic flow diagram of the needle return method in another embodiment;

[0054] Figure 8 Schematic block diagram of the structure of the needle return device in an embodiment;

[0055] Figure 9 Internal structure diagram of a computer device in an embodiment.

[0056] Explanation of reference numerals:

[0057] 100 - Needle return device; 110 - Exchange mechanism; 111 - Exchange component; 112 - First manipulator; 120 - Sorting mechanism; 121 - Feeding component; 1211 - Feeding part; 1212 - Buffer part; 1213 - Return material part; 1214 - Driving part; 122 - Second manipulator; 130 - Discharging mechanism; 131 - Third manipulator; 132 - Discharging component; 140 - Feeding mechanism; 141 - Vertical warehouse; 142 - Fourth manipulator; 150 - Slide rail. Detailed implementation manners

[0058] In order to make the objectives, technical solutions and advantages of the present application more clear and understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0059] In the description of the present application, it should be understood that if terms such as "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. appear, the orientation or positional relationship indicated by these terms is based on the orientation or positional relationship shown in the accompanying drawings. These are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.

[0060] In addition, if terms such as "first" and "second" appear, these terms are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0061] In the present application, unless otherwise clearly specified and limited, if terms such as "install", "connect", "couple", "fix", etc. appear, these terms should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0062] In the present application, unless otherwise clearly specified and limited, if a description such as a first feature being "on" or "under" a second feature appears, the meaning may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "under" the second feature may be that the first feature is directly below or obliquely below the second feature, or simply indicates that the first feature has a lower horizontal height than the second feature.

[0063] When a multi-axis drill is operating, it is necessary to take drills of the same model from multiple cartridges for drilling operations. Each cartridge has multiple different models of drills. After drilling, the withdrawn drills are returned to their original positions in the cartridges. The process of distributing drills of multiple models into the cartridges of the same drill is called needle allocation, and the process of withdrawing and reinstalling the drills of multiple models in the drill cartridges into the corresponding model cartridges is called needle return.

[0064] Currently, in the PCB mechanical drilling industry, needle allocation and return are mainly completed manually. Due to the large number of drill models and different required quantities for different models, the process of needle allocation and return for drills is time-consuming and laborious. To solve the problem of time-consuming and laborious manual needle allocation and return, there is currently no mature, stable, and efficient equipment available, and the efficiency of needle allocation and return is generally not high. Moreover, the requirements for needle allocation and return in the PCB drilling process are often complex. For the same work order, more than 50 different models of drills are required, and only 1-2 drills are needed for most models on a single axis. Most of the working time of traditional needle allocation and return equipment is spent on frequently replacing cartridges of different models, and the effective needle allocation and return time is very little, unable to efficiently meet complex needle allocation and return requirements.

[0065] Based on this, the embodiments of the present application provide a needle allocation and return device and a needle allocation and return method. By isolating the loading area and the needle allocation and return area, the loading operation and the needle allocation and return operation are carried out synchronously, reducing the waiting time of the loading operation, reducing labor costs, and improving the efficiency of needle allocation and return.

[0066] In an exemplary embodiment, as Figure 1 and Figure 2 shown, a needle allocation and return device 100 is provided, including: an exchange mechanism 110, a sorting mechanism 120, and a discharging mechanism 130. Among them, the exchange mechanism 110 includes an exchange component 111 and at least one first manipulator 112; the exchange component 111 is used to carry the incoming material cartridge; the sorting mechanism 120 includes a feeding component 121 and at least one second manipulator 122; the feeding component 121 includes a feeding member 1211, a buffer member 1212, a return material member 1213, and a driving member 1214; the feeding member 1211, the buffer member 1212, and the return material member 1213 are respectively fixedly connected to the driving member 1214. The feeding member 1211 is used to carry the incoming material cartridge placed by the first manipulator 112, the buffer member 1212 is used to carry the buffer cartridge, the return material member 1213 is used to carry the sorted cartridge, and the driving member 1214 is used to drive the feeding member 1211, the buffer member 1212, and the return material member 1213 to move, so as to move the incoming material cartridge to the target position; the discharging mechanism 130 includes at least one third manipulator 131 and a discharging component 132; the third manipulator 131 is used to grab the target cartridge and place the target cartridge on the discharging component 132; the discharging component 132 is used to carry the target cartridge; the third manipulator 131 is also used to grab the sorted target cartridge from the discharging component 132.

[0067] Among them, the first manipulator 112 is used to grab the incoming material box from the feeding component 121 and place the incoming material box on the feeding part 1211; the first manipulator 112 is also used to grab the sorted box from the material returning part 1213; the second manipulator 122 is used to pull out the first drill bit from the incoming material box located at the target position and insert the first drill bit into the target box; the second manipulator 122 is also used to pull out the second drill bit from the target box and insert the second drill bit into the incoming material box located at the target position.

[0068] In this embodiment, the first manipulator, the second manipulator and the third manipulator are respectively used to grab the incoming material box, pull out and insert the drill bit, and grab the target box. Through the coordinated cooperation of multiple manipulators, the operation of matching and returning needles is efficiently realized, the waiting time in the loading and unloading process is reduced, and the loading and unloading operation is synchronized with the operation of matching and returning needles, further improving the efficiency of matching and returning needles.

[0069] In an exemplary embodiment, as Figure 2 shown, Figure 2 is a front view of the feeding component 121. Among them, the feeding component 121 includes at least one layer of feeding parts 1211, at least one layer of material returning parts 1213 flush with the feeding parts 1211, and at least one layer of buffer parts 1212 located below the feeding parts 1211 and the material returning parts 1213; the driving part 1214 is used to drive the feeding parts 1211, the buffer parts 1212 and the material returning parts 1213 to move so as to move the first layer of feeding parts 1211 to the target position.

[0070] Exemplarily, the feeding parts 1211, the buffer parts 1212 and the material returning parts 1213 are stacked with multiple table tops from top to bottom. Each table top is one layer of feeding parts 1211 or buffer parts 1212 or material returning parts 1213. Generally, the table top on the side of the first manipulator 112 in the first layer is the feeding part 1211, and the table top on the side of the second manipulator 122 is the material returning part 1213. The remaining table tops in the lower layer are buffer parts 1212. Among them, each table top is a metal plate with a rectangular groove opened, and the box can be temporarily stored in the groove. It should be noted that in actual application, all the table tops will exchange positions in a specified order under the drive of the driving part 1214. Therefore, the feeding parts 1211, the buffer parts 1212 and the material returning parts 1213 are only different names set to distinguish the functions of the table tops, and are not fixed to a certain table top. In other embodiments, only one table top is used to provide the box at the same time, and only one table top is used to realize the matching and returning of needles, and the remaining table tops are used to temporarily store the buffer boxes. For example, the feeding part 1211 that was used to provide the box at the previous moment will be used to realize the matching and returning of needles at the current moment after being driven by the driving part 1214 to move, and will become the material returning part 1213 after the matching and returning of needles is completed. Among them, Figure 2It is only a schematic diagram of the feeding component 121, including one layer of feeding parts 1211, one layer of return parts 1213 and four layers of buffer parts 1212. In actual applications, the number of table tops can be set according to actual application requirements. For example Figure 2 In Figure 2 , the first and second platforms on the left side are both feeding parts 1211, the first and second platforms on the right side are both return parts 1213, and the remaining platforms are buffer parts 1212.

[0071] Exemplarily, the driving part 1214 can be a motor. The feeding part 1211, the buffer part 1212 and the return part 1213 are connected to the driving part 1214 through gear-rack meshing. By controlling the rotation of the gear by the motor, the table top is fixed to the rack, and the table top is moved to the corresponding position through gear-rack meshing. In other embodiments, cylinders are installed on the sides of the feeding part 1211 and the return part 1213 to achieve precise positioning of the internal material box after the table top moves to the working position. In some embodiments, the feeding part 1211, the buffer part 1221 and the return part 1213 can move in a clockwise direction or in a counterclockwise direction.

[0072] Specifically, the driving part 1214 drives the first-layer feeding part 1211 to move to the right until it moves to the position of the return part 1213, completing the feeding of the incoming material box. At this time, the first-layer return part 1213 and the lower-layer buffer part 1212 move downwards in sequence, the buffer part 1212 closest to the second manipulator 122 at the bottom layer moves to the left, and the buffer parts 1212 of the two layers below the first-layer feeding part 1211 move upwards in sequence. At this time, the buffer part 1212 of the layer below the first-layer feeding part 1211 will serve as the feeding part 1211 and wait for the next feeding. Similarly, when returning the material, the first-layer return part 1213 moves downwards to buffer the material box as the buffer part 1212, or moves to a position close to the first manipulator 112, and the first manipulator 112 returns the material box to the warehouse.

[0073] In this embodiment, by driving the driving part to move the multi-layer feeding parts, buffer parts and return parts, and cyclically exchanging the positions of the feeding parts, buffer parts and return parts, the waiting time during the loading and unloading process is reduced, so that the loading and unloading operations are synchronized with the operation of matching the return needles, improving the efficiency of matching the return needles.

[0074] In an exemplary embodiment, as Figure 3 shown, Figure 3 is a top view of the feeding component 121. Among them, the feeding component 121 includes at least two buffer parts 1212, and the feeding part 1211 and the return part 1213 are respectively located on both sides of the buffer parts 1212; the driving part 1214 is used to drive the feeding part 1211, the buffer parts 1212 and the return part 1213 to move, so as to cyclically exchange the positions of the feeding part 1211, the buffer parts 1212 and the return part 1213.

[0075] Exemplarily, the feeding member 1211, the buffer member 1212, and the return feeding member 1213 include a plurality of table tops distributed on the same plane. Each table top is a feeding member 1211, a buffer member 1212, or a return feeding member 1213. Generally, the table top close to the first manipulator 112 is the feeding member 1211, the table top close to the second manipulator 122 is the return feeding member 1213, and the remaining middle table tops are buffer members 1212. Among them, each table top is a metal plate provided with a rectangular groove, and the cartridge can be temporarily stored in the groove. It should be noted that in actual applications, all the table tops will exchange positions in a specified order under the drive of the driving member 1214. Therefore, the feeding member 1211, the buffer member 1212, and the return feeding member 1213 are only different names set to distinguish the functions of the table tops, and are not fixedly a certain table top. In other embodiments, only one table top is used to provide the cartridge at the same moment, and only one table top is used to implement the needle return, and the remaining table tops are used to temporarily store the buffered cartridges. For example, the feeding member 1211 that provided the cartridge at the previous moment, after being driven by the driving member 1214 to move its position, will be used to implement the needle return at the current moment, and will become the return feeding member 1213 after the needle return is completed. Among them, Figure 3 This is only a schematic diagram of the feeding assembly 121, including one feeding member 1211, one return feeding member 1213, and three buffer members 1212. In actual applications, the number of table tops can be set according to actual application requirements.

[0076] Exemplarily, the driving member 1214 can be a motor. The feeding member 1211, the buffer member 1212, and the return feeding member 1214 are respectively fixed on the respective guide rails of the driving member 1214. Each platform is a linear motor mover, and each mover is fixed to a table top of a metal plate provided with a rectangular groove. Each transverse guide rail is a linear motor stator, and all the movers of the linear motor can move along the linear motor stator, thereby driving the movement of the table top to circularly exchange the positions of the feeding member 1211, the buffer member 1212, and the return feeding member 1213. In some embodiments, the feeding member 1211, the buffer member 2121, and the return feeding member 1213 can move in a clockwise direction or in a counterclockwise direction.

[0077] Specifically, after the feeding part 1211 finishes loading, it moves upward along the vertical guide rail until it is flush with the guide rail of the upper buffer part 1212, and then moves rightward along the horizontal guide rail to enter the guide rail of the upper buffer part 1212, completing the loading and buffering of the incoming material box. When the guide rail of the feeding part 1211 is flush with the guide rail of the lower buffer part 1212, the buffer part 1212 near the first manipulator 112 on the lower side moves leftward along the guide rail to enter the corresponding guide rail of the feeding part 1211 and waits for the next loading. When the guide rail of the material return part 1213 is flush with the guide rail of the upper buffer part 1212, the buffer part 1212 near the second manipulator 122 on the upper side moves rightward along the guide rail to enter the corresponding guide rail of the material return part 1213 for the next needle matching operation.

[0078] In this embodiment, the driving part drives multiple feeding parts, buffer parts and material return parts to move, and cyclically exchanges the positions of the feeding parts, buffer parts and material return parts, reducing the waiting time during the loading and unloading process, enabling the loading and unloading operation to be synchronized with the needle matching operation, and improving the needle matching efficiency.

[0079] In an exemplary embodiment, as Figure 4 shown, Figure 4 FIG. 10 is a front view of a feeding assembly 121. The feeding assembly 121 includes at least one layer of feeding parts 1211, at least one layer of material return parts 1213 and at least two layers of buffer parts 1212. The feeding parts 1211 and the material return parts 1213 are respectively located on both sides of the buffer parts 1212. The driving part 1214 is used to drive the feeding parts 1211, the buffer parts 1212 and the material return parts 1213 to move so as to cyclically exchange the positions of the feeding parts 1211, the buffer parts 1212 and the material return parts 1213.

[0080] Exemplarily, there are multiple table tops stacked from top to bottom for the feeding member 1211, the buffer member 1212, and the return feeding member 1213. Each table top is one layer of the feeding member 1211, the buffer member 1212, or the return feeding member 1213. Usually, the table top close to the first manipulator 112 is the feeding member 1211, the table top close to the second manipulator 122 is the return feeding member 1213, and the remaining middle table tops are buffer members 1212. Among them, each table top is a metal plate with a rectangular groove opened, and the cartridge can be temporarily stored in the groove. It should be noted that in actual applications, all table tops will exchange positions in a specified order under the drive of the driving member 1214. Therefore, the feeding member 1211, the buffer member 1212, and the return feeding member 1213 are only different names set to distinguish the functions of the table tops, and are not fixed to a certain table top. In other embodiments, only one table top is used to provide the cartridge at the same time, and only one table top is used to implement the matching return needle, and the remaining table tops are used to temporarily store the buffer cartridges. For example, the feeding member 1211 that provided the cartridge at the previous moment will be used to implement the matching return needle at the current moment after being driven by the driving member 1214 to move its position, and will become the return feeding member 1213 after the matching return needle is completed. Among them, Figure 4 It is only a schematic diagram of the feeding assembly 121, including one layer of the feeding member 1211, one layer of the return feeding member 1213, and four layers of the buffer members 1212. In actual applications, the number of table tops can be set according to actual application requirements.

[0081] Exemplarily, the driving member 1214 can be a motor. The feeding member 1211, the buffer member 1212, and the return feeding member 1214 are respectively fixed on the respective guide rails of the driving member 1214. Each platform is a linear motor mover, and each mover is fixed to a table top of a metal plate with a rectangular slot opened. Each horizontal guide rail is a linear motor stator, and all the movers of the linear motor can move along the linear motor stator, thereby driving the movement of the table top to cyclically exchange the positions of the feeding member 1211, the buffer member 1212, and the return feeding member 1213. In some embodiments, the feeding member 1211, the buffer member 2121, and the return feeding member 1213 can move in a clockwise direction or in a counterclockwise direction.

[0082] Specifically, after the feeding member 1211 finishes loading, it moves upward along the vertical guide rail until it is flush with the guide rail of the first-layer buffer member 1212, then moves rightward along the horizontal guide rail and enters the guide rail of the first-layer buffer member 1212 to complete the loading and buffering of the incoming material cartridge. When the guide rail of the feeding member 1211 is flush with the guide rail of the lowermost buffer member 1212, the buffer member 1212 closest to the first manipulator 112 at the lowermost layer moves leftward along the guide rail and enters the guide rail corresponding to the feeding member 1211 to wait for the next loading. After the material-returning member 1213 finishes matching the return needles, it moves downward along the vertical guide rail until it is flush with the guide rail of the lowermost buffer member 1212, then moves leftward along the horizontal guide rail and enters the guide rail of the lowermost buffer member 1212 to complete the material-return buffering of the material-return cartridge with the return needles. When the guide rail of the material-returning member 1213 is flush with the guide rail of the uppermost buffer member 1212, the buffer member 1212 closest to the second manipulator 122 at the uppermost layer moves rightward along the guide rail and enters the guide rail corresponding to the material-returning member 1213 for the next material-return operation with the return needles.

[0083] In some embodiments, the buffer member 1212 includes at least two layers of horizontal guide rails. Multiple platforms can be accommodated simultaneously on each layer of the horizontal guide rail, and the multiple platforms can move simultaneously on the guide rail. The feeding member 1212 preferentially enters the horizontal guide rail of the uppermost buffer member 1212, and the priority decreases from top to bottom; the lowermost buffer member 1212 preferentially enters the guide rail corresponding to the feeding member 121, and the priority decreases from bottom to top. The uppermost buffer member 1212 preferentially enters the guide rail corresponding to the material-returning member 1213, and the priority decreases from top to bottom; the material-returning member 1213 preferentially enters the horizontal guide rail of the lowermost buffer member 1212, and the priority decreases from bottom to top.

[0084] In this embodiment, by driving the multi-layer feeding member, buffer member, and material-returning member to move, and cyclically exchanging the positions of the feeding member, buffer member, and material-returning member, the waiting time during the loading and unloading process is reduced, enabling the loading and unloading operation to be synchronized with the material-return operation with the return needles, thereby improving the efficiency of the material-return operation with the return needles.

[0085] In an exemplary embodiment, as Figure 5As shown, the device 100 further includes: a feeding mechanism 140. The feeding mechanism 140 includes a vertical storage 141 and at least one fourth manipulator 142. The vertical storage 141 is used to store the material boxes. The fourth manipulator 142 is used to grab the incoming material box from the vertical storage 141 and place the incoming material box on the exchange component 111. The fourth manipulator 142 is also used to grab the remaining material box from the exchange component 111 and place the remaining material box on the vertical storage 141. The fourth manipulator 142 is also used to grab the incoming material box with the second drill bit inserted from the exchange component 111 and place the incoming material box with the second drill bit inserted on the vertical storage 141. The fourth manipulator 142 is also used to grab the incoming material box with the second drill bit inserted from the vertical storage 141 and place the incoming material box with the second drill bit inserted on the exchange component 111.

[0086] Exemplarily, the vertical storage 141 serves as a temporary storage / cache center for the material boxes, and can pre-store incoming material boxes of different models and batches, support a multi-level shelf structure, and realize the orderly management and rapid positioning of the material boxes. The fourth manipulator 142 grabs the incoming material box from the designated storage location of the vertical storage 141 according to the task instruction, transfers the material box to the exchange component 111, completes the feeding action, and provides material input for the subsequent sorting process. In other embodiments, the vertical storage 141 can be externally connected to the outside of the return pin device 100 to provide material boxes for the return pin device 100, or can be embedded inside the return pin device 100. In other embodiments, when the exchange component 111 carries a remaining material box with a drill bit model inconsistent with the current sorting task, the fourth manipulator 142 is also used to grab the remaining material box from the exchange component 111 and place the remaining material box back in the vertical storage 141 for caching, so as to avoid irrelevant material boxes occupying the storage space of the exchange component 111. It can be understood that the remaining material box is the incoming material box carried by the exchange component 111.

[0087] Exemplarily, when processing the return pin task, the second manipulator 122 pulls out the second drill bit from the target material box and inserts the second drill bit into the incoming material box located at the target position. At this time, the fourth manipulator is also used to grab the incoming material box with the second drill bit inserted from the exchange component 111 and send the incoming material box with the second drill bit inserted back to the vertical storage 141 for temporary storage, vacating the storage space of the first-layer feeding member 1211 to prepare for the next return pin processing. In other embodiments, the fourth manipulator 142 can also grab the incoming material box with the second drill bit inserted from the vertical storage 141 and place the incoming material box with the second drill bit inserted on the exchange component 111 to provide the incoming material box for the return pin process again.

[0088] In this embodiment, the fourth manipulator is used to grab the incoming material box from the vertical storage and place the incoming material box on the exchange component, realizing the rapid loading of the material box, facilitating the first manipulator to grab the incoming material box from the feeding component, and thus improving the loading efficiency. In addition, by using the fourth manipulator to grab the incoming material box after inserting the second drill bit and send it back to the vertical storage for caching, the storage space occupied by the exchange component is reduced, thereby improving the efficiency of returning needles.

[0089] In an exemplary embodiment, the apparatus 100 further includes: at least one slide rail 150. Among them, the first manipulator 112, the second manipulator 122, the third manipulator 131, and the fourth manipulator 142 are respectively slidably connected to the slide rail 150.

[0090] Exemplarily, the first manipulator 112, the second manipulator 122, the third manipulator 131, and the fourth manipulator 142 can use a linear motor in combination with the slide rail 150 to achieve horizontal lateral movement, use a cylinder or a motor to achieve vertical movement, or use a servo motor to achieve horizontal and vertical movement to realize the functions of handling the material box and returning needles.

[0091] In this embodiment, by slidably connecting the slide rail with the first manipulator, the second manipulator, the third manipulator, and the fourth manipulator, it is convenient for the first manipulator, the second manipulator, the third manipulator, and the fourth manipulator to move the material box or the drill bit to the designated position, further improving the efficiency of returning needles.

[0092] In an exemplary embodiment, as Figure 6 shown, a method for returning needles is provided. Taking the method applied to the needle returning device 100 in Figure 1 as an example for illustration, it includes the following steps 602 to step 610. Among them:

[0093] S602: Obtain a sorting task; the sorting task includes the drill bit model.

[0094] Optionally, the drill bit model refers to the drill bit model required for the finished product material box. During the process of returning needles, the finished product material box usually includes multiple types of drill bits, and multiple drill bits are arranged according to a specified layout.

[0095] S604: Control the first manipulator to grab the incoming material box corresponding to the drill bit model from the exchange component and place the incoming material box on the feeding part.

[0096] Optionally, the first manipulator acts between the exchange mechanism and the sorting mechanism. When receiving the sorting task, control the first manipulator to grab the incoming material box corresponding to the drill bit model from the exchange component and place the incoming material box on the feeding part, so that the feeding part can send the incoming material box for needle returning processing.

[0097] S606: Control the driving member to drive the feeding member, the buffer member, and the return feeding member to move, so as to move the incoming material cartridge to the target position; the target position is the initial position of the first-layer return feeding member.

[0098] Exemplarily, taking Figure 2 the shown buffer assembly as an example for illustration, the driving member drives through a rack, moves the first-layer feeding member carrying the incoming material cartridge to the target position, that is, the initial position of the first-layer return feeding member. At the same time, the buffer member and the return feeding member move in opposite directions, so that the incoming material cartridge enters the operating range of the second manipulator, preparing for the needle matching operation. At the same time, the return feeding member moves towards the direction close to the first manipulator, facilitating the reception of subsequent incoming material cartridges, and can also transport the already sorted cartridges back near the first manipulator. The first manipulator sends the remaining sorted cartridges back to the exchange assembly, ensuring that the feeding assembly transports only the cartridges related to the sorting task each time. It should be noted that after moving the first-layer feeding member to the target position, the first-layer feeding member will be used to implement the needle matching process at this time, while the original second-layer feeding member will become the new first-layer feeding member for providing cartridges.

[0099] S608: Control the third manipulator to grasp the target cartridge and place the target cartridge on the discharging assembly.

[0100] Optionally, before the sorting task starts, control the third manipulator to grasp the target cartridge and place the target cartridge on the discharging assembly. At this time, the target cartridge can be an empty cartridge for receiving the drill bits pulled out from the incoming material cartridge to obtain the needle-matched finished product cartridge.

[0101] S610: According to the incoming material cartridge and the target cartridge, control the second manipulator to perform the sorting operation corresponding to the sorting task.

[0102] Optionally, the second manipulator pulls out the target drill bit required by the sorting task from the incoming material cartridge on the first-layer feeding member and inserts it into the target cartridge to achieve the needle matching operation. In addition, the target cartridge can also be a finished product cartridge that has been used up. Control the second manipulator to pull out the drill bit to be replaced from the target cartridge to achieve the needle returning operation.

[0103] In the above needle matching and returning method, by obtaining the sorting task, controlling the first manipulator to grasp the incoming material cartridge corresponding to the drill bit model from the exchange assembly and placing the incoming material cartridge on the feeding member, controlling the driving member to drive the feeding member, the buffer member, and the return feeding member to move so as to move the incoming material cartridge to the target position, controlling the third manipulator to grasp the target cartridge and place the target cartridge on the discharging assembly, and according to the incoming material cartridge and the target cartridge, controlling the second manipulator to perform the sorting operation corresponding to the sorting task, it can realize the parallel operation of loading and unloading and needle matching and returning, reduce the waiting time of loading and unloading, and thus improve the efficiency of needle matching and returning.

[0104] In an exemplary embodiment, the sorting task is a needle matching task, and the sorting task further includes the number of drills corresponding to each drill model and the drill layout; the step of controlling the second manipulator to perform the sorting operation corresponding to the sorting task according to the incoming material box and the target box includes: controlling the second manipulator to pull out the corresponding first drill from the incoming material box located at the target position according to the number of drills corresponding to each drill model; controlling the second manipulator to insert the first drill into the target box carried by the discharging assembly according to the drill layout.

[0105] Optionally, when processing the needle matching task, it is necessary to perform needle matching according to the drill layout executed by the sorting task. Control the second manipulator to accurately pull out the drills of the corresponding model and the corresponding number (i.e., the first drills) from the incoming material box located at the target position according to the number of drills corresponding to each drill model, and insert the pulled first drills into the target box on the discharging assembly in sequence according to the requirements of the drill layout to obtain the finished product box.

[0106] In this embodiment, by controlling the second manipulator to pull out the corresponding first drill from the incoming material box located at the target position according to the number of drills corresponding to each drill model, and controlling the second manipulator to insert the first drill into the target box carried by the discharging assembly according to the drill layout, the needle matching process can be accurately realized and the needle matching efficiency can be improved.

[0107] In an exemplary embodiment, the sorting task is a needle returning task, and the drill model is the model of the drill in the target box; the step of controlling the second manipulator to perform the sorting operation corresponding to the sorting task according to the incoming material box and the target box includes: controlling the second manipulator to pull out the second drill from the target box; controlling the second manipulator to insert the second drill into the incoming material box located at the target position according to the drill model; controlling the driving member to drive the feeding member, the buffer member and the material returning member to move so as to move the incoming material box inserted with the second drill to the initial position; controlling the first manipulator to grab the incoming material box after inserting the second drill and place the incoming material box after inserting the second drill on the exchange assembly.

[0108] Exemplarily, take Figure 2Taking the shown exchange component as an example, when processing the task of returning needles, it is necessary to pull out a drill bit of a specified model from the target magazine. At this time, the second manipulator is controlled to pull out the second drill bit from the target magazine, and the pulled-out second drill bit will be inserted into the corresponding incoming material magazine carried by the first-layer feeding member. It can be understood that when the sorting task is the task of returning needles, the incoming material magazine grabbed by the first manipulator from the exchange component is usually an empty magazine. After inserting the second drill bit into the corresponding incoming material magazine carried by the first-layer feeding member, the driving member is controlled to drive the feeding member and the material returning member to move, so as to move the first-layer feeding member to the initial position. It should be noted that after controlling the driving member to drive the feeding member and the material returning member to move, at this time, the first-layer feeding member will serve as the material returning member to send the incoming material magazine after inserting the second drill bit back into the working range of the first manipulator, and the incoming material magazine after inserting the second drill bit is placed on the exchange component through the first manipulator.

[0109] In this embodiment, by controlling the second manipulator to pull out the second drill bit from the target magazine, controlling the second manipulator to insert the second drill bit into the incoming material magazine located at the target position according to the drill bit model, controlling the driving member to drive the feeding member, the buffer member and the material returning member to move, so as to move the incoming material magazine inserted with the second drill bit to the initial position, controlling the first manipulator to grab the incoming material magazine after inserting the second drill bit, and placing the incoming material magazine after inserting the second drill bit on the exchange component, the needle returning process can be accurately realized and the needle returning efficiency can be improved.

[0110] In an exemplary embodiment, the method further includes: controlling the fourth manipulator to grab the incoming material magazine corresponding to the drill bit model from the vertical library and placing the incoming material magazine on the exchange component; in the case that there is a remaining magazine inconsistent with the drill bit model on the exchange component, controlling the fourth manipulator to grab the remaining magazine and placing the remaining magazine on the vertical library.

[0111] Optionally, the incoming material magazine is provided by the vertical library. Before the sorting task starts, the fourth manipulator is controlled to grab the incoming material magazine corresponding to the drill bit model from the vertical library and place the incoming material magazine on the exchange component, so that the first manipulator can directly grab the incoming material magazine from the exchange component. In addition, when there is a remaining magazine inconsistent with the drill bit model on the exchange component, the fourth manipulator is controlled to put the remaining magazine back into the vertical library cache to ensure that only the incoming material magazines related to the current sorting task are carried on the exchange component.

[0112] In this embodiment, by controlling the fourth manipulator to grab the incoming material magazine corresponding to the drill bit model from the vertical library and placing the incoming material magazine on the exchange component, and in the case that there is a remaining magazine inconsistent with the drill bit model on the exchange component, controlling the fourth manipulator to grab the remaining magazine and placing the remaining magazine on the vertical library, the required magazines for the sorting process can be accurately provided, and the efficiency of matching and returning needles can be further improved.

[0113] In an exemplary embodiment, the method further includes: controlling a fourth robotic arm to grasp the incoming material box after inserting the second drill bit from the exchange component, and placing the incoming material box after inserting the second drill bit in the vertical storage; when the drill bit model is the same as that of the second drill bit, controlling the fourth robotic arm to grasp the incoming material box after inserting the second drill bit from the vertical storage, and placing the incoming material box after inserting the second drill bit on the exchange component.

[0114] Optionally, when processing the return needle task, the second robotic arm pulls out the second drill bit from the target box and inserts the second drill bit into the incoming material box carried by the first-layer feeding member. At this time, control the fourth robotic arm to grasp the incoming material box after inserting the second drill bit from the exchange component, and send the incoming material box after inserting the second drill bit back to the vertical storage for temporary storage, emptying the storage space of the first-layer feeding member to prepare for the next return needle processing. If the drill bit model required for the sorting task is the same as that of the second drill bit, then control the fourth robotic arm to grasp the incoming material box after inserting the second drill bit from the vertical storage, and place the incoming material box after inserting the second drill bit on the exchange component. When controlling the second robotic arm to perform the sorting operation, the drill bit pulled out from the target box can be put back into the box for storage again. In addition, the second robotic arm can be controlled to pull out the drill bit required for the sorting task from the box, making full use of the incoming material box to process the sorting task.

[0115] In this embodiment, by controlling the fourth robotic arm to grasp the incoming material box after inserting the second drill bit from the exchange component and placing the incoming material box after inserting the second drill bit in the vertical storage, it is possible to avoid occupying the storage space of the exchange component, enabling the first robotic arm to accurately obtain the incoming material box and improving the accuracy of the return needle process. In addition, when the drill bit model is the same as that of the second drill bit, by controlling the fourth robotic arm to grasp the incoming material box after inserting the second drill bit from the vertical storage and placing the incoming material box after inserting the second drill bit on the exchange component, the incoming material box can be recycled, further improving the return needle efficiency.

[0116] In an exemplary embodiment, as Figure 7 shown, a return needle method is provided, and the method includes the following steps:

[0117] S702: Obtain a sorting task; the sorting task includes a drill bit model.

[0118] S704: Control the first robotic arm to grasp the incoming material box corresponding to the drill bit model from the exchange component, and place the incoming material box on the feeding member.

[0119] S706: Control the driving member to drive the feeding member, the buffer member, and the return material member to move, so as to move the incoming material box to the target position.

[0120] S708: Control the third robotic arm to grasp the target box, and place the target box on the discharging component.

[0121] S710: When the sorting task is a needle allocation task, the sorting task further includes the number of drills corresponding to each drill bit model and the drill layout; control the second manipulator to pull out the corresponding first drill bit from the incoming material box located at the target position according to the number of drills corresponding to each drill bit model; control the second manipulator to insert the first drill bit into the target material box carried by the discharge assembly according to the drill layout.

[0122] S712: When the sorting task is a needle return task, the drill bit model is the model of the drill bit in the target material box; control the second manipulator to pull out the second drill bit from the target material box; control the second manipulator to insert the second drill bit into the incoming material box located at the target position according to the drill bit model; control the driving member to drive the feeding member, the buffer member and the return member to move, so as to move the incoming material box inserted with the second drill bit to the initial position; control the first manipulator to grab the incoming material box after inserting the second drill bit, and place the incoming material box after inserting the second drill bit on the exchange assembly.

[0123] S714: Control the fourth manipulator to grab the incoming material box corresponding to the drill bit model from the vertical warehouse and place the incoming material box on the exchange assembly; when there are remaining material boxes inconsistent with the drill bit model carried on the exchange assembly, control the fourth manipulator to grab the remaining material boxes and place the remaining material boxes in the vertical warehouse.

[0124] S716: Control the fourth manipulator to grab the incoming material box after inserting the second drill bit from the exchange assembly and place the incoming material box after inserting the second drill bit in the vertical warehouse; when the drill bit model is the same as the model of the second drill bit, control the fourth manipulator to grab the incoming material box after inserting the second drill bit from the vertical warehouse and place the incoming material box after inserting the second drill bit on the exchange assembly.

[0125] Exemplarily, it is assumed that the exchange assembly is designed with 6×1 slots, 4 for providing material boxes and 2 for returning materials. Each table is provided with 5×2 slots, and a total of 6 tables are designed. Each table uses gears and racks to engage to cycle and exchange positions. The discharge mechanism has 6×2 slots. Only one column is used for needle allocation and return at the same time, and the other column waits. After the work of this column is completed, the positions of the two columns are exchanged via a rotating motor, and then the finished products are transported and the exchanged column is used for needle allocation and return.

[0126] The first manipulator is equipped with a rotary cylinder to adjust the angle of the cartridge while handling it. The second manipulator is designed with 6×1 grippers and is equipped with a variable pitch module. The spacing of the 6 grippers in a row can be equally tightened and opened. This enables the simultaneous placement of 6 different cartridges into the same cartridge after picking needles from the same cartridge, or the placement of needles picked from 6 different cartridges into the same cartridge at once. The third manipulator is designed with strip-shaped grippers to ensure that a row of 6 cartridges can be gripped at once. 6 springs are installed on the grippers to prevent the cartridges from falling due to minor differences in cartridge size.

[0127] When the cartridge is moved from the vertical storage to the exchange mechanism, the information of the cartridge is received from the vertical storage, and this process is controlled by the host computer. Each slot has variables to record the slot status and the status of the cartridge in the slot. The cartridge is transported by the feeding component, and the slot information is updated in real time. When the needles in the cartridges of the first-layer feeding parts are pulled out and inserted, the cartridge information in the slot is also updated in real time. This enables accurate picking of the required materials.

[0128] At the start of needle allocation, an empty cartridge enters the discharging mechanism and passes through the chip scanner head equipped with the discharging mechanism to scan the chip number in the cartridge. After the needle allocation is completed, the arrangement status of the cartridge after needle allocation is bound to the chip. When the drilling machine finishes use and starts to return the needles, the used finished products enter the discharging mechanism, and the chip number is also scanned to obtain the arrangement status in the cartridge, enabling accurate needle return.

[0129] During the needle allocation and return process, the second manipulator first searches for the cartridges that meet the work order requirements in the feeding component and then performs needle allocation and return. For this work order, if the feeding component lacks cartridges with the corresponding model, the vertical storage will supply materials to the exchange mechanism to meet the material supply. After the needle allocation and return for this work order are completed, the usable cartridges on the feeding component will remain in their original positions and may be used in subsequent work orders, which can improve the efficiency of needle allocation and return.

[0130] In this embodiment, by obtaining the sorting task, controlling the first manipulator to pick the incoming material cartridge corresponding to the drill bit model from the exchange component and placing the incoming material cartridge on the feeding part, controlling the driving part to drive the feeding part and the material returning part to move so as to move the first-layer feeding part to the target position, controlling the third manipulator to pick the target cartridge and place the target cartridge on the discharging component, and controlling the second manipulator to perform the sorting operation corresponding to the sorting task according to the incoming material cartridge and the target cartridge, parallel operations of loading and unloading and needle allocation / return can be achieved, reducing the waiting time for loading and unloading, thereby improving the efficiency of needle allocation / return.

[0131] It should be understood that although the steps in the flowcharts involved in the above embodiments are sequentially shown according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise clearly stated in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or steps or stages in other steps.

[0132] Based on the same inventive concept, an embodiment of the present application also provides a needle return device for implementing the needle return method involved above. The solution provided by this device to solve the problem is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the needle return device provided below can refer to the limitations on the needle return method in the above text, and will not be repeated here.

[0133] In an exemplary embodiment, as Figure 8 shown, a needle return device is provided, including: a task acquisition module 10, a first grasping module 20, a driving and feeding module 30, a second grasping module 40, and a needle return module 50, where:

[0134] The task acquisition module 10 is used to acquire a sorting task; the sorting task includes the drill bit model.

[0135] The first grasping module 20 is used to control the first manipulator to grasp the incoming material box corresponding to the drill bit model from the exchange component and place the incoming material box on the feeding part.

[0136] The driving and feeding module 30 is used to control the driving part to drive the feeding part, the buffer part, and the return material part to move, so as to move the incoming material box to the target position.

[0137] The second grasping module 40 is used to control the third manipulator to grasp the target box and place the target box on the discharging component.

[0138] The needle return module 50 is used to control the second manipulator to perform the sorting operation corresponding to the sorting task according to the incoming material box and the target box.

[0139] In an exemplary embodiment, the sorting task is a needle matching task, and the sorting task further includes the number of drills corresponding to each drill model and the drill layout; the needle returning and matching module 50 is further configured to control the second manipulator to pull out corresponding first drills from the incoming material box located at the target position according to the number of drills corresponding to each drill model; and control the second manipulator to insert the first drills into the target box carried by the discharging assembly according to the drill layout.

[0140] In an exemplary embodiment, the sorting task is a needle returning task, and the drill model is the model of the drill in the target box; the needle returning and matching module 50 is further configured to control the second manipulator to pull out a second drill from the target box; control the second manipulator to insert the second drill into the incoming material box located at the target position according to the drill model; control the driving member to drive the feeding member, the buffer member and the material returning member to move, so as to move the incoming material box inserted with the second drill to the initial position; control the first manipulator to grab the incoming material box inserted with the second drill, and place the incoming material box inserted with the second drill on the exchange assembly.

[0141] In an exemplary embodiment, the needle returning and matching module 50 is further configured to control the fourth manipulator to grab the incoming material box corresponding to the drill model from the vertical warehouse and place the incoming material box on the exchange assembly; in the case that there is a remaining box inconsistent with the drill model on the exchange assembly, control the fourth manipulator to grab the remaining box and place the remaining box in the vertical warehouse.

[0142] In an exemplary embodiment, the needle returning and matching module 50 is further configured to control the fourth manipulator to grab the incoming material box inserted with the second drill from the exchange assembly and place the incoming material box inserted with the second drill in the vertical warehouse; in the case that the drill model is the same as the model of the second drill, control the fourth manipulator to grab the incoming material box inserted with the second drill from the vertical warehouse and place the incoming material box inserted with the second drill on the exchange assembly.

[0143] Each module in the above needle returning and matching device can be implemented in whole or in part by software, hardware and their combination. The above modules can be embedded in the processor of the computer device in the form of hardware or independent of it, or stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0144] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as Figure 9As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface, the display unit, and the input device are connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, near field communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a method for returning pins. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer covering the display screen, or a button, a trackball, or a touchpad provided on the computer device housing, or an external keyboard, touchpad, or mouse, etc.

[0145] Those skilled in the art can understand that Figure 9 the structure shown in is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0146] In an exemplary embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, the following steps are implemented: obtaining a sorting task; the sorting task includes a drill bit model; controlling a first manipulator to grab a incoming material box corresponding to the drill bit model from an exchange component, and placing the incoming material box on a feeding member; controlling a driving member to drive the feeding member, a buffer member, and a return material member to move, so as to move the incoming material box to a target position; controlling a third manipulator to grab a target box and place the target box on a discharging component; and controlling a second manipulator to perform a sorting operation corresponding to the sorting task according to the incoming material box and the target box.

[0147] In one embodiment, the sorting task is a needle matching task, and the sorting task further includes the number of drills corresponding to each drill model and the drill layout; when the processor executes the computer program, the control of the second manipulator to perform the sorting operation corresponding to the sorting task according to the incoming material box and the target box includes: controlling the second manipulator to pull out the corresponding first drill from the incoming material box located at the target position according to the number of drills corresponding to each drill model; controlling the second manipulator to insert the first drill into the target box carried by the discharging component according to the drill layout.

[0148] In one embodiment, the sorting task is a needle returning task, and the drill model is the model of the drill in the target box; when the processor executes the computer program, the control of the second manipulator to perform the sorting operation corresponding to the sorting task according to the incoming material box and the target box includes: controlling the second manipulator to pull out the second drill from the target box; controlling the second manipulator to insert the second drill into the incoming material box located at the target position according to the drill model; controlling the driving member to drive the feeding member, the buffer member and the material returning member to move so as to move the incoming material box inserted with the second drill to the initial position; controlling the first manipulator to grab the incoming material box inserted with the second drill and place the incoming material box inserted with the second drill on the exchanging component.

[0149] In one embodiment, when the processor executes the computer program, the following steps are further implemented: controlling the fourth manipulator to grab the incoming material box corresponding to the drill model from the vertical warehouse and place the incoming material box on the exchanging component; when there is a remaining box inconsistent with the drill model on the exchanging component, controlling the fourth manipulator to grab the remaining box and place the remaining box in the vertical warehouse.

[0150] In one embodiment, when the processor executes the computer program, the following steps are further implemented: controlling the fourth manipulator to grab the incoming material box inserted with the second drill from the exchanging component and place the incoming material box inserted with the second drill in the vertical warehouse; when the drill model is consistent with the model of the second drill, controlling the fourth manipulator to grab the incoming material box inserted with the second drill from the vertical warehouse and place the incoming material box inserted with the second drill on the exchanging component.

[0151] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented: obtaining a sorting task; the sorting task includes a drill model; controlling the first manipulator to grab the incoming material box corresponding to the drill model from the exchanging component and place the incoming material box on the feeding member; controlling the driving member to drive the feeding member, the buffer member and the material returning member to move so as to move the incoming material box to the target position; the target position is the initial position of the first-layer material returning member; controlling the third manipulator to grab the target box and place the target box on the discharging component; controlling the second manipulator to perform the sorting operation corresponding to the sorting task according to the incoming material box and the target box.

[0152] In one embodiment, the sorting task is a needle matching task, and the sorting task further includes the number of drills corresponding to each drill model and the drill layout; when the computer program is executed by the processor, the control of the second manipulator to perform the sorting operation corresponding to the sorting task according to the incoming material box and the target box includes: controlling the second manipulator to pull out the corresponding first drill from the incoming material box located at the target position according to the number of drills corresponding to each drill model; controlling the second manipulator to insert the first drill into the target box carried by the discharging assembly according to the drill layout.

[0153] In one embodiment, the sorting task is a needle returning task, and the drill model is the model of the drill in the target box; when the computer program is executed by the processor, the control of the second manipulator to perform the sorting operation corresponding to the sorting task according to the incoming material box and the target box includes: controlling the second manipulator to pull out the second drill from the target box; controlling the second manipulator to insert the second drill into the incoming material box located at the target position according to the drill model; controlling the driving member to drive the feeding member, the buffer member and the material returning member to move so as to move the incoming material box inserted with the second drill to the initial position; controlling the first manipulator to grasp the incoming material box inserted with the second drill and place the incoming material box inserted with the second drill on the exchange assembly.

[0154] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: controlling the fourth manipulator to grasp the incoming material box corresponding to the drill model from the vertical warehouse and place the incoming material box on the exchange assembly; when there is a remaining box with a drill model inconsistent with the drill model on the exchange assembly, controlling the fourth manipulator to grasp the remaining box and place the remaining box in the vertical warehouse.

[0155] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: controlling the fourth manipulator to grasp the incoming material box inserted with the second drill from the exchange assembly and place the incoming material box inserted with the second drill in the vertical warehouse; when the drill model is the same as the model of the second drill, controlling the fourth manipulator to grasp the incoming material box inserted with the second drill from the vertical warehouse and place the incoming material box inserted with the second drill on the exchange assembly.

[0156] In one embodiment, a computer program product is provided, including a computer program which, when executed by a processor, implements the following steps: obtaining a sorting task; the sorting task includes a drill bit model; controlling a first robotic arm to grab a incoming material box corresponding to the drill bit model from an exchange component, and placing the incoming material box on a feeding member; controlling a driving member to drive the feeding member, a buffer member and a return member to move, so as to move the incoming material box to a target position; the target position is the initial position of the first-layer return member; controlling a third robotic arm to grab a target box and placing the target box on a discharging component; and controlling a second robotic arm to perform a sorting operation corresponding to the sorting task according to the incoming material box and the target box.

[0157] In one embodiment, the sorting task is a needle matching task, and the sorting task further includes the number of drill bits corresponding to each drill bit model and the drill bit layout; the controlling the second robotic arm to perform a sorting operation corresponding to the sorting task according to the incoming material box and the target box, which is involved when the computer program is executed by the processor, includes: controlling the second robotic arm to pull out corresponding first drill bits from the incoming material box located at the target position according to the number of drill bits corresponding to each drill bit model; and controlling the second robotic arm to insert the first drill bits into the target box carried by the discharging component according to the drill bit layout.

[0158] In one embodiment, the sorting task is a needle returning task, and the drill bit model is the model of the drill bit in the target box; the controlling the second robotic arm to perform a sorting operation corresponding to the sorting task according to the incoming material box and the target box, which is involved when the computer program is executed by the processor, includes: controlling the second robotic arm to pull out a second drill bit from the target box; controlling the second robotic arm to insert the second drill bit into the incoming material box located at the target position according to the drill bit model; controlling the driving member to drive the feeding member, the buffer member and the return member to move, so as to move the incoming material box inserted with the second drill bit to the initial position; and controlling the first robotic arm to grab the incoming material box inserted with the second drill bit and placing the incoming material box inserted with the second drill bit on the exchange component.

[0159] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: controlling a fourth robotic arm to grab a incoming material box corresponding to the drill bit model from a vertical warehouse and placing the incoming material box on the exchange component; and when there is a remaining box inconsistent with the drill bit model on the exchange component, controlling the fourth robotic arm to grab the remaining box and placing the remaining box on the vertical warehouse.

[0160] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: controlling the fourth robotic arm to grab the incoming material box inserted with the second drill bit from the exchange component and placing the incoming material box inserted with the second drill bit on the vertical warehouse; and when the drill bit model is consistent with the model of the second drill bit, controlling the fourth robotic arm to grab the incoming material box inserted with the second drill bit from the vertical warehouse and placing the incoming material box inserted with the second drill bit on the exchange component.

[0161] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, data processing logics based on quantum computing, artificial intelligence (AI) processors, etc., without limitation.

[0162] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as within the scope recorded in the present application.

[0163] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A needle-matching device, characterized in that: include: The exchange mechanism comprises an exchange component and at least one first manipulator; the exchange component is used to carry the incoming material box; The sorting mechanism comprises a feeding assembly and at least one second manipulator; the feeding assembly comprises a feeding piece, a buffer piece, a return piece and a driving piece; the feeding piece, the buffer piece and the return piece are respectively fixedly connected to the driving piece, the feeding piece is used to carry the incoming material box placed by the first manipulator, the buffer piece is used to carry the buffer material box, the return material piece is used to carry the sorted material box, and the driving piece is used to drive the feeding piece, the buffer piece and the return material piece to move, so as to move the incoming material box to a target position; The discharging mechanism comprises at least one third manipulator and a discharging assembly; the third manipulator is used to grab a target material box and place the target material box on the discharging assembly; the discharging assembly is used to carry the target material box; the third manipulator is also used to grab the sorted target material box from the discharging assembly; Among them, the first manipulator is used to grab the incoming material box from the feeding component and place the incoming material box on the feeding piece; the first manipulator is also used to grab the sorted material box from the return material piece; the second manipulator is used to pull out the first drill bit from the incoming material box located at the target position and insert the first drill bit into the target material box; the second manipulator is also used to pull out the second drill bit from the target material box and insert the second drill bit into the incoming material box located at the target position.

2. The device according to claim 1, characterized in that The feeding assembly comprises at least one layer of feeding pieces, at least one layer of return pieces flush with the feeding pieces, and at least one layer of buffer pieces located below the feeding pieces and the return pieces; The driving member is used to drive the feeding member, the buffer member and the returning member to move, so as to move the first layer of feeding members to a target position.

3. The device according to claim 1, characterized in that The feeding assembly comprises at least two buffering parts, wherein the feeding part and the returning part are respectively located on two sides of the buffering part; The driving member is used to drive the feeding member, the buffer member and the return member to move, so as to cyclically exchange the positions of the feeding member, the buffer member and the return member.

4. The device according to claim 1, characterized in that The feeding assembly comprises at least one layer of feeding parts, at least one layer of return parts and at least two layers of buffer parts, wherein the feeding parts and the return parts are respectively located on both sides of the buffer parts; The driving member is used to drive the feeding member, the buffer member and the return member to move, so as to cyclically exchange the positions of the feeding member, the buffer member and the return member.

5. The device according to claim 1, characterized in that The device also includes: The feeding mechanism includes a vertical warehouse and at least one fourth manipulator; the vertical warehouse is used to store material boxes; the fourth manipulator is used to grab incoming material boxes from the vertical warehouse and place the incoming material boxes in the exchange component; the fourth manipulator is also used to grab remaining material boxes from the exchange component and place the remaining material boxes in the vertical warehouse; the fourth manipulator is also used to grab incoming material boxes after the second drill bit is inserted from the exchange component, and place the incoming material boxes after the second drill bit is inserted in the vertical warehouse; the fourth manipulator is also used to grab incoming material boxes after the second drill bit is inserted from the vertical warehouse, and place the incoming material boxes after the second drill bit is inserted in the exchange component.

6. The device according to claim 5, characterized in that The device also includes: At least one slide rail, the first manipulator, the second manipulator, the third manipulator and the fourth manipulator are respectively slidably connected to the slide rail.

7. A method for matching back needles, characterized in that: The needle-returning device according to any one of claims 1 to 6; the method comprising: Obtaining a sorting task; the sorting task includes a drill bit model; Control the first manipulator to grab the incoming material box corresponding to the drill bit model from the exchange component, and place the incoming material box on the feeding piece; Controlling the driving member to drive the feeding member, the buffer member and the returning member to move, so as to move the incoming material box to a target position; Controlling the third manipulator to grab the target material box and place the target material box in the discharging assembly; According to the incoming material box and the target material box, the second manipulator is controlled to perform a sorting operation corresponding to the sorting task.

8. The method according to claim 7, characterized in that The sorting task is a needle matching task, and the sorting task also includes the number of drills and the drill layout corresponding to each drill model; according to the incoming material box and the target material box, controlling the second manipulator to perform the sorting operation corresponding to the sorting task includes: Control the second manipulator to pull out the corresponding first drill bit from the incoming material box located at the target position according to the number of drill bits corresponding to each drill bit model; The second manipulator is controlled to insert the first drill bit into the target material box carried by the discharge assembly according to the drill bit layout.

9. The method according to claim 7, characterized in that: The sorting task is a needle return task, and the drill bit model is the drill bit model in the target material box; and according to the incoming material box and the target material box, controlling the second manipulator to perform the sorting operation corresponding to the sorting task includes: Controlling the second manipulator to pull out the second drill bit from the target material box; Controlling the second manipulator to insert the second drill bit into the incoming material box located at the target position according to the drill bit model; Controlling the driving member to drive the feeding member, the buffer member and the material returning member to move, so as to move the incoming material box inserted into the second drill bit to an initial position; The first manipulator is controlled to grab the incoming material box after the second drill bit is inserted, and place the incoming material box after the second drill bit is inserted into the exchange component.

10. The method according to claim 7, characterized in that The method further comprises: Control the fourth manipulator to grab the incoming material box corresponding to the drill bit model from the vertical warehouse, and place the incoming material box in the exchange component; In the case where the exchange assembly carries a remaining material box that is inconsistent with the drill bit model, the fourth manipulator is controlled to grab the remaining material box and place the remaining material box in the vertical warehouse.

11. The method according to claim 7, characterized in that The method further comprises: Control the fourth manipulator to grab the incoming material box after the second drill bit is inserted from the exchange component, and place the incoming material box after the second drill bit is inserted into the vertical warehouse; When the drill bit model is consistent with the second drill bit model, the fourth manipulator is controlled to grab the incoming material box after the second drill bit is inserted from the vertical warehouse, and place the incoming material box after the second drill bit is inserted into the exchange component.

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