A material processing and transfer method and system

Abstract

This invention relates to the field of material transfer technology, and more specifically, to a material processing and transfer method and system. The material processing and transfer method includes: obtaining a first path for a first gripper based on a first station dataset, the first station dataset including a loading station, a coarse positioning station, and a fine positioning station; obtaining second movement information of the first gripper moving to each station in the first station dataset based on the first path; obtaining a second path for a second gripper based on a second station dataset, the second station dataset including a fine positioning station, a processing station, and a unloading station; and obtaining second movement information of the second gripper moving to each station in the second station dataset based on the second path. This solves the problem of low material processing and transfer speed.

Description

Technical Field

[0001] This invention relates to the field of material transfer technology, and more specifically, to a material processing and transfer method and system. Background Technology

[0002] In some product processing scenarios, there are specific placement requirements for products. For example, when a three-column slotted shell undergoes heat treatment (such as quenching), it needs to be placed in a specific position. Currently, the placement of the three-column slotted shell is usually adjusted to the required position before entering the heat treatment equipment using a positioning device. The adjusted shell is then sent to the heat treatment equipment for heat treatment, and only after heat treatment does it move to the next station. This current method results in a long time from the loading end to the positioning and processing equipment and then to the unloading end, leading to reduced production efficiency. Summary of the Invention

[0003] To address the problem of low material processing and transfer rates, this invention provides a material processing and transfer method and system.

[0004] In a first aspect, the present invention provides a material processing and transfer method, comprising the following steps:

[0005] Based on the first workstation dataset, the first path of the first gripper is obtained, wherein the first workstation dataset includes a loading workstation, a coarse positioning workstation, and a fine positioning workstation. The radius from the loading workstation to the first rotation center axis of the first gripper is R1, the radius from the coarse positioning workstation to the first rotation center axis is R2, and the radius from the fine positioning workstation to the first rotation center axis is R3, where R2 < R1 = R3, and the radius of R3 covers the radius of R2.

[0006] Based on the first path, obtain the second movement information of the first gripper moving to each workstation in the first workstation dataset;

[0007] Based on the second workstation dataset, a second path for the second gripper is obtained. The second workstation dataset includes a precision positioning workstation, a machining workstation, and a unloading workstation. The radius from the precision positioning workstation to the second rotation center axis of the second gripper is R4, the radius from the machining workstation to the second rotation center axis is R5, and the radius from the unloading workstation to the second rotation center axis is R6, where R4=R5=R6. The trajectory line of the second gripper moving from the precision positioning workstation to the machining workstation covers the unloading workstation. The line connecting the loading workstation and the unloading workstation is a straight line and covers the precision positioning workstation.

[0008] According to one embodiment of the present invention, the first path includes the first gripper sequentially moving to the loading station, the coarse positioning station and the fine positioning station, and moving from the fine positioning station to the loading station;

[0009] The second path includes the second gripper sequentially moving to the precision positioning station, the machining station, and the unloading station, and then moving from the unloading station to the precision positioning station.

[0010] According to one embodiment of the present invention, obtaining the first movement information of the first gripper moving to each workstation in the first workstation data set includes:

[0011] After the first gripper moves to cover the loading station, the first gripper performs a first material-removing action of descending, gripping, and rising.

[0012] Based on the completion of the first material handling action, the first gripper arm retracts and moves along the first rotation center axis toward the first rotation direction until the first gripper covers the coarse positioning station. The first gripper then performs the first unloading action of descending, extending the pin of the first gripper, and releasing the gripper.

[0013] Based on the completion of the material coarse positioning, the first gripper performs a second material handling action, which involves gripping, retracting the pin of the first gripper, and rising.

[0014] Based on the completion of the second material handling action, the first gripper arm extends until the first gripper covers the precision positioning station, and the first gripper performs the second material unloading action by releasing the gripper.

[0015] Based on the completion of the second unloading action, the third movement information of the first gripper includes the first gripper moving along the first rotation center axis toward the second rotation direction until the first gripper covers the loading station.

[0016] According to one embodiment of the present invention, the third movement information further includes the first gripper arm retracting and moving along the first rotation center axis toward the second rotation direction until the first gripper covers the standby position;

[0017] Alternatively, after the first gripper arm retracts to cover the coarse positioning station, the first gripper moves along the first rotation center axis toward the second rotation direction until the first gripper covers the standby position.

[0018] Wherein, the second rotation direction is opposite to the first rotation direction, the radius of the standby position relative to the first rotation center axis is R7, R7=R2, and the radius line R1 covers the radius line R7.

[0019] According to one embodiment of the present invention, the time for the first gripper to move from the loading station to the coarse positioning station is t1 and / or the speed is v1, the time for the first gripper to move from the coarse positioning station to the fine positioning station is t2 and / or the speed is v1, and the time for the first gripper to move from the fine positioning station to the loading station is t3 and / or the speed is v1, wherein t3≤t1+t2, v3≥v1+v2.

[0020] According to one embodiment of the present invention, the sum of the time for the first picking action, the first unloading action, and the time for the first gripper to move from the positioning station to the loading station is less than or equal to the working time of the precision positioning.

[0021] According to one embodiment of the present invention, after the first gripper arm extends to cover the precision positioning station, based on the distance between the material gripped by the first gripper and the precision positioning station being less than or equal to a predetermined value, the first gripper performs a second unloading action by releasing the gripper; based on the distance between the material gripped by the first gripper and the precision positioning station being greater than the predetermined value, the first gripper performs a second unloading action by descending until the distance between the material gripped by the first gripper and the precision positioning station is less than or equal to the predetermined value.

[0022] According to one embodiment of the present invention, the rising height of the first gripper from the loading station to the coarse positioning station is greater than the height difference between the loading station and the coarse positioning station;

[0023] The rising height of the first gripper from the coarse positioning station to the fine positioning station is greater than the height difference between the coarse positioning station and the fine positioning station;

[0024] The rising height of the first gripper from the coarse positioning station to the fine positioning station is less than or equal to the rising height of the first gripper from the loading station to the coarse positioning station.

[0025] According to one embodiment of the present invention, obtaining second movement information of the second gripper moving to each workstation in the second workstation data set includes:

[0026] As the first gripper moves away from the precision positioning station, the second gripper moves to cover the precision positioning station.

[0027] Based on the completion of precise material positioning, the second gripper performs a third material handling action of descending, gripping, and rising;

[0028] Based on the completion of the third material handling action, the second gripper moves along the second rotation center axis toward the first rotation direction until the second gripper covers the processing station, and the second gripper performs the third material unloading action by descending;

[0029] Based on the completion of the processing, the second gripper performs a fourth material handling action by rising;

[0030] Based on the completion of the fourth material handling action, the second gripper moves along the second rotation center axis toward the second rotation direction until the second gripper covers the unloading station, and the second gripper performs the fourth unloading action of descending, releasing, and rising;

[0031] Based on the first gripper moving away from the precision positioning station or based on the completion of material precision positioning, the second gripper moves along the second rotation center axis in the second rotation direction until the second gripper covers the precision positioning station.

[0032] According to one embodiment of the present invention, the rising height of the second gripper from the precision positioning station to the machining station is greater than the height difference between the precision positioning station and the machining station;

[0033] The second gripper rises from the unloading station to the precision positioning station by a height greater than the height difference between the precision positioning station and the unloading station.

[0034] The rising height of the second gripper from the unloading station to the precision positioning station is less than the rising height of the second gripper from the precision positioning station to the machining station.

[0035] According to one embodiment of the present invention, the radius from the coarse positioning station to the second rotation center axis is R8, where R8 = R4;

[0036] The first path includes the first gripper sequentially moving to the loading station, the coarse positioning station, and the fine positioning station, and then moving from the fine positioning station to the loading station; the second path includes the second gripper sequentially moving to the fine positioning station, the machining station, and the unloading station, and then moving from the unloading station to the fine positioning station.

[0037] Alternatively, the first path includes the first gripper sequentially moving to the loading station and the coarse positioning station, and then moving from the coarse positioning station to the loading station; the second path includes the second gripper sequentially moving to the coarse positioning station, the processing station and the unloading station, and then moving from the unloading station to the coarse positioning station.

[0038] In a second aspect, the present invention provides a material processing and transfer system, comprising:

[0039] The first gripping device, the second gripping device, the feeding device, the coarse positioning device, the fine positioning device, the processing device, and the unloading device are arranged sequentially along the x-axis.

[0040] The feeding device, the precision positioning device, and the unloading device are arranged sequentially along the same straight line. With the straight line as the dividing line, the coarse positioning device, the first gripping device, and the second gripping device are located on the same side as the unloading device.

[0041] According to one embodiment of the present invention, the first gripping device has a first rotational central axis, the distance between the feeding device and the first rotational central axis is equal to the distance between the fine positioning device and the first rotational central axis, the line connecting the fine positioning device and the first rotational central axis covers the coarse positioning device, and the distance between the fine positioning device and the first rotational central axis is greater than the distance between the coarse positioning device and the first rotational central axis.

[0042] The second gripping device has a second rotation center axis, and the coarse positioning device, fine positioning device, processing device and unloading device are all spaced from the second rotation center axis.

[0043] According to one embodiment of the present invention, the distance from the coarse positioning device to the second rotation center axis is equal to the distance from the fine positioning device to the second rotation center axis;

[0044] The first rotating center axis, the feeding device, the coarse positioning device, and the fine positioning device form a fan-shaped structure, and the second rotating center axis, the coarse positioning device, the fine positioning device, the unloading device, and the processing device form a fan-shaped structure.

[0045] To address the problem of low material processing and transfer rates, this invention offers the following advantages:

[0046] The present invention ensures the material processing and transfer cycle time and thus the material transfer rate by coordinating the positions of the first gripper, the loading station, the coarse positioning station, the fine positioning station, the second gripper, the fine positioning station, the processing station, and the unloading station, as well as by adjusting the movement of the first gripper and the second gripper. Attached Figure Description

[0047] Figure 1 A flowchart of a material processing and transfer method according to one embodiment is shown;

[0048] Figure 2 A schematic diagram of a material processing and transfer system according to one embodiment is shown;

[0049] Figure 3 It shows Figure 2 The structural diagram omits the precision positioning device.

[0050] Reference numerals in the attached drawings: 1-Feeding conveyor belt; 2-First gripping device; 3-Second gripping device; 4-Unloading conveyor belt; 5-Feeding station; 6-Rough positioning device; 7-Fine positioning device; 8-Processing device; 9-Unloading station. Detailed Implementation

[0051] The present disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and thus implement the present disclosure, and are not intended to imply any limitation on the scope of the disclosure.

[0052] As used herein, the term "comprising" and its variations are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "at least partially based on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment". The term "another embodiment" is to be interpreted as "at least one other embodiment". The terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments and are not intended to limit the indicated devices, elements, or components to having a specific orientation or being constructed and operated in a specific orientation. Furthermore, some of the above terms may be used to indicate other meanings besides orientations or positional relationships; for example, the term "upper" may in some cases indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application according to the specific circumstances. In addition, the terms "installed", "set up", "equipped with", "connected", and "linked" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, elements, or components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, the terms "first," "second," etc., are mainly used to distinguish different devices, elements, or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance or quantity of the indicated devices, elements, or components. Unless otherwise stated, "a plurality of" means two or more.

[0053] Firstly, this embodiment discloses a material processing and transfer method, such as... Figure 1 As shown, it includes the following steps:

[0054] Based on the first workstation dataset, the first path of the first gripper is obtained, wherein the first workstation dataset includes a loading workstation, a coarse positioning workstation, and a fine positioning workstation. The radius from the loading workstation to the first rotation center axis of the first gripper is R1, the radius from the coarse positioning workstation to the first rotation center axis is R2, and the radius from the fine positioning workstation to the first rotation center axis is R3, where R2 < R1 = R3, and the radius of R3 covers the radius of R2.

[0055] Based on the first path, obtain the second movement information of the first gripper moving to each workstation in the first workstation dataset;

[0056] Based on the second workstation dataset, a second path for the second gripper is obtained. The second workstation dataset includes a precision positioning workstation, a machining workstation, and a unloading workstation. The radius from the precision positioning workstation to the second rotation center axis of the second gripper is R4, the radius from the machining workstation to the second rotation center axis is R5, and the radius from the unloading workstation to the second rotation center axis is R6, where R4=R5=R6. The trajectory line of the second gripper moving from the precision positioning workstation to the machining workstation covers the unloading workstation. The line connecting the loading workstation and the unloading workstation is a straight line and covers the precision positioning workstation.

[0057] In this embodiment, the material needs to be transferred from the loading station to the positioning station and then processed at the transfer processing station. After processing, the material is transferred from the processing station to the unloading station. The positional relationship between the first gripper, the loading station, the coarse positioning station, and the fine positioning station ensures that the first gripper can cover multiple stations during movement at the same extension length, eliminating the need for repeated adjustments to the extension or shortening of the robotic arm. This ensures a faster movement cycle for the first gripper between the loading station and the coarse positioning station. Simultaneously, the radius from the fine positioning station to the first rotation center axis is greater than the radius from the coarse positioning station to the first rotation center axis, and the R3 radius overlaps the R2 radius (i.e., the line connecting the fine positioning station to the first rotation center axis overlaps the line connecting the coarse positioning station to the first rotation center axis). This allows the first gripper to extend beyond its original robotic arm length to cover the fine positioning station when moving from the coarse positioning station to the fine positioning station. With the setting R2 < R1 = R3, as... Figure 2 As shown, this ensures a reasonable arrangement of workstations and improves work efficiency.

[0058] By optimizing the positioning of the second gripper, the precision positioning station, the machining station, and the unloading station, the stroke of the second gripper is reduced, and the number of adjustments to its extension or retraction is decreased, further accelerating the material transfer cycle. The connection between the loading and unloading stations is a straight line, and this line overlaps the precision positioning station. This straight-line configuration optimizes the material transfer path, improving efficiency while reducing the space occupied by the stations involved, thus lowering the requirements for the production plant. Furthermore, the precision positioning station's position must not only meet the needs of the first gripper but also consider the positional relationship between the second gripper and the precision positioning station, ensuring the second gripper can also move to the precision positioning station quickly. Therefore, the coordinated positioning of the first gripper, loading station, coarse positioning station, precision positioning station, second gripper, precision positioning station, machining station, and unloading station guarantees the material processing and transfer cycle time and speed. By setting R4=R5=R6, such as Figure 2 As shown, the transfer rhythm of the second gripper is further improved.

[0059] The first gripper's movement path is selected using the first station dataset, and the second gripper's movement path is selected using the second station dataset, ensuring that materials are delivered to the processing station in a shorter time and reducing time spent during transfer. Furthermore, the material transfer rate is further improved by selecting gripper movement information through path selection. This embodiment improves material positioning accuracy through the combination of coarse and fine positioning, ensuring subsequent processing can proceed smoothly.

[0060] In this embodiment, the movement of the first gripper at a workstation with the same radius as its first rotation center axis is such that the first gripper rotates around the first rotation center axis, so that the first gripper reaches the required workstation. When moving between workstations with different radii in the same radial direction, the second gripper moves by extending or shortening, so that the first gripper reaches the required workstation. The movement of the second gripper is the same as that of the first gripper. In this embodiment, for ease of description, the descriptions of rotation, extension or shortening are expressed as merely descriptive expressions.

[0061] In some embodiments, the material is a three-column tank shell.

[0062] In some embodiments, the angle between the loading station and the unloading station is less than 90 degrees along the line connecting the loading station and the unloading station, and less than 90 degrees along the second rotational center axis of the loading station and the unloading station. The angle formed by the loading station, the second rotational center axis, and the processing station with the second rotational center axis, i.e., the angle between the second rotational center axis of the loading station and the processing station, is less than 180 degrees, to ensure the accuracy of the material's position at the processing station.

[0063] In some embodiments, the distance between the loading station and the fine positioning station is the same as the distance between the fine positioning station and the unloading station, so that after the first gripper places the material from the coarse positioning station to the fine positioning station, the second gripper can easily remove the material from the fine positioning station.

[0064] In some embodiments, the material processing is the quenching process of the three-column groove shell, specifically the quenching process of the three-column groove shell is the processing of the inner cavity of the three-column groove shell.

[0065] In some embodiments, the time for fine positioning is less than the time for coarse positioning, which is less than the time for machining.

[0066] According to one embodiment of the present invention, the first path includes the first gripper sequentially moving to the loading station, the coarse positioning station and the fine positioning station, and moving from the fine positioning station to the loading station;

[0067] The second path includes the second gripper sequentially moving to the precision positioning station, the machining station, and the unloading station, and then moving from the unloading station to the precision positioning station.

[0068] In this embodiment, the first gripper moves from its initial position to the loading station, then from the loading station to the coarse positioning station, then from the coarse positioning station to the fine positioning station, and finally back to the loading station when it needs to pick up material again. The second gripper moves from its initial position to the fine positioning station, then from the fine positioning station to the machining station, then from the machining station to the unloading station, and finally back to the fine positioning station when it needs to pick up material again, thus reducing the travel distance of the second gripper. Through the movement methods of the first and second grippers in this embodiment, the material handling process is ensured, as well as the shortest possible movement path and the fastest possible movement speed.

[0069] According to one embodiment of the present invention, obtaining the first movement information of the first gripper moving to each workstation in the first workstation data set includes:

[0070] After the first gripper moves to cover the loading station, the first gripper performs a first material-removing action of descending, gripping, and rising.

[0071] Based on the completion of the first material handling action, the first gripper arm retracts and moves along the first rotation center axis toward the first rotation direction until the first gripper covers the coarse positioning station. The first gripper then performs the first unloading action of descending, extending the pin of the first gripper, and releasing the gripper.

[0072] Based on the completion of the material coarse positioning, the first gripper performs a second material handling action, which involves gripping, retracting the pin of the first gripper, and rising.

[0073] Based on the completion of the second material handling action, the first gripper arm extends until the first gripper covers the precision positioning station, and the first gripper performs the second material unloading action by releasing the gripper.

[0074] Based on the completion of the second unloading action, the third movement information of the first gripper includes the first gripper moving along the first rotation center axis toward the second rotation direction until the first gripper covers the loading station.

[0075] According to one embodiment of the present invention, the third movement information further includes the first gripper arm retracting and moving along the first rotation center axis toward the second rotation direction until the first gripper covers the standby position;

[0076] Alternatively, after the first gripper arm retracts to cover the coarse positioning station, the first gripper moves along the first rotation center axis toward the second rotation direction until the first gripper covers the standby position.

[0077] Wherein, the second rotation direction is opposite to the first rotation direction, the radius of the standby position relative to the first rotation center axis is R7, R7=R2, and the radius line R1 covers the radius line R7.

[0078] In this embodiment, the specific operation mode of the first gripper when it moves to each station or before is provided. When the first gripper places the material at the coarse positioning station and the fine positioning station, the first gripper cooperates with the coarse positioning station and the fine positioning station to perform a pressing action, so that the material is accurately placed at the coarse positioning station and the fine positioning station. When performing the first unloading action in this embodiment, the first gripper descends to deliver the material to the coarse positioning station. The ejector pin in the first gripper extends until it comes into contact with the material. Then the first gripper releases its gripper, thus completing the first unloading action. By extending the ejector pin, the material is vertically fixed by the coarse positioning and the ejector pin to prevent the material from moving vertically. Afterwards, the coarse positioning station performs coarse positioning adjustment on the material. After the material is coarsely positioned, the first gripper grabs the material, the ejector pin in the first gripper retracts, and the first gripper rises, thus completing the second unloading action.

[0079] According to one embodiment of the present invention, the time for the first gripper to move from the loading station to the coarse positioning station is t1 and / or the speed is v1, the time for the first gripper to move from the coarse positioning station to the fine positioning station is t2 and / or the speed is v1, and the time for the first gripper to move from the fine positioning station to the loading station is t3 and / or the speed is v1, wherein t3≤t1+t2, v3≥v1+v2.

[0080] In this embodiment, since coarse positioning and fine positioning require time to position the material, after the first gripper delivers the material to the fine positioning station, during the fine positioning process, the first gripper simultaneously returns to the loading station and removes the material from the loading station to the coarse positioning station. This ensures that after fine positioning is completed, the coarse positioning station has either completed coarse positioning of the material or is in the state of coarse positioning. This ensures that after the fine positioning station positions the material, the next material requiring fine positioning can be delivered to the fine positioning station in a timely manner. Conversely, after the material positioned at the coarse positioning station is delivered to the fine positioning station, the coarse positioning station can promptly perform coarse positioning on the next material, ensuring the continuity of coarse and fine positioning operations and thereby improving the material processing and transfer rate. By setting t3≤t1+t2 and v3≥v1+v2, the material processing and transfer rate is ensured to be even faster.

[0081] According to one embodiment of the present invention, after the first gripper arm extends to cover the precision positioning station, based on the distance between the material gripped by the first gripper and the precision positioning station being less than or equal to a predetermined value, the first gripper performs a second unloading action by releasing the gripper; based on the distance between the material gripped by the first gripper and the precision positioning station being greater than the predetermined value, the first gripper performs a second unloading action by descending until the distance between the material gripped by the first gripper and the precision positioning station is less than or equal to the predetermined value.

[0082] In this embodiment, during fine positioning, when the first gripper releases its gripper, the material falls freely onto the fine positioning station. The material automatically moves through the structure matching the fine positioning station to achieve fine positioning adjustment. Therefore, when the first gripper covers the fine positioning, that is, when the first gripper is above the fine positioning station, if the distance between the material gripped by the first gripper and the fine positioning station is less than or equal to a predetermined value, the first gripper can be released directly. If the distance between the material gripped by the first gripper and the fine positioning station is greater than the predetermined value, the first gripper is lowered first, and then the first gripper is released to avoid the distance between the material and the fine positioning station being too large, which would make it difficult for the material to fall onto the corresponding position of the fine positioning station.

[0083] According to one embodiment of the present invention, the sum of the time for the first picking action, the first unloading action, and the time for the first gripper to move from the positioning station to the loading station is less than or equal to the working time of the precision positioning.

[0084] In this embodiment, since the first gripper performs a gripping action on the material already in the loading station, the next material automatically fills the gap after the material in the loading station is removed. Therefore, by controlling the sum of the time for the first picking action, the first unloading action and the time for the first gripper to move from the positioning station to the loading station to be less than or equal to the working time of the precision positioning, the material processing and transfer rate is further guaranteed to be faster.

[0085] According to one embodiment of the present invention, the rising height of the first gripper from the loading station to the coarse positioning station is greater than the height difference between the loading station and the coarse positioning station;

[0086] The rising height of the first gripper from the coarse positioning station to the fine positioning station is greater than the height difference between the coarse positioning station and the fine positioning station;

[0087] The rising height of the first gripper from the coarse positioning station to the fine positioning station is less than or equal to the rising height of the first gripper from the loading station to the coarse positioning station.

[0088] In this embodiment, by ensuring that the first gripper's upward movement from the loading station to the coarse positioning station is greater than the height difference between the loading station and the coarse positioning station, it is guaranteed that after the first gripper removes the material from the loading station, it can rotate in the same horizontal direction above the coarse positioning station, and the next step is simply to perform the descent action. Similarly, by ensuring that the first gripper's upward movement from the coarse positioning station to the fine positioning station is greater than the height difference between the coarse positioning station and the fine positioning station, it is guaranteed that after the first gripper removes the material from the coarse positioning station, it can rotate in the same horizontal direction above the fine positioning station, and the next step is simply to perform the descent action. Due to the positioning structure requirements of the coarse positioning station and the fine positioning station, and the space occupied by the structure placement, there is a certain height difference between the coarse positioning and fine positioning stations. There is also a height difference between the fine positioning station and the loading station. By making the first gripper's rising height from the coarse positioning station to the fine positioning station less than or equal to the rising height of the first gripper's rising height from the loading station to the coarse positioning station, the travel distance of the first gripper from the coarse positioning station to the fine positioning station is reduced to less than the travel distance of the first gripper from the loading station to the coarse positioning station. This reduces the time for the material to be transferred from the loading station to the coarse positioning station.

[0089] According to one embodiment of the present invention, obtaining second movement information of the second gripper moving to each workstation in the second workstation data set includes:

[0090] As the first gripper moves away from the precision positioning station, the second gripper moves to cover the precision positioning station.

[0091] Based on the completion of precise material positioning, the second gripper performs a third material handling action of descending, gripping, and rising;

[0092] Based on the completion of the third material handling action, the second gripper moves along the second rotation center axis toward the first rotation direction until the second gripper covers the processing station, and the second gripper performs the third material unloading action by descending;

[0093] Based on the completion of the processing, the second gripper performs a fourth material handling action by rising;

[0094] Based on the completion of the fourth material handling action, the second gripper moves along the second rotation center axis toward the second rotation direction until the second gripper covers the unloading station, and the second gripper performs the fourth unloading action of descending, releasing, and rising;

[0095] Based on the first gripper moving away from the precision positioning station or based on the completion of material precision positioning, the second gripper moves along the second rotation center axis in the second rotation direction until the second gripper covers the precision positioning station.

[0096] In this embodiment, the specific operation method of the second gripper when it moves to each station or before is provided. Since the processing of the processing station takes time, it is possible that while the material is still being processed, the precision positioning station has already completed the precision positioning of the material, and the first gripper has moved out of the precision positioning station. Therefore, when the second gripper and the unloading station perform the action of releasing the material, if there is material at the precision positioning station, the second gripper moves to the precision positioning station so that the second gripper can quickly deliver the material to the processing station.

[0097] According to one embodiment of the present invention, the rising height of the second gripper from the precision positioning station to the machining station is greater than the height difference between the precision positioning station and the machining station;

[0098] The second gripper rises from the unloading station to the precision positioning station by a height greater than the height difference between the precision positioning station and the unloading station.

[0099] The rising height of the second gripper from the unloading station to the precision positioning station is less than the rising height of the second gripper from the precision positioning station to the machining station.

[0100] In this embodiment, due to the structural setup between workstations and the requirements for the placement of the structure, this embodiment ensures that the second gripper can remove the material and place it at the required workstation by setting the lifting height of the second gripper, and also ensures the material transfer rate.

[0101] In some embodiments, the rising speed of the first gripper and the second gripper is higher than the falling speed, further ensuring the material transfer rate.

[0102] According to one embodiment of the present invention, the radius from the coarse positioning station to the second rotation center axis is R8, where R8 = R4;

[0103] The first path includes the first gripper sequentially moving to the loading station, the coarse positioning station, and the fine positioning station, and then moving from the fine positioning station to the loading station; the second path includes the second gripper sequentially moving to the fine positioning station, the machining station, and the unloading station, and then moving from the unloading station to the fine positioning station.

[0104] Alternatively, the first path includes the first gripper sequentially moving to the loading station and the coarse positioning station, and then moving from the coarse positioning station to the loading station; the second path includes the second gripper sequentially moving to the coarse positioning station, the processing station and the unloading station, and then moving from the unloading station to the coarse positioning station.

[0105] In this embodiment, when the required precision for material processing position is not high, and only coarse positioning is needed to achieve the specific material processing and placement position, the first gripper does not need to send the material after coarse positioning to the fine positioning position. The first gripper only needs to send the material to the coarse positioning station, and then move to the loading station. The second gripper then sends the coarsely positioned material to the processing station. By setting the radius from the coarse positioning station to the second rotation center axis to be equal to the radius from the fine positioning station to the second rotation center axis, it is ensured that when the second gripper rotates and moves at stations with the same radius, it can rotate and move to both the coarse and fine positioning stations, reducing the number of times the second gripper extends or retracts, and further ensuring the material transfer rate.

[0106] In some embodiments, the angle formed by the coarse positioning station, the second rotation center axis, and the processing station, i.e., ∠coarse positioning station, second rotation center axis, and processing station, is less than 180 degrees in the direction of the line connecting the loading station and the unloading station, so as to ensure the positional accuracy of the material at the processing station, and at the same time ensure that the first gripper can directly reach the fine positioning station from the coarse positioning station through the extension of the robotic arm.

[0107] Secondly, this embodiment discloses a material processing and transfer system, such as... Figure 2 As shown, it includes:

[0108] The first gripping device 2, the second gripping device 3, the feeding device, the coarse positioning device 6, the fine positioning device 7, the processing device 8, and the unloading device are arranged sequentially along the x-axis.

[0109] The feeding device, the precision positioning device 7, and the unloading device are arranged sequentially along the same straight line. With the straight line as the dividing line, the coarse positioning device 6, the first gripping device 2, and the second gripping device 3 are located on the same side as the unloading device.

[0110] In this embodiment, a reasonable layout of the first gripping device 2, the second gripping device 3, the feeding device, the coarse positioning device 6, the fine positioning device 7, the processing device 8, and the unloading device is provided to ensure the material processing and transfer rate.

[0111] In some embodiments, when only coarse positioning is required and fine positioning of the material is not necessary, the second gripping device 3 can directly transfer the material from the coarse positioning device 6 to the processing station in the raw material processing and transfer system; or the material transfer can be performed in a material processing and transfer system without fine positioning, such as... Figure 3 As shown.

[0112] In some embodiments, the feeding device includes a feeding conveyor belt and a feeding station 5, the feeding station 5 being located at the feeding end of the feeding conveyor belt, and the unloading device includes an unloading conveyor belt 4 and an unloading station, the unloading station being located at the feeding end of the unloading conveyor belt 4.

[0113] In some embodiments, the first gripping device 2 includes a first gripper, a first driver, and a pin. The first driver drives the first gripper to move, release, and grip, and the first driver also drives the pin to extend or retract.

[0114] The second gripping device 3 includes a second gripper and a second driver. The first driver drives the second gripper to move, release, and grip.

[0115] According to one embodiment of the present invention, such as Figure 2 As shown, the first gripping device 2 has a first rotation center axis, the distance between the feeding device and the first rotation center axis is equal to the distance between the fine positioning device 7 and the first rotation center axis, the line connecting the fine positioning device 7 and the first rotation center axis covers the coarse positioning device 6, and the distance between the fine positioning device 7 and the first rotation center axis is greater than the distance between the coarse positioning device 6 and the first rotation center axis.

[0116] The second gripping device 3 has a second rotation center axis, and the coarse positioning device 6, fine positioning device 7, processing device 8 and unloading device are all at the same distance from the second rotation center axis.

[0117] In this embodiment, the material processing and transfer cycle time and material transfer rate are ensured by coordinating the structure and position of the first rotation center axis of the first gripping device 2, the second rotation center axis of the second gripping device 3, the feeding device, the coarse positioning device 6, the fine positioning device 7, the processing device 8, and the unloading device.

[0118] According to one embodiment of the present invention, such as Figure 2As shown, the distance between the coarse positioning device 6 and the second rotation center axis is equal to the distance between the fine positioning device 7 and the second rotation center axis.

[0119] The first rotating center axis, the feeding device, the coarse positioning device 6, and the fine positioning device 7 form a fan-shaped structure, and the second rotating center axis, the coarse positioning device 6, the fine positioning device 7, the unloading device, and the processing device 8 form a fan-shaped structure.

[0120] In this embodiment, by setting the distance between the coarse positioning device 6 and the first rotation center axis to be the same as the distance between the fine positioning device 7 and the second rotation center axis, the speed at which the second gripping device 3 moves to the coarse positioning device 6 is guaranteed.

[0121] Those skilled in the art will understand that the above embodiments are specific examples of implementing this disclosure, and in practical applications, various changes can be made in form and detail without departing from the scope of this disclosure.

Claims

1. A material processing and transfer method, characterized in that, Includes the following steps: Based on the first workstation dataset, the first path of the first gripper is obtained, wherein the first workstation dataset includes a loading workstation, a coarse positioning workstation, and a fine positioning workstation. The radius from the loading workstation to the first rotation center axis of the first gripper is R1, the radius from the coarse positioning workstation to the first rotation center axis is R2, and the radius from the fine positioning workstation to the first rotation center axis is R3, where R2 < R1 = R3, and the radius of R3 covers the radius of R2. Based on the first path, obtain the second movement information of the first gripper moving to each workstation in the first workstation dataset; Based on the second workstation dataset, a second path for the second gripper is obtained. The second workstation dataset includes a precision positioning workstation, a machining workstation, and a unloading workstation. The radius from the precision positioning workstation to the second rotation center axis of the second gripper is R4, the radius from the machining workstation to the second rotation center axis is R5, and the radius from the unloading workstation to the second rotation center axis is R6, where R4=R5=R6. The trajectory line of the second gripper moving from the precision positioning workstation to the machining workstation covers the unloading workstation. The line connecting the loading workstation and the unloading workstation is a straight line that covers the precision positioning workstation. Based on the second path, obtain the second movement information of the second gripper moving to each workstation in the second workstation dataset; The first path includes the first gripper moving sequentially to the loading station, the coarse positioning station, and the fine positioning station, and then moving from the fine positioning station to the loading station; The second path includes the second gripper sequentially moving to the precision positioning station, the machining station and the unloading station, and moving from the unloading station to the precision positioning station; The third movement information of the first gripper includes the first gripper moving along the first rotation center axis toward the second rotation direction until the first gripper covers the loading station; The third movement information also includes the first gripper arm retracting and moving along the first rotation center axis toward the second rotation direction until the first gripper covers the standby position; Alternatively, after the first gripper arm retracts to cover the coarse positioning station, the first gripper moves along the first rotation center axis toward the second rotation direction until the first gripper covers the standby position. Wherein, the second rotation direction is opposite to the first rotation direction, the radius of the standby position relative to the first rotation center axis is R7, R7=R2, and the radius line R1 covers the radius line R7.

2. The material processing and transfer method according to claim 1, characterized in that, Obtaining the first movement information of the first gripper moving to each workstation from the first workstation dataset includes: After the first gripper moves to cover the loading station, the first gripper performs a first material-removing action of descending, gripping, and rising. Based on the completion of the first material handling action, the first gripper arm retracts and moves along the first rotation center axis toward the first rotation direction until the first gripper covers the coarse positioning station. The first gripper then performs the first unloading action of descending, extending the pin of the first gripper, and releasing the gripper. Based on the completion of the material coarse positioning, the first gripper performs a second material handling action, which involves gripping, retracting the pin of the first gripper, and rising. Based on the completion of the second material handling action, the first gripper arm extends until the first gripper covers the precision positioning station, and the first gripper performs the second material unloading action by releasing the gripper. Based on the completion of the second unloading action, the first gripper moves along the first rotation center axis toward the second rotation direction until the first gripper covers the loading station.

3. The material processing and transfer method according to claim 2, characterized in that, The time for the first gripper to move from the loading station to the coarse positioning station is t1 and / or the speed is v1; the time for the first gripper to move from the coarse positioning station to the fine positioning station is t2 and / or the speed is v1; the time for the first gripper to move from the fine positioning station to the loading station is t3 and / or the speed is v1, where t3≤t1+t2 and v3≥v1+v2.

4. The material processing and transfer method according to claim 2, characterized in that, After the first gripper arm extends to cover the precision positioning station, based on the distance between the material gripped by the first gripper and the precision positioning station being less than or equal to a predetermined value, the first gripper performs a second unloading action by releasing the gripper; based on the distance between the material gripped by the first gripper and the precision positioning station being greater than a predetermined value, the first gripper performs a second unloading action by descending until the distance between the material gripped by the first gripper and the precision positioning station is less than or equal to the predetermined value.

5. A material processing and transfer method according to claim 2, characterized in that, Obtaining the second movement information of the second gripper moving to each workstation in the second workstation dataset includes: As the first gripper moves away from the precision positioning station, the second gripper moves to cover the precision positioning station. Based on the completion of precise material positioning, the second gripper performs a third material handling action of descending, gripping, and rising; Based on the completion of the third material handling action, the second gripper moves along the second rotation center axis toward the first rotation direction until the second gripper covers the processing station, and the second gripper performs the third material unloading action by descending; Based on the completion of the processing, the second gripper performs a fourth material handling action by rising; Based on the completion of the fourth material handling action, the second gripper moves along the second rotation center axis toward the second rotation direction until the second gripper covers the unloading station, and the second gripper performs the fourth unloading action of descending, releasing, and rising; Based on the first gripper moving away from the precision positioning station or based on the completion of material precision positioning, the second gripper moves along the second rotation center axis in the second rotation direction until the second gripper covers the precision positioning station.

6. The material processing and transfer method according to claim 4, characterized in that, The second gripper rises from the precision positioning station to the machining station by a height greater than the height difference between the precision positioning station and the machining station. The second gripper rises from the unloading station to the precision positioning station by a height greater than the height difference between the precision positioning station and the unloading station. The rising height of the second gripper from the unloading station to the precision positioning station is less than the rising height of the second gripper from the precision positioning station to the machining station.

7. The material processing and transfer method according to claim 1, characterized in that, The radius from the coarse positioning station to the second rotation center axis is R8, where R8 = R4; The first path includes the first gripper sequentially moving to the loading station, the coarse positioning station, and the fine positioning station, and then moving from the fine positioning station to the loading station; the second path includes the second gripper sequentially moving to the fine positioning station, the machining station, and the unloading station, and then moving from the unloading station to the fine positioning station. Alternatively, the first path includes the first gripper sequentially moving to the loading station and the coarse positioning station, and then moving from the coarse positioning station to the loading station; the second path includes the second gripper sequentially moving to the coarse positioning station, the processing station and the unloading station, and then moving from the unloading station to the coarse positioning station.

8. A transfer system applied to the material processing and transfer method as described in any one of claims 1-7, characterized in that, include: The first gripping device, the second gripping device, the feeding device, the coarse positioning device, the fine positioning device, the processing device, and the unloading device are arranged sequentially along the x-axis. The feeding device, the precision positioning device, and the unloading device are arranged sequentially along the same straight line. With the straight line as the dividing line, the coarse positioning device, the first gripping device, and the second gripping device are located on the same side as the unloading device.

9. The transfer system according to claim 8, characterized in that, The first gripping device has a first rotation center axis, the distance between the feeding device and the first rotation center axis is equal to the distance between the fine positioning device and the first rotation center axis, the line connecting the fine positioning device and the first rotation center axis covers the coarse positioning device, and the distance between the fine positioning device and the first rotation center axis is greater than the distance between the coarse positioning device and the first rotation center axis. The second gripping device has a second rotation center axis, and the coarse positioning device, fine positioning device, processing device and unloading device are all spaced from the second rotation center axis.

10. The transfer system according to claim 9, characterized in that, The distance between the coarse positioning device and the second rotation center axis is equal to the distance between the fine positioning device and the second rotation center axis. The first rotating center axis, the feeding device, the coarse positioning device, and the fine positioning device form a fan-shaped structure, and the second rotating center axis, the coarse positioning device, the fine positioning device, the unloading device, and the processing device form a fan-shaped structure.

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