A flexible sheet material feeding and conveying method

Abstract

The application discloses a flexible sheet feeding conveying method, and belongs to the technical field of feeding conveying equipment. The method compares the first distance between the obtained first layer of flexible sheet and the target position and the second distance between the second layer of flexible sheet and the target position to determine the positional relationship between the first layer of flexible sheet and the second layer of flexible sheet. When the first distance is smaller than the second distance, it indicates that the laminated part of the second layer of flexible sheet is located on the side of the material pile far away from the target position. At this time, the position of the first layer of flexible sheet is adjusted so that the first distance is greater than the second distance, so that the laminated part of the second layer of flexible sheet is located on the side of the material pile close to the target position. Under this condition, the first layer of flexible sheet can be clamped and transferred by the first clamping mechanism, and the first layer of flexible sheet can be conveyed from the material pile to the first target position. By repeating the above steps, the flexible sheet in the material pile can be continuously conveyed to the first target position. The technical problem that repeated feeding is easily caused in the current feeding process is solved.

Description

Technical Field

[0001] This application belongs to the technical field of feeding and conveying equipment, and particularly relates to a method for feeding and conveying flexible sheet materials. Background Technology

[0002] In industry, flexible sheets such as kraft paper, sheet films, prepregs, and copper foil are typically stored in stacks. When these flexible sheets are needed for further processing, they must be separated one by one and transported to the target processing equipment for sorting and loading. Common stacking methods for flexible sheets are staggered stacking or overlapping stacking.

[0003] Currently, the feeding and conveying of flexible sheets, whether staggered or overlapping, is primarily accomplished using negative pressure adsorption. However, due to the adhesion between stacked flexible sheets, multiple sheets may be adsorbed at once during the adsorption process. The usual solution is to shake the adsorbed sheets to separate them. However, this method has two drawbacks: firstly, the landing point of the sheets that are not directly adsorbed changes, affecting subsequent continuous operation; secondly, the shaking process can cause directly adsorbed sheets to detach.

[0004] Therefore, how to achieve more stable feeding and conveying of interleaved and stacked flexible sheets is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] This application aims to at least partially solve the technical problems of flexible sheets being easily repeatedly fed and detached during current feeding and conveying processes. To this end, this application provides a method for feeding and conveying flexible sheets.

[0006] This application provides a flexible sheet feeding and conveying method, which includes the following steps:

[0007] Acquire the positional information of the first layer of flexible sheet, the second layer of flexible sheet, and the target location, which are stacked in a straight line in the material pile;

[0008] Determine whether the first distance between the first flexible sheet and the target position is greater than the second distance between the second flexible sheet and the target position;

[0009] When the first distance is less than the second distance, the position of the first flexible sheet is adjusted so that the first distance is greater than the second distance;

[0010] When the first distance is greater than the second distance, a first clamping mechanism that travels back and forth between the target position and the material pile is inserted into the gap between the first layer of flexible sheet and the second layer of flexible sheet, and clamps the first layer of flexible sheet to transfer the clamped first layer of flexible sheet to the target position.

[0011] Optionally, to better realize this application, the specific steps for adjusting the position of the first flexible sheet are as follows: a second clamping mechanism that travels back and forth between the adjustment position and the material pile is inserted into the gap between the first flexible sheet and the second flexible sheet, and clamps the first flexible sheet to transfer the first flexible sheet to the adjustment position. The transfer direction of the second clamping mechanism on the first flexible sheet is opposite to the transfer direction of the first clamping mechanism on the first flexible sheet.

[0012] Optionally, in order to better realize this application, after adjusting the first layer of flexible sheet, it is necessary to satisfy that the first layer of flexible sheet and the second layer of flexible sheet are stacked alternately.

[0013] Optionally, to better realize this application, the second flexible sheet is pressed downward before the first flexible sheet is transferred.

[0014] Optionally, to better realize this application, the clamping step of the first flexible sheet is as follows:

[0015] Insert the lower clamping arm into the gap between the first and second flexible sheets along the upper surface of the second flexible sheet;

[0016] The first layer of flexible sheet is clamped by the opposing movement of the lower clamping arm and / or the upper clamping arm.

[0017] Optionally, to better realize this application, the lower clamping arm is pressed onto the upper surface of the second flexible sheet before being inserted into the gap between the first flexible sheet and the second flexible sheet.

[0018] Optionally, to better realize this application, after clamping the first flexible sheet, an airflow is blown into the gap between the first flexible sheet and the second flexible sheet.

[0019] Optionally, to better realize this application, the angle between the direction of the airflow and the upper surface of the second flexible sheet is an acute angle.

[0020] Optionally, in order to better realize this application, before clamping the first layer of flexible sheet, it is also necessary to obtain the height of the first layer of flexible sheet and adjust the height of the first layer of flexible sheet to be within the clamping range.

[0021] Optionally, to better implement this application, the first gripping mechanism clamps both ends of the first layer of flexible sheet near the target position.

[0022] Compared with the prior art, this application has the following advantages:

[0023] This application determines the positional relationship between the first and second flexible sheets by comparing a first distance between the first flexible sheet and the target position with a second distance between the second flexible sheet and the target position. When the first distance is less than the second distance, it indicates that the stacked portion of the second flexible sheet is located on the side of the material pile away from the target position. The position of the first flexible sheet is adjusted so that the first distance is greater than the second distance, thereby placing the stacked portion of the second flexible sheet on the side of the material pile closer to the target position. Under this condition, the first flexible sheet can be clamped and transferred by inserting a first clamping mechanism into the gap between the first and second flexible sheets, achieving the purpose of conveying the first flexible sheet from the material pile to the target position. Furthermore, by repeating the above operation steps, the flexible sheets in the material pile can be individually conveyed one by one. Based on this, the method of using a clamping mechanism to clamp the flexible sheet can avoid the technical problem of the flexible sheet falling off and loosening. At the same time, the step of inserting the first clamping mechanism between the first layer of flexible sheet and the second layer of flexible sheet can achieve the separation of the first layer of flexible sheet, thus avoiding the technical problem of repeated feeding of flexible sheet. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 A schematic diagram of a feeding and conveying device is shown.

[0026] Figure 2 It shows Figure 1 Schematic diagram of the middle section;

[0027] Figure 3 It shows Figure 1 Schematic diagram of the clamping component and the displacement component;

[0028] Figure 4 A schematic diagram showing the positions of the first flexible sheet and the second flexible sheet is provided.

[0029] Figure 5A schematic diagram showing the positions of the first flexible sheet and the second flexible sheet is provided.

[0030] Figure 6 This diagram illustrates another possible position of the first and second flexible sheets.

[0031] Figure 7 A schematic diagram illustrating the steps of a flexible sheet feeding and conveying method is shown.

[0032] Figure label:

[0033] 100 - Material pile; 110 - First layer of flexible sheet; 120 - Second layer of flexible sheet.

[0034] 200-First gripping mechanism; 210-Gripping assembly; 211-Lower gripping arm; 212-Upper gripping arm; 213-Gripping arm driver; 214-Shovel plate; 215-Air blowing channel; 220-Displacement assembly; 221-Lifting component; 222-Translation component;

[0035] 300 - Second gripping mechanism;

[0036] 400 - Clamping mechanism;

[0037] 500-Elevator;

[0038] 600-material plate;

[0039] 700 - Distance detection device. Detailed Implementation

[0040] 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, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0041] It should be noted that all directional indications in the embodiments of the present invention are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0042] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0043] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0044] This application is described below with reference to the accompanying drawings and specific embodiments:

[0045] The flexible sheets to be loaded are stacked in the form of a stockpile 100. In this embodiment, the stockpile 100 is stacked as follows: Figure 4 and Figure 5As shown, the material stack 100 is formed by stacking multiple flexible sheets sequentially and alternately along the same straight line. These flexible sheets can be any of the flexible sheets required in PCB manufacturing processes, such as PP boards, copper foil boards, or CCL boards. In the staggered stack 100, in any two adjacent flexible sheets, one of the flexible sheets will inevitably overlap with the other. This overlapping portion is called the overlapping part, and the other parts outside the overlapping part are called the stacked parts. Furthermore, the stacked parts of the flexible sheets will exhibit a downward drooping phenomenon. The area and position of the overlapping part and the area and position of the stacked parts will change accordingly with the position of the two adjacent flexible sheets. In the material stack 100, the flexible sheet at the top of the material stack 100 is called the first layer flexible sheet 110, and the other flexible sheet located below the first layer flexible sheet 110 and interleaved with it is called the second layer flexible sheet 120. Taking the first flexible sheet 110 and the second flexible sheet 120 as examples, "staggered stacking along the same straight line" means that the straight line containing the overlapping and layered portions of the first flexible sheet 110 is parallel to the straight line containing the overlapping and layered portions of the second flexible sheet 120. In the stockpile, since any two adjacent flexible sheets are staggered, there are only two positional relationships between the first flexible sheet 110 and the second flexible sheet 120. One such positional relationship is as follows: Figure 4 As shown, the laminated portion of the second flexible sheet 120 is located to the lower right of the first flexible sheet; another positional relationship is as follows: Figure 5 As shown, the stacked portion of the second flexible sheet 120 is located to the lower left of the first flexible sheet.

[0046] The flexible sheet feeding and conveying method provided in this application can complete the feeding and conveying operation of flexible sheets in the stockpile 100 through a feeding and conveying device.

[0047] like Figures 1-3 As shown, this embodiment provides a specific structure of a feeding and conveying device for performing a flexible sheet feeding and conveying method. The feeding and conveying device includes a first clamping mechanism 200 and a second clamping mechanism 300. A stockpile 100 is placed between the first clamping mechanism 200 and the second clamping mechanism 300. The target position is located on one side of the stockpile 100 in a straight stacking direction. The first clamping mechanism 200 moves back and forth between the target position and the stockpile 100 to convey the flexible sheet to the target position, completing the feeding action of the flexible sheet. The second clamping mechanism 300 moves back and forth between the adjustment position and the stockpile 100 to sort the flexible sheet to the adjustment position, completing the adjustment action of the flexible sheet. The target position can be either processing equipment (such as shearing equipment, pressing equipment, etc.) or a conveying device (such as a conveyor belt, conveyor roller).

[0048] like Figure 6As shown, the flexible sheet feeding and conveying method provided in this embodiment includes the following steps:

[0049] S100: Acquire the position information of the first layer of flexible sheet 110, the second layer of flexible sheet 120, and the target location, which are stacked in a straight line in the material pile 100. The location of the material pile 100 is the storage location of the flexible sheet, and the target location is the destination to which the flexible sheet needs to reach. The position information of the first layer of flexible sheet 110, the second layer of flexible sheet 120, and the target location includes a first distance between the first layer of flexible sheet 110 and the target location, and a second distance between the second layer of flexible sheet 120 and the target location. The first and second distances can be acquired by manual observation or by a detection and identification device, including but not limited to a distance detection device and a position acquisition device with a CCD camera.

[0050] S200: After obtaining the above position information, it is necessary to determine whether the first distance between the first flexible sheet 110 and the target position is greater than the second distance between the second flexible sheet 120 and the target position. When the first distance is greater than the second distance, the positional relationship between the first flexible sheet 110 and the second flexible sheet 120 is as follows: Figure 4 As shown; when the first distance is less than the second distance, the positional relationship between the first flexible sheet 110 and the second flexible sheet 120 is as follows. Figure 5 As shown.

[0051] S300: When the first distance is less than the second distance, the position of the first flexible sheet is adjusted so that the first distance is greater than the second distance. Since the first distance is less than the second distance, the positional relationship between the first flexible sheet 110 and the second flexible sheet is as follows: Figure 5 As shown, the stacked portion of the second flexible sheet 120 is located to the left of the first flexible sheet, that is, on the side of the material pile 100 away from the target position. At this time, the stacked portion of the second flexible sheet 120 is outside the gripping range of the first gripping mechanism. Therefore, the first gripping mechanism cannot directly grip the first flexible sheet 110 individually. To address this, the position of the first flexible sheet 110 needs to be adjusted so that its position relative to the position of the second flexible sheet 120 changes, and the first distance is greater than the second distance, so that the positions of the first flexible sheet 110 and the second flexible sheet 120 become as follows: Figure 6 As shown.

[0052] S400: When the first distance is greater than the second distance, the first gripping mechanism 200, which travels back and forth between the target position and the material pile 100, grips the first layer of flexible sheet 110 and transfers the gripped first layer of flexible sheet 110 to the target position. At this time, if the first layer of flexible sheet 110 has not been adjusted in step S300, the positional relationship between the first layer of flexible sheet 110 and the second layer of flexible sheet 120 is as follows: Figure 4 As shown, if the first flexible sheet 110 is adjusted in step S300, the positional relationship between the first flexible sheet 110 and the second flexible sheet 120 is as follows: Figure 6 As shown. In both positional relationships, the stacked portion of the second flexible sheet 120 is located to the right of the first flexible sheet, that is, on the side of the material pile 100 closer to the target position. The first clamping mechanism 200 and the stacked portion of the second flexible sheet 120 are located on the same side of the material pile 100. At this time, the stacked portion of the second flexible sheet 120 is within the clamping range of the first clamping mechanism. Then, the first clamping mechanism 200 is inserted into the gap between the first flexible sheet 110 and the second flexible sheet 120 along the upper surface of the stacked portion of the second flexible sheet 120, and clamps the first flexible sheet 110. After that, the first clamping mechanism 200 moves towards the target position, transferring the first flexible sheet 110 clamped by the first clamping mechanism 200 to the target position. Then, the flexible sheet is placed at the target position, completing the feeding and conveying of a flexible sheet.

[0053] By repeating the above steps of the flexible sheet feeding and conveying method, the flexible sheet can be clamped by a clamping mechanism, making it less likely for the flexible sheet to fall off. At the same time, by inserting the first clamping mechanism 200 into the gap between the first layer of flexible sheet 110 and the second layer of flexible sheet 120 and clamping the first layer of flexible sheet 110, the single-sheet separation and clamping of the first layer of flexible sheet 110 is realized, completing the feeding and conveying of the flexible sheets in the stockpile 100 one by one. Meanwhile, in step S300, by adjusting the position of the first layer of flexible sheet 110, the action of feeding the first layer of flexible sheet 110 to the target position is completed by the first clamping mechanism 200, realizing the single-sided feeding and conveying of the flexible sheet.

[0054] It should be noted that during the transfer of the first layer of flexible sheet 110, the first gripping mechanism 200 transfers the first layer of flexible sheet 110 by dragging. This setting can prevent the flexible sheet from bending significantly during the transfer process, so that the flexible sheet can automatically unfold and remain flat after being transferred to the target position.

[0055] When continuous feeding and conveying is required, on one hand, after the first layer of flexible sheet 110 is conveyed to the target position, the second layer of flexible sheet 120 located below the first layer of flexible sheet 110 can be regarded as a new first layer of flexible sheet 110. Before each clamping action, the first distance and the second distance are determined and judged, and the steps S100-S400 are repeated to achieve continuous feeding of flexible sheets in the stockpile 100. On the other hand, according to the stacking pattern in the stockpile 100, it is only necessary to determine the position of the first layer of flexible sheet 110 in the stockpile 100 through steps S100-S200 before the first feeding, and then it is not necessary to repeatedly judge the position of the first layer of flexible sheet 110. For example, if it is determined before the first feeding that the first distance is less than the second distance, then the clamping of the flexible sheets in the stockpile 100 can be carried out by cyclically executing steps S300-S400 to complete the continuous feeding of flexible sheets in the stockpile 100. If it is determined before the first feeding that the first distance is greater than the second distance, then it is only necessary to execute the S400 step once before executing the S300-S400 steps in a loop, and then execute the S300-S400 steps in a loop, which can also complete the continuous feeding of the flexible sheet in the stockpile 100.

[0056] The first clamping mechanism 200 and the second clamping mechanism 300 in the feeding and conveying device both include a clamping component 210 and a displacement component 220. The clamping component 210 includes a lower clamping arm 211, an upper clamping arm 212 located above the lower clamping arm 211, and a clamping arm driver 213. The clamping arm driver 213 drives the upper clamping arm 212 and the lower clamping arm 211 to move towards each other to achieve a clamping action or to move away from each other to achieve a releasing action. The free end of the lower clamping arm 211 is tapered to facilitate insertion into the gap between the first layer of flexible sheet 110 and the second layer of flexible sheet 120. The displacement component 220 drives the clamping component 210 to move, completing the insertion action of the clamping component 210 into the gap and the transfer action of the flexible sheet.

[0057] In step S300 above, the method of adjusting the position of a layer of flexible sheet 110 so that the first distance is greater than the second distance is as follows: the first layer of flexible sheet 110 is clamped by a second clamping mechanism 300 that travels back and forth between the adjustment position and the material pile 100, and the first layer of flexible sheet 110 is transferred to the adjustment position. The transfer direction of the second clamping mechanism 300 is opposite to the transfer direction of the first clamping mechanism 200.

[0058] Specifically, when the positional relationship between the first flexible sheet 110 and the second flexible sheet 120 is as follows: Figure 5When the distance is less than the distance, the first layer of flexible sheet 110 is clamped by the second clamping mechanism 300, so that the first layer of flexible sheet 110 is transferred to the position shown in Figure 6. At this time, the first layer of flexible sheet 110 is located within the adjustment position.

[0059] It should be noted that the position can be adjusted according to the size of the flexible sheet, as long as the first distance is less than the second distance after the flexible sheet enters the adjustment position.

[0060] In step S400 above, the specific steps of clamping the first layer of flexible sheet 110 by the first clamping mechanism 200 that travels back and forth between the target position and the material pile 100 are as follows:

[0061] S410: Insert the lower clamping arm 211 into the gap between the first flexible sheet 110 and the second flexible sheet 120 along the upper surface of the stacked portion of the second flexible sheet 120.

[0062] S420: Control the lower clamping arm 211 and / or the upper clamping arm 212 to move toward each other to clamp the first layer of flexible sheet;

[0063] Specifically, such as Figure 4 and Figure 6 As shown, by controlling the displacement component 220 in the first clamping mechanism 200, the clamping component 210 is moved, causing the lower clamping arm 211 in the clamping component 210 to move to the upper surface of the second flexible sheet 120. It should be noted that since the stacked portion of the second flexible sheet 120 is not obstructed by the first flexible sheet 110, the lower clamping arm 211 can directly rest on the stacked portion of the second flexible sheet 120. Then, the displacement component 220 drives the clamping component 210 to continue moving, causing the lower clamping arm 211 to insert into the gap between the first flexible sheet 110 and the second flexible sheet 120 along the upper surface of the stacked portion of the second flexible sheet 120. Then, the clamping arm driver 213 drives the upper clamping arm 212 and / or the lower clamping arm 211 to move towards each other, thereby clamping the first flexible sheet 110.

[0064] This clamping step ensures that the clamping component 210 will not clamp the second flexible sheet 120, thus ensuring that the number of flexible sheets clamped each time will not exceed one sheet, achieving single-sheet clamping of the flexible sheet.

[0065] After the flexible sheet is gripped, the displacement component 220 moves the gripping component 210, causing the flexible sheet to be dragged and transferred to the target position. Then, the gripping component 210 releases the flexible sheet, completing the loading of the flexible sheet.

[0066] Preferably, the first clamping mechanism 200 has at least two clamping components. Two of these clamping components are used to clamp the two ends of the first flexible sheet 110 closest to the target position, preventing bending at the ends of the first flexible sheet 110 near the target position and thus preventing corner bending when transferred to the target position. The remaining clamping components can clamp other positions of the first flexible sheet 110 as needed. Alternatively, if the adjustment of the first flexible sheet 110 is achieved using the second clamping mechanism 300, the second clamping mechanism can also have at least two clamping components, with two of them used to clamp the two ends of the first flexible sheet 110 furthest from the target position.

[0067] Furthermore, the free end of the lower clamping arm is connected to a swingable spade 214. The spade 214 can swing adaptively to the surface of the second flexible sheet 120, ensuring that the end of the spade 214 always adheres to the surface of the second flexible sheet 120. The first flexible sheet 110 is then guided onto the lower clamping arm via the spade 214. Additionally, the free end of the spade 214 can exert downward pressure on the second flexible sheet 120, which to some extent increases the gap size.

[0068] Furthermore, since both the first clamping mechanism 200 and the second clamping mechanism 300 in this embodiment include a clamping component 210 and a displacement component 220, the specific steps for the second clamping mechanism 300 to clamp the first layer of flexible sheet 110 are the same as those for the first clamping mechanism 200. Specifically, by controlling the displacement component 220 in the second clamping mechanism 300 to move the clamping component 210, the lower clamping arm 211 in the clamping component moves to the upper surface of the second layer of flexible sheet 120. It should be noted that since the stacked portion of the second layer of flexible sheet 120 is not blocked by the first layer of flexible sheet 110, the lower clamping arm 211 can directly rest on the stacked portion of the second layer of flexible sheet 120. Then, the displacement component 220 drives the clamping component 210 to continue moving, so that the lower clamping arm 211 is inserted into the gap between the first flexible sheet 110 and the second flexible sheet 120 along the upper surface of the stacked portion of the second flexible sheet 120. Then, the clamping arm driver 213 drives the upper clamping arm 212 and / or the lower clamping arm 211 to move towards each other, thereby clamping the first flexible sheet 110.

[0069] In some alternative embodiments, the position of the first flexible sheet 110 can also be adjusted by rotating the entire stockpile 100, i.e., rotating the entire stockpile 100 by 180°, thus achieving the goal of the first distance being greater than the second distance. Using this adjustment method requires a corresponding rotating mechanism in the feeding conveyor. Simultaneously, the stockpile 100 needs to be placed as close as possible to the center of rotation of the rotating device to ensure that the position of the stockpile 100 after rotation does not change significantly from its position before rotation, thereby ensuring that the first clamping mechanism 200 can clamp the first flexible sheet 110.

[0070] Furthermore, in step S300 of this embodiment, after adjusting the first layer of flexible sheet 110, it is necessary to ensure that the first layer of flexible sheet 110 is partially stacked on the second layer of flexible sheet 120. This arrangement serves two purposes: firstly, it facilitates the separation of the first layer of flexible sheet 110 by the first gripping mechanism 200; secondly, it ensures that the first gripping mechanism 200 can grip only the first layer of flexible sheet 110, achieving single-sheet gripping.

[0071] Preferably, throughout the entire adjustment process of the first flexible sheet 110, the first flexible sheet 110 and the second flexible sheet 120 must always be kept in an alternating stacked state.

[0072] Furthermore, the method for clamping the first flexible sheet 110 also includes the following steps:

[0073] Before inserting the lower clamping arm into the gap between the first flexible sheet 110 and the second flexible sheet 120, the lower clamping arm 211 is pressed against the upper surface of the second flexible sheet 120. Because there is unexpelled air between the stacked flexible sheets, the actual height of the stacked flexible sheets may be greater than the sum of their thicknesses. Therefore, pressing the lower clamping arm 211 against the upper surface of the stacked portion of the second flexible sheet increases the gap between the first flexible sheet 110 and the second flexible sheet 120, making it easier for the lower clamping arm 211 to be inserted into the gap. This avoids the situation where the lower clamping arm 211 cannot be inserted due to an insufficiently small gap between the first flexible sheet 110 and the second flexible sheet 120.

[0074] It should be noted that the method of pressing the lower clamping arm 211 onto the upper surface of the stacked portion of the second layer of flexible sheet 120 is applicable to both the first clamping mechanism 200 and the second clamping mechanism 300. In a feeding and conveying device capable of performing a flexible sheet feeding and conveying method, the action of pressing the lower clamping arm 211 onto the upper surface of the second layer of flexible sheet 120 is achieved by the lifting component 221 in the displacement assembly 220. The lifting component 221 can be a telescopic cylinder, a lead screw, or other component capable of linear lifting. Furthermore, on the one hand, since the number of flexible sheets in the stockpile 100 decreases and the stacking height of the stockpile 100 gradually decreases after being conveyed to the target position, the lifting component 221 can also adjust the height of the clamping assembly 210, enabling the clamping assembly 210 to clamp a certain range of flexible sheets. On the other hand, after the gripping component 210 grips the flexible sheet, it rises via the lifting component 221, which increases the separation area between the first flexible sheet 110 and the second flexible sheet 120, making separation easier. Additionally, the translation component 222 in the displacement component 220 enables the gripping component 210 to move horizontally. The translation component 222 can be a telescopic cylinder, a lead screw, a pulley, etc. Alternatively, the translation component 222 and the lifting component 221 can be integrated into a robotic arm, allowing the robotic arm to perform the required actions.

[0075] Preferably, in this embodiment, after the second clamping mechanism 300 transfers the first flexible sheet 110 to the adjustment position, the second clamping mechanism 300 maintains its clamping action on the first flexible sheet 110 until the first clamping mechanism 200 has clamped the first flexible sheet 110 or is about to transfer the first flexible sheet 110. At this point, the second clamping mechanism 300 can release its grip on the first flexible sheet 110, and then the first clamping mechanism 200 transfers the first flexible sheet 110 to the target position. This configuration allows the first flexible sheet 110 to be in a state where both ends have a large separation angle from the second flexible sheet 120 for a period of time. This greatly reduces the adsorption force between the first flexible sheet 110 and the second flexible sheet 120, thereby preventing the second flexible sheet 120 from moving a certain distance with the first flexible sheet 110 under the action of adsorption force when dragging the first flexible sheet 110. In addition, this design can also prevent the first flexible sheet 110 from falling downwards when the area of ​​the stacked portion of the first flexible sheet 110 is small.

[0076] Furthermore, before transferring the first flexible sheet 110, the second flexible sheet 120 needs to be pressed downwards. This arrangement ensures that the second flexible sheet 120 will not move when the first flexible sheet 110 is transferred. On one hand, this increases the gap between the first and second flexible sheets 110. On the other hand, it prevents the second flexible sheet 120 from moving, ensuring that its position relative to the other flexible sheet below it remains unchanged, thus facilitating the gripping device to grip the flexible sheets systematically.

[0077] Furthermore, after clamping the first flexible sheet 110, airflow is blown into the gap into which the downward clamping arm 211 is inserted. The direction of the airflow forms an acute angle with the upper surface of the second flexible sheet 120. By blowing airflow into the gap, the airflow can flow between the first flexible sheet 110 and the second flexible sheet 120. Since the angle between the direction of the airflow and the upper surface of the second flexible sheet 120 is acute, the airflow is not parallel to either the first or second flexible sheet 110. This allows the airflow to separate the first and second flexible sheets 110, accelerating the breakdown of the adsorption force between the first and second flexible sheets 110. This further reduces the possibility that the second flexible sheet 120 will move along with the first flexible sheet 110 due to adsorption force during the transfer of the first flexible sheet 110.

[0078] It should be noted that, in order to achieve this step, an air blowing channel 215 is fixed on one side of the lower clamping arm 211 of the feeding conveying device provided in this embodiment, which can blow out airflow. Of course, this method can also be applied to other feeding conveying devices that can achieve the effect of blowing in airflow. The blown airflow can be concentrated or dispersed.

[0079] Furthermore, before clamping the first flexible sheet 110, it is necessary to obtain the height of the first flexible sheet 110 and adjust the height of the first flexible sheet 110 to be within the clamping range. Here, the clamping range refers to the range within which the first flexible sheet 110 can be clamped by the first clamping mechanism 200 and / or the second clamping mechanism 300.

[0080] Specifically, when both the first clamping mechanism 200 and the second clamping mechanism 300 are provided with lifting components 221, the lifting height of the lifting components 221 is the clamping range of the corresponding first clamping mechanism 200 and the second clamping mechanism 300.

[0081] In some alternative implementations, the height of the first flexible sheet 110 can also be adjusted by raising or lowering the overall height of the material pile 100.

[0082] For example, such as Figure 1 In the feeding and conveying device shown, the material pile 100 is placed on the material plate 600. Below the material plate 600, a lifting platform 500 is installed to drive the material plate 600 up and down. The height of the first layer of flexible sheet 110 can be adjusted via the lifting platform 500. It should be noted that the lifting platform 500 is a shear lift, capable of stopping at any height within its lifting range. Furthermore, a distance detection device 700 is installed above the material pile 100. The height of the first layer of flexible sheet 110 is obtained through the distance detection device 700, and the lifting action of the lifting platform 500 is adjusted based on the height of the first layer of flexible sheet 110. It should be noted that the distance detection device 700 is a proximity switch. When the lifting platform 500 controls the material pile 100 to rise, the first layer of flexible sheet 110 will contact the proximity switch and trigger it, causing the lifting platform 500 to stop. Of course, in addition to this, a distance sensor can be used to obtain the distance between the distance sensor and the first flexible sheet 110, thereby determining the height of the material pile 100, and then controlling the elevator 500 to make the material pile 100 reach the required height position.

[0083] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

Claims

1. A method for feeding and conveying flexible sheet materials, characterized in that, Includes the following steps: Acquire the positional information of the first layer of flexible sheet, the second layer of flexible sheet, and the target location, which are stacked in a straight line in the material pile; Determine whether the first distance between the first flexible sheet and the target position is greater than the second distance between the second flexible sheet and the target position; When the first distance is less than the second distance, the position of the first flexible sheet is adjusted so that the first distance is greater than the second distance; When the first distance is greater than the second distance, the first clamping mechanism, which travels back and forth between the target position and the material pile, is inserted into the gap between the first layer of flexible sheet and the second layer of flexible sheet and clamps the first layer of flexible sheet to transport the clamped first layer of flexible sheet to the target position. The specific steps for adjusting the position of the first layer of flexible sheet are as follows: rotate the entire stack of material 180°.

2. The flexible sheet feeding and conveying method according to claim 1, characterized in that, After adjusting the first layer of flexible sheet, it is necessary to ensure that the first layer of flexible sheet and the second layer of flexible sheet are stacked alternately.

3. The flexible sheet feeding and conveying method according to claim 1, characterized in that, Before transferring the first flexible sheet, press the second flexible sheet downwards.

4. The flexible sheet feeding and conveying method according to claim 1, characterized in that, The clamping steps for the first flexible sheet are as follows: Insert the lower clamping arm into the gap between the first and second flexible sheets along the upper surface of the second flexible sheet; The first layer of flexible sheet is clamped by the opposing movement of the lower clamping arm and / or the upper clamping arm.

5. The flexible sheet feeding and conveying method according to claim 4, characterized in that, Before inserting the lower clamping arm into the gap between the first flexible sheet and the second flexible sheet, press the lower clamping arm onto the upper surface of the second flexible sheet.

6. The flexible sheet feeding and conveying method according to claim 1, characterized in that, After clamping the first flexible sheet, airflow is blown into the gap between the first and second flexible sheets.

7. The flexible sheet feeding and conveying method according to claim 6, characterized in that, The angle between the direction of the airflow and the upper surface of the second flexible sheet is an acute angle.

8. The flexible sheet feeding and conveying method according to claim 1, characterized in that, Before clamping the first layer of flexible sheet, it is necessary to obtain the height of the first layer of flexible sheet and adjust the height of the first layer of flexible sheet to be within the clamping range.

9. The flexible sheet feeding and conveying method according to claim 1, characterized in that, The first clamping mechanism clamps the two ends of the first layer of flexible sheet near the target position.

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