A fully automated intelligent positioning and cutting device and method for graphene heating plates

Abstract

This invention belongs to the field of graphene heating plate cutting technology, specifically relating to a fully automatic intelligent positioning cutting device and method for graphene heating plates. In this application, a graphene heating plate is laid flat on a supporting working platform, and a cutting posture adjustment mechanism is used to adjust the posture of the graphene heating plate within the supporting working platform. The cutting posture adjustment mechanism moves the graphene heating plate according to the positional relationship between the graphene heating plate cutting baseline monitored by the image acquisition module and a preset baseline, so that the graphene heating plate cutting baseline is aligned with the preset baseline, thereby meeting the cutting posture requirements. In this application, the cutting platform of the cutting mechanism is flush with the supporting working platform, and the conveying mechanism moves the graphene heating plate between the cutter and the cutting platform, thereby achieving precise movement of the graphene heating plate and ensuring that the cutting part is vertically aligned with the cutter, thus achieving precise cutting.

Description

Technical Field

[0001] This invention belongs to the field of graphene heating plate cutting technology, specifically relating to a fully automatic intelligent positioning cutting device and method for graphene heating plates. Background Technology

[0002] Graphene heating panels are an energy-saving and environmentally friendly new heating technology. A graphene heating panel is made by printing a layer of graphene paste onto a prepreg or cured sheet, then layering it with a prepreg (PP sheet), and finally pressing and curing it under high temperature and pressure to form a sheet-like conductive heating panel. Specifically, a graphene heating panel consists of PP sheets printed with graphene ink, bonded with copper foil carrying current, and then several layers of unprinted PP sheets and a high-temperature resistant film on top. These layers are then cured and cross-linked using a hot press under high temperature and pressure to form a sheet-like conductive heating panel. The heating plate primarily dissipates heat through radiation; it is transmissive, radiating heat energy into the room in the form of far-infrared rays. As a heating "chip," the graphene heating panel can be combined with decorative paintings, integrated wall panels, and electric heating panels to form end products suitable for home heating, office building heating, school dormitories, shop heating, auxiliary heating for centralized heating systems, card rooms, hotels, warehouse insulation, and other environments.

[0003] Graphene electric heating plates belong to the emerging heating industry, and there are relatively few related complete sets of equipment, especially regarding cutting equipment after pressing. Current equipment is generally customized semi-automated machines that require manual assistance for positioning. When cutting the sheet material, the edge is usually used as a positioning reference. However, after the pressing process, the PP sheet substrate of the heating plate melts and solidifies under high temperature and pressure, causing the edges to become uneven and unusable as a positioning reference for cutting. Manual visual positioning is required, but this method has significant errors, resulting in positional deviations between the cut dimensions and the printed graphics on the heating plate, affecting product appearance quality and reducing cutting efficiency.

[0004] Although existing vision equipment is widely used for baseline positioning in sheet cutting, graphene heating plates are only about 1mm thick, while the area of ​​a single finished graphene heating plate is about 1.2 square meters. Although they have a certain strength after pressing and curing, the large area-to-thickness ratio of graphene heating plates means that they need to be kept flat and unfolded during transportation to achieve precise cutting and baseline positioning. While roller and belt conveyors can keep the graphene heating plates unfolded, they cannot actively adjust the posture or move them precisely. Conventional suction cups can precisely control the posture of graphene heating plates, but they are prone to bending on the suction cups and cannot be kept flat, failing to meet the baseline recognition requirements of vision positioning equipment.

[0005] Chinese patent document CN218909195U (202223529976.7) discloses a test paper substrate positioning and rotation device based on visual inspection, comprising: a frame, at least one set of visual inspection components mounted on the frame, a rotation drive component, and a support plate that is pulsatorically connected to the rotation drive component; the support plate is provided with a support cavity for the test paper substrate to pass through, and at least one detection window is provided on the support plate, the detection window being connected to the support cavity, each detection window corresponding to a set of visual inspection components, the visual inspection components being used to detect detection points on the test paper substrate within the detection window; the rotation drive component being used to drive the support plate to rotate the test paper substrate by a certain angle. The principle of the above-mentioned test strip substrate positioning and rotating device is that when the test strip substrate passes through the carrier cavity on the carrier plate, the vision inspection component detects the detection points on the test strip substrate through the detection window. The rotating mechanism drives the test strip substrate to rotate a certain angle according to the detection result to ensure the automatic positioning of the test strip substrate, so as to facilitate the automatic cutting later. However, the width of the carrier cavity of the above structure needs to match the width of the test strip substrate to prevent the test strip substrate from shifting. The vision inspection of the positioning and rotating device needs to first use the carrier cavity to limit the width direction of the test strip substrate. However, the edge of the graphene heating plate is not flush, which cannot meet the requirement of using the edge of the graphene heating plate for positioning. Summary of the Invention

[0006] The purpose of this invention is to solve the above-mentioned problems and provide a fully automatic intelligent positioning and cutting device and method for graphene heating plates. In this application, a graphene heating plate is laid flat on a supporting working platform, and a cutting posture adjustment mechanism is used to adjust the posture of the graphene heating plate on the supporting working platform. The cutting posture adjustment mechanism moves the graphene heating plate according to the positional relationship between the cutting baseline and a preset baseline monitored by an image acquisition module, so that the cutting baseline is aligned with the preset baseline, thereby meeting the cutting posture requirements. In this application, the cutting platform of the cutting mechanism is flush with the supporting working platform, and a conveying mechanism moves the graphene heating plate between the cutter and the cutting platform, thereby achieving precise movement of the graphene heating plate and ensuring that the cutting area, i.e., the cutting baseline, is vertically aligned with the cutter, thus achieving precise cutting of each edge of the graphene heating plate.

[0007] The technical problem to be solved by the present invention is achieved by the following technical solution: a fully automatic graphene electric heating plate intelligent positioning cutting device, comprising a device body, a cutting posture adjustment mechanism, a cutting mechanism, a conveying mechanism, an image acquisition module and a suction cup, wherein the cutting posture adjustment mechanism, the cutting mechanism, the conveying mechanism and the image acquisition module are all disposed on the device body;

[0008] The main body of the equipment is provided with two support working platforms spaced apart front to back. The cutting posture adjustment mechanism and the conveying mechanism are located between the two support working platforms. A preset baseline is provided on the support working platforms.

[0009] The cutting posture adjustment mechanism includes a first adsorption and fixing platform and a posture adjustment module. The first adsorption and fixing platform is provided with a suction cup for adsorbing and fixing the graphene heating plate.

[0010] The image acquisition module is used to monitor the position of the graphene heating plate on the support working platform. The pose adjustment module is used to control the graphene heating plate on the first adsorption fixing platform to move on the support working platform according to the positional relationship between the cutting reference line of the graphene heating plate and the preset reference line monitored by the image acquisition module, so as to align the cutting reference line of the graphene heating plate with the preset reference line.

[0011] The cutting mechanism includes a cutting base mounted on the main body of the equipment, a cutting blade that can be slidably mounted on the cutting base, and a cutting drive mechanism for controlling the cutting blade to slide up and down. The cutting base is provided with a cutting platform located directly below the cutting blade, and the cutting platform is flush with the supporting work platform.

[0012] The conveying mechanism includes a second adsorption and fixing platform and a cutting position adjustment module. The second adsorption and fixing platform is provided with a suction cup for adsorbing and fixing the graphene heating plate.

[0013] The cutting position adjustment module is used to control the graphene heating plate on the second adsorption fixing platform to move on the support working platform and the cutting platform, so that the cutting baseline of the graphene heating plate moves directly below the cutting blade.

[0014] The technical solution of the present invention also includes: the main body of the device is provided with a first cutting position, a second cutting position and a third cutting position from left to right;

[0015] The first cutting position has a cutting mechanism on the left side of the conveying mechanism, which is used to cut the left edge of the graphene heating plate;

[0016] The second cutting position has two cutting mechanisms on the right side of the supporting work platform. The two cutting mechanisms are symmetrically arranged on the front and rear sides of the conveying mechanism and are used to cut the edges of the front and rear sides of the graphene heating plate.

[0017] The third cutting position is provided with a cutting mechanism on the right side of the conveying mechanism, which is used to cut the right edge of the graphene heating plate;

[0018] The cutting position adjustment module includes a linear drive module. The second adsorption fixing platform is slidably mounted on the main body of the equipment, and the linear drive module is used to control the left and right sliding of the second adsorption fixing platform. After the posture adjustment module adjusts the posture of the graphene heating plate, in order to complete the cutting of the graphene heating plate in one go using the cutting position adjustment module, the main body of the equipment is arranged with a first cutting position, a second cutting position, and a third cutting position from left to right. The first cutting position has a cutting mechanism on the left side of the conveying mechanism for cutting the left edge of the graphene heating plate; the second cutting position has a cutting mechanism on each side of the conveying mechanism for cutting the front and rear edges of the graphene heating plate; the third cutting position has a cutting mechanism on the right side of the conveying mechanism for cutting the right edge of the graphene heating plate. This satisfies the requirement that the graphene heating plate can be cut by moving the graphene heating plate only in the left and right directions, significantly improving production efficiency.

[0019] The second adsorption fixing platform is moved to the position corresponding to the first adsorption fixing platform. The graphene heating plate, which has been positioned and oriented on the first adsorption fixing platform, is transferred to the second adsorption fixing platform. The second adsorption fixing platform is then controlled to slide left and right using a linear drive module, thereby cutting the four edges of the graphene heating plate in sequence.

[0020] The technical solution of the present invention also includes: the posture adjustment module includes a moving platform, a rotating mechanism and a horizontal moving mechanism, the first adsorption fixing platform is rotatably mounted on the moving platform via a vertical rotating shaft, and the moving platform is mounted on the device body that can move relative to the device body in the front, back and left and right directions;

[0021] The rotating mechanism controls the first adsorption and fixing platform to rotate around a vertical axis, and the horizontal moving mechanism controls the moving platform to move relative to the main body of the equipment in all directions. The rotating mechanism controls the first adsorption and fixing platform to rotate horizontally around the vertical axis to adjust the angle between the graphene heating plate cutting baseline and the preset baseline, thereby making the graphene heating plate cutting baseline parallel to the preset baseline. The horizontal moving mechanism controls the moving platform to move relative to the main body of the equipment in all directions to adjust the distance between the graphene heating plate cutting baseline and the preset baseline. After the graphene heating plate cutting baseline is parallel to the preset baseline, the graphene heating plate is horizontally moved relative to the main body on the supporting working platform in all directions to align the graphene heating plate cutting baseline with the preset baseline.

[0022] The technical solution of the present invention also includes: a preliminary positioning mechanism and a feeding and transplanting mechanism;

[0023] The initial positioning mechanism includes a feeding platform, a rear positioning plate, a right positioning plate, and a lifting mechanism located in front of the cutting posture adjustment mechanism. The rear positioning plate and the right positioning plate are respectively located on the rear and right sides of the feeding platform, and the rear positioning plate and the right positioning plate are detachably mounted on the main body of the equipment.

[0024] The lifting mechanism is used to control the up and down movement of the unloading platform;

[0025] The feeding and transferring mechanism is used to move the graphene heating plates from the feeding platform to the first adsorption and fixing platform. A rear positioning plate and a right positioning plate are respectively set on the rear and right sides of the feeding platform. By placing stacks of graphene heating plates on the feeding platform, the rear and right positioning plates are used to initially position the stacks of graphene heating plates in the front-back and left-right directions. After the graphene heating plates are initially positioned and moved to the first adsorption and fixing platform, the posture adjustment module can more quickly align the cutting baseline of the graphene heating plates with the preset baseline, improving production efficiency.

[0026] By controlling the lifting mechanism to move the unloading platform up and down, the height of the graphene heating plate at the top of the unloading platform can be aligned with the supporting working platform. This helps to move the graphene heating plate to the supporting working platform in a horizontally unfolded state, avoiding bending of the graphene heating plate and affecting subsequent benchmark positioning. After the graphene heating plate at the top of the unloading platform is removed, by controlling the lifting mechanism to move the unloading platform upward, the graphene heating plate of the next layer of material stack can be moved to be aligned with the supporting working platform, realizing automated material loading.

[0027] The technical solution of the present invention also includes: the feeding and transplanting mechanism includes an adsorption gripper, a lifting module, a clamping claw, and a linear drive mechanism;

[0028] The adsorption gripper is movable up and down on the main body of the device. The adsorption gripper is equipped with a suction cup for adsorbing and fixing the graphene heating plate.

[0029] The adsorption gripper is located directly above the feeding platform, and the lifting module is used to control the lifting and lowering of the adsorption gripper.

[0030] The clamping jaws are slidably mounted on the main body of the device. The linear drive mechanism is used to control the forward and backward sliding of the clamping jaws. The clamping jaws are located above the cutting posture adjustment mechanism, and the suction gripper is located in front of the clamping jaws.

[0031] The rear positioning plate is equipped with rollers at its upper end. After the rear edge of the graphene heating plate is lifted by the adsorption gripper, the clamping claws are controlled by the linear drive mechanism to slide forward and hold the rear edge of the graphene heating plate. Then, the clamping claws are controlled by the linear drive mechanism to slide backward, dragging the graphene heating plate in an unfolded state above the first adsorption fixing platform, which improves the feeding speed. The rollers at the upper end of the rear positioning plate reduce friction on the graphene heating plate and prevent scratches on the graphene heating plate during the feeding process.

[0032] The technical solution of the present invention further includes: the cutting base is slidably mounted on the main body of the device via a horizontal guide rail, the extension direction of which is perpendicular to the extension direction of the cutting blade. Sliding the cutting base on the main body via the horizontal guide rail, with the extension direction of the horizontal guide rail perpendicular to the extension direction of the cutting blade, allows adjustment of the distance between the two left and right cutting blades or the two front and rear cutting blades, thus making it suitable for cutting graphene heating plates of different widths or lengths.

[0033] The technical solution of the present invention also includes: a discharge mechanism, wherein the discharge mechanism includes an auxiliary conveyor belt, a discharge conveyor belt and a finished product positioning table;

[0034] The auxiliary conveyor belt and the unloading conveyor belt are respectively set on the left and right sides of the cutting mechanism at the third cutting position, the finished product positioning table is set on the front and rear sides of the unloading conveyor belt, and a limit rod is set on the right side of the finished product positioning table;

[0035] The auxiliary conveyor belt, the unloading conveyor belt, and the finished product positioning platform are all flush with the supporting work platform. To ensure the graphene heating plate above the second adsorption platform is horizontally conveyed in a spread-out state and its movement distance is precisely controlled, the graphene heating plate needs to be fixedly mounted on the second adsorption platform. However, since the conveying mechanism is located between the cutting mechanisms, it cannot horizontally transmit the graphene heating plate through the gap between the cutter and the cutting platform. Therefore, auxiliary conveyor belts and unloading conveyor belts are respectively set on the left and right sides of the cutting mechanism at the third cutting position. After the second adsorption platform separates from the graphene heating plate, the auxiliary conveyor belts further convey the graphene heating plate above the second adsorption platform, allowing it to pass through the gap between the cutter and the cutting platform and reach the unloading conveyor belt. The unloading conveyor belt then transports the cut graphene heating plate to the finished product positioning table. To prevent the finished graphene heating plate from slipping off the finished product positioning table, a limit rod is set on the right side of the finished product positioning table. This ensures that the graphene heating plate remains stationary even if the unloading conveyor belt does not stop moving, allowing for the next process.

[0036] The technical solution of the present invention also includes: a material feeding and cutting mechanism and a finished product stacking mechanism;

[0037] The material feeding and cutting mechanism includes an adsorption gripping plate and an adsorption gripping plate robot. The adsorption gripping plate is equipped with suction cups for adsorbing and fixing the graphene heating plate.

[0038] The adsorption gripper is mounted on the main body of the device and can move up, down, left, and right. The adsorption gripper robot is used to control the movement of the adsorption gripper.

[0039] The finished product stacking mechanism is located on the right side of the finished product positioning platform, and the finished product stacking mechanism includes a finished product placement platform and a lifting support.

[0040] The finished product placement platform is mounted on a lifting bracket and located below the adsorption gripper. The adsorption gripper holds the graphene heating plate cut on the finished product positioning platform. The adsorption gripper robot controls the adsorption gripper to move the graphene heating plate to the finished product placement platform. The lifting bracket controls the raising and lowering of the finished product placement platform to complete the automatic stacking of the graphene heating plate finished products.

[0041] The technical solution of the present invention also includes: a lower pressure plate and a telescopic mechanism;

[0042] The lower pressure plate is movably mounted on the cutting bracket and is located above the cutting platform. The telescopic mechanism controls the up-and-down movement of the lower pressure plate. The lower pressure plate holds down the edge of the graphene heating plate to be cut, preventing the graphene heating plate from moving during cutting and ensuring a more even cut.

[0043] This invention also discloses a fully automatic intelligent positioning and cutting method for graphene heating plates, which uses the aforementioned fully automatic intelligent positioning and cutting equipment for graphene heating plates and includes the following steps:

[0044] S1. Print cutting reference lines on the surface of the graphene heating plate. The cutting reference lines include horizontal cutting reference lines and vertical cutting reference lines. The preset reference lines on the support work platform correspond to the x-axis and y-axis of the preset rectangular coordinate system of the image. Unfold and lay the graphene heating plate flat on the support work platform. Use the suction cup on the first adsorption and fixing platform to adsorb and fix the graphene heating plate.

[0045] S2. Use the image acquisition module to acquire the image of the graphene heating plate, compare the cutting baseline on the graphene heating plate with the preset baseline coordinates of the image, first calculate the angle α between the horizontal cutting baseline and the x-axis, and transmit the angle data to the pose adjustment module. The pose adjustment module drives the first adsorption fixing platform to rotate by an angle α so that the horizontal cutting baseline is parallel to the x-axis.

[0046] S3. Use the image acquisition module to acquire the image of the graphene heating plate again, calculate the distance L1 between the horizontal cutting baseline and the x-axis and the distance L2 between the vertical cutting baseline and the y-axis, and drive the first adsorption fixing platform to move the distances L1 and L2 along the front-back direction and the left-right direction respectively, so that the horizontal cutting baseline and the x-axis coincide and the vertical cutting baseline and the y-axis coincide.

[0047] S4. Set a corresponding cutting posture adjustment mechanism according to the cutting edge of the graphene heating plate, so that the extension direction of the cutter is parallel to the x-axis or y-axis. According to the distance from the x-axis and y-axis to the extension direction of the cutter and the size data of the graphene heating plate, control the graphene heating plate on the first adsorption fixing platform or the second adsorption fixing platform to move on the support working platform and the cutting platform, so that the cutting reference line of the graphene heating plate moves to the cutter directly below the cutter to cut each edge.

[0048] The inventive concept of this invention:

[0049] The graphene heating plate is approximately 1mm thick and 1.2 square meters in area. After pressing and curing, it possesses a certain strength, but due to its large area, it is prone to bending during handling. Some graphene heating plates have an image film pressed onto one side, which must not be scratched or contaminated during handling to ensure the integrity of the image. Therefore, handling methods that do not affect the surface quality of the graphene heating plate are necessary. Considering the above characteristics of the graphene heating plate, and given its smooth and flat surface, the graphene heating plate is laid flat on a supporting work platform and transported using vacuum adsorption. This allows the graphene heating plate to slide horizontally within the plane of the supporting work platform, preventing bending and ensuring cutting accuracy. The PP sheet, the substrate of the graphene heating plate, becomes uneven at the edges during the high-temperature and high-pressure melting and re-curing process, making it unsuitable as a cutting positioning reference for the product. Therefore, in order to improve the cutting accuracy, reference lines are printed on the surface of the graphene heating plate during screen printing, and visual inspection is used to assist in positioning, thereby ensuring the cutting accuracy of the graphene heating plate.

[0050] Compared with the prior art, the beneficial effects of the present invention are as follows: The present application sets the cutting posture adjustment mechanism and the conveying mechanism between two supporting working platforms. The graphene heating plate is laid flat on the supporting working platform, and the supporting working platform supports the graphene heating plate to ensure that the graphene heating plate remains flat and unfolded during the movement. The cutting posture adjustment mechanism uses the suction cup on the first adsorption fixing platform to adsorb the graphene heating plate, and then uses the posture adjustment module to control the graphene heating plate on the first adsorption fixing platform to move on the supporting working platform, thereby accurately adjusting the posture of the graphene heating plate in the supporting working platform. Since the graphene heating plate moves close to the surface of the supporting working platform, it is ensured that the graphene heating plate will not fold or deform during the movement, thus meeting the requirements of visual recognition and accurate cutting. This application utilizes a pose adjustment module to control the movement of the graphene heating plate on the first adsorption fixing platform on the support working platform based on the positional relationship between the graphene heating plate cutting baseline and the preset baseline monitored by the image acquisition module. This ensures that the graphene heating plate cutting baseline is aligned with the preset baseline, thereby meeting the position and angle requirements for cutting the graphene heating plate and effectively solving the problem of difficult positioning caused by the unevenness of the graphene heating plate edge due to high-temperature softening.

[0051] In this application, the cutting platform of the cutting mechanism is set flush with the supporting working platform. The conveying mechanism uses the second adsorption fixing platform to adsorb the graphene heating plate. Then, the cutting position adjustment module controls the graphene heating plate on the second adsorption fixing platform to move between the supporting working platform and the cutting platform so that the graphene heating plate moves between the cutting blade and the cutting platform. This achieves precise movement of the graphene heating plate and ensures that the cutting baseline of the graphene heating plate is aligned with the cutting blade, thereby achieving precise cutting and effectively ensuring the cutting quality and precision control.

[0052] This application sets up a cutting posture adjustment mechanism and a conveying mechanism respectively. The cutting posture adjustment mechanism is used to adjust the posture of the graphene heating plate, and the conveying mechanism is used to move the graphene heating plate with the adjusted posture to the corresponding position of the cutting mechanism for cutting. The posture adjustment and cutting processes do not interfere with each other and can be carried out simultaneously, thereby improving production efficiency. Attached Figure Description

[0053] Figure 1 This is a schematic diagram of the intelligent positioning and fully automatic cutting equipment for graphene heating plates described in this invention.

[0054] Figure 2 This is a schematic diagram of the cutting posture adjustment mechanism and the conveying mechanism described in this invention;

[0055] Figure 3 This is a schematic diagram of the cutting mechanism described in this invention;

[0056] Figure 4 This is a schematic diagram of the initial positioning mechanism and the feeding and transferring mechanism described in this invention;

[0057] Figure 5 This is a side view of the initial positioning mechanism and the feeding and transferring mechanism described in this invention;

[0058] Figure 6 This is a schematic diagram of the structure of the material discharge mechanism, the material feeding and cutting mechanism, and the finished product stacking mechanism described in this invention;

[0059] Figure 7 For the present invention Figure 6 A magnified view of a portion of the discharge mechanism at point A;

[0060] Figure 8 This is a schematic diagram of the structure of the adsorption gripper of the present invention;

[0061] Figure 9 This is a reference diagram showing the usage status of the intelligent positioning fully automatic cutting equipment for graphene heating plates described in this invention;

[0062] Figure 10 This is a top view of the graphene heating plate being adjusted and cut according to the present invention.

[0063] In the diagram, 1 is the main body of the equipment, 1000 is the supporting work platform, 2 is the cutting posture adjustment mechanism, 3 is the cutting mechanism, 4 is the conveying mechanism, 5 is the image acquisition module, and 100 is the suction cup.

[0064] 21 First adsorption fixing platform; 22 Moving platform;

[0065] 31 Cutting base, 32 Cutting blade, 33 Cutting platform, 34 Pressure plate;

[0066] 41. Second adsorption and fixation platform;

[0067] 1001 First cutting position, 1002 Second cutting position, 1003 Third cutting position;

[0068] 6. Initial positioning mechanism, 61. Feeding platform, 62. Rear positioning plate, 621. Roller, 63. Right positioning plate, 64. Lifting mechanism;

[0069] 7. Feeding and transplanting mechanism; 71. Adsorption gripper; 72. Lifting module; 73. Clamping claw;

[0070] 8. Discharge mechanism, 81. Auxiliary conveyor belt, 82. Unloading conveyor belt, 83. Finished product positioning platform, 831. Limiting rod, 832. Material sensor;

[0071] 9. Material feeding and cutting mechanism; 91. Adsorption gripper;

[0072] 10 Finished product stacking mechanism, 101 Finished product placement platform, 102 Lifting support. Detailed Implementation

[0073] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0074] like Figure 1 and Figure 9 As shown, a fully automatic graphene heating plate intelligent positioning cutting device includes a main body 1, a cutting posture adjustment mechanism 2, a cutting mechanism 3, a conveying mechanism 4, an image acquisition module 5, and a suction cup 100. The cutting posture adjustment mechanism 2, the cutting mechanism 3, the conveying mechanism 4, and the image acquisition module 5 are all mounted on the main body 1.

[0075] The main body 1 of the equipment is provided with two support work platforms 1000 arranged at intervals. The cutting posture adjustment mechanism 2 and the conveying mechanism 4 are arranged between the two support work platforms 1000. The support work platforms 1000 are provided with preset reference lines. Specifically, two mutually perpendicular preset reference lines are provided on the support work platforms 1000, one of which is set in the left-right direction.

[0076] like Figure 2 As shown, the cutting posture adjustment mechanism 2 includes a first adsorption and fixing platform 21 and a posture adjustment module. The first adsorption and fixing platform 21 is provided with a suction cup 100 for adsorbing and fixing the graphene heating plate.

[0077] The image acquisition module 5 is used to monitor the position of the graphene heating plate on the supporting work platform 1000. The pose adjustment module is used to control the movement of the graphene heating plate on the first adsorption fixing platform 21 on the supporting work platform 1000 according to the positional relationship between the cutting baseline of the graphene heating plate and the preset baseline monitored by the image acquisition module 5, so that the cutting baseline of the graphene heating plate is aligned with the preset baseline. Specifically, the image acquisition module 5 is a camera fixed on the main body 1 of the device and set above the supporting work platform 1000. It acquires images of the graphene heating plate on the supporting work platform 1000 and transmits them to the controller. The controller analyzes and processes the acquired images to obtain the positional relationship between the cutting baseline of the graphene heating plate and the preset baseline. The image acquisition module 5 is used to acquire image information of the graphene heating plate on the support work platform 1000 and transmit it to the controller. The controller compares the image of the graphene heating plate with the preset rectangular coordinate system of the image in the system, calculates the angle and position relationship between the cutting reference line and the preset reference line, and feeds it back to the pose adjustment module. The pose adjustment module controls the graphene heating plate on the first adsorption fixing platform 21 to move on the support work platform 1000 according to the angle and position relationship between the cutting reference line and the preset reference line, so that the cutting reference line of the graphene heating plate is aligned with the preset reference line.

[0078] like Figure 3 As shown, the cutting mechanism 3 includes a cutting base 31 mounted on the main body 1, a cutting blade 32 slidably mounted on the cutting base 31 via a vertical guide rail, and a cutting drive mechanism for controlling the up-and-down sliding of the cutting blade 32. The cutting drive mechanism includes a pressure cylinder mounted on the cutting base 31, and the cutting blade 32 is mounted on the piston rod of the pressure cylinder. To ensure stability, a guide rod is provided between the cutting blade 32 and the cutting base 31, and the cutting blade 32 is slidably mounted on the guide rod. The cutting base 31 is provided with a cutting platform 33 located directly below the cutting blade 32. The cutting platform 33 is provided with a cutting edge that matches the cutting blade 32. The relative movement of the cutting blade 32 and the cutting edge generates a shearing force, thereby achieving the cutting of the edge of the graphene heating plate. The cut-off scraps fall from one side of the cutting edge of the cutting platform 33. The lower blade of the cutting blade 32 is inclined, and when the cutting blade 32 cuts, one end of the blade contacts the graphene heating plate first, thereby reducing the cutting force. The cutting platform 33 is flush with the supporting work platform 1000 and is located below the graphene heating plate to support it. The cutting base 31 is slidably mounted on the main body 1 via a horizontal guide rail, the extension direction of which is perpendicular to the extension direction of the cutting blade 32.

[0079] like Figure 3 As shown, the graphene heating plate intelligent positioning fully automatic cutting equipment also includes a lower pressure plate 34 and a telescopic mechanism.

[0080] The lower pressure plate 34 is movably mounted on the cutting base 31 and is located above the cutting platform 33. The telescopic mechanism controls the up-and-down movement of the lower pressure plate 34. The telescopic mechanism includes a cylinder mounted on the cutting base 31, and the lower pressure plate 34 is mounted on the piston rod of the cylinder.

[0081] like Figure 2 As shown, the conveying mechanism 4 includes a second adsorption and fixing platform 41 and a cutting position adjustment module. The second adsorption and fixing platform 41 is provided with a suction cup 100 for adsorbing and fixing the graphene heating plate.

[0082] The cutting position adjustment module is used to control the graphene heating plate on the second adsorption fixing platform 41 to move on the support working platform 1000 and the cutting platform 33, so that the cutting reference line of the graphene heating plate moves to directly below the cutting blade 32, and the graphene heating plate is located between the cutting blade 32 and the cutting platform 33.

[0083] The main body of the device 1 is provided with a first cutting position 1001, a second cutting position 1002 and a third cutting position 1003 from left to right.

[0084] The first cutting position 1001 is provided with a cutting mechanism 3 on the left side of the conveying mechanism 4, which is used to cut the left edge of the graphene heating plate.

[0085] The second cutting position 1002 is provided with two cutting mechanisms 3 on the right side of the supporting work platform 1000. The two cutting mechanisms 3 are symmetrically arranged on the front and rear sides of the conveying mechanism 4 and are used to cut the edges of the front and rear sides of the graphene heating plate.

[0086] The third cutting position 1003 is provided with a cutting mechanism 3 on the right side of the conveying mechanism 4, which is used to cut the right edge of the graphene heating plate.

[0087] The cutting position adjustment module includes a linear drive module. The second adsorption fixing platform 41 is slidably mounted on the main body 1 of the equipment. The linear drive module is used to control the left and right sliding of the second adsorption fixing platform 41. The linear drive module includes guide rails and a synchronous conveyor belt mechanism. The second adsorption fixing platform 41 is slidably mounted on the main body 1 of the equipment via two parallel guide rails. The cutting posture adjustment mechanism 2 is located between the two guide rails. The second adsorption fixing platform 41 is mounted on the conveyor belt of the synchronous conveyor belt mechanism. Specifically, the second adsorption fixing platform 41 includes a U-shaped bracket, an adsorption plate, and a telescopic cylinder. The adsorption plate is slidably mounted on the U-shaped bracket. The adsorption plate is provided with suction cups 100 arranged in the left and right direction. The telescopic cylinder is vertically mounted on the U-shaped bracket, and the piston rod of the telescopic cylinder is connected to the adsorption plate. The U-shaped bracket is slidably mounted on the guide rails and connected to the conveyor belt of the synchronous conveyor belt mechanism. The synchronous conveyor belt mechanism is driven to rotate by a motor. Since the cutting posture adjustment mechanism 2 is located between the two guide rails, the U-shaped bracket moves to the corresponding position of the cutting posture adjustment mechanism 2, and uses the telescopic cylinder to control the adsorption plate to move upward so that the upper suction cup 100 adsorbs the graphene heating plate above the first adsorption fixing platform 21, thereby completing the transfer of the graphene heating plate.

[0088] The posture adjustment module includes a moving platform 22, a rotating mechanism and a horizontal moving mechanism. The first adsorption fixing platform 21 is rotatably mounted on the moving platform 22 via a vertical rotating shaft. The moving platform 22 is mounted on the device body 1 and can move relative to the device body 1 in all directions.

[0089] The rotating mechanism controls the first adsorption and fixing platform 21 to rotate around a vertical axis, and the horizontal moving mechanism controls the moving platform 22 to move back and forth and left and right relative to the main body 1. The moving platform 22 includes a longitudinal sliding plate and a transverse sliding plate. The horizontal moving mechanism includes a linear module. The transverse sliding plate is slidably mounted on the main body 1 via the linear module, and the longitudinal sliding plate is slidably mounted on the transverse sliding plate via the linear module. The rotating mechanism includes a rotary motor. The first adsorption and fixing platform 21 is rotatably mounted on the longitudinal sliding plate via a vertical axis, and the rotary motor is fixedly mounted on the longitudinal sliding plate to drive the axis to rotate.

[0090] like Figure 1 As shown, the graphene electric heating plate intelligent positioning fully automatic cutting equipment also includes a preliminary positioning mechanism 6 and a feeding and transfer mechanism 7.

[0091] like Figure 4 , Figure 5 and Figure 9As shown, the initial positioning mechanism 6 includes a feeding platform 61, a rear positioning plate 62, and a right positioning plate 63 disposed on the front side of the cutting posture adjustment mechanism 2. The feeding platform 61 is used to place the graphene heating plate to be cut. The rear positioning plate 62 and the right positioning plate 63 are respectively disposed on the rear side and the right side of the feeding platform 61. The upper end of the rear positioning plate 62 is provided with a roller 621. The rear positioning plate 62 and the right positioning plate 63 are detachably disposed on the main body of the equipment 1.

[0092] The feeding and transferring mechanism 7 is used to move the graphene heating plate to be cut on the feeding platform 61 to the first adsorption and fixing platform 21.

[0093] like Figure 9 As shown, the initial positioning mechanism 6 also includes a lifting mechanism 64, which is used to control the up and down movement of the feeding platform 61.

[0094] like Figure 4 , Figure 5 and Figure 9 As shown, the feeding and transplanting mechanism 7 includes an adsorption gripper 71, a lifting module 72, a clamping claw 73, and a linear drive mechanism.

[0095] The adsorption gripper 71 is movable up and down on the main body 1 of the device. The adsorption gripper 71 is equipped with suction cups 100 for adsorbing and fixing the graphene heating plate. The adsorption gripper 71 includes a long strip-shaped feeding plate, and the suction cups 100 are distributed along the axial direction of the feeding plate for adsorbing one edge of the graphene heating plate.

[0096] The adsorption gripper 71 is located directly above the material feeding platform 61, and the lifting module 72 is used to control the lifting and lowering of the adsorption gripper 71. The lifting module 72 includes a telescopic cylinder mounted on the main body 1 of the equipment, and the adsorption gripper 71 is connected to the telescopic rod of the telescopic cylinder.

[0097] The clamping jaw 73 is slidably mounted on the main body 1 of the device. The linear drive mechanism controls the forward and backward sliding of the clamping jaw 73. The clamping jaw 73 is located above the cutting posture adjustment mechanism 2, and the suction gripper 71 is located in front of the clamping jaw 73. The linear drive mechanism includes a linear module located above the cutting posture adjustment mechanism 2. The clamping jaw 73 includes a clamping jaw cylinder, and the clamping jaw 73 is connected to the slider of the linear module.

[0098] like Figure 1 and Figure 6 As shown, the graphene electric heating plate intelligent positioning fully automatic cutting equipment also includes a discharge mechanism 8, which includes an auxiliary conveyor belt 81, a discharge conveyor belt 82, and a finished product positioning table 83.

[0099] like Figure 6As shown, the auxiliary conveyor belt 81 and the unloading conveyor belt 82 are respectively arranged on the left and right sides of the cutting mechanism 3 at the third cutting position 1003, and the finished product positioning table 83 is arranged on the front and rear sides of the unloading conveyor belt 82, as shown. Figure 7 As shown, a limit rod 831 is provided on the right side of the finished product positioning platform 83.

[0100] The auxiliary conveyor belt 81, the unloading conveyor belt 82, and the finished product positioning platform 83 are all flush with the supporting working platform 1000.

[0101] like Figure 1 As shown, the intelligent positioning fully automatic cutting equipment for graphene heating plates also includes a material feeding and transferring mechanism 9 and a finished product stacking mechanism 10.

[0102] like Figure 8 As shown, the material feeding and cutting mechanism 9 includes an adsorption gripping plate 91 and an adsorption gripping robot. The adsorption gripping plate 91 is provided with a suction cup 100 for adsorbing and fixing the graphene heating plate.

[0103] The adsorption gripper 91 is movably mounted on the main body 1 of the equipment, and the adsorption gripper robot controls its movement. The adsorption gripper robot includes a linear module mounted above the finished product positioning platform 83 and a cylinder mounted on the slider of the linear module. The linear module is fixedly mounted on the main body 1, and the adsorption gripper 91 is connected to the telescopic rod of the cylinder. The cylinder controls the vertical movement of the adsorption gripper 91, and the linear module controls its horizontal movement.

[0104] like Figure 9 As shown, the finished product stacking mechanism 10 is located on the right side of the finished product positioning platform 83. The finished product stacking mechanism 10 includes a finished product placement platform 101 and a lifting support 102.

[0105] The finished product placement platform 101 is mounted on the lifting bracket 102 and located below the adsorption gripping plate 91.

[0106] A fully automated intelligent positioning and cutting method for graphene heating plates, employing the aforementioned fully automated intelligent positioning and cutting equipment for graphene heating plates, includes the following steps:

[0107] S1, such as Figure 10As shown, cutting reference lines are printed on the surface of the graphene heating plate. The cutting reference lines include horizontal cutting reference lines and vertical cutting reference lines. Specifically, the cutting reference lines are set on the upper surface of the graphene heating plate, located at the four corners, forming a rectangular cutting frame. The preset reference lines on the supporting work platform 1000 correspond to the x-axis and y-axis of the preset rectangular coordinate system of the image. The graphene heating plate is unfolded and laid flat on the supporting work platform 1000, and the graphene heating plate is adsorbed and fixed by the suction cup 100 on the first adsorption and fixing platform 21.

[0108] S2. The image acquisition module 5 is used to acquire the image of the graphene heating plate. The cutting reference line on the graphene heating plate is compared with the preset reference coordinates of the image. In order to facilitate positioning, this embodiment uses the cutting reference line on the upper right of the graphene heating plate for positioning comparison. First, the angle α between the horizontal cutting reference line and the x-axis is calculated. The angle data is transmitted to the pose adjustment module. The pose adjustment module drives the first adsorption fixing platform 21 to rotate by an angle α so that the horizontal cutting reference line is parallel to the x-axis.

[0109] S3. Use the image acquisition module 5 to acquire the image of the graphene heating plate again, calculate the distance L1 between the horizontal cutting baseline and the x-axis and the distance L2 between the vertical cutting baseline and the y-axis, and drive the first adsorption fixing platform 21 to move the distances L1 and L2 along the front-back direction and the left-right direction respectively, so that the horizontal cutting baseline and the x-axis coincide and the vertical cutting baseline and the y-axis coincide.

[0110] S4. A corresponding cutting posture adjustment mechanism 2 is set according to the cutting edge of the graphene heating plate, so that the extension direction of the cutter 32 is parallel to the x-axis or y-axis. Based on the distances from the x-axis and y-axis to the extension direction of the cutter 32 and the size data of the graphene heating plate, the graphene heating plate on the first adsorption fixing platform 21 or the second adsorption fixing platform 41 is controlled to move on the support working platform 1000 and the cutting platform 33, so that the cutting reference line of the graphene heating plate moves directly below the cutter 32 to cut each edge. The size data of the graphene heating plate includes the length and width of a single graphene heating plate on the cutting sample and the spacing between two adjacent graphene heating plates.

[0111] When it is necessary to move the graphene heating plate using the cutting position adjustment module, the suction cup 100 on the second adsorption fixing platform 41 is used to adsorb and fix the graphene heating plate on the first adsorption fixing platform 21. The suction cup 100 on the first adsorption fixing platform 21 is detached from the graphene heating plate, thus completing the transfer of the graphene heating plate.

[0112] Working principle of the invention:

[0113] In use, the operator places the graphene heating plates to be cut into a stack on the feeding platform 61. The position of the graphene heating plates is limited by the rear positioning plate 62 and the right positioning plate 63, which realizes the initial positioning of the front, back and left and right edges of the graphene heating plate material stack. The initial positioning mechanism 6 monitors the height of the graphene heating plates above the feeding platform 61 through a laser displacement sensor, thereby controlling the lifting and lowering of the feeding platform 61 to position the height of the graphene heating plates above the feeding platform 61, so as to facilitate the subsequent feeding.

[0114] The lifting module 72 drives the adsorption gripper 71 to lower the suction cup 100 to adsorb the rear edge of the graphene heating plate, and then raises it to a certain height. The linear drive mechanism drives the clamping claw 73 to move forward and clamp the rear edge of the graphene heating plate. The suction cup 100 of the adsorption gripper 71 is released, and the linear drive mechanism drags the graphene heating plate horizontally above the first adsorption fixing platform 21.

[0115] The suction cup 100 of the first adsorption and fixing platform 21 adsorbs the graphene heating plate. The image acquisition module 5 identifies the baseline on the graphene heating plate. After the system calculates the positional relationship between the baseline on the graphene heating plate and the preset baseline on the supporting work platform 1000, the first adsorption and fixing platform 21 is controlled to rotate horizontally around the vertical axis using a rotation mechanism to adjust the angle of the graphene heating plate. The first adsorption and fixing platform 21 is controlled to move forward and backward or left and right using a horizontal movement mechanism to achieve vertical positioning of the graphene heating plate. The lateral or horizontal displacement is adjusted until the baseline along the length of the graphene heating plate on the far right is aligned with the preset baseline along the front-to-back direction, and the baseline along the width of the graphene heating plate on the rear side is aligned with the preset baseline along the left-to-right direction. After positioning, the graphene heating plate is moved left and right using the horizontal moving mechanism or the conveying mechanism 4, so that the left edge of the graphene heating plate is moved to the cutting mechanism 3 at the first cutting position 1001, and the left edge of the graphene heating plate is cut.

[0116] The linear drive module moves the second adsorption fixing platform 41 to be flush with the first adsorption fixing platform 21, and uses the suction cup 100 above the second adsorption fixing platform 41 to adsorb the graphene heating plate. The suction cup 100 above the first adsorption fixing platform 21 releases the graphene heating plate. The linear drive module moves the second adsorption fixing platform 41 to the right between the two cutting mechanisms 3 of the second cutting position 1002 to cut the front and rear edges of the graphene heating plate.

[0117] The linear drive module moves the second adsorption fixing platform 41 to the right to the cutting mechanism 3 at the third cutting position 1003, cutting the right edge of the graphene heating plate. Figure 9As shown, when there are multiple graphene heating plates arranged side by side on the product to be cut, the graphene heating plates can be moved sequentially through the cutting mechanism 3 of the third cutting position 1003 according to the width of the graphene heating plate and the distance between two adjacent graphene heating plates, so as to complete the cutting of each graphene heating plate.

[0118] After the graphene heating plate is cut, it is positioned above the auxiliary conveyor belt 81. The suction cup 100 above the second adsorption fixing platform 41 releases the graphene heating plate, and the auxiliary conveyor belt 81 continues to transport the graphene heating plate to the right onto the unloading conveyor belt 82. The unloading conveyor belt 82 then transports the graphene heating plate to the right onto the finished product positioning table 83. Under the action of the limiting rod 831, the graphene heating plate will stop conveying. Figure 7 As shown, a laser displacement sensor is also installed on the finished product positioning table 83 as a material sensor 832 to detect whether there is a graphene heating plate on the finished product positioning table 83. When there are multiple graphene heating plates arranged side by side on the product to be cut, when the rightmost graphene heating plate reaches above the material sensor 832, the material sensor 832 sends a feedback signal to the controller, thereby controlling the auxiliary conveyor belt 81 and the unloading conveyor belt 82 to stop driving. The cutter of the third cutting position 1003 cuts the rightmost graphene heating plate off the product to be cut to obtain the final product.

[0119] When there is a stationary graphene heating plate above the finished product positioning platform 83, the adsorption gripping robot controls the adsorption gripping plate 91 to adsorb and grab the graphene heating plate on the finished product positioning platform 83. The adsorption gripping robot then transports the graphene heating plate to the finished product placement platform 101. A laser displacement sensor is installed above the finished product placement platform 101 to monitor the height of the graphene heating plate above the finished product placement platform 101, thereby controlling the lifting support 102 to achieve automatic stacking of the graphene heating plate.

[0120] This invention enables rapid positioning of the graphene heating plate by setting a rear positioning plate 62 and a right positioning plate 63, improving the feeding and positioning efficiency and facilitating precise positioning of the cutting posture adjustment mechanism 2. The suction cups 100 of the feeding and transferring mechanism 7 only adhere to one side of the graphene heating plate, reducing the load on the mechanism.

[0121] It should be noted that the rear positioning plate 62 and the right positioning plate 63 can be adjusted in position according to the specifications of the graphene heating plate product. The rollers 621 on the rear positioning plate 62 help reduce friction of the graphene heating plate during dragging and avoid scratches. In this application, the intelligent positioning fully automatic cutting equipment for graphene heating plates is automatically controlled by a control cabinet or other controller, and the parameters of the graphene heating plate movement after positioning are adjusted accordingly as needed.

Claims

1. A fully automatic intelligent positioning and cutting device for graphene heating plates, characterized in that: The device includes a main body (1), a cutting posture adjustment mechanism (2), a cutting mechanism (3), a conveying mechanism (4), an image acquisition module (5), and a suction cup (100). The cutting posture adjustment mechanism (2), the cutting mechanism (3), the conveying mechanism (4), and the image acquisition module (5) are all mounted on the main body (1). The main body (1) of the equipment is provided with two support work platforms (1000) spaced apart front and back. The cutting posture adjustment mechanism (2) and the conveying mechanism (4) are located between the two support work platforms (1000). The support work platforms (1000) are provided with preset reference lines. The cutting posture adjustment mechanism (2) includes a first adsorption fixing platform (21) and a posture adjustment module. The first adsorption fixing platform (21) is provided with a suction cup (100) for adsorbing and fixing the graphene heating plate. The image acquisition module (5) is used to monitor the position of the graphene heating plate on the support work platform (1000). The pose adjustment module is used to control the first adsorption fixing platform (21) to drive the graphene heating plate to slide on the upper surface of the support work platform (1000) according to the positional relationship between the cutting reference line of the graphene heating plate and the preset reference line monitored by the image acquisition module (5), so that the cutting reference line of the graphene heating plate is aligned with the preset reference line. The posture adjustment module includes a moving platform (22), a rotating mechanism and a horizontal moving mechanism. The first adsorption fixing platform (21) is horizontally rotatable on the moving platform (22) via a vertical rotating shaft. The moving platform (22) is mounted on the device body (1) and can move back and forth and left and right relative to the device body (1). The rotating mechanism is used to control the first adsorption fixing platform (21) to rotate around the vertical axis, and the horizontal moving mechanism is used to control the moving platform (22) to move back and forth and left and right relative to the main body of the equipment (1). The cutting mechanism (3) includes a cutting base (31) set on the main body (1), a cutting blade (32) that can be slidably set on the cutting base (31), and a cutting drive mechanism for controlling the cutting blade (32) to slide up and down. The cutting base (31) is provided with a cutting platform (33) located directly below the cutting blade (32). The cutting platform (33) is flush with the supporting work platform (1000). The conveying mechanism (4) includes a second adsorption and fixing platform (41) and a cutting position adjustment module. The second adsorption and fixing platform (41) is provided with a suction cup (100) for adsorbing and fixing the graphene heating plate. The cutting position adjustment module is used to control the graphene heating plate on the second adsorption fixing platform (41) to move on the support working platform (1000) and the cutting platform (33) so that the cutting reference line of the graphene heating plate moves directly below the cutting blade (32).

2. The fully automatic graphene heating plate intelligent positioning cutting device according to claim 1, characterized in that: The main body of the equipment (1) is provided with a first cutting position (1001), a second cutting position (1002) and a third cutting position (1003) from left to right. The first cutting position (1001) is provided with a cutting mechanism (3) on the left side of the conveying mechanism (4) for cutting the left edge of the graphene heating plate; The second cutting position (1002) is provided with two cutting mechanisms (3) on the right side of the supporting work platform (1000). The two cutting mechanisms (3) are symmetrically arranged on the front and rear sides of the conveying mechanism (4) for cutting the edges of the graphene heating plate on the front and rear sides. The third cutting position (1003) is provided with a cutting mechanism (3) on the right side of the conveying mechanism (4) for cutting the right edge of the graphene heating plate; The cutting position adjustment module includes a linear drive module. The second adsorption fixing platform (41) is slidably mounted on the main body (1) of the device. The linear drive module is used to control the second adsorption fixing platform (41) to slide left and right.

3. The fully automatic graphene heating plate intelligent positioning cutting device according to claim 1, characterized in that: It also includes a preliminary positioning mechanism (6) and a feeding and transplanting mechanism (7); The initial positioning mechanism (6) includes a feeding platform (61), a rear positioning plate (62), a right positioning plate (63) and a lifting mechanism (64) located in front of the cutting posture adjustment mechanism (2). The rear positioning plate (62) and the right positioning plate (63) are respectively located on the rear and right sides of the feeding platform (61). The rear positioning plate (62) and the right positioning plate (63) are detachably mounted on the main body of the equipment (1). The lifting mechanism (64) is used to control the up and down movement of the unloading platform (61); The feeding and transplanting mechanism (7) is used to move the graphene heating plate on the feeding platform (61) to the first adsorption and fixing platform (21).

4. The fully automatic graphene heating plate intelligent positioning cutting equipment according to claim 3, characterized in that: The feeding and transplanting mechanism (7) includes an adsorption gripper (71), a lifting module (72), a clamping claw (73), and a linear drive mechanism; The adsorption gripper (71) is movable up and down on the main body (1) of the equipment. The adsorption gripper (71) is provided with a suction cup (100) for adsorbing and fixing the graphene heating plate. The adsorption gripper (71) is located directly above the feeding platform (61), and the lifting module (72) is used to control the lifting of the adsorption gripper (71); The clamping claw (73) is slidably mounted on the main body (1) of the device. The linear drive mechanism is used to control the forward and backward sliding of the clamping claw (73). The clamping claw (73) is located above the cutting posture adjustment mechanism (2). The suction gripper (71) is located in front of the clamping claw (73). The upper end of the rear positioning plate (62) is provided with a roller (621).

5. The fully automatic graphene heating plate intelligent positioning cutting equipment according to claim 2, characterized in that: The cutting base (31) is slidably mounted on the main body (1) of the device via a horizontal guide rail, the extension direction of which is perpendicular to the extension direction of the cutting blade (32).

6. The fully automatic graphene heating plate intelligent positioning cutting equipment according to claim 2, characterized in that: It also includes a discharge mechanism (8), which includes an auxiliary conveyor belt (81), a discharge conveyor belt (82), and a finished product positioning table (83). The auxiliary conveyor belt (81) and the unloading conveyor belt (82) are respectively set on the left and right sides of the cutting mechanism (3) at the third cutting position (1003). The finished product positioning table (83) is set on the front and rear sides of the unloading conveyor belt (82). A limit rod (831) is set on the right side of the finished product positioning table (83). The auxiliary conveyor belt (81), the unloading conveyor belt (82), and the finished product positioning platform (83) are all set flush with the supporting working platform (1000).

7. The fully automatic graphene heating plate intelligent positioning cutting device according to claim 6, characterized in that: It also includes a material feeding and cutting mechanism (9) and a finished product stacking mechanism (10); The material feeding and cutting mechanism (9) includes an adsorption gripping plate (91) and an adsorption gripping robot. The adsorption gripping plate (91) is provided with a suction cup (100) for adsorbing and fixing the graphene heating plate. The adsorption gripper (91) is mounted on the main body (1) of the equipment and can move up, down, left and right. The adsorption gripper robot is used to control the adsorption gripper (91) to move up, down, left and right. The finished product stacking mechanism (10) is located on the right side of the finished product positioning platform (83). The finished product stacking mechanism (10) includes a finished product placement platform (101) and a lifting support (102). The finished product placement platform (101) is set on the lifting bracket (102) and located below the adsorption gripper (91).

8. The fully automatic graphene heating plate intelligent positioning cutting device according to claim 1, characterized in that: It also includes a lower pressure plate (34) and a telescopic mechanism; The lower pressure plate (34) is movable up and down on the cutting base (31). The lower pressure plate (34) is located above the cutting platform (33). The telescopic mechanism is used to control the up and down movement of the lower pressure plate (34).

9. A fully automated intelligent positioning and cutting method for graphene heating plates, employing the fully automated intelligent positioning and cutting equipment for graphene heating plates as described in any one of claims 1-8, characterized in that... Includes the following steps: S1. Print cutting reference lines on the surface of the graphene heating plate. The cutting reference lines include horizontal cutting reference lines and vertical cutting reference lines. The preset reference lines on the supporting work platform (1000) correspond to the x-axis and y-axis of the preset rectangular coordinate system of the image. Unfold and lay the graphene heating plate flat on the supporting work platform (1000). Use the suction cup (100) on the first adsorption and fixing platform (21) to adsorb and fix the graphene heating plate. S2. Use the image acquisition module (5) to acquire the image of the graphene heating plate, compare the cutting baseline on the graphene heating plate with the preset baseline coordinates of the image, first calculate the angle α between the horizontal cutting baseline and the x-axis, and transmit the angle data to the pose adjustment module. The pose adjustment module drives the first adsorption fixing platform (21) to rotate by an angle α so that the horizontal cutting baseline is parallel to the x-axis. S3. Use the image acquisition module (5) to acquire the image of the graphene heating plate again, calculate the distance L1 between the horizontal cutting baseline and the x-axis and the distance L2 between the vertical cutting baseline and the y-axis, and drive the first adsorption fixing platform (21) to move the distances L1 and L2 along the front-back direction and the left-right direction respectively, so that the horizontal cutting baseline and the x-axis coincide and the vertical cutting baseline and the y-axis coincide. S4. Set a corresponding cutting posture adjustment mechanism (2) according to the cutting edge of the graphene heating plate, so that the extension direction of the cutter (32) is parallel to the x-axis or y-axis. According to the distance from the x-axis and y-axis to the extension direction of the cutter (32) and the size data of the graphene heating plate, control the graphene heating plate on the first adsorption fixing platform (21) or the second adsorption fixing platform (41) to move on the support working platform (1000) and the cutting platform (33) so that the cutting reference line of the graphene heating plate moves to the cutter (32) directly below each edge for cutting.

Images