Automatic flexible packaged article loading device and control method thereof

The invention relates to an automatic flexible packaged article loading device and a control method thereof. The automatic flexible packaged article loading device comprises SCARA robots, robot bases, a vision assembly, light source assemblies, a discharge conveyor, robot end effectors, an encoder, a trough falling device, a servo conveyor and a sterilization plate. The discharge conveyor is arranged on the front sides of the two robot bases. The encoder is mounted on a drive shaft of the discharge conveyor. The light source assemblies are symmetrically mounted on the front side and the rear side of the left portion of the discharge conveyor. The vision assembly is mounted on the left robot base of the two robot bases and located over the light source assemblies. The servo conveyor is arranged between the two robot bases. The sterilization plate is arranged on the servo conveyor. The trough falling device is arranged on the servo conveyor in a straddling mode. The automatic flexible packaged article loading d