Automatic dosing method, apparatus, device and medium

Abstract

The application discloses an automatic batching method, device, equipment and medium and relates to the technical field of batching. The method comprises the following steps: determining the number and types of raw material bags to be grabbed according to batching requirements; when the number is greater than 1, determining the grabbing sequence of each raw material bag; driving the end of a mechanical hand to move to the position of a first raw material bag, driving a nail into the first raw material bag, driving the nail to rotate through a first driving mechanism, and clamping the first raw material bag; driving the end of the mechanical hand to move to the position of a second raw material bag, driving a clamping jaw to descend below the first raw material bag, and clamping the second raw material bag by the clamping jaw; driving the end of the mechanical hand to move to a batching barrel corresponding to the second raw material bag, and cutting the second raw material bag through a corresponding cutting tool; and driving the end of the mechanical hand to move to a batching barrel corresponding to the first raw material bag, and cutting the first raw material bag through a corresponding cutting tool. The method can improve the efficiency and accuracy of batching.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of dosing, in particular to an automatic dosing method, device, equipment and medium. BACKGROUND

[0002] In the production process of a circuit board, a plurality of different chemicals / solutions are needed, and each chemical / solution is made of one or more raw materials. Since the types of chemicals / solutions involved are many, the types of raw materials required are also many. If dosing is performed manually, the labor cost is high, and the efficiency and accuracy of dosing are difficult to guarantee. SUMMARY

[0003] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application proposes an automatic dosing method, device, equipment and medium, which can realize automatic dosing and improve the efficiency and accuracy of dosing.

[0004] In a first aspect, the automatic dosing method according to the embodiments of the present application is applied to an automatic dosing device, which includes a mechanical hand, a raw material placing platform on which a plurality of raw material bags are placed, and a dosing platform having a plurality of dosing barrels, each of which is provided with a cutting tool; the end of the mechanical hand is provided with a clamping mechanism, the clamping mechanism includes a first driving mechanism and a rotating rod provided with a plurality of nails, and the two sides of the clamping mechanism are provided with clamping jaws; the method includes:

[0005] According to the dosing requirement, the number and type of raw material bags to be grabbed are determined;

[0006] When the number is greater than 1, the grabbing order of each raw material bag is determined;

[0007] According to the grabbing order, the end of the mechanical hand is driven to move to the position of the first raw material bag, and the nails are driven to penetrate into the first raw material bag, the nails are driven to rotate by the first driving mechanism, and the first raw material bag is clamped;

[0008] The end of the mechanical hand is driven to move to the position of the second raw material bag, and the clamping jaws are driven to descend below the first raw material bag, so that the clamping jaws clamp the second raw material bag;

[0009] The end of the mechanical hand is driven to move to the position of the second raw material bag, and the clamping jaws are driven to descend below the first raw material bag, so that the clamping jaws clamp the second raw material bag;

[0010] The end of the mechanical arm is driven to move to the ingredient barrel corresponding to the first raw material bag, and the first raw material bag is cut by the corresponding cutting tool, so that the raw material in the first raw material bag enters the corresponding ingredient barrel.

[0011] According to some embodiments of the present application, a slide is arranged on one side of the inlet of each ingredient barrel, a sliding plate is arranged on the slide, the cutting tool is arranged on the sliding plate, and a second driving mechanism is connected to the sliding plate, and the extension length of the cutting tool is variable.

[0012] When the first raw material bag and the second raw material bag correspond to the same ingredient barrel, the end of the mechanical arm is driven to move to the ingredient barrel corresponding to the first raw material bag, and the first raw material bag is cut by the corresponding cutting tool, so that the raw material in the first raw material bag enters the corresponding ingredient barrel.

[0013] The extension length of the cutting tool is adjusted so that the cutting tool can contact the surface of the first raw material bag.

[0014] The second driving mechanism is used to drive the sliding plate to slide along the slide, so that the cutting tool cuts the first raw material bag, and the raw material in the first raw material bag enters the corresponding ingredient barrel.

[0015] The cutting tool is controlled to reset.

[0016] According to some embodiments of the present application, a weight sensing module is arranged on the mechanical arm, and the end of the mechanical arm is driven to move to the ingredient barrel corresponding to the second raw material bag, and the second raw material bag is cut by the corresponding cutting tool, so that the raw material in the second raw material bag enters the corresponding ingredient barrel.

[0017] The end of the mechanical arm is driven to move to the ingredient barrel corresponding to the second raw material bag, and the second raw material bag is cut by the corresponding cutting tool.

[0018] The end of the mechanical arm is driven to vibrate at a preset frequency, so that the raw material in the second raw material bag enters the corresponding ingredient barrel.

[0019] The weight value of the end of the mechanical arm is detected by the weight sensing module.

[0020] When the change value of the weight value in a preset time is less than a first preset value, and the weight value is greater than a preset weight value, the vibration frequency of the end of the mechanical arm is increased until the weight value is equal to the preset weight value, and the end of the mechanical arm stops vibrating.

[0021] According to some embodiments of the present application, each of the ingredient barrels is provided with a waste box on one side, and a grabbing mechanism is arranged in the waste box;

[0022] When the first raw material bag and the second raw material bag correspond to different ingredient barrels, the end of the mechanical arm is driven to move to the ingredient barrel corresponding to the first raw material bag, the first raw material bag is cut by the corresponding cutting tool, and the raw material in the first raw material bag enters the corresponding ingredient barrel, comprising:

[0023] The end of the mechanical arm is driven to move to the waste box on one side of the ingredient barrel corresponding to the second raw material bag;

[0024] The clamping jaw is driven to reset, so that the second raw material bag falls into the waste box;

[0025] The end of the mechanical arm is driven to move to the ingredient barrel corresponding to the first raw material bag, and the first raw material bag is cut by the corresponding cutting tool, so that the raw material in the first raw material bag enters the corresponding ingredient barrel;

[0026] The end of the mechanical arm is driven to move to the waste box on one side of the ingredient barrel corresponding to the first raw material bag;

[0027] The nail is driven to reset by the first driving mechanism, so that the first raw material bag falls into the waste box;

[0028] When the first raw material bag cannot normally fall into the waste box, the first raw material bag is grabbed into the waste box by the grabbing mechanism.

[0029] According to some embodiments of the present application, the rotating rod is provided with adjusting tracks on both sides, the clamping jaw comprises a telescopic plate and a third driving mechanism, one end of the telescopic plate is arranged in the adjusting track, the third driving mechanism is used to drive the telescopic plate to move in the adjusting track, the other end of the telescopic plate is longitudinally spaced apart from a first clamping plate and a second clamping plate, and the first clamping plate can be lifted and lowered;

[0030] The end of the mechanical arm is driven to move to the position of the second raw material bag, the clamping jaw is driven to descend below the first raw material bag, so that the clamping jaw clamps the second raw material bag, comprising:

[0031] The end of the mechanical arm is driven to move to the position of the second raw material bag;

[0032] The telescopic plate is driven to extend, so that the second clamping plate is located below the second raw material bag;

[0033] The third driving mechanism drives the telescopic plates to move along the adjusting track, so that the telescopic plates of the clamping jaws on both sides of the clamping mechanism are close to each other, and a second raw material bag is supported by the second clamping plate;

[0034] The first clamping plate is driven to move downward, so that the first clamping plate clamps the second raw material bag.

[0035] According to some embodiments of the present application, when the number is greater than 1, the grabbing sequence of each raw material bag is determined, including:

[0036] When the number is greater than 1, all the raw material bags to be grabbed are grouped, and each group contains two raw material bags. When the number is odd, the last raw material bag is a group.

[0037] When grouping, the raw material bags corresponding to the same ingredient barrel are grouped first, and the remaining ungrouped raw material bags are grouped according to the placement position of each raw material bag.

[0038] According to the ingredient requirement or the moving path of each group of raw material bags, the grabbing sequence of each group of raw material bags is determined.

[0039] According to some embodiments of the present application, a dust removal device is arranged at the outlet of the ingredient barrel. When the first raw material bag or the second raw material bag is cut, the method further includes:

[0040] Starting the dust removal device;

[0041] Absorbing the raw material of the first raw material bag or the second raw material bag escaping from the ingredient barrel by the dust removal device.

[0042] In a second aspect, the automatic feeding device according to the embodiments of the present application comprises a mechanical hand, a raw material placing platform on which a plurality of raw material bags are placed, and an ingredient platform having a plurality of ingredient barrels, each of which is provided with a cutting tool; the end of the mechanical hand is provided with a clamping mechanism, the clamping mechanism comprises a first driving mechanism and a rotating rod provided with a plurality of nails, and the clamping mechanism is provided with clamping jaws on both sides; the automatic ingredient device is used to realize the automatic ingredient method as described in the first aspect.

[0043] In a third aspect, the electronic device according to the embodiments of the present application comprises at least one control processor and a memory connected in communication with the at least one control processor; the memory stores instructions executable by the at least one control processor, and the instructions are executed by the at least one control processor to enable the at least one control processor to execute the automatic ingredient method as described in the first aspect.

[0044] In a fourth aspect, a computer-readable storage medium storing computer-executable instructions for causing a computer to perform the automatic batching method according to the embodiments of the present application is provided.

[0045] The automatic batching method, device, equipment and medium according to the embodiments of the present application have at least the following beneficial effects: the raw material bag can be automatically grabbed by the mechanical hand, and the raw material bag can be cut by the cutting tool, so that the raw material in the raw material bag can be automatically poured into the batching barrel for batching; the grabbing order of the raw material bag can be optimized according to the batching requirement, and meanwhile, the mechanical hand can grab two raw material bags at the same time through the structural design of the mechanical hand, so that the grabbing efficiency of the mechanical hand and the batching efficiency of the system are improved.

[0046] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0047] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, including the appended drawings, wherein:

[0048] Figure 1 FIG. 1 is a structural schematic diagram of an automatic batching device according to an embodiment of the present application;

[0049] Figure 2 FIG. 3 is a structural schematic diagram of a mechanical hand according to an embodiment of the present application;

[0050] Figure 3 FIG. 5 is a structural schematic diagram of a batching platform according to an embodiment of the present application;

[0051] Figure 4 FIG. 7 is a step flowchart of an automatic batching method according to an embodiment of the present application. DETAILED DESCRIPTION

[0052] Embodiments of the present application are described in detail below with reference to the accompanying drawings, in which the same or similar elements or elements having the same or similar functions are denoted by the same or similar reference numerals throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and cannot be understood as limiting the present application. The step numbers in the following embodiments are only set for the convenience of description and explanation, and the order between the steps is not limited in any way, and the execution order of each step in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.

[0053] In the description of the present application, it needs to be understood that the orientation description, such as the orientation or position relationship indicated by the upper, lower, front, rear, left, right and the like, is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0054] The terms "first", "second", "third", and "fourth" and the like in the description and claims of the present application and the accompanying drawings are used to distinguish different objects, and are not intended to describe a particular order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device.

[0055] In the present application, the phrase "embodiment" means that the specific features, structures or properties described in conjunction with the embodiment can be included in at least one embodiment of the present application. The appearance of this phrase at various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment to other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0056] In the production process of the circuit board, a plurality of different chemicals / solutions are needed, and each chemical / solution is made of one or more raw materials. Since the types of chemicals / solutions involved are many, the types of raw materials required are also many. If the ingredients are prepared manually, the labor cost is high, and the efficiency and accuracy of the ingredients cannot be guaranteed.

[0057] Therefore, the embodiments of the present application provide an automatic batching method, device, equipment and medium, which can realize automatic grabbing of raw material bags by a mechanical hand, and cutting of the raw material bags by a cutting tool, so as to realize automatic pouring of the raw materials in the raw material bags into a batching barrel for batching. According to the batching requirement, the grabbing order of the raw material bags can be optimized, and at the same time, through the structural design of the mechanical hand, the mechanical hand can grab two raw material bags at the same time, so as to improve the grabbing efficiency of the mechanical hand and the batching efficiency of the system.

[0058] The automatic batching method, device, equipment and medium of the embodiments of the present application will be described in detail below with reference to the drawings.

[0059] On the one hand, the embodiments of the present application provide an automatic batching method, which is applied to an automatic batching device, such as Figures 1 to 3As shown, the automatic batching system comprises a manipulator 100, a material placing platform 300 on which a plurality of material bags 200 are placed, and a batching platform 500 provided with a plurality of batching barrels 400, each of which is provided with a cutting tool 600; the manipulator 100 is provided with a clamping mechanism 700, which comprises a first driving mechanism 710 and a rotating rod 720 provided with a plurality of nails 730, and both sides of the clamping mechanism 700 are provided with clamping jaws 800; as shown Figure 4 As shown, the method comprises the following steps:

[0060] Step S100: according to the batching requirement, the number and type of the material bags 200 to be grabbed are determined;

[0061] Specifically, the current batching requirement of the system is first obtained, so as to determine the number and type of the material bags 200 to be grabbed, so as to facilitate the manipulator 100 to grab the corresponding number and type of material bags 200.

[0062] Step S200: when the number is greater than 1, the grabbing order of each material bag 200 is determined;

[0063] It should be noted that when the system currently only needs one material bag 200, the type of the material bag 200 is first determined, and then the manipulator 100 is driven to grab the material bag 200 of the corresponding type. When the system currently needs two or more material bags, in order to improve the grabbing efficiency of the manipulator 100 and meet the batching requirement of the system, the grabbing order of the manipulator 100 needs to be planned, and the total moving path of the manipulator 100 is shortened as much as possible, so as to improve the grabbing efficiency of the manipulator 100, and at the same time, according to the batching condition of each batching barrel 400, the batching order of each batching barrel 400 is reasonably arranged, and then the grabbing order of each material bag 200 is determined.

[0064] Step S300: according to the grabbing order, the end of the manipulator 100 is driven to move to the position of the first material bag 200, and the nails 730 are driven to penetrate into the first material bag 200, the nails 730 are driven to rotate by the first driving mechanism 710, and the first material bag 200 is clamped;

[0065] Specifically, after the grabbing order of each material bag 200 is determined, the manipulator 100 starts to grab the material bag 200. First, the end of the manipulator 100 is driven to move to the position of the first material bag 200, and then the end of the manipulator 100 starts to descend, so that the nails 730 descend to the surface of the material bag 200. When the nails 730 continue to descend, the nails 730 penetrate into the first material bag 200, and then the rotating rod 720 is driven to rotate by the first driving mechanism 710, the rotating rod 720 drives the nails 730 to rotate by a certain angle, so that the plurality of nails 730 can clamp the first material bag 200.Figure 2 As shown, in the present example, the clamping mechanism 700 is provided with two rotating rods 720 in the front-rear direction, and each rotating rod 720 is provided with a plurality of nails 730. Through the cooperation of the two rows of nails 730, it is ensured that the clamping mechanism 700 can firmly grasp the raw material bag 200. The first driving mechanism 710 can adopt common driving devices such as motors and air cylinders, so as to drive the rotating rod 720 to rotate. If the manipulator 100 only needs to grasp one raw material bag 200, the first grasped raw material bag 200 can be directly moved to the batching barrel 400; if the manipulator 100 needs to grasp more than one raw material bag 200, step S400 is executed.

[0066] Step S400: driving the end of the manipulator 100 to move to the position of the second raw material bag 200, driving the clamping jaw 800 to descend below the first raw material bag 200, so that the clamping jaw 800 clamps the second raw material bag 200;

[0067] It should be noted that the clamping jaw 800 is liftable and is located on the left and right sides of the clamping mechanism 700. When it is needed to clamp the second raw material bag 200 by using the clamping jaw 800, the clamping jaw 800 is driven to descend below the first grasped raw material bag 200, so as to facilitate clamping the second raw material bag 200, and the second grasped raw material bag 200 is located below the first raw material bag 200. By providing the clamping mechanism 700 and the clamping jaw 800 at the end of the manipulator 100, the manipulator 100 can simultaneously grasp two raw material bags 200, thereby saving the movement time of the manipulator 100 for grasping two raw material bags 200. It should be noted that the order of grasping the raw material bags 200 by the manipulator 100 is different from the order of putting the raw materials in the raw material bags 200 into the batching barrels 400. Since the raw material bag 200 grasped later by the manipulator 100 is located below the raw material bag 200 grasped earlier, when the raw materials are put, the raw materials in the raw material bag 200 below are put first, and then the raw materials in the raw material bag 200 above are put.

[0068] Step S500: driving the end of the manipulator 100 to move to the corresponding batching barrel 400 of the second raw material bag 200, cutting the second raw material bag 200 by using the corresponding cutting tool 600, so that the raw materials in the second raw material bag 200 enter the corresponding batching barrel 400;

[0069] After the manipulator 100 grasps two raw material bags 200, the end of the manipulator 100 is first driven to move to the corresponding batching barrel 400 of the second raw material bag 200, and the raw material bag 200 is cut by using the cutting tool 600 in the batching barrel 400, so that the raw materials in the raw material bag 200 can enter the batching barrel 400, thereby realizing automatic feeding of the batching barrel 400.

[0070] Step S600: drive the end of the mechanical arm 100 to move to the first raw material bag 200 corresponding to the ingredient barrel 400, cut the first raw material bag 200 through the corresponding cutting tool 600, so that the raw material in the first raw material bag 200 enters the corresponding ingredient barrel 400.

[0071] It should be noted that if the first raw material bag 200 and the second raw material bag 200 correspond to the same ingredient barrel 400, the mechanical arm 100 does not need to move to other ingredient barrels 400, but continues to cut the first raw material bag 200 in the current ingredient barrel 400, so that the raw material in the first raw material bag 200 enters the corresponding ingredient barrel 400. If the first raw material bag 200 and the second raw material bag 200 correspond to different ingredient barrels 400, the end of the mechanical arm 100 needs to be driven to move to the ingredient barrel 400 corresponding to the first raw material bag 200, so that the cutting tool 600 cuts the first raw material bag 200, so that the raw material in the first raw material bag 200 enters the corresponding ingredient barrel 400. If it is still necessary to continue to be dosed, the mechanical arm 100 continues to grasp the raw material bag 200 according to the same process.

[0072] According to the automatic dosing method of the embodiment of the application, the grasping order of the raw material bag 200 can be optimized, and at the same time, through the structural design of the mechanical arm 100, the mechanical arm 100 can grasp two raw material bags 200 at the same time, thereby improving the grasping efficiency of the mechanical arm 100 and improving the dosing efficiency of the system.

[0073] Further, as shown in Figure 3 In some embodiments of the application, a slide 410 is arranged on one side of the inlet of each ingredient barrel 400, a sliding plate 420 is arranged on the slide 410, the cutting tool 600 is arranged on the sliding plate 420, the sliding plate 420 is connected with a second driving mechanism (not shown in the figure), and the extension length of the cutting tool 600 is variable. In the example, when the first raw material bag 200 and the second raw material bag 200 correspond to the same ingredient barrel, the above step S600: driving the end of the mechanical arm 100 to move to the first raw material bag 200 corresponding to the ingredient barrel 400, cutting the first raw material bag 200 through the corresponding cutting tool 600, so that the raw material in the first raw material bag 200 enters the corresponding ingredient barrel 400, includes the following three sub-steps:

[0074] Step S610: adjust the extension length of the cutting tool 600 so that the cutting tool 600 can contact the surface of the first raw material bag 200;

[0075] Step S620: drive the sliding plate 420 to slide along the slide 410 through the second driving mechanism, so that the cutting tool 600 cuts the first raw material bag 200, and the raw material in the first raw material bag 200 enters the corresponding ingredient barrel 400.

[0076] Step S630: control the cutting tool 600 to reset.

[0077] It should be noted that when the first raw material bag 200 and the second raw material bag 200 correspond to the same ingredient barrel 400, the cutting tool 600 is first set to a certain height, and then the second raw material bag 200 is lowered to the cutting tool 600 by the mechanical arm 100. At this time, the sliding plate 420 is driven to slide along the slide 410 by the second driving mechanism, so that the cutting tool 600 cuts the second raw material bag 200 from front to back, so that the raw materials in the second raw material bag 200 enter the corresponding ingredient barrel 400. After the raw materials in the second raw material bag 200 are poured into the ingredient barrel 400, the height of the end of the mechanical arm 100 is kept unchanged. At this time, the cutting tool 600 is driven to extend upward, so that the cutting tool 600 rises to the surface of the first raw material bag 200. At this time, the sliding plate 420 is driven to slide along the slide 410 by the second driving mechanism, so that the cutting tool 600 cuts the first raw material bag 200, so that the raw materials in the first raw material bag 200 enter the corresponding ingredient barrel 400. It should be noted that when the cutting tool 600 cuts the first raw material bag 200, the empty second raw material bag 200 will be completely cut into two halves, so as to avoid affecting the raw materials in the first raw material bag 200 to enter the ingredient barrel 400. When the cutting tool 600 finishes cutting, the cutting tool 600 is lowered and reset. By setting the cutting tool 600 to have a variable extension length, the cutting tool 600 can cut the first raw material bag 200 and the second raw material bag 200.

[0078] Further, in some embodiments of the present application, a weight sensing module is arranged on the mechanical arm 100. The above-mentioned step S500: driving the end of the mechanical arm 100 to move to the second raw material bag 200 corresponding to the ingredient barrel 400, cutting the second raw material bag 200 by the corresponding cutting tool 600, and making the raw materials in the second raw material bag 200 enter the corresponding ingredient barrel 400, includes the following four sub-steps:

[0079] Step S510: driving the end of the mechanical arm 100 to move to the second raw material bag 200 corresponding to the ingredient barrel 400, and cutting the second raw material bag 200 by the corresponding cutting tool 600;

[0080] Step S520: driving the end of the mechanical arm 100 to vibrate at a preset frequency, and accelerating the raw materials in the second raw material bag 200 to enter the corresponding ingredient barrel 400;

[0081] Step S530: detecting the change of the weight value of the end of the mechanical arm 100 by the weight sensing module;

[0082] Step S540: When the change value of the weight value in the preset time is less than the first preset value, and the weight value is greater than the preset weight value, the vibration frequency of the end of the mechanical arm 100 is increased until the weight value is equal to the preset weight value, so that the end of the mechanical arm 100 stops vibrating.

[0083] Specifically, in the present example, after the second raw material bag 200 is cut by the cutting tool 600, in order to accelerate the raw material in the second raw material bag 200 into the batching barrel 400, the end of the mechanical arm 100 is driven to vibrate at a preset frequency, so as to accelerate the raw material into the batching barrel 400; in the process of vibration, the change of the weight value of the end of the mechanical arm 100 is detected in real time by the weight sensing module, so as to determine whether the raw material in the second raw material bag 200 has basically entered the batching barrel 400. When the change value of the weight value in the preset time is less than the first preset value, and the weight value is greater than the preset weight value, it indicates that there is still a lot of raw material in the second raw material bag 200, which is difficult to fall out of the raw material bag 200. Therefore, the vibration frequency of the end of the mechanical arm 100 is increased, so that this part of the raw material can fall out of the raw material bag 200; when the weight value of the raw material bag 200 is less than or equal to the preset weight value, it indicates that the raw material in the second raw material bag 200 has basically entered the batching barrel 400, at this time, the end of the mechanical arm 100 stops vibrating, and prepares for cutting the first raw material bag 200. By setting the weight sensing module, it is convenient to accurately determine whether the second raw material bag 200 has completed the pouring, so as to determine the time of cutting the first raw material bag 200. When the change value of the weight value in the preset time is less than the first preset value, and the weight value is less than or equal to the preset weight value, it indicates that the second raw material bag 200 has completed the pouring.

[0084] Further, in some embodiments of the present application, as shown in Figure 3 each batching barrel 400 is provided with a waste box 900 on one side, and a grabbing mechanism 1000 is arranged in the waste box 900; in the present example, when the first raw material bag 200 and the second raw material bag 200 correspond to different batching barrels 400, the above-mentioned step S600: driving the end of the mechanical arm 100 to move to the batching barrel 400 corresponding to the first raw material bag 200, cutting the first raw material bag 200 by the corresponding cutting tool 600, so that the raw material in the first raw material bag 200 enters the corresponding batching barrel 400, includes the following six sub-steps:

[0085] Step S640: driving the end of the mechanical arm 100 to move to the waste box 900 on one side of the batching barrel 400 corresponding to the second raw material bag 200;

[0086] Step S650: driving the clamping jaw 800 to reset, so that the second raw material bag 200 falls into the waste box 900;

[0087] Step S660: drive the end of the manipulator 100 to move to the first raw material bag 200 corresponding to the ingredient barrel 400, cut the first raw material bag 200 through the corresponding cutting tool 600, so that the raw material in the first raw material bag 200 enters the corresponding ingredient barrel 400;

[0088] Step S670: drive the end of the manipulator 100 to move to the first raw material bag 200 corresponding to the ingredient barrel 400 on one side of the waste box 900;

[0089] Step S680: drive the nail 730 to reset through the first driving mechanism 710, so that the first raw material bag 200 falls into the waste box 900;

[0090] Step S690: when the first raw material bag 200 cannot normally fall into the waste box 900, the first raw material bag 200 is grabbed into the waste box 900 through the grabbing mechanism 1000.

[0091] Specifically, when the first raw material bag 200 and the second raw material bag 200 correspond to different ingredient barrels 400, after the pouring of the raw material of the second raw material bag 200 is completed, the empty second raw material bag 200 needs to be discarded to avoid the residual raw material in the second raw material bag 200 from entering the ingredient barrel 400 corresponding to the first raw material bag 200, and also to avoid the second raw material bag 200 from affecting the pouring of the raw material of the first raw material bag 200. In order to discard the second raw material bag 200, the end of the mechanical arm 100 is driven to move into the waste box 900 on one side of the ingredient barrel 400 corresponding to the second raw material bag 200, then the clamping jaw 800 is driven to reset, so that the second raw material bag 200 falls into the waste box 900. Then, the end of the mechanical arm 100 is driven to move to the position of the first raw material bag 200, the first raw material bag 200 is cut by the corresponding cutting tool 600, so that the raw material in the first raw material bag 200 enters the corresponding ingredient barrel 400; then, the end of the mechanical arm 100 is driven to move into the waste box 900 on one side of the ingredient barrel 400 corresponding to the first raw material bag 200, the nails 730 are driven to reset by the first driving mechanism 710, and when the nails 730 are reset, the grip on the first raw material bag 200 is lost, so that the first raw material bag 200 falls into the waste box 900; if some lines are connected between the partially reset nails 730 and the first raw material bag 200, causing the first raw material bag 200 to fail to normally fall into the waste box 900, then the first raw material bag 200 is grabbed into the waste box 900 by the grabbing mechanism 1000. The grabbing mechanism 1000 includes a retractable and liftable grabbing hand arranged on the side wall of the waste box 900, when the first raw material bag 200 fails to normally fall, the grabbing hand extends to grab the first raw material bag 200, then starts to descend, so that the first raw material bag 200 is separated from the nails 730, and then the grabbing hand resets, so that the first raw material bag 200 falls into the waste box 900.

[0092] Further, in some embodiments of the present application, as shown in Figure 2 the two sides of the rotating rod 720 are provided with adjusting tracks, the clamping jaw 800 includes a retractable plate 820 and a third driving mechanism, one end of the retractable plate 820 is arranged in the adjusting track, the third driving mechanism is used to drive the retractable plate 820 to move in the adjusting track, the other end of the retractable plate 820 is longitudinally arranged with a first clamping plate 840 and a second clamping plate 850, and the first clamping plate 840 can be lifted and lowered; in the present example, the above-mentioned step S400: driving the end of the mechanical arm 100 to move to the position of the second raw material bag 200, driving the clamping jaw 800 to descend below the first raw material bag 200, and clamping the second raw material bag 200 by the clamping jaw 800, includes the following four sub-steps:

[0093] Step S410: drive the end of the mechanical arm 100 to move to the position of the second raw material bag 200;

[0094] Step S420: drive the telescopic plate 820 to extend, so that the second clamping plate 850 is located below the second raw material bag 200;

[0095] Step S430: drive the telescopic plate 820 to move along the adjusting track by the third driving mechanism, so that the telescopic plates 820 of the clamping jaws 800 on both sides of the clamping mechanism 700 are close to each other, and the second raw material bag 200 is supported by the second clamping plate 850;

[0096] Step S440: drive the first clamping plate 840 to move downward, so that the first clamping plate 840 keeps clamping the second raw material bag 200.

[0097] First, drive the end of the mechanical arm 100 to move to the position of the second raw material bag 200, then start driving the telescopic plate 820 to extend downward, so that the second clamping plate 850 is located below the second raw material bag 200, at this time, drive the telescopic plate 820 to move along the adjusting track by the third driving mechanism, so that the telescopic plates 820 of the clamping jaws 800 on both sides of the rotating rod 720 are close to each other, and the second raw material bag 200 is supported by the second clamping plate 850; then, drive the first clamping plate 840 to move downward, so that the first clamping plate 840 keeps clamping the second raw material bag 200, to ensure that the clamping jaw 800 can stably grab the raw material bag 200. At the same time, when the cutting tool 600 cuts the second raw material bag 200, as the raw material in the second raw material bag 200 gradually decreases, the volume of the second raw material bag 200 will gradually decrease, and in this process, the first clamping plate 840 will keep the trend of moving downward, so that the first clamping plate 840 and the second clamping plate 850 always clamp the second raw material bag 200. When the empty first raw material bag 200 is to be discarded, the first clamping plate 840 starts to rise and leave the first raw material bag 200, so that the first raw material bag 200 falls into the waste box 900 under the action of gravity.

[0098] In some embodiments of the present application, the above-mentioned step S200: when the number is greater than 1, determining the grabbing order of two raw material bags 200 to be grabbed, includes the following three sub-steps:

[0099] Step S210: when the number is greater than 1, group all the raw material bags 200 to be grabbed, each group contains two raw material bags 200, and when the number is odd, the last raw material bag 200 is a group;

[0100] Step S220: when grouping, first group the raw material bags 200 corresponding to the same ingredient bucket 400, and group the remaining ungrouped raw material bags 200 according to the placement position of each raw material bag 200;

[0101] Step S230: Determine the grabbing order of each group of raw material bags 200 according to the batching requirement or the moving path of each group of raw material bags 200.

[0102] Specifically, in order to improve the grabbing efficiency of the manipulator 100 and meet the batching requirement of the system, first, all the raw material bags 200 that need to be grabbed are grouped, two by two, so that the manipulator 100 can grab a group of raw material bags 200 at a time; when grouping, two raw material bags 200 corresponding to the same batching barrel 400 are preferentially grouped in the same group, and for the remaining ungrouped raw material bags 200, they can be grouped according to the placement distance of the raw material bags 200, and the raw material bags 200 with a shorter placement distance are grouped in a group, so as to facilitate the quick grabbing of the manipulator 100. It should be noted that in the present example, the raw material bags 200 are placed in different areas on the raw material placing platform 300, and raw material bags 200 of the same kind are placed in the same area, so as to facilitate the manipulator 100 to determine the area to which each raw material bag 200 that needs to be grabbed belongs, thereby quickly positioning the raw material bag 200. After grouping is completed, the grabbing order of each group of raw material bags 200 also needs to be determined. The grabbing order can be determined according to the batching requirement, and the priority of each group of raw material bags 200 is determined according to the batching requirement; if the batching requirement does not require priority, the shortest moving path of the manipulator 100 is planned through a path planning algorithm according to the moving path of the manipulator grabbing each group of raw material bags 200, so as to determine the grabbing order of each group of raw material bags 200.

[0103] Further, in some embodiments of the present application, a dust removal device (not shown in the figure) is arranged at the outlet of the batching barrel 400, and the automatic batching method further comprises the following two steps when cutting the first raw material bag 200 or the second raw material bag 200:

[0104] Starting the dust removal device;

[0105] Absorbing the raw material of the first raw material bag 200 or the second raw material bag 200 escaping from the batching barrel 400 by the dust removal device.

[0106] By arranging the cutting tool 600 in the batching barrel 400, it is possible to avoid the raw material of the batching barrel 400 escaping from the batching barrel 400 as much as possible, thereby avoiding pollution of the production environment; at the same time, in order to further avoid the raw material floating in the air, the escaping raw material is absorbed by the dust removal device.

[0107] According to the automatic batching method, the raw material bag 200 can be automatically grabbed by the mechanical hand 100, the raw material bag 200 can be cut by the cutting tool 600, and the raw material in the raw material bag 200 can be automatically poured into the batching barrel 400 for batching. According to the batching requirement, the grabbing order of the raw material bag 200 can be optimized, and meanwhile, the mechanical hand 100 can grab two raw material bags at the same time through the structural design of the mechanical hand 100, so that the grabbing efficiency of the mechanical hand 100 is improved, and the batching efficiency of the system is improved. In addition, the raw material can be prevented from floating in the air and polluting the production environment.

[0108] In a second aspect, based on the automatic batching method, the embodiment of the present application further provides an automatic batching device, which comprises a mechanical hand 100, a raw material placing platform 300 on which a plurality of raw material bags 200 are placed, and a batching platform 500 comprising a plurality of batching barrels 400, and a cutting tool 600 is arranged in each batching barrel 400. The end of the mechanical hand 100 is provided with a clamping mechanism 700, the clamping mechanism 700 comprises a first driving mechanism 710 and a rotating rod 720 provided with a plurality of nails 730, and clamping jaws 800 are arranged on both sides of the clamping mechanism 700. The automatic batching device is used to realize the automatic batching method of the first aspect.

[0109] It should be noted that the content of the first aspect is applicable to the automatic batching device of the present aspect, and the technical effects brought by the first aspect are also corresponding.

[0110] According to the automatic batching device, the raw material bag 200 can be automatically grabbed by the mechanical hand 100, the raw material bag 200 can be cut by the cutting tool 600, and the raw material in the raw material bag 200 can be automatically poured into the batching barrel 400 for batching. According to the batching requirement, the grabbing order of the raw material bag 200 can be optimized, and meanwhile, the mechanical hand 100 can grab two raw material bags at the same time through the structural design of the mechanical hand 100, so that the grabbing efficiency of the mechanical hand 100 is improved, and the batching efficiency of the system is improved.

[0111] On the other hand, the embodiment of the present application further provides an electronic device, which comprises at least one control processor and a memory connected in communication with the at least one control processor; the memory stores instructions executable by the at least one control processor, and the instructions are executed by the at least one control processor to enable the at least one control processor to execute the automatic batching method.

[0112] On the other hand, the embodiment of the present application further provides a storage medium, which is a computer readable storage medium, and the storage medium stores a computer program, and the computer program is executed by a processor to implement the automatic batching method.

[0113] Memory, as used in the foregoing description, is a non-transitory computer- readable storage medium used for storage of non-transitory software programs and non- transitory computer-executable programs. In addition, memory can include a high-speed random access memory, and can also include a non-transitory memory such as at least one disk memory device, a flash memory device, or other non-transitory solid-state memory device. In some embodiments, memory can optionally include memory that is remotely located from the processor, which can be connected to the processor through a network. Examples of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof. The device embodiments described above are merely illustrative, in which the components that are separately described can or can not be physically separate, implemented in one location, or distributed over multiple network components. Some or all of the modules can be selected according to actual needs to achieve the purposes of the present embodiment.

[0114] While specific embodiments are described herein, one of ordinary skill in the art will appreciate that many other modifications or alternative embodiments are within the scope of the present disclosure. For example, any of the functions and / or processing capabilities described in connection with a particular device or component can be performed by any other device or component. Additionally, while various exemplary implementations and architectures have been described in accordance with embodiments of the present disclosure, one of ordinary skill in the art will recognize that many other modifications to the exemplary implementations and architectures described herein are within the scope of the present disclosure.

[0115] Certain aspects of the present disclosure are described above with reference to block and flow diagrams of systems, methods, apparatuses and / or computer program products according to example embodiments. It will be understood that one or more blocks of the block diagrams and flow diagrams, and combinations of blocks in the block diagrams and flow diagrams, can be implemented by

[0116] Accordingly, the blocks in the block diagrams and flow diagrams support combinations of means for performing the specified functions, combinations of elements or steps for performing the specified functions, and program instruction means for performing the specified functions. It will also be understood that each block of the block diagrams and flow diagrams, and combinations of blocks in the block diagrams and flow diagrams, can be implemented by dedicated hardware-based computer systems which perform the specified functions or combinations of special-purpose hardware and computer instructions.

[0117] The program modules, applications, and the like described herein can include one or more software components, including, for example, software objects, methods, data structures, and the like. Each such software component can include computer-executable instructions that, in response to execution by a computer, cause at least a portion of the functionality described herein (e.g., one or more operations of the example methods described herein) to be performed.

[0118] Software components can be encoded in any of a variety of programming languages. One example programming language can be a low-level programming language, such as an assembly language associated with a particular hardware architecture and / or operating system platform. Software components including assembly language instructions can need to be translated by an assembler into executable machine code before execution by the hardware architecture and / or platform. Another example programming language can be a higher-level programming language, which can be portable across multiple architectures. Software components including a higher-level programming language can need to be translated by an interpreter or compiler into an intermediate representation before execution. Other examples of programming languages include, but are not limited to, a macro language, a shell or command language, a job control language, a script language, a database query or search language, or a report writing language. In one or more example embodiments, a software component including instructions of one of the above examples of programming languages can be executed directly by an operating system or other software component without first being translated into another form.

[0119] Software components can be stored as files or other data storage constructs. Software components of a similar type or related function can be stored together in a particular directory, folder, or library. Software components can be static (e.g., preset or fixed) or dynamic (e.g., created or modified at execution time).

[0120] The above embodiments of the present application have been described in detail but not limited to the above-mentioned embodiments, within the scope of knowledge of those skilled in the art, various changes can be made without departing from the spirit of the present application.

Claims

1. An automatic batching method, characterized in that, An automatic dispensing device is applied to an automated dispensing apparatus, which includes a robotic arm, a feeding platform holding various raw material bags, and a dispensing platform with multiple dispensing bins, each of which contains a cutting blade. The robotic arm has a gripping mechanism at its end, comprising a first driving mechanism and a rotating rod with multiple nails. Grippers are located on both sides of the gripping mechanism, and adjusting tracks are located on both sides of the rotating rod. Each gripper includes a telescopic plate and a third driving mechanism. One end of the telescopic plate is positioned within the adjusting track, and the third driving mechanism drives the telescopic plate to move within the adjusting track. The other end of the telescopic plate has a first clamping plate and a second clamping plate spaced longitudinally, and the first clamping plate is capable of lifting and lowering. The method includes: Based on the ingredient requirements, determine the quantity and type of the raw material bags to be grabbed; When the quantity is greater than 1, the grabbing order of each raw material bag is determined; According to the grasping sequence, the end of the robotic arm is driven to move to the position of the first raw material bag, and the nail is driven to insert into the first raw material bag. The nail is driven to rotate by the first driving mechanism to grasp the first raw material bag. The end effector of the robotic arm is moved to the position of the second raw material bag; Drive the telescopic plate to extend so that the second clamping plate is located below the second raw material bag; The telescopic plate is driven to move along the adjustment track by the third driving mechanism, so that the telescopic plates of the grippers on both sides of the clamping mechanism move closer to each other, and the second raw material bag is supported by the second clamping plate; Drive the first clamping plate downwards so that the first clamping plate keeps clamping the second raw material bag; The end effector of the robotic arm is driven to move to the mixing barrel corresponding to the second raw material bag, and the second raw material bag is cut by the corresponding cutting tool so that the raw material in the second raw material bag enters the corresponding mixing barrel; The end effector of the robotic arm is driven to move to the mixing bin corresponding to the first raw material bag, and the first raw material bag is cut by the corresponding cutting tool so that the raw material in the first raw material bag enters the corresponding mixing bin.

2. The automatic batching method according to claim 1, characterized in that, A slide is provided on one side of the inlet of each of the ingredient barrels, a sliding plate is provided on the slide, the cutting blade is provided on the sliding plate, the sliding plate is connected to a second drive mechanism, and the extension length of the cutting blade is variable; When the first raw material bag and the second raw material bag correspond to the same mixing bin, the end effector of the robotic arm moves to the mixing bin corresponding to the first raw material bag, and cuts the first raw material bag with the corresponding cutting tool, so that the raw material in the first raw material bag enters the corresponding mixing bin, including: Adjust the extension length of the cutting blade so that the cutting blade can contact the surface of the first raw material bag; The second driving mechanism drives the sliding plate to slide along the slide rail, so that the cutting tool cuts the first raw material bag and the raw material in the first raw material bag enters the corresponding ingredient barrel; Control the cutting tool to reset.

3. The automatic batching method according to claim 2, characterized in that, The robotic arm is equipped with a weight sensing module. The end effector of the robotic arm moves to the mixing bin corresponding to the second raw material bag, and the corresponding cutting tool cuts the second raw material bag, allowing the raw material inside the second raw material bag to enter the corresponding mixing bin. This includes: The end effector of the robotic arm is moved to the mixing bucket corresponding to the second raw material bag, and the second raw material bag is cut by the corresponding cutting tool; The end of the robotic arm is driven to vibrate at a preset frequency, accelerating the entry of the raw materials in the second raw material bag into the corresponding mixing barrel; The weight sensing module detects changes in the weight value of the end effector of the robotic arm. When the change in weight value within a preset time is less than a first preset value, and the weight value is greater than a preset weight value, the vibration frequency of the end effector of the robotic arm is increased until the weight value equals the preset weight value, causing the end effector of the robotic arm to stop vibrating.

4. The automatic batching method according to claim 1, characterized in that, Each of the ingredient bins is provided with a waste bin on one side, and a gripping mechanism is provided inside the waste bin; When the first raw material bag and the second raw material bag correspond to different ingredient containers, the end effector of the robotic arm moves to the ingredient container corresponding to the first raw material bag, and cuts the first raw material bag with the corresponding cutting tool, so that the raw material in the first raw material bag enters the corresponding ingredient container, including: The end effector of the robotic arm is driven to move to the waste bin on one side of the mixing bucket corresponding to the second raw material bag; Drive the gripper to reset, causing the second raw material bag to fall into the waste bin; The end effector of the robotic arm is driven to move to the mixing barrel corresponding to the first raw material bag, and the first raw material bag is cut by the corresponding cutting tool so that the raw material in the first raw material bag enters the corresponding mixing barrel; The end effector of the robotic arm is driven to move to the waste bin on one side of the mixing bucket corresponding to the first raw material bag; The nail is reset by the first driving mechanism, causing the first raw material bag to fall into the waste bin; When the first raw material bag fails to fall into the waste bin normally, the gripping mechanism grabs the first raw material bag and puts it into the waste bin.

5. The automatic batching method according to claim 1, characterized in that, When the quantity is greater than 1, determining the grabbing order of each raw material bag includes: When the quantity is greater than 1, all the raw material bags to be grabbed are grouped into groups, with each group containing two raw material bags. When the quantity is odd, the last raw material bag is a group. When grouping, the raw material bags corresponding to the same ingredient bucket are first grouped together, and the remaining ungrouped raw material bags are grouped according to the placement position of each raw material bag; The grasping order of each group of raw material bags is determined based on the ingredient requirements or the movement path of each group of raw material bags.

6. The automatic batching method according to claim 5, characterized in that, A dust removal device is installed at the outlet of the mixing tank. When cutting the first or second raw material bag, the method further includes: Start the dust removal device; The dust removal device absorbs the raw materials escaping from the mixing tank from the first or second raw material bag.

7. An automatic dispensing device, characterized in that, The device includes a robotic arm, a feeding platform holding various raw material bags, and a batching platform with multiple batching bins, each of which is equipped with a cutting tool; the end of the robotic arm is equipped with a gripping mechanism, which includes a first driving mechanism and a rotating rod with multiple nails, and grippers are provided on both sides of the gripping mechanism; the automatic batching device is used to implement the automatic batching method as described in any one of claims 1 to 6.

8. An electronic device, characterized in that, It includes at least one control processor and a memory for communicatively connecting to the at least one control processor; the memory stores instructions executable by the at least one control processor to enable the at least one control processor to perform the automatic batching method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions for causing a computer to perform the automatic batching method as described in any one of claims 1 to 6.

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