Flexible material feeding device and method

Abstract

The present application relates to a kind of flexible material loading device and loading method, including rack, first moving assembly, accurate grab component, installation total frame, coarse grab component, second moving assembly, first conveyor belt, second conveyor belt and sensor, the first moving assembly, the second moving assembly are all arranged on a installation total frame, the lower end of the front part of the installation total frame is equipped with first mounting plate, rack is set on the first mounting plate;The first conveyor belt is set behind the first mounting plate, and the second conveyor belt is set behind the first conveyor belt.The present application provides the method for the loading of flexible material, by coarse grab component to the flexible material in rack and be grabbed, while by mobile sensor and fixed sensor six points of flexible material are measured, the deflection angle of flexible material is obtained, so as to control accurate grab component and be adjusted to flexible material and be clamped, when loading, flexible material is positioned and adjusted, to ensure the completion accuracy of subsequent process.

Description

Technical Field

[0001] This invention relates to the field of material feeding, conveying, and positioning, specifically to a flexible material feeding device and feeding method. Background Technology

[0002] Existing technologies only focus on the loading and unloading of flexible materials, and the stacking and loading of flexible materials. For flexible material loading and unloading devices, including material boxes, robotic arms, and ionizers, the robotic arm is a tooling fixture with electrostatic suction cups to grip and return the flexible materials during the loading and unloading process; the ionizer is used to eliminate static electricity carried by the flexible materials; a feeding lifting mechanism and a pusher cylinder are included, which work together to allow the material box to enter the conveyor belt from top to bottom. This can effectively meet the characteristics of flexible materials such as being thin, fragile, and easily damaged, and is beneficial to improving the safety and efficiency of the loading and unloading process. For the material stacking and loading device, a first baffle and two side plates are included to effectively prevent the flexible materials from sticking together. However, there is no clear method for accurately positioning the flexible materials during the loading process and ensuring the accuracy of subsequent processes.

[0003] Existing technologies require manual removal or replenishment of material boxes during the loading and unloading process, which places a significant burden on workers and results in low production efficiency. Furthermore, they only address the loading, unloading, and stacking processes for flexible materials, without considering the required positional accuracy of the materials or the precision required for subsequent processes. Therefore, a solution for the precise positioning of flexible materials is lacking. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a flexible material feeding device and feeding method.

[0005] The present invention adopts the following technical solution: a flexible material feeding device, including a material rack, a first moving component, a fine gripping component, a mounting frame, a coarse gripping component, a second moving component, a first conveyor belt, a second conveyor belt, and sensors. The first moving component and the second moving component are both mounted on a mounting frame. A first mounting plate is mounted on the lower front end of the mounting frame, and the material rack is mounted on the first mounting plate. The first conveyor belt is located behind the first mounting plate, and the second conveyor belt is located behind the first conveyor belt. The first moving component is located between the material rack and the first conveyor belt, and the coarse gripping component is located at the bottom of the first moving component. The second moving component is located between the first conveyor belt and the second conveyor belt. A mounting frame is provided at the rear end of the middle of the mounting frame, and the second moving component is mounted on the mounting frame. The fine gripping component is located at the bottom of the second moving component. The first moving component drives the coarse gripping component to place the flexible material on the first conveyor belt, and the sensor locks the position of the flexible material and obtains its deflection angle. The second moving component drives the fine gripping component to grab the flexible material from the first conveyor belt and place it on the second conveyor belt for discharge.

[0006] Preferably, the sensor includes a fixed sensor, a movable sensor, and an electric telescopic cylinder. The electric telescopic cylinder is disposed on the outer side of the front crossbar of the mounting frame, the fixed sensor is disposed on the inner side of the front crossbar of the mounting frame, and the movable sensor is disposed at the bottom of the push rod of the electric telescopic cylinder.

[0007] Preferably, the material rack includes a base plate, with short side positioning plates symmetrically arranged at the left and right ends of the upper surface of the base plate, and long side positioning plates symmetrically arranged at the front and rear ends of the upper surface of the base plate. A plurality of second mounting rods are evenly spaced on the top of the short side positioning plates, and material baffles are provided between adjacent second mounting rods on the left and right. The second mounting rods are provided with first mounting grooves that cooperate with the material baffles, and arched support plates are provided between adjacent material baffles. The arched support plates are arranged on the base plate.

[0008] Preferably, the left and right ends of the upper surface of the first mounting plate are symmetrically provided with first limiting plates that cooperate with the material rack, and the middle part of the upper surface of the first mounting plate is provided with a second limiting plate. There are two material racks, and the second limiting plate is located between the two material racks. Handles are symmetrically provided at the front and rear ends of the material rack.

[0009] Preferably, the first moving component includes a first telescopic cylinder, which is mounted on the right end of the top of the mounting frame via a first cylinder plate. A push rod at the left end of the first telescopic cylinder is connected to a first moving plate. Two first sliders are symmetrically arranged at the front and rear ends of the bottom of the first moving plate. A first slide rail cooperating with the first sliders is provided at the top of the front part of the mounting frame. A first electric telescopic cylinder is provided at the top of the first moving plate. A first mounting bracket is provided on the output rod of the first electric telescopic cylinder. The bottom of the first mounting bracket extends downwards, and a second electric telescopic cylinder is provided at the rear end of the first mounting bracket. The coarse gripping component includes a second mounting plate, which is located at the bottom of the push rod of the second electric telescopic cylinder. A plurality of first suction cups are evenly spaced on the second mounting plate. The first suction cups are connected to an external suction pump via a first suction pipe.

[0010] Preferably, a first laser rangefinder is provided at the bottom of the left sidewall of the first mounting bracket via a first L-shaped mounting plate, and a first opening is provided on the second mounting plate to cooperate with the first laser rangefinder.

[0011] Preferably, the second moving component includes a third electric telescopic cylinder, which is mounted on the right end of the top of the mounting frame via a second cylinder plate. A second moving plate is mounted on the push rod at the left end of the third electric telescopic cylinder. Two second sliders are symmetrically arranged at the bottom of the front and rear ends of the second moving plate. Second slide rails that cooperate with the second sliders are symmetrically arranged at the front and rear ends of the top of the mounting frame. A fourth electric telescopic cylinder is mounted on the top of the second moving plate. A third moving plate is mounted on the push rod of the fourth telescopic cylinder. A rotary cylinder is mounted on the left end of the top of the third moving plate. The output shaft at the bottom of the rotary cylinder extends out of the bottom of the third moving plate.

[0012] A feeding method using the flexible material feeding device described above includes the following steps:

[0013] Step S1: The first moving component drives the coarse gripper component to pick up the flexible material on the material rack;

[0014] Step S2: The first moving component drives the coarse gripping component to place the flexible material onto the first conveyor belt;

[0015] Step S3: The first conveyor belt moves the flexible material to below the motion sensor. The fifth electric telescopic cylinder moves the motion sensor left and right above the flexible material. The motion sensor locks the position of the point on the two short sides of the flexible material. During this process, the coarse gripping component returns to the material rack to pick up new flexible material and place it on the first conveyor belt.

[0016] Step S4: The first conveyor belt moves the flexible material below the motion sensor to the outlet of the first conveyor belt. During the movement, the two fixed sensors above the first conveyor belt lock the positions of the points on the two long sides of the flexible material. During this process, the next flexible material moves to the bottom of the motion sensor.

[0017] Step S5: Combine the two points measured by the moving sensor and the four points measured by the fixed sensor on the long side to obtain the deflection angle of the flexible material, and transmit it to the second moving component. The second moving component drives the precision gripping component to rotate, so that the deflection angle of the precision gripping component is the same as that of the flexible material. The second moving component drives the precision gripping component to descend and suck up the flexible material on the discharge port of the first conveyor belt.

[0018] Step S6: The second moving component rises, the rotary cylinder drives the flexible material to reset, the second moving component places the flexible material on the second conveyor belt, and during this process the next flexible material moves to the discharge port of the first conveyor belt;

[0019] Step S7: The second moving component drives the precision gripping component to reset and clamp the next flexible material and transport it to the second conveyor belt.

[0020] The present invention has the following beneficial effects: The present invention provides a method for feeding and precisely positioning flexible materials. The coarse gripping component grips the flexible material in the material rack, and at the same time, the movement sensor and the fixed sensor measure six points of the flexible rubber sleeve to obtain the deflection angle of the flexible rubber sleeve, thereby controlling the fine gripping component to clamp and adjust the flexible material. The present invention positions and adjusts the flexible rubber sleeve during feeding to ensure the accuracy of subsequent processes. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is a perspective view of the flexible material feeding device of the present invention.

[0023] Figure 2 yes Figure 1 Enlarged view of point A.

[0024] Figure 3 yes Figure 1 Side view.

[0025] Figure 4 This is a perspective view of the material rack of the present invention.

[0026] Figure 5 This is a perspective view of the first moving component and the coarse gripping component of the present invention.

[0027] Figure 6 yes Figure 5 Side view.

[0028] Figure 7 This is a perspective view of the second moving component and the precision gripping component of the present invention.

[0029] Figure 8 This is a schematic diagram illustrating the principle of obtaining the position information of flexible materials according to the present invention.

[0030] Figure 9 This is a flowchart illustrating the feeding method in this invention.

[0031] In the diagram: 1-Material rack; 11-Base plate; 12-Short side positioning plate; 13-Long side positioning plate; 14-Mounting rod; 15-Material baffle; 16-Arch-shaped support plate; 17-First limiting plate; 18-Second limiting plate; 19-Handle; 2-First moving component; 21-First telescopic cylinder; 22-First moving plate; 23-First slide rail; 24-First electric telescopic cylinder; 25-First mounting frame; 26-Second electric telescopic cylinder; 3-Precision gripping component; 31-Third mounting plate; 32-Second suction cup; 4-Main mounting frame; 41-First mounting plate; 4 2-First conveyor belt; 43-Second conveyor belt; 44-Mounting frame; 45-Fifth electric telescopic cylinder; 46-Front end crossbar; 5-Coarse gripper assembly; 51-Second mounting plate; 52-First suction cup; 53-First laser rangefinder sensor; 54-First opening; 6-Second moving assembly; 61-Third electric telescopic cylinder; 62-Second moving plate; 63-Second slide rail; 64-Fourth electric telescopic cylinder; 65-Third moving plate; 66-Rotary cylinder; 67-Rotating frame; 68-Second telescopic cylinder; 7-Fixed sensor; 8-Moving sensor. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to represent selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0034] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0035] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0036] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0037] Example

[0038] The following are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the following embodiments. All technical solutions that fall within the scope of the present invention are within the scope of protection of the present invention.

[0039] Reference manual attached Figure 1-7A flexible material feeding device includes a material rack 1, a first moving component 2, a fine gripping component 3, a mounting frame 4, a coarse gripping component 5, a second moving component 6, a first conveyor belt 42, a second conveyor belt 43, and sensors. There are two material racks 1. Both material racks 1, the first moving component 2, and the second moving component 6 are mounted on a mounting frame 4, which is placed on the ground. A first mounting plate 41 is mounted on the lower front end of the mounting frame 4, and the two material racks 1 are positioned laterally on the first mounting plate 41. The first conveyor belt 42 is positioned on the ground behind the first mounting plate 41, and the second conveyor belt 43 is positioned on the ground behind the first conveyor belt 42. The first moving component 2 is located between the material racks 1 and the first conveyor belt 4. Above the first moving component 2, the coarse gripping component 5 is located at the bottom of the first moving component 2; the second moving component 6 is located above the first conveyor belt 42 and the second conveyor belt 43, and a mounting frame 44 is provided at the rear end of the middle of the mounting frame 4. The second moving component 6 is located on the mounting frame 44, and the fine gripping component 3 is located at the bottom of the second moving component 6; the fifth electric telescopic cylinder 45 is located on the outside of the front crossbar 46 of the mounting frame 44, and two fixed sensors 7 are symmetrically arranged on the inside of the front crossbar 46 of the mounting frame 44 through the first mounting block. The front crossbar 46 of the mounting frame 44 is located above the middle of the first conveyor belt 42, and the moving sensor 8 is located at the bottom of the push rod of the fifth electric telescopic cylinder 45. Please continue reading. Figure 1 and Figure 4 The material rack 1 includes a base plate 11. Short side positioning plates 12 are symmetrically arranged at the left and right ends of the upper surface of the base plate 11. Long side positioning plates 13 are symmetrically arranged at the front and rear ends of the upper surface of the base plate 11. Several second mounting rods 14 are evenly arranged at the top of the short side positioning plates 12. Material baffles 15 are arranged between adjacent second mounting rods 14. The second mounting rods 14 are provided with first mounting grooves that cooperate with the material baffles 15. There are arched support plates 16 between adjacent material baffles 15. The arched support plates 16 are arranged on the base plate 11, and flexible materials are stacked on the arched support plates 16.

[0040] Please continue reading. Figure 4 The upper surface of the first mounting plate 41 has symmetrical first limiting plates 17 at the left and right ends to cooperate with the two material racks 1. The upper surface of the first mounting plate 41 has a second limiting plate 18 in the middle, which is located between the two material racks 1. The front and rear ends of the material rack 1 are symmetrically provided with handles 19. The two material racks 1 are limited by the two first limiting plates 17 and the second limiting plate 18, and the handles 19 facilitate the removal of the material racks 1.

[0041] Please continue reading. Figure 1 , Figure 3-6 The first moving component 2 includes a first telescopic cylinder 21, which is mounted on the right end of the top of the mounting frame 4 via a first cylinder plate. A push rod at the left end of the first telescopic cylinder 21 is connected to a first moving plate 22. Two first sliders are symmetrically arranged at the front and rear ends of the bottom of the first moving plate 22. Two first slide rails 23, cooperating with the first sliders, are provided at the top front of the mounting frame 4. The first sliders and first slide rails 23 serve to increase stability and provide guidance. A first electric telescopic cylinder 24 is provided at the top of the first moving plate 22. A first mounting bracket 25 is provided on the output rod of the first electric telescopic cylinder 24. The bottom of the first mounting bracket 25 extends downwards, and a second electric telescopic cylinder 26 is provided at the rear end of the first mounting bracket 25. The first telescopic cylinder 21 enables the left-right movement of the coarse gripping component 5, and the first electric telescopic cylinder 24 enables the forward-backward movement of the coarse gripping component 5. The second electric telescopic cylinder... 26 enables the coarse gripping component 5 to move up and down, achieving three degrees of freedom motion. The coarse gripping component 5 includes a second mounting plate 51, which is located at the bottom of the push rod of the second electric telescopic cylinder 26. Several first suction cups 52 are evenly spaced on the second mounting plate 51. The first suction cups 52 are connected to an external suction pump through a first suction pipe. A first laser rangefinder 53 is installed at the bottom of the left side wall of the first mounting frame 25 through a first L-shaped mounting plate. A first opening 54 is provided on the second mounting plate 51 to cooperate with the first laser rangefinder 53. The distance between the first laser rangefinder 53 and the flexible material at the top of the arched support plate 16 to be loaded is measured by the first laser rangefinder 53, and the distance information is transmitted to the second electric telescopic cylinder 26 so that the position of the second electric telescopic cylinder 26 when driving the suction cups to descend is just right to pick up the suction cups, without the situation of excessive descent or insufficient descent distance.

[0042] Please continue reading. Figure 1 , Figure 3 and Figure 7The second moving component 6 includes a third electric telescopic cylinder 61, which is mounted on the right end of the top of the mounting frame 44 via a second cylinder plate. A second moving plate 62 is mounted on the push rod at the left end of the third electric telescopic cylinder 61. Two second sliders are symmetrically arranged at the bottom of the front and rear ends of the second moving plate 62. Second slide rails 63 that cooperate with the second sliders are symmetrically arranged at the front and rear ends of the top of the mounting frame 44. A fourth electric telescopic cylinder 64 is mounted on the top of the second moving plate 62. A third moving plate 65 is mounted on the push rod of the fourth telescopic cylinder. A rotary cylinder 66 is mounted on the left end of the top of the third moving plate 65. The output shaft at the bottom of the rotary cylinder 66 extends out of the third moving plate 65. At the bottom, an L-shaped rotating frame 67 is provided on the output shaft of the rotary cylinder 66. A second telescopic cylinder 68 is provided on the inner side of the rotating frame 67. The precision gripping assembly 3 includes a third mounting plate 31, which is set on the push rod at the bottom of the second telescopic cylinder 68. Second suction cups 32 are provided at equal intervals at the bottom of the third mounting plate 31. The second suction cups 32 are connected to an external air pump through a second suction pipe. The third electric telescopic cylinder 61 controls the left and right movement of the precision gripping assembly 3, the fourth telescopic cylinder controls the forward and backward movement of the precision gripping assembly 3, the second telescopic cylinder 68 controls the up and down movement of the precision gripping assembly 3, and the rotary cylinder 66 controls the angle deflection of the precision gripping assembly 3, thereby realizing the four-degree-of-freedom movement of the precision gripping assembly 3. It should be noted that the conveyor belt, fixed sensor, moving sensor, electric telescopic cylinder, telescopic cylinder, suction cup, suction pump, vacuum pump, and rotary cylinder in this invention are all existing technologies. Specifically, the fixed sensor and moving sensor can be model DX2-D400GU5 (laser rangefinder), the fifth electric telescopic cylinder can be model QF8-LXX-C-S720-BC-ZP10-C3[WLB], the second electric telescopic cylinder can be model ZX1-LD300A61, and the third electric telescopic cylinder can be model VZ6-S50-BC[WLB]. The fourth electric telescopic cylinder can be a Panasonic 400WMSMD042G1V, the first electric telescopic cylinder can be a QF10-lxx-C-S1020-BC-ZP40-C3, the rotary cylinder can be an HRQ20, the first telescopic cylinder can be an SE63x800, and the second telescopic cylinder can be a TN16-100-2-JN-2, but it is not limited to these. Those skilled in the art will understand this clearly, and it will not be described in detail here. The flexible material of the present invention can be a flexible material product such as a flexible rubber sleeve.

[0043] Reference manual attached Figure 8-9 This invention provides a method for feeding and precisely positioning flexible materials, the method comprising the following steps:

[0044] Step S1: The first moving component 2 drives the coarse gripping component 5 to pick up the flexible material on the material rack 1; the first telescopic cylinder 21 drives the coarse gripping component 5 to move left and right, moving it above the material rack 1 that needs to be loaded; the first electric telescopic cylinder 24 drives the coarse gripping component 5 to move back and forth; the second electric telescopic cylinder 26 drives the coarse gripping component 5 to lift up and down; the suction cup on the coarse gripping component 5 picks up the flexible material on the arched support plate 16 inside the material rack 1.

[0045] Step S2: The first moving component 2 drives the coarse gripping component 5 to place the flexible material on the first conveyor belt 42; the first telescopic cylinder 21, the first electric telescopic cylinder 24 and the second electric telescopic cylinder 26 drive the coarse gripping component 5 to move, and place the flexible material on the suction cup of the coarse gripping component 5 on the feed port of the first conveyor belt 42.

[0046] Step S3: The first conveyor belt 42 moves the flexible material to below the motion sensor 8. The fifth electric telescopic cylinder 45 moves the motion sensor 8 left and right above the flexible material. The motion sensor 8 locks the position of the point on the two short sides of the flexible material. During this process, the coarse gripping component 5 returns to the material rack 1 to pick up new flexible material and place it on the first conveyor belt 42.

[0047] Step S4: The first conveyor belt 42 moves the flexible material below the moving sensor 8 to the outlet of the first conveyor belt 42. During the movement, the two fixed sensors 7 above the first conveyor belt 42 lock the positions of points on the two long sides of the passing flexible material. During this process, the next flexible material moves below the moving sensor 8. The deflection angle of the flexible material is obtained by using the two points on the short side of the flexible material obtained by the moving sensor 8 and the four points on the long side of the flexible material obtained by the two fixed sensors 7. Figure 8 As shown (it should be noted that the flexible material is placed between the two material baffles 15, so the deflection angle will not be too large. The motion sensor 8 will definitely be able to measure the two points on the short side of the flexible material, connect the points on the long side of the flexible material, draw a perpendicular line through the short side point to the extension line of the long side, and obtain the position information of the flexible material), and transmit the position information of the flexible material to the second moving component 6.

[0048] Step S5: Combining the two points measured by the moving sensor 8 and the four points on the long side measured by the fixed sensor 7, the deflection angle of the flexible material is obtained and transmitted to the second moving component 6. The second moving component 6 drives the precision gripping component 3 to rotate, so that the deflection angle of the precision gripping component 3 is the same as that of the flexible material. The second moving component 6 drives the precision gripping component 3 to descend and pick up the flexible material on the discharge port of the first conveyor belt 42. After receiving the position information of the flexible material, the rotating cylinder 66 inside the second moving component 6 drives the precision gripping component 3 to rotate, so that the deflection angle of the precision gripping component 3 is the same as that of the flexible material. Then, through the third electric telescopic cylinder 61, the fourth electric telescopic cylinder 64 and the second telescopic cylinder 68, the precision gripping component 3 moves in the X, Y and Z axes. The second suction cup 32 inside the precision gripping component 3 picks up the flexible material on the discharge port of the first conveyor belt 42.

[0049] Step S6: The second moving component 6 rises, the rotary cylinder 66 drives the flexible material to reset, and the second moving component 6 places the flexible material on the second conveyor belt 43. During this process, the next flexible material moves to the discharge port of the first conveyor belt 42. The second moving component 6 drives the precision gripping component 3 to transport the flexible material to the second conveyor belt 43, and the rotary cylinder 66 resets to straighten the flexible material. Step S7: The second moving component 6 drives the precision gripping component 3 to reset and grip the next flexible material and transport it to the second conveyor belt 43.

[0050] The above description is merely a preferred embodiment of the present invention, but the design concept of the present invention is not limited thereto. Any non-substantial modifications made to the present invention by those skilled in the art within the scope of the technology disclosed in the present invention using this concept shall be deemed as an infringement of the protection scope of the present invention.

Claims

1. A flexible material feeding device, characterized in that, The assembly includes a material rack, a first moving component, a precision gripping component, a mounting frame, a coarse gripping component, a second moving component, a first conveyor belt, a second conveyor belt, and sensors. The first and second moving components are both mounted on the mounting frame. A first mounting plate is mounted on the lower front end of the mounting frame, and the material rack is mounted on the first mounting plate. The first conveyor belt is positioned behind the first mounting plate, and the second conveyor belt is positioned behind the first conveyor belt. The first moving component is located above the material rack and the first conveyor belt, and the coarse gripping component is located at the bottom of the first moving component. The second moving component is located above the first and second conveyor belts. A mounting frame is located at the rear end of the middle of the mounting frame, and the second moving component is mounted on the mounting frame. The precision gripping component is located at the bottom of the second moving component. The second moving component includes a third electric telescopic cylinder, a fourth electric telescopic cylinder, a second telescopic cylinder, and a rotary cylinder. The third electric telescopic cylinder controls the left-right movement of the precision gripping component, the fourth electric telescopic cylinder controls the forward-backward movement of the precision gripping component, the second telescopic cylinder controls the up-down movement of the precision gripping component, and the rotary cylinder controls the angle of the precision gripping component. The first moving component drives the coarse gripping component to place the flexible material on the first conveyor belt. The sensor locks the position of the flexible material and obtains its deflection angle. The second moving component drives the fine gripping component to grab the flexible material from the first conveyor belt and place it on the second conveyor belt for discharge. The sensor includes a fixed sensor, a moving sensor, and a fifth electric telescopic cylinder. The fifth electric telescopic cylinder is located on the outside of the front crossbar of the mounting frame. Two fixed sensors are symmetrically arranged on the inside of the front crossbar of the mounting frame via a first mounting block. The moving sensor is located at the bottom of the push rod of the fifth electric telescopic cylinder. The front crossbar of the mounting frame is located above the middle of the first conveyor belt. Combining the two points measured by the moving sensor and the four points measured by the two fixed sensors along the long side, the deflection angle of the flexible material is obtained and transmitted to the second moving component. The second moving component drives the fine gripping component to rotate, making the deflection angle of the fine gripping component the same as that of the flexible material. The second moving component drives the fine gripping component to descend and suck up the flexible material from the discharge port of the first conveyor belt. Then, the second moving component rises, the rotating cylinder drives the flexible material to reset, and the second moving component places the flexible material on the second conveyor belt.

2. The flexible material feeding device according to claim 1, characterized in that, The material rack includes a base plate. Short side positioning plates are symmetrically arranged at the left and right ends of the upper surface of the base plate, and long side positioning plates are symmetrically arranged at the front and rear ends of the upper surface of the base plate. Several second mounting rods are evenly spaced on the top of the short side positioning plates. Material baffles are arranged between adjacent second mounting rods on the left and right. The second mounting rods are provided with first mounting grooves that cooperate with the material baffles. There are arched support plates between adjacent material baffles, and the arched support plates are arranged on the base plate.

3. The flexible material feeding device according to claim 2, characterized in that, The first mounting plate has symmetrical first limiting plates at the left and right ends of its upper surface, which cooperate with the material rack. A second limiting plate is provided in the middle of the upper surface of the first mounting plate. There are two material racks, and the second limiting plate is located between the two material racks. Handles are symmetrically provided at the front and rear ends of the material rack.

4. The flexible material feeding device according to claim 3, characterized in that, The first moving component includes a first telescopic cylinder, which is mounted on the right end of the top of the mounting frame via a first cylinder plate. A push rod at the left end of the first telescopic cylinder is connected to a first moving plate. Two first sliders are symmetrically arranged at the front and rear ends of the bottom of the first moving plate. A first slide rail that cooperates with the first sliders is provided at the top of the front part of the mounting frame. A first electric telescopic cylinder is provided at the top of the first moving plate. A first mounting frame is provided on the output rod of the first electric telescopic cylinder. The bottom of the first mounting frame extends downward. A second electric telescopic cylinder is provided at the rear end of the first mounting frame. The coarse gripping component includes a second mounting plate, which is located at the bottom of the push rod of the second electric telescopic cylinder. A plurality of first suction cups are evenly arranged on the second mounting plate. The first suction cups are connected to an external suction pump via a first suction pipe.

5. The flexible material feeding device according to claim 4, characterized in that, A first laser rangefinder is mounted on the bottom of the left sidewall of the first mounting bracket via a first L-shaped mounting plate, and a first opening is provided on the second mounting plate to cooperate with the first laser rangefinder.

6. The flexible material feeding device according to claim 4, characterized in that, The second moving component includes a third electric telescopic cylinder, which is mounted on the right end of the top of the mounting frame via a second cylinder plate. A second moving plate is mounted on the push rod at the left end of the third electric telescopic cylinder. Two second sliders are symmetrically arranged at the bottom of the front and rear ends of the second moving plate. Second slide rails that cooperate with the second sliders are symmetrically arranged at the front and rear ends of the top of the mounting frame. A fourth electric telescopic cylinder is mounted on the top of the second moving plate. A third moving plate is mounted on the push rod of the fourth electric telescopic cylinder. A rotary cylinder is mounted on the left end of the top of the third moving plate. The output shaft at the bottom of the rotary cylinder extends through the bottom of the third moving plate. An L-shaped rotating frame is mounted on the output shaft at the bottom of the rotary cylinder. A second telescopic cylinder is mounted inside the rotating frame. The precision gripping component includes a third mounting plate, which is mounted on the push rod at the bottom of the second telescopic cylinder. Second suction cups are evenly spaced at the bottom of the third mounting plate. The second suction cups are connected to an external air pump via a second suction pipe.

7. A feeding method using the flexible material feeding device as described in any one of claims 1-6, characterized in that, Includes the following steps: Step S1: The first moving component drives the coarse gripper component to pick up the flexible material on the material rack; Step S2: The first moving component drives the coarse gripping component to place the flexible material onto the first conveyor belt; Step S3: The first conveyor belt moves the flexible material to below the motion sensor. The fifth electric telescopic cylinder moves the motion sensor left and right above the flexible material. The motion sensor locks the position of the point on the two short sides of the flexible material. During this process, the coarse gripping component returns to the material rack to pick up new flexible material and place it on the first conveyor belt. Step S4: The first conveyor belt moves the flexible material below the motion sensor to the outlet of the first conveyor belt. During the movement, the two fixed sensors above the first conveyor belt lock the positions of the points on the two long sides of the flexible material. During this process, the next flexible material moves to the bottom of the motion sensor. Step S5: Combine the two points measured by the moving sensor and the four points measured by the fixed sensor on the long side to obtain the deflection angle of the flexible material and transmit it to the second moving component. The second moving component drives the precision gripping component to rotate so that the deflection angle of the precision gripping component is the same as that of the flexible material. The second moving component drives the precision gripping component to descend and pick up the flexible material on the discharge port of the first conveyor belt. Step S6: The second moving component rises, the rotary cylinder drives the flexible material to reset, the second moving component places the flexible material on the second conveyor belt, and during this process the next flexible material moves to the discharge port of the first conveyor belt; Step S7: The second moving component drives the precision gripping component to reset and clamp the next flexible material and transport it to the second conveyor belt.

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