CN-122009817-A - Feeding method of metal mask, electronic equipment and storage medium

CN122009817ACN 122009817 ACN122009817 ACN 122009817ACN-122009817-A

Abstract

The application provides a feeding method of a metal mask, electronic equipment and a storage medium, relates to the technical field of industrial automation precision transport, and is used for reducing position errors in feeding the metal mask. The method comprises the steps of responding to a material taking platform of a mechanical arm moving to a metal mask, controlling a sucker module on the mechanical arm to absorb the metal mask, controlling the sucker module to execute tightening action after the sucker module absorbs the metal mask so as to enable the metal mask to be in a tightening state, and responding to a material loading platform of the mechanical arm moving to the metal mask, controlling the sucker module to execute progressive release action so as to enable the metal mask to be gradually placed on the material loading platform from a middle area.

Inventors

FU WENHAO
WANG GUANGYAN
FENG XIAOQING

Assignees

合肥欣奕华智能机器股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260305

Claims (10)

1. The feeding method of the metal mask plate is characterized by comprising the following steps of: responding to the movement of a mechanical arm to a material taking table of a metal mask, and controlling a sucker module on the mechanical arm to absorb the metal mask; after the sucker module absorbs the metal mask, controlling the sucker module to execute tightening action so as to enable the metal mask to be in a tightening state; and responding to the movement of the mechanical arm to the feeding table of the metal mask, controlling the sucker module to execute progressive release action so that the metal mask is gradually placed on the feeding table from the middle area.
2. The method of claim 1, wherein the chuck module comprises at least a first chuck and a second chuck, wherein the first chuck is a chuck for sucking a suction area on the left side of the metal mask, and the second chuck is a chuck for sucking a suction area on the right side of the metal mask; The controlling the suction cup module to execute tightening action comprises: And controlling the first sucker and the second sucker to move along opposite directions until the distance between the positioning marks on the left side and the right side of the metal mask reaches a first distance threshold.
3. The method of claim 2, wherein controlling the chuck module to perform the tightening action after the chuck module sucks the metal mask comprises: After the sucker module absorbs the metal mask, controlling the mechanical arm to execute lifting action; And after the mechanical arm is lifted to a first height at a distance from the material taking table, controlling the sucker module to execute tightening action.
4. The method of claim 1, wherein the chuck module comprises at least a first chuck and a second chuck, wherein the first chuck is a chuck for sucking a suction area on the left side of the metal mask, and the second chuck is a chuck for sucking a suction area on the right side of the metal mask; the controlling the sucker module to execute the gradual release action comprises the following steps: Controlling the first sucker and the second sucker to move along the opposite direction so that the metal mask plate gradually contacts the feeding table from the middle area; And controlling the first sucker and the second sucker to release the metal mask plate in response to the distance between the positioning marks on the left side and the right side of the metal mask plate reaching a second distance threshold.
5. The method of claim 4, wherein controlling the chuck module to perform a progressive release action in response to the robotic arm moving to the loading station of the metal mask comprises: And controlling the sucker module to execute progressive release action in response to the mechanical arm moving to the feeding table of the metal mask plate and being spaced from the feeding table by a second height.
6. The method of any one of claims 1 to 5, wherein prior to said controlling the chuck module on the robotic arm to suction the metal reticle, the method comprises: Acquiring the positioning position of the metal mask plate on a material taking table; And controlling the mechanical arm to move to the upper side of the metal mask plate based on the deviation between the positioning position and the reference position, so that a first sucker in the sucker module is aligned with the left suction area of the metal mask plate, and a second sucker is aligned with the right suction area of the metal mask plate.
7. The method according to any one of claims 1 to 5, further comprising: Acquiring the position of the left side positioning mark of the metal mask plate on the feeding table and the position of the right side positioning mark of the metal mask plate on the feeding table; Determining a first position deviation between the left side positioning mark of the metal mask plate and the left side positioning mark of the feeding table based on the position of the left side positioning mark of the metal mask plate on the feeding table and the position of the left side positioning mark of the feeding table; Determining a second position deviation between the right side positioning mark of the metal mask plate and the right side positioning mark of the feeding table based on the position of the right side positioning mark of the metal mask plate on the feeding table and the position of the right side positioning mark of the feeding table; the first positional deviation and the second positional deviation are transmitted to a downstream device.
8. An electronic device, comprising a processor and a memory, wherein the processor is coupled to the memory, and the memory is configured to store computer instructions that are loaded and executed by the processor to cause the computer device to implement the method for loading a metal mask according to any one of claims 1 to 7.
9. A computer readable storage medium, characterized in that the computer readable storage medium comprises computer executable instructions which, when run on a computer, cause the computer to perform the method of loading a metal mask plate according to any one of claims 1 to 7.
10. A computer program product, characterized in that the computer program product comprises a computer program which, when run on an electronic device, causes the electronic device to perform the method of loading a metal mask according to any one of claims 1 to 7.

Description

Feeding method of metal mask, electronic equipment and storage medium Technical Field The application relates to the technical field of industrial automation precise transport, in particular to a feeding method of a metal mask, electronic equipment and a storage medium. Background At present, in the carrying process of a large ultrathin metal mask, the large ultrathin metal mask is extremely thin in surface width and extremely low in rigidity, and is extremely easy to bend, warp, fold and even permanently deform plastically under the action of dead weight or external force. In the related art, when a metal mask is carried, the metal mask in a tight state is generally directly pressed onto a loading table. However, the method has rebound in the discharging process, so that the placing position is inaccurate after the carrying is finished, and the technical problem of large position error in feeding the metal mask plate is solved. Disclosure of Invention The application provides a feeding method of a metal mask, electronic equipment and a storage medium, which are used for reducing position errors in feeding the metal mask. In order to achieve the above purpose, the application adopts the following technical scheme: The application provides a metal mask feeding method, which comprises the steps of controlling a sucker module on a mechanical arm to absorb a metal mask in response to the mechanical arm moving to a material taking table of the metal mask, controlling the sucker module to execute tightening action after the sucker module absorbs the metal mask so as to enable the metal mask to be in a tightening state, and controlling the sucker module to execute progressive release action in response to the mechanical arm moving to a material feeding table of the metal mask so as to enable the metal mask to be gradually placed on the material feeding table from a middle area. In one possible implementation mode, the sucker module at least comprises a first sucker and a second sucker, wherein the first sucker is a sucker for sucking a suction area on the left side of the metal mask, the second sucker is a sucker for sucking a suction area on the right side of the metal mask, and the sucker module is controlled to execute tightening action, and the sucker module is controlled to move in the opposite direction until the distance between positioning marks on the left side and the right side of the metal mask reaches a first distance threshold. In one possible implementation, after the suction cup module sucks the metal mask, the suction cup module is controlled to execute the tightening action, and the suction cup module is controlled to execute the lifting action after the suction cup module sucks the metal mask, and the suction cup module is controlled to execute the tightening action after the mechanical arm is lifted to a first height from the material taking table. In one possible implementation mode, the sucker module at least comprises a first sucker and a second sucker, wherein the first sucker is a sucker for sucking a region which can be sucked on the left side of the metal mask, the second sucker is a sucker for sucking a region which can be sucked on the right side of the metal mask, the sucker module is controlled to execute progressive release action, the sucker module is controlled to move in the opposite direction, the metal mask is enabled to be gradually contacted with the feeding table from the middle region, and the first sucker and the second sucker are controlled to release the metal mask in response to the fact that the distance between positioning marks on the left side and the right side of the metal mask reaches a second distance threshold. In one possible implementation, the control of the chuck module to perform the progressive release action in response to the robotic arm moving to the loading table of the metal mask includes controlling the chuck module to perform the progressive release action in response to the robotic arm moving to the loading table of the metal mask and being spaced a second height from the loading table. In one possible implementation, before controlling a suction cup module on a mechanical arm to suck a metal mask, the method comprises the steps of acquiring a positioning position of the metal mask on a material taking table, and controlling the mechanical arm to move above the metal mask based on the deviation between the positioning position and a reference position so that a first suction cup in the suction cup module is aligned with a left suction area of the metal mask and a second suction cup is aligned with a right suction area of the metal mask. In one possible implementation, the method includes obtaining a position of a left side positioning mark of a metal mask plate on a feeding table and a position of a right side positioning mark of the metal mask plate on the feeding table, determining a first positional deviation between the left side positioning m