Automatic edge-finding and positioning device and positioning method thereof

Abstract

The present invention discloses an automatic edge-finding and positioning device and a positioning method thereof, comprising a frame, a plurality of supporting rollers arranged across the frame, a positioning flange assembly arranged on the frame, a pulling mechanism for pulling a sheet material toward the positioning flange assembly, and a pushing mechanism for pushing the sheet material toward the positioning flange assembly; the positioning flange assembly is provided with an in-position sensing component for detecting whether the side edge of the sheet material has moved into position; the pulling mechanism is provided with a first edge-finding sensing component for sensing one side edge of the sheet material, the pushing mechanism is provided with a second edge-finding sensing component for sensing the other side edge of the sheet material, and the frame is provided with a position sensing component for sensing the transfer position of the sheet material. The automatic edge-finding and positioning device provided by the present invention has automatic edge-finding and positioning functions by providing the pulling mechanism and the pushing mechanism. Various commonly used sheet materials can be applied to the automatic edge-finding and positioning device, and the device has high applicability.

Description

Technical Field

[0001] The present invention relates to the technical field of welding feeding, and in particular to an automatic edge-finding and positioning device and a positioning method thereof. Background Art

[0002] In the cold rolling continuous production process, in order to form continuous sheet rolling, it is very important to weld the end of the preceding sheet with the head of the subsequent sheet into one piece. Before laser welding, the subsequent sheet needs to be positioned by a positioning device first, and then the head of the subsequent sheet is sent to the welding device through a transfer device for welding. However, the positioning devices in existing production lines are generally simple in structure and do not have the function of width positioning and adjustment. Not only can they only be used to position sheets of a specific width specification, the applicability is extremely poor, and manual pre-placement is required to ensure that the feeding direction and position of the sheet do not have excessive deviations, otherwise it will interfere with the positioning device and positioning cannot be achieved. Although the existing positioning device has a width positioning and adjustment function after improvement, each time the processing specifications of the sheet are changed, the entire production line needs to be shut down to adjust the width of the positioning device, which seriously affects the production rhythm and reduces production efficiency.

[0003] It can be seen that the existing technology still needs to be improved and enhanced. Summary of the Invention

[0004] In view of the above-mentioned deficiencies in the prior art, an object of the present invention is to provide an automatic edge-finding and positioning device and a positioning method thereof, which are intended to automatically complete edge-finding and positioning of sheet materials of different specifications.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] An automatic edge-finding and positioning device comprises a frame, a plurality of supporting rollers arranged across the frame, a positioning sidewall assembly arranged on the frame, a pulling mechanism for pulling the sheet material toward the positioning sidewall assembly, and a pushing mechanism for pushing the sheet material toward the positioning sidewall assembly; the positioning sidewall assembly is provided with an in-position sensing component for detecting whether the side edge of the sheet material has moved into position; the pulling mechanism is provided with a first edge-finding sensing component for sensing one side edge of the sheet material, the pushing mechanism is provided with a second edge-finding sensing component for sensing the other side edge of the sheet material, and the frame is provided with a position sensing component for sensing the sheet material transmission position.

[0007] The frame includes two symmetrically arranged side plates and a plurality of guide rods connecting the two side plates; the guide rods extend in the transverse direction and are provided with a supporting frame, and the position sensing component is arranged on the supporting frame.

[0008] The material pulling mechanism includes a material pulling slide slidably connected to the guide rod, a movable gripper arranged on the material pulling slide, and a material pulling drive device for driving the material pulling slide to move horizontally.

[0009] The movable gripper includes a base body fixed on the pulling slide, a swing seat horizontally rotatably arranged on the base body, and a cylinder vertically downwardly arranged on the swing seat; a first clamping block is provided at the output end of the cylinder, and a second clamping block cooperating with the first clamping block is fixed on the swing seat; the first edge-finding sensing component is provided on the swing seat.

[0010] The seat body includes a fixed plate, a vertical rod fixed on the fixed plate, a top plate fixed at the top of the vertical rod and a bottom plate fixed at the bottom of the vertical rod; the swing seat includes an upper connecting plate, a vertical plate and a lower connecting plate forming a C-shaped structure; the swing seat is rotatably arranged between the top plate and the bottom plate; the fixed plate includes a convex head and a flat plate, the vertical rod is vertically arranged at the center of the convex head, and the flat plate is detachably connected to the pulling slide; a vertically extending limiting side is provided on the end face of the vertical plate facing away from the upper connecting plate, and two limiting sides are provided and are respectively located on both sides of the convex head.

[0011] The material drawing drive device includes a transversely extending material drawing screw, a screw nut sleeved on the material drawing screw, and a material drawing drive motor for driving the material drawing screw to rotate. The screw nut is fixed on the material drawing slide.

[0012] The pushing mechanism includes a pushing slide slidably connected to the guide rod, at least two pushing rollers vertically arranged on the pushing slide, and a pushing drive device for driving the pushing slide to move horizontally; the second edge-finding sensing component is arranged on the pushing slide.

[0013] The positioning side guard assembly includes at least two side guard rollers vertically fixed on the guide rod, the in-position sensing assembly is arranged on the side guard roller, and at least two limiting rollers are fixed on the guide rod.

[0014] The material support rack includes a plurality of spaced-apart material support square tubes, each guide rod is connected in series with all the material support square tubes, the material support square tubes are fixed to the guide rods through locking rings, each material support square tube is provided with the same number of U-shaped grooves as the number of material support rollers and corresponding to each other, and each material support roller is embedded in the U-shaped groove; the position sensing component is arranged on the material support square tube.

[0015] A positioning method based on an automatic edge-finding positioning device includes a pulling mechanism, a pushing mechanism, an in-position sensing component, a first edge-finding sensing component, a second edge-finding sensing component, and a position sensing component, all of which are controlled by a control system and include the following steps:

[0016] S01: The sheet material is fed horizontally between the pulling mechanism and the pushing mechanism, and the supporting roller supports the sheet material to be transported forward; S02: The position sensing component collects the sheet material position and feeds back the signal to the control system. When the front position sensing component senses the front edge of the sheet material, the sheet material continues to be transported forward for a distance and transitions to the transfer device;

[0017] S03: The control system controls the pulling mechanism to approach the sheet material to achieve edge search. When the first edge search sensing component senses the sheet material, the pulling mechanism successfully finds the edge and stops moving, and the pulling mechanism clamps one side of the sheet material. At the same time, the control system also controls the pushing mechanism to approach the sheet material to achieve edge search. When the second edge search sensing component senses the sheet material, the pushing mechanism stops moving, and the pushing mechanism applies a thrust to the other side of the sheet material.

[0018] S04: The pulling mechanism and the pushing mechanism move synchronously and at a constant speed toward the positioning flange assembly, the pulling mechanism pulls the sheet material toward the positioning flange assembly, and the pushing mechanism pushes the sheet material toward the positioning flange assembly;

[0019] S05: When the in-position sensing component senses the sheet, the positioning edge retaining component completes the positioning of the sheet;

[0020] S06: The pulling mechanism is reset to the initial position, and the pushing mechanism and the positioning retaining edge assembly jointly convey and guide the sheet material.

[0021] Beneficial effects:

[0022] The automatic edge-finding and positioning device provided by the present invention has the functions of automatic edge-finding and positioning by setting a pulling mechanism and a pushing mechanism. In the initial state, there is a relatively long width adaptation amount of sheet material specifications between the pulling mechanism and the pushing mechanism. It is only necessary to feed the steel coil sheet material within a certain width and thickness specification range into the automatic edge-finding and positioning device to complete the edge-finding and positioning operation of the sheet material fully automatically. Not only does it not require manual triggering to start or stop, it also solves the problem of manpower-consuming accurate pre-placement operations. Various commonly used sheet materials can be applied to the automatic edge-finding and positioning device, which greatly improves the applicability. Even if the processing specifications of the sheet material are changed, production can be carried out as usual without the need for equipment adjustment, and will not affect the production rhythm and production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 The automatic edge-finding and positioning device provided by the present invention is a three-dimensional Figure 1 .

[0024] Figure 2 The automatic edge-finding and positioning device provided by the present invention is a three-dimensional Figure 2 .

[0025] Figure 3 This is a schematic diagram of the status when the sheet metal is fed into the automatic edge-finding and positioning device.

[0026] Figure 4 This is a schematic diagram of the state of the automatic edge-finding and positioning device finding the edge of the sheet metal.

[0027] Figure 5 This is a schematic diagram of the state of the automatic edge-finding and positioning device performing lateral movement and positioning of the sheet material.

[0028] Figure 6 A three-dimensional diagram of the movable gripper provided by the present invention.

[0029] Figure 7 This is an exploded view of the movable gripper provided by the present invention.

[0030] Figure 8 This is a top view of the movable gripper provided by the present invention in its initial state.

[0031] Figure 9 This is a top view of the movable gripper provided by the present invention, and the swing seat after swinging.

[0032] Figure 10 for Figure 1 A local magnified view of the middle L1 region.

[0033] Figure 11 for Figure 2 A local magnified view of the middle L2 region.

[0034] Main component symbols: 1-frame, 11-side plate, 12-guide rod, 13-support rack, 131-support square tube, 132-locking ring, 133-U-shaped groove, 2-support roller, 3-positioning side guard assembly, 31-side guard roller, 32-limiting roller, 4-pulling mechanism, 41-pulling slide, 42-movable gripper, 421-base, 4211-fixed plate, 4211a-convex head, 4211b-flat plate, 4212-top plate, 4213-vertical rod, 4214-bottom plate, 422-swing seat, 4221-upper connecting plate, 4222-vertical plate, 4223-lower connecting plate, 423-cylinder, 424-first clamping block, 425-second clamping block, 426-limiting side, 43-pulling screw, 44-screw nut, 45-pulling drive motor, 5-pushing mechanism, 51-pushing slide, 52-pushing roller, 6-in-place sensing component, 71-first infrared transmitter, 72-first infrared receiver, 8-second edge-finding sensing component, 9-position sensing component. DETAILED DESCRIPTION

[0035] The present invention provides an automatic edge-finding and positioning device and a positioning method thereof. To make the objectives, technical solutions, and effects of the present invention more clear and explicit, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the scope of protection of the present invention.

[0036] In this article, “before” means Figure 1-Figure 5 The direction indicated by the arrow in the middle is the conveying direction of the sheet material, and "back" is opposite to "front".

[0037] See also Figure 1 and Figure 2 The present invention provides an automatic edge-finding and positioning device, comprising a frame 1, a plurality of supporting rollers 2 arranged across the frame 1, a positioning side guard assembly 3 arranged on the frame 1, a pulling mechanism 4 for pulling the sheet material toward the positioning side guard assembly 3, and a pushing mechanism 5 for pushing the sheet material toward the positioning side guard assembly 3; the positioning side guard assembly 3 is provided with an in-position sensing component 6 for detecting whether the side edge of the sheet material has moved into position; the pulling mechanism 4 is provided with a first edge-finding sensing component for sensing one side edge of the sheet material, the pushing mechanism 5 is provided with a second edge-finding sensing component 8 for sensing the other side edge of the sheet material, and the frame 1 is provided with a position sensing component 9 for sensing the sheet material transmission position.

[0038] The pulling mechanism 4, the pushing mechanism 5, the in-position sensing component 6, the first edge-finding sensing component 7, the second edge-finding sensing component 8, and the position sensing component 9 are all controlled by a control system. A sheet metal positioning method is formed based on the automatic edge-finding positioning device. The specific steps are as follows: S01: See Figure 3 As shown, the sheet material 10 is horizontally fed into between the pulling mechanism 4 and the pushing mechanism 5, and the supporting roller 2 supports the sheet material 10 to be transported forward; S02: the position sensing component 9 collects the position of the sheet material and feeds back the signal to the control system. When the front position sensing component 9 senses the front edge of the sheet material, the sheet material continues to be transported forward for a distance so that it transitions to the transfer device; S03: the control system controls the pulling mechanism 4 to approach the sheet material 10 to achieve edge finding. When the first edge finding sensing component senses the sheet material, the pulling mechanism 4 successfully finds the edge and stops moving, and the pulling mechanism 4 clamps one side of the sheet material; at the same time, the control system also controls the pushing mechanism 5 to approach the sheet material to achieve edge finding. When the second edge finding sensing component 8 senses the sheet material, the pushing mechanism 5 successfully finds the edge and stops moving, and the pushing mechanism 5 applies a thrust to the other side of the sheet material; S04: see Figure 4 As shown, when the pulling mechanism 4 and the pushing mechanism 5 have successfully found the edge, the pulling mechanism 4 and the pushing mechanism 5 move synchronously and at a constant speed toward the positioning edge assembly 3, the pulling mechanism 4 pulls the sheet material toward the positioning edge assembly 3, and the pushing mechanism 5 pushes the sheet material 10 toward the positioning edge assembly 3; S05: see Figure 5As shown, when the in-position sensing component 6 senses the sheet material 10, the positioning side guard component 3 completes the positioning of the sheet material, and the side edge of the sheet material 10 rests on the positioning side guard component 3; S06: the pulling mechanism 4 is reset to the initial position, and the pushing mechanism 5 and the positioning side guard component jointly convey and guide the sheet material, indicating that a single edge-finding process is completed, and the control system waits for the next edge-finding signal to be triggered. After the single edge-finding process is completed, there is a sheet material passing for a long time but no random triggering of the edge-finding signal or mid-way edge-finding occurs.

[0039] It can be seen that the automatic edge-finding and positioning device provided by the present invention has the functions of automatic edge-finding and positioning by setting the pulling mechanism 4 and the pushing mechanism 5. In the initial state, there is a relatively long width adaptation amount of the sheet material specifications between the pulling mechanism 4 and the pushing mechanism 5. It is only necessary to feed the steel coil sheet material with a width of 1.0-1.5m and a thickness of 0.2-5mm into the automatic edge-finding and positioning device to automatically complete the edge-finding and positioning operation of the sheet material. Not only does it not require manual triggering to start or stop, it also solves the problem of consuming manpower for accurate pre-placement operations. Various commonly used sheet materials can be applied to the automatic edge-finding and positioning device, which greatly improves the applicability. Even if the processing specifications of the sheet material are changed, production can be carried out as usual without the need for equipment adjustment, which will not affect the production rhythm and production efficiency.

[0040] Specifically, the frame 1 includes two symmetrically arranged side panels 11 and a plurality of guide rods 12 connecting the two side panels 11. The guide rods 12 extend laterally and are provided with a support frame 13, on which the position sensing assembly 9 is mounted. This arrangement allows the automatic edge-finding and positioning device to be modularized and installed on a welding production line through the side panels 11 to position the sheet metal and assist in the joining of the sheets.

[0041] In this embodiment, the material pulling mechanism 4 includes a material pulling slide 41 slidably connected to the guide rod 12, a movable gripper 42 provided on the material pulling slide 41, and a material pulling drive device for driving the material pulling slide 41 to move laterally. During edge search, the material pulling drive device causes the movable gripper 42 on the material pulling slide 41 to move toward the side of the sheet metal; when edge search is successful, the movable gripper 42 clamps the sheet metal, and under the traction of the material pulling drive device, the movable gripper 42 on the material pulling slide 41 pulls the side of the sheet metal toward the positioning edge retaining assembly 3.

[0042] In this example, see Figure 6 and Figure 7The movable gripper 42 includes a base 421 fixed on the material pulling slide 41, a swing base 422 rotatably arranged on the base 421, and a cylinder 423 vertically downwardly arranged on the swing base 422; the output end of the cylinder 423 is provided with a first clamping block 424, and the swing base 422 is fixed with a second clamping block 425 that cooperates with the first clamping block 424; the swing base 422 is provided with the first edge-finding sensing component 7. In the initial state, the first clamping block 424 and the second clamping block 425 on the movable gripper 42 are separated from each other to form a clamping opening; the swing base 422 is as shown in FIG. Figure 8 As shown, the swing seat 422 is facing the pushing mechanism and does not swing relative to the seat body 421.

[0043] When the first edge-finding sensing component 7 senses the sheet 10, it indicates that the movable gripper 42 has successfully found the edge, and the clamping mouth is very close to the side of the sheet. The pulling drive device continues to drive the movable gripper 42 toward the sheet according to the set control program, so that the side of the sheet extends into the clamping mouth and the edge of the sheet rests on the swing seat 422, and then the cylinder 423 drives the first clamping block 424 to move, and the first clamping block 424 and the second clamping block 425 jointly and smoothly clamp the sheet 10. At this time, the extension direction of the side of the sheet is parallel to the length extension direction of the first clamping block 424, and the sheet 10 does not drive the swing seat 422 to swing. If the sheet material deviates to one side during feeding, after the sheet material is inserted into the clamping port, a portion of the sheet material side located in the clamping port cannot rest against the swing seat 422, while the other portion of the sheet material side located in the clamping port pushes the swing seat 422 to swing until the extension direction of the sheet material side is parallel to the length extension direction of the first clamping block 424 and the sheet material side of the clamping port completely rests against the swing seat 422. Since the swing seat 422 can swing adaptively according to the degree of deviation of the sheet material side, on the one hand, it can reduce the rigid impact of the sheet material on the swing seat 422, and on the other hand, it can adjust the position of the first clamping block 424 and the second clamping block 425 to ensure that the first clamping block 424 and the second clamping block 425 can effectively clamp the sheet material. It should be noted that the movable gripper 42 will drag the sheet material to the set area for positioning. During the positioning process, the sheet material will be corrected. When correcting the deviation, the sheet material will drive the swing seat 422 to reset to its initial state, that is, the swing seat 422 is facing the pushing mechanism again.

[0044] Furthermore, the seat body 421 includes a fixed plate 4211, a vertical rod 4213 fixed on the fixed plate 4211, a top plate 4212 fixed at the top of the vertical rod 4213, and a bottom plate 4214 fixed at the bottom of the vertical rod 4213; the swing seat 422 includes an upper connecting plate 4221, a vertical plate 4222 and a lower connecting plate 4223 forming a C-shaped structure to form an installation space for accommodating the cylinder 423, the first clamping block 424 and the second clamping block 425, that is, the cylinder 423 is vertically arranged downward on the vertical plate 4222, and the second clamping block 425 is fixed on the lower connecting plate 4223, so that the overall structure is more compact. In addition, the swing seat 422 is rotatably arranged between the top plate 4212 and the bottom plate 4214. By positioning the top and bottom of the swing seat 422, the load capacity can be improved on the one hand, and the swing seat 422 can better resist the impact caused by the lateral sheet materials on the other hand.

[0045] Furthermore, the fixing plate 4211 includes a convex portion 4211a and a flat portion 4211b, the vertical rod 4213 is vertically arranged at the center of the convex portion 4211a, and the flat portion 4211b is detachably connected to the material pulling slide 41; the end surface of the vertical plate 4222 facing away from the upper connecting plate 4221 is provided with a vertically extending limiting side 426, and the limiting side 426 is provided with two and is respectively located on both sides of the convex portion 4211a. Figure 9 As shown, the limiting side edge 426 cooperates with the protruding head portion 4211 a to limit the movable angle of the swing seat 422 to prevent the swing seat 422 from excessively rotating.

[0046] Preferably, the first edge-finding sensing assembly 7 includes a first infrared emitter 71 mounted on the upper connecting plate 4221, and a first infrared receiver 72 mounted on the lower connecting plate 4223 and compatible with the first infrared emitter 71. During operation, the first infrared emitter 71 emits a vertical infrared light that is received by the first infrared receiver 72. The infrared light is located in front of the clamping opening. When the sheet material blocks the infrared light, the first infrared receiver 72 will feedback a signal to the control system, indicating that the movable gripper 42 has successfully found the edge. Then, after completing the timing setting, the control system controls the cylinder 423 to drive the first clamping block 424 to press the sheet material onto the second clamping block 425.

[0047] Preferably, the first clamping block 424 and the second clamping plate are provided with anti-skid patterns on their opposite end faces. The anti-skid patterns can increase the friction between the first clamping block 424 and the second clamping plate and the sheet material, more effectively clamping the sheet material and preventing it from slipping and loosening.

[0048] In this example, see Figure 10 and Figure 11The material drawing drive device includes a transversely extending material drawing screw 43, a screw nut 44 sleeved on the material drawing screw 43, and a material drawing drive motor 45 for driving the material drawing screw 43 to rotate. The material drawing drive motor 45 is fixed to the side plate 11 through a motor bracket, and the screw nut 44 is fixed to the material drawing slide 41. One end of the material drawing screw 43 facing the middle of the frame 1 is passed through a bearing and is mounted on a first bearing mounting block 46; the other end is passed through a bearing and is mounted on a second bearing mounting block 47; one end of the material drawing screw 43 is connected to the output shaft of the material drawing drive motor 45 through a coupling; the first bearing mounting block 46 is fixed to the material support frame 13 located in the middle of the frame 1, and the second bearing mounting block 47 is fixed to the side plate 11. The screw drive method has the advantages of high precision, reversibility and high efficiency. The pulling drive motor 45 drives the pulling slide 41 to approach or move away from the middle of the frame 1 under the guidance of the guide rod 12 through forward and reverse motion, driven by the pulling screw 43 and the screw nut 44, and has good edge finding and pulling effects.

[0049] Specifically, the pushing mechanism 5 includes a pushing slide 51 slidably connected to the guide rod 12, at least two pushing rollers 52 vertically arranged on the pushing slide 51, and a pushing drive device for driving the pushing slide 51 to move horizontally; the second edge-finding sensing component 8 is arranged on the pushing slide 51.

[0050] It should be noted that, since the sheet material has a certain weight load, in order to make the sheet material translate smoothly and reliably, in this embodiment, two pushing rollers 52 are provided in the pushing mechanism 5, and one movable gripper 42 is provided, thereby forming a stable force triangle, and the pushing mechanism 5 and the pulling mechanism 4 are cleverly used to cooperate with each other to perform horizontal translation and positioning of the sheet material. Therefore, the pushing slide 51 and the pulling slide 41 need to move synchronously and at a constant speed. The pushing drive device and the pulling drive device have the same structure and are symmetrically arranged. The specific structure and working principle of the pushing drive device will not be repeated here.

[0051] Preferably, the second edge-finding sensing assembly 8 includes a material pulling sensor bracket, a second infrared emitter disposed at the top of the material pulling sensor bracket, and a second infrared receiver disposed at the bottom of the material pulling sensor bracket and compatible with the second infrared emitter. During operation, the second infrared emitter emits a vertical infrared light beam, which is received by the second infrared receiver. When the side edge of the sheet material blocks the infrared light beam, the edge-pushing roller 52 just abuts against the side edge of the sheet material, and the second infrared receiver sends a feedback signal to the control system, indicating that the pushing mechanism 5 has successfully found the edge. The control system then controls the pushing mechanism 5 to stop operating and wait for cooperation with the pulling mechanism 4 to perform lateral transfer and positioning of the sheet material.

[0052] In this embodiment, the positioning side guard assembly 3 includes at least two side guard rollers 31 vertically fixed on the guide rod 12, and the lateral positions of all side guard rollers 31 are the same to form a positioning reference. The in-position sensing assembly 6 is arranged on the side guard roller 31, and the positioning is achieved by relying on the in-position sensing assembly 6 to detect whether the side edge of the sheet is close to the side guard roller 31.

[0053] The in-position sensing assembly 6 includes an in-position sensor bracket, a third infrared emitter arranged at the top of the in-position sensor bracket, and a third infrared receiver arranged at the bottom of the in-position sensor bracket and adapted to the third infrared emitter. During operation, the third infrared emitter emits a vertical infrared light which is received by the third infrared receiver. When the side of the sheet material blocks the infrared light, the edge-pushing roller 52 just abuts against the side of the sheet material, and the third infrared receiver will feedback a signal to the control system, indicating that after the sheet material is transferred by the push mechanism 5 and the pull mechanism 4, the side of the sheet material is successfully abutted against the edge-pushing roller 52 to achieve positioning. At this time, the control system controls the push mechanism 5 and the pull mechanism 4 to stop moving, and controls the movable gripper 42 to release the sheet material. Subsequently, the sheet material can be further conveyed forward. Under the joint limitation and guidance of the edge-blocking roller 31 and the push roller, the sheet material will not deviate during the conveying process, ensuring accurate sheet material docking. It is understandable that, since the side guard roller 31 and the push roller are rotatable, the friction between the side guard roller 31 and the push roller and the side of the sheet material is small, which will not affect the normal conveyance of the sheet material.

[0054] Furthermore, at least two limiting rollers 32 are fixed on the guide rod 12. By setting the limiting rollers 32, the sheet material just fed into the frame 1 can be limited between the limiting rollers 32 and the edge rollers 31 to prevent the edges of the sheet material from colliding with the pushing mechanism 5 and the pulling mechanism 4.

[0055] Preferably, the material support rack 13 includes a plurality of material support square tubes 131 arranged at intervals, and each of the guide rods 12 is connected in series with all the material support square tubes 131, and the material support square tubes 131 are fixed to the guide rods 12 by locking rings 132, and each material support square tube 131 is provided with U-shaped grooves 133, which are the same in number and one-to-one with the material support rollers 2, and each material support roller 2 is embedded in the U-shaped groove 133; because in actual application, the height of the material support roller 2 is slightly higher than the top surface of the material support square tube 131, and the gap between the material support roller 2 and the groove wall of the U-shaped groove 133 is extremely narrow, so the front edge of the sheet will fall smoothly to the top surface of the material support square tube 131 after leaving the material support roller 2, and will not be stuck in the gap between the material support roller 2 and the groove wall of the U-shaped groove 133 to form interference, so as to avoid the sheet from getting stuck during the positioning process.

[0056] The position sensing component 9 is arranged on the material supporting square tube 131. The position sensing component 9 includes multiple groups of diffuse reflection photoelectric sensors arranged from back to front. The control system can know the position of the front edge of the sheet through the feedback signal from the diffuse reflection photoelectric sensor to the control system.

[0057] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0058] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections, or mutual communication; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0059] It is understandable that those skilled in the art can make equivalent substitutions or changes based on the technical solution and inventive concept of the present invention, and all such changes or substitutions should fall within the scope of protection of the present invention.

Claims

1. An automatic edge-finding and positioning device, characterized in that: The lifting mechanism comprises a lifting mechanism, a lifting mechanism for lifting the lifting mechanism, a lifting mechanism for lifting the lifting mechanism, and a lifting mechanism for lifting the lifting mechanism. The lifting mechanism comprises a lifting mechanism for lifting the lifting mechanism, a lifting mechanism for lifting the lifting mechanism, and a lifting mechanism for lifting the lifting mechanism. The lifting mechanism comprises a lifting mechanism for lifting the lifting mechanism, a lifting mechanism for lifting the lifting mechanism, and a lifting mechanism for lifting the lifting mechanism. The lifting mechanism comprises a lifting mechanism for lifting the lifting mechanism, a lifting mechanism for lifting the lifting mechanism, and a lifting mechanism for lifting the lifting mechanism. The movable gripper on the seat and the pulling drive device for driving the pulling slide to move horizontally; the movable gripper includes a seat body fixed on the pulling slide, a swing seat horizontally rotatable, and a cylinder vertically downwardly arranged on the swing seat; the output end of the cylinder is provided with a first clamping block, and the swing seat is fixed with a second clamping block cooperating with the first clamping block; the swing seat is provided with the first edge-finding sensing component, and the pushing mechanism includes a pushing slide slidably connected to the guide rod, at least two pushing rollers vertically arranged on the pushing slide and a pushing drive device for driving the pushing slide to move horizontally; the second edge-finding sensing component is arranged on the pushing slide; the positioning edge guard component includes at least two edge guard rollers vertically fixed on the guide rod, the in-position sensing component is arranged on the edge guard roller, and at least two limiting rollers are fixed on the guide rod.

2. The automatic edge-finding and positioning device according to claim 1, characterized in that: The seat body includes a fixed plate, a vertical rod fixed on the fixed plate, a top plate fixed at the top of the vertical rod and a bottom plate fixed at the bottom of the vertical rod; the swing seat includes an upper connecting plate, a vertical plate and a lower connecting plate forming a C-shaped structure; the swing seat is rotatably arranged between the top plate and the bottom plate; the fixed plate includes a convex head and a flat plate, the vertical rod is vertically arranged at the center of the convex head, and the flat plate is detachably connected to the pulling slide; a vertically extending limiting side is provided on the end face of the vertical plate facing away from the upper connecting plate, and two limiting sides are provided and are respectively located on both sides of the convex head.

3. The automatic edge-finding and positioning device according to claim 1, characterized in that: The material drawing drive device includes a transversely extending material drawing screw, a screw nut sleeved on the material drawing screw, and a material drawing drive motor for driving the material drawing screw to rotate. The screw nut is fixed on the material drawing slide.

4. The automatic edge-finding and positioning device according to claim 1, characterized in that: The material support rack includes a plurality of spaced-apart material support square tubes, each guide rod is connected in series with all the material support square tubes, the material support square tubes are fixed to the guide rods through locking rings, each material support square tube is provided with the same number of U-shaped grooves as the number of material support rollers and corresponding to each other, and each material support roller is embedded in the U-shaped groove; the position sensing component is arranged on the material support square tube.

5. A positioning method based on the automatic edge-finding positioning device according to any one of claims 1 to 4, characterized in that: The pulling mechanism, pushing mechanism, in-position sensing component, first edge-finding sensing component, second edge-finding sensing component, and position sensing component are all controlled by a control system, including the following steps: S01: The sheet material is fed horizontally between the pulling mechanism and the pushing mechanism, and the supporting rollers support the sheet material and transport it forward; S02: The position sensing component collects the position of the sheet and feeds back the signal to the control system. When the front position sensing component senses the front edge of the sheet, the sheet continues to be transported forward for a distance and transitions to the transfer device. S03: The control system controls the pulling mechanism to approach the sheet material to achieve edge search. When the first edge search sensing component senses the sheet material, the pulling mechanism successfully finds the edge and stops moving, and the pulling mechanism clamps one side of the sheet material. At the same time, the control system also controls the pushing mechanism to approach the sheet material to achieve edge search. When the second edge search sensing component senses the sheet material, the pushing mechanism stops moving, and the pushing mechanism applies a thrust to the other side of the sheet material. S04: The pulling mechanism and the pushing mechanism move synchronously and at a constant speed toward the positioning flange assembly, the pulling mechanism pulls the sheet material toward the positioning flange assembly, and the pushing mechanism pushes the sheet material toward the positioning flange assembly; S05: When the in-position sensing component senses the sheet, the positioning edge retaining component completes the positioning of the sheet; S06: The pulling mechanism is reset to the initial position, and the pushing mechanism and the positioning retaining edge assembly jointly convey and guide the sheet material.

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