A sheet material conveying method and device

Abstract

The present invention discloses a sheet material conveying method and device, the method comprising: a sheet material conveying step: all stations on the first conveying module have sheet materials, and there is no sheet material on the second conveying module, and the first conveying module and the second conveying module are controlled to convey the sheet materials to the second conveying module at a first conveying speed; a sheet material replenishing, caching and material taking step: the sheet materials at the cache station are cached by the cache module, and the sheet materials are replenished at the front loading station by a carrier; after the caching and replenishment are completed, the first conveying module adopts a second conveying speed to convey separately, and the sheet materials are replenished at the cache station; the sheet materials are replenished again at the loading station by the carrier; the second conveying speed is greater than the first conveying speed; at this time, the sheet material conveying, replenishing, caching and material taking steps are performed again to realize uninterrupted conveying. The present invention realizes uninterrupted sheet material transmission, reduces material waiting time, and improves conveying efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of material transmission, and in particular to a sheet material transmission method and device. Background Art

[0002] In the current sheet material transmission process, especially in the technical field of solar cell processing, material transmission is usually carried out by transmission belts, the sheet material is placed in a carrier, and the materials in the carrier are released one by one to the transmission module for transmission, and are directly transmitted to the processing position, or after being transmitted to a certain position, they are transmitted to the processing position through a transfer module such as a robot. When replacing the carrier, conventional devices and methods will cause transmission interruptions, reducing work efficiency.

[0003] In addition, the actions performed by the carrier, cache and transmission modules are complex and interrelated, and the time required to perform the actions is different, which causes some waiting time during the transmission process and affects the transmission speed. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a sheet material conveying method and device in view of the defects in the prior art, which reduces the waiting time of the prior art and improves the transmission speed and conveying effect on the basis of non-interference.

[0005] The technical solution adopted by the present invention to solve its technical problem is:

[0006] The present invention provides a sheet material conveying method, the method comprising the following steps:

[0007] Sheet material conveying steps:

[0008] All workstations on the first conveying module have sheet materials, and there is no sheet material on the second conveying module, and the first conveying module and the second conveying module are controlled to convey the sheet materials from the first conveying module to the second conveying module at a first conveying speed;

[0009] Sheet material replenishment, caching and material retrieval steps:

[0010] Cache and replenish the materials on the first conveying module, and pick up the sheet materials on the second conveying module:

[0011] The sheet materials at the buffer station at the rear end of the first conveying module are buffered by the buffer module, and the sheet materials are replenished at the front loading station of the first conveying module by the carrier;

[0012] After the buffering and replenishment are completed, the first conveying module uses the second conveying speed to convey the sheet material to the buffering station at the rear end of the first conveying module alone;

[0013] Then, the sheet material is replenished again at the loading station at the front end of the first conveying module through the carrier;

[0014] wherein the second transmission speed is greater than the first transmission speed;

[0015] At this time, all workstations on the first conveying module have sheet materials, and there is no sheet material on the second conveying module. The sheet material conveying step and the sheet material replenishing, caching and material taking steps are performed again to achieve uninterrupted conveyance.

[0016] Furthermore, in the sheet material conveying step of the present invention, the conveying length of the first conveying module is shorter than the conveying length of the second conveying module;

[0017] And / or the conveying time of the first conveying module is shorter than the conveying time of the second conveying module.

[0018] Furthermore, in the sheet material replenishment, caching and material retrieval steps of the present invention, after the first conveying module completes the conveying, the sheet material in the cache station of the first conveying module is cached through the cache, and the sheet material is replenished through the carrier at the front loading station of the first conveying module.

[0019] Furthermore, when the present invention caches the sheet material at the cache station at the rear end of the first conveying module through the cache module, the cache completion is determined by the cache preset delay, wherein the cache preset delay time is less than the time for the carrier to descend one grid.

[0020] Furthermore, when the carrier replenishes sheet materials at the front loading station of the first conveying module, the present invention determines that the carrier has completed adding the sheet materials through a preset delay of the carrier, wherein the preset delay of the carrier is less than the time it takes for the carrier to descend one grid.

[0021] Furthermore, when the present invention transfers the material from the first transfer module to the second transfer module, the first transfer module and the second transfer module are simultaneously accelerated to the first transfer speed and move at a uniform speed at the first transfer speed, so that the material is transferred from the first transfer module to the second transfer module.

[0022] Furthermore, after the sheet material in the carrier of the present invention is used up, the cached sheet material can be released to the cache station while the carrier is replaced, thereby achieving uninterrupted transmission.

[0023] Furthermore, the first transmission speed of the present invention is a low speed, and the first transmission speed is set to be less than a certain threshold; the second transmission speed is a high speed, and the second transmission speed is set to be greater than a certain threshold.

[0024] The present invention provides a sheet material conveying device, the device comprising:

[0025] A first conveying module and a second conveying module are sequentially arranged along a conveying direction;

[0026] A carrier, arranged at a loading station at the front end of the first conveying module, for storing and replenishing sheet materials;

[0027] A buffer module, arranged at a buffer station at the rear end of the first conveying module, for buffering and replenishing sheet materials;

[0028] The control module is used to control the first conveying module, the second conveying module, the carrier and the buffer module to execute the conveying, replenishing, buffering and material taking steps of the sheet material to realize uninterrupted conveying.

[0029] Furthermore, the second conveying module of the present invention is provided with a sheet-taking robot for taking away the sheet material on the second conveying module.

[0030] The beneficial effects produced by the present invention are:

[0031] 1. Ensure the transmission accuracy while improving the transmission efficiency. When the first transmission module and the second transmission module act synchronously, the positioning requirements of the sheet material on the second transmission module are relatively high, so low-speed transmission is used to ensure the transmission accuracy. When the first transmission module acts alone to cache and replenish the sheet material, the positioning requirements are not high, and high-speed transmission is used to ensure the transmission accuracy while improving the transmission efficiency.

[0032] 2. When the first transmission module and the second transmission module act synchronously, they are integrated and related, and also decomposed and independent. It is only necessary to judge whether the current module has completed the action and whether there is material at the current corresponding workstation to start the action, thereby further improving the transmission efficiency while ensuring the transmission accuracy.

[0033] 2. Save waiting time and improve transmission efficiency. When the buffer rises one level to cache sheet materials, as long as the material leaves the first transmission module, the first transmission module will move; when the carrier drops one level to replenish sheet materials, as long as the sheet material falls to the first station, the first transmission module can move. Part of the buffering time and the carrier descent time are parallel to the transmission time of the first transmission module, further improving the transmission efficiency.

[0034] 3. Wide application range. It is also applicable to transmission modules with two or more sections and equipped with cache and / or carrier.

[0035] 4. Achieve uninterrupted transmission. A buffer module is set on the transmission module to buffer the materials being transmitted at intervals. When the carrier is replaced, the buffered materials are released to the transmission module for transmission, so that the transmission is uninterrupted and the transmission efficiency is improved.

[0036] The present invention reduces the waiting time of the prior art and improves the transmission speed and transmission effect on the basis of non-interference. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0038] Figure 1 is a schematic diagram of the structure of a device according to an embodiment of the present invention;

[0039] Figure 2 is a method flow chart of an embodiment of the present invention;

[0040] Figure 3-1 The following is the action breakdown of the sheet material conveying method according to the embodiment of the present invention. Figure 1 ;

[0041] Figure 3-2 The following is the action breakdown of the sheet material conveying method according to the embodiment of the present invention. Figure 2 ;

[0042] Figure 3-3 3 is an action exploded view of the sheet material conveying method according to an embodiment of the present invention;

[0043] Figure 3-4 4 is an action exploded view of the sheet material conveying method according to an embodiment of the present invention;

[0044] Figure 3-5 5 is an exploded view of the method for conveying sheet materials according to an embodiment of the present invention;

[0045] In the figure: 1-first conveying module, 2-second conveying module, 3-carrier, 4-cache module, 5-sheet picking robot, 6-sheet material. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0047] Embodiment 1:

[0048] like Figure 1 As shown, in the sheet material conveying method of the embodiment of the present invention, the conveying device includes a first conveying module 1 and a second conveying module 2 which are arranged in a front-to-rear manner, and is used to convey the sheet material 6 on the first conveying module 1 to the second conveying module 2 uninterruptedly; wherein:

[0049] The first conveying module 1 is provided with a carrier 3 at the front end and a buffer module 4 at the rear end; the sheet material 6 is stored in the carrier 3, and the sheet material 6 is placed on the loading station of the first conveying module 1 through the carrier 3 for conveying; specifically, the following steps are included:

[0050] Sheet material conveying:

[0051] When there is no sheet material 6 on the second conveying module 2, the first conveying module 1 and the second conveying module 2 convey (a sheet) of sheet material 6, wherein the two conveying modules maintain the same first conveying speed for conveying;

[0052] Sheet material replenishment, buffering and retrieval:

[0053] After the sheet material is transferred, the sheet material 6 at the buffer station at the rear end of the first transfer module 1 is buffered by the buffer module 4, and the sheet material 6 is replenished by the loader at the front end of the first transfer module 1 through the carrier 3;

[0054] After the caching and replenishment of the sheet material 6 is completed, the first conveying module 2 uses a second conveying speed for conveying, wherein the second conveying speed is greater than the first conveying speed, and the sheet material is replenished at the cache station at the rear end of the first conveying module;

[0055] Then, the sheet material is replenished again at the loading station at the front end of the first conveying module through the carrier.

[0056] During this process, the sheet material 6 on the second conveying module 2 is taken out.

[0057] At this time, all workstations on the first conveying module have sheet materials, and there is no sheet material on the second conveying module. The sheet material conveying step and the sheet material replenishing, caching and material taking steps are performed again to achieve uninterrupted conveyance.

[0058] The conveying device also includes a control module for controlling the first conveying module 1, the second conveying module 2, the carrier 3 and the buffer module 4 to execute the conveying, replenishing, buffering and material taking steps of the sheet material 6 to achieve uninterrupted conveying.

[0059] Preferably, after the sheet material 6 in the carrier 3 is used up, uninterrupted transmission is achieved by releasing the sheet material 6 in the buffer module 4 when the carrier 3 is replaced.

[0060] As an implementable embodiment, the sheet material 6 on the second conveying module 2 can be taken out by arranging a sheet taking robot 5 above the second conveying module 2 , and the sheet material 6 on the second conveying module 2 can be taken out by the sheet taking robot 5 .

[0061] In a preferred embodiment of the present invention, three stations are arranged on the first conveying module 1, wherein the loading station (first station) is located below the carrier 3, the second station is located between the carrier 3 and the buffer module 4, the buffer station (third station) is located below the buffer module 4, and the second conveying module 2 is provided with a material taking station (fourth station); wherein:

[0062] The sheet material 6 is placed on the first station by the carrier 3 and transferred to the second station and the third station in sequence; after the docking is completed, the sheet material 6 is transferred to the fourth station. The sheet material 6 on the third station is cached in the cache module 4, and the sheet material 6 of the carrier 3 is replenished to the first station, and then the sheet materials 6 on the first station and the second station are respectively transferred to the second station and the third station, and then the carrier 3 replenishes the sheet material 6 to the first station again; at the same time, the sheet material on the fourth station is taken away by the sheet taking robot 5.

[0063] Preferably, the first conveying speed is lower than the second conveying speed.

[0064] The present invention caches part of the materials through a cache module. After the sheet materials in the carrier are used up, the sheet materials in the cache module are released while the carrier is replaced, thereby achieving uninterrupted transmission and improving transmission efficiency. In addition, the present application parallelizes the replenishment of sheet materials by the carrier and the caching of sheet materials by the cache module, further saving time and improving transmission efficiency. At the same time, when the sheet materials are transmitted from the first transmission module to the second transmission module, a lower first transmission speed is used for transmission, thereby ensuring the transmission position accuracy of the sheet materials in the second transmission module; when the sheet materials are replenished and cached in the first transmission module, a higher second transmission speed is used for transmission, thereby further improving the transmission speed and increasing transmission efficiency.

[0065] Embodiment 2:

[0066] The sheet material conveying method of the embodiment of the present invention comprises a first conveying module and a second conveying module which are arranged in series, a carrier arranged at the front end of the first conveying module, and a buffer module arranged at the rear end of the first conveying module. The first conveying module and the second conveying module are both belt conveyors, the carrier is a flower basket, and the buffer module can be a buffer module of the prior art.

[0067] In a preferred embodiment of the present invention, the carrier descends one level to replenish materials, and the buffer ascends one level to store materials. The complete cycle of the conveying module operation is as follows:

[0068] After the materials at the fourth station are taken away regularly, the first transmission module and the second transmission module transmit synchronously at the first transmission speed. After the movement is completed, there is no material at the first station, but there are materials at the second and third stations. The carrier drops one grid to replenish the materials, and at the same time, the cache module rises one grid to store the materials. During the process of the cache module rising one grid, the sheet material leaves the third station, and during the process of the carrier dropping one grid, the sheet material is replenished at the first station. Then, the first transmission module performs a fixed length transmission action alone to fill the vacancy at the third station. The carrier continues to drop one grid to fill the vacancy at the first station. At this time, the sheet material at the fourth station is in place. Before the sheet material at the fourth station is taken away, it is necessary to ensure that the cache is executed and there are sheet materials at the first to third stations. After the sheet material at the fourth station is taken away, the first and second transmission modules must immediately act synchronously to transmit the sheet material to the fourth station and replenish its vacancy.

[0069] The carrier moves down one grid, and the sheet material falls on the first station of the first conveying module. The first conveying module and the second conveying module act synchronously to transfer the material. At the third station, the cache selects the appropriate time to move up one grid to cache the material. After all the materials in the carrier are emptied and replaced with a new carrier, if there is no sheet source in time to replenish the first and second stations, the cache needs to move down one grid to replenish it to avoid material shortage.

[0070] In this application, refer to patent CN201243010Y, a silicon wafer flower basket and CN105618934A-a fully automatic solar cell laser processing equipment, the carrier is a flower basket, the cache module is similar to the flower basket, and a plurality of saw teeth (placement slots) are arranged at intervals on both sides of the vertical axis, and the sheet material is stored on the saw teeth (placement slots). The carrier drops one grid, and the cache module rises one grid, where "one grid" usually refers to the interval between two adjacent materials in the carrier, and the interval between two adjacent materials in the cache. The flower basket drops, and the materials stored therein are placed on the first transmission module group, and the cache module rises, and the materials on the first transmission module are lifted and stored. It should be known that, usually, the conveying surface of the first transmission module (for a belt conveyor, it refers to the upper surface of the conveyor belt) is located in the middle of the two saw teeth (placement slots).

[0071] The present invention adopts a belt conveyor as the first transmission module and the second transmission module, and the coordinated use of a flower basket and a buffer module and a film-taking robot can realize continuous transmission, material replenishment and buffering, and film taking, and can improve the transmission efficiency.

[0072] Embodiment three:

[0073] like Figure 2 As shown, the sheet material conveying method according to an embodiment of the present invention comprises the following steps:

[0074] Sheet material conveying:

[0075] When the conditions for the first conveying module and the second conveying module to convey sheet materials are met, that is, all workstations on the first conveying module have sheet materials, and there is no sheet material on the second conveying module, the sheet material is conveyed according to the first conveying speed, and the first conveying module and the second conveying module both have the same first conveying speed, and the (one piece of) sheet material of the first conveying module is conveyed to the second conveying module.

[0076] Sheet material replenishment, buffering and retrieval:

[0077] Regardless of whether the second conveying module is in motion or stationary state, as long as the first conveying module transfers (a sheet of) material to the second conveying module (and reaches its set transmission distance), it stops moving, and caches the sheet material at the cache station at the rear end of the first conveying module through the cache module, and at the same time, adds sheet material at the loading station at the front end of the first conveying module through the carrier;

[0078] After the above-mentioned caching and replenishing of sheet materials are completed, the first conveying module uses the second conveying speed to convey alone to replenish the caching station at the rear end of the first conveying module, and the second conveying speed is greater than the first conveying speed;

[0079] Then, the sheet material is replenished at the front loading station of the first conveying module through the carrier;

[0080] In this process, when the second conveying module conveys the material to a specific position and stops, no matter whether the first conveying module is in motion or stationary state, the sheet material on the second conveying module is taken out, and the second conveying module completes the sheet taking.

[0081] At this time, all workstations on the first conveying module have sheet materials, and there is no sheet material on the second conveying module. The sheet material conveying step and the sheet material replenishing, caching and material taking steps are performed again to achieve uninterrupted conveyance.

[0082] In the sheet material conveying method of the embodiment of the present invention, in the sheet material conveying step, the start-up actions of the first conveying module and the second conveying module are performed simultaneously, and the end action of either one of them is not conditional on whether the other conveying module has completed the conveying. In this way, the actions of replenishing, caching or retrieving part of the sheet material can be carried out in parallel with the sheet material conveying process, further saving the conveying time and improving the conveying efficiency.

[0083] Embodiment 4:

[0084] In the sheet material conveying method of the embodiment of the present invention, the first conveying module uses different speeds for conveying at different stages; specifically, in the sheet material conveying stage, the first conveying speed is used for conveying, and in the sheet material replenishing, caching and material taking stages, the second conveying speed is used for conveying, and the first conveying speed is lower than the second conveying speed. The second conveying module always uses the first conveying speed for conveying.

[0085] Among them, in the sheet material transfer stage, the fourth station is vacant, the first to third stations are all loaded with material, the first transfer module and the second transfer module are transferred forward synchronously, and the transfer process meets two conditions:

[0086] 1. The speeds of the first transmission module and the second transmission module are the same.

[0087] Because the head of the sheet material is on the second conveying module and the tail is on the first conveying module during the transfer and docking process of the two modules, the speeds of the two modules need to be the same, otherwise the sheet material will have relative displacement on the modules, and there will be friction between the material and the modules, causing damage to the sheet material.

[0088] In a preferred embodiment of the present invention, at least the speed of the head of the sheet material entering the second conveying module is the same. More preferably, when the head and tail of the material contact the first conveying module and the second conveying module, they are in a state of uniform motion rather than acceleration or deceleration.

[0089] 2. The speed cannot be too high.

[0090] Since the fourth station requires high positioning accuracy of the sheet material, it must not move at too high a speed. The sheet material moves from high speed to zero speed, and requires precise positioning. The whole process cannot be too violent, and needs to be relatively smooth.

[0091] If the deceleration is reduced, the deceleration time will also become longer and the entire deceleration distance will become longer, that is, the entire transmission time will become longer, and the mechanical structure will require more materials and space.

[0092] Therefore, when the speed remains unchanged, the smaller the deceleration, the longer the transmission time and the longer the transmission distance. That is, reducing the deceleration to achieve a smooth and smooth stop of the sheet material cannot streamline the structure or achieve the purpose of improving the transmission CT.

[0093] Therefore, in order to save time, the speed needs to be reduced. Therefore, when the first conveying module and the second conveying module are docked to convey materials, since the fourth station requires high positioning accuracy, the speeds of the two modules should not be too high, that is, the first conveying speed should not be too high.

[0094] After the first transfer module stops moving, the sheet material at the third station is cached by the caching module. After the vacancy at the first station is filled by the carrier descending one grid to replenish the sheet material, the first transfer module moves forward independently to replenish the vacancy at the third station. At this time, high positioning accuracy is not required, so the requirements for the operation process are not high, as long as it is as fast as possible, that is, the second transfer speed should be as high as possible.

[0095] Then, the vacancy at the first station is replenished again by the carrier descending. All stations on the first transfer module have sheet materials and the sheet material at the fourth station has been taken away, and the above steps are started to be repeated.

[0096] Through the control of the first transfer speed, the second transfer speed, and the transfer timing, the present invention further improves the transfer speed and ensures the transfer accuracy.

[0097] Embodiment Five

[0098] Furthermore, in the sheet material transfer method of the preferred embodiment of the present invention, wherein,

[0099] The first transfer module moves a length of L1 each time, the first transfer speed is V1 (low speed, transfer time t1), and the second transfer speed is V2 (high speed, transfer time t2);

[0100] The second transfer module moves a length of L2 each time, the transfer speed is V1 (transfer time t3). When the first transfer module and the second transfer module move synchronously, the speeds must be the same and are low speeds. Only low-speed movement can ensure accurate positioning when the sheet material reaches the final position.

[0101] Preferably, L1 < L2. To meet the requirements of accurate positioning, a sensor is provided at the front end of the second transfer module. When the synchronous movement of the first and second transfer modules starts, the acceleration of the first transfer module and the second transfer module is the same, and they will accelerate from 0 mm / s to V1 mm / s at the same time. At this time, both the first transfer module and the second transfer module have reached the uniform speed stage. During the uniform speed stage, the sensor detects the rising edge of the sheet material and triggers the second transfer module to perform a compensation positioning movement to ensure accurate positioning, L1 < L2. At the same time, due to the setting of the sensor and the picking manipulator, the sheet material moves forward and leaves the sensor by a certain distance, which can ensure that when the material is grabbed by the rotating manipulator, the sensor will not be triggered to affect the correct triggering timing of the compensation movement. The setting of L1 < L2 also meets this requirement at the same time, improving the transfer accuracy of the sheet material on the second transfer module.

[0102] Embodiment Six

[0103] Further, in the sheet material conveying method of the preferred embodiment of the present invention, when buffering and replenishing the material, the starting timing of the first conveying module is not based on whether the carrier has descended by one grid and whether the buffering module has ascended by one grid, but is based on setting the carrier discharging delay and the buffering receiving delay. That is, when the carrier starts to descend, after the carrier discharging delay, or when the buffering module starts to ascend, after the buffering receiving delay, the first conveying module can start to move at the second speed.

[0104] Specifically, the timing for the first conveying module to start moving at the second speed is after the longer one of the carrier discharging delay or the buffering receiving delay. In this way, the time for the first conveying module to move at the second speed, the time for the carrier to continue descending, and the time for the buffering module to continue ascending are parallel, which can further save the conveying time and improve the conveying efficiency.

[0105] Specifically, the timing for the first conveying module to start moving at the first speed is after the carrier discharging delay. In this way, the time for the first conveying module to move at the first speed and the time for the carrier to continue descending are parallel, which can further save the conveying time and improve the conveying efficiency.

[0106] Specifically, the carrier discharging delay and the buffering receiving delay can be obtained through experiments. As long as the sheet material is placed on the first conveying module and has a certain friction force (at this time, it can be safely conveyed on the first conveying module), or the sheet material is lifted by the buffering module, leaves the first conveying module and has no friction force (at this time, starting the first conveying module will not cause frictional damage to the buffered sheet material), it is the corresponding delay time.

[0107] In the sheet material conveying method of the present invention, part of the buffering time, the carrier descending time, and the first conveying module conveying time are parallel, further improving the conveying efficiency.

[0108] Effect test embodiment:

[0109] See Figure 2 and as Figure 3-1 to Figure 3-5 shown, which is the action decomposition diagram of the sheet material conveying method of the preferred embodiment of the present invention. It can be known that the total conveying time is:

[0110] The first conveying module and the second conveying module start synchronously at the first conveying speed V1 until the transmission is in place. The first conveying module takes time t1, and the second conveying module takes time t3. Since L1 < L2, then t3 > t1, and the time difference between the first conveying module and the second conveying module is t3 - t1; within this time difference, the second conveying module still continues to convey at the first conveying speed V1, while the first conveying module has already started to buffer and replenish the sheet material.

[0111] The cache module starts to execute cache, which takes time t 51 At the same time, the carrier starts to unload the material, which takes time t 41 ;

[0112] When the execution that takes longer is completed, t 51 <t 41 When t 41 , t 41 <t 51 When t 51 , define t x =t 51 (t 41 <t 51 ) or t x =t 41 (t 51 <t 41 ), the first conveying module starts again, and starts conveying at the second conveying speed V2 until the material is in place, and conveys the material to the third station, which takes time t2;

[0113] Then, the carrier releases the material again, taking time t 41 ;

[0114] At this time, the total time is T b =t1+t x +t 41 +t2, the time T that has passed since the last time the fourth station material arrived b2 =-(t3-t1)+t x +t2+t 41 ,

[0115] When t 41 >t 51 When T b2 =t1+t2+t 41 +t 41 -t3;

[0116] When t 51 >t 41 When T b2 =t1+t2+t 51 +t 41 -t3;

[0117] That is, the time T b2 Only then can the first and second transfer modules perform synchronous actions to supplement the fourth station, and the transfer CT is T b2 .

[0118] The action time of each part of the sheet material conveying method in the prior art is as follows:

[0119] The first transmission module: low-speed movement once t1;

[0120] The second transmission module: low speed movement once t3;

[0121] Vehicle: It takes t4 to drop one level;

[0122] Cache: It takes t5 to go up one level.

[0123] The first and second transmission modules both move synchronously at low speed and start to cache and replenish materials. Specifically, it takes t4 for the carrier to descend one grid to replenish the vacant first station; then the logic determines that all four stations have materials, and at this time, it starts to execute the cache to rise one grid, which takes t5, and the sheet materials of the third station are cached. At this time, the third station is vacant; then, the first transmission module moves once at low speed for t1, and the movement is completed, replenishing the vacant third station, and at this time the first station is vacant; it takes t4 for the carrier to descend one grid again to replenish the vacant first station.

[0124] At this time, the time T x =t3+t4+t5+t1+t4, the time since the last time the fourth station material arrived

[0125] T x2 =t4+t5+t1+t 4。 That is, after T x2 Only then can the first and second transfer modules perform synchronous actions to supplement the fourth station, and the transfer CT is T x2 .

[0126] The time saved by the embodiment of the present invention compared with the prior art is:

[0127] T b2 -T x2 =(t4+t5+t1+t4)-(t1+t2+t x +t 41 -t3), or T b -T x =(t3+t4+t5+t1+t4)-(t1+t x +t 41 +t2), is 2*t4+t5+t3-t2-t x -t 41 .

[0128] In summary, the method of the present invention can effectively save unnecessary motion waiting time. It can be seen from the effect test embodiments that the present invention can save a lot of waiting time compared with traditional methods and significantly improve the operating efficiency of the device.

[0129] The present invention is a step-by-step transmission mode, wherein the first transmission speed and the second transmission speed, it can be understood that, due to the step-by-step transmission, both refer to the set target speed, that is, the maximum speed. It increases from 0 to the target speed, and then moves at a constant speed. When it is close to the set movement distance, it starts to decelerate, and when the speed is 0, it stops at the set movement distance position.

[0130] Although FIG. 3 schematically shows Figure 3-5 However, according to the above description, the sheet material taking process can be carried out after the second conveying module has conveyed the material to the right position, which can be carried out in parallel with the above-mentioned sheet material replenishment and caching.

[0131] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the appended claims of the present invention.

Claims

1. A sheet material conveying method, characterized in that: The method comprises the following steps: Sheet material conveying steps: All workstations on the first conveying module have sheet materials, and there is no sheet material on the second conveying module, and the first conveying module and the second conveying module are controlled to convey the sheet materials from the first conveying module to the second conveying module at a first conveying speed; Sheet material replenishment, caching and material retrieval steps: Cache and replenish the materials on the first conveying module, and pick up the sheet materials on the second conveying module: The sheet materials at the buffer station at the rear end of the first conveying module are buffered by the buffer module, and the sheet materials are replenished at the front loading station of the first conveying module by the carrier; After the buffering and replenishment are completed, the first conveying module uses the second conveying speed to convey the sheet material to the buffering station at the rear end of the first conveying module alone; Then, the sheet material is replenished again at the loading station at the front end of the first conveying module through the carrier; wherein the second transmission speed is greater than the first transmission speed; At this time, all workstations on the first conveying module have sheet materials, and there is no sheet material on the second conveying module. The sheet material conveying step and the sheet material replenishing, caching and material taking steps are performed again to achieve uninterrupted conveyance.

2. A sheet material conveying method according to claim 1, characterized in that: In the sheet material conveying step, the conveying length of the first conveying module is shorter than the conveying length of the second conveying module; And / or the conveying time of the first conveying module is shorter than the conveying time of the second conveying module.

3. A sheet material conveying method according to claim 1, characterized in that: In the sheet material replenishment, caching and material retrieval steps, after the first conveying module completes the conveying, the sheet material in the cache station of the first conveying module is cached through the cache, and the sheet material is replenished at the front loading station of the first conveying module through the carrier.

4. A sheet material conveying method according to claim 1, characterized in that: When the sheet material at the cache station at the rear end of the first conveying module is cached by the cache module, the cache completion is determined by the cache preset delay, wherein the cache preset delay time is less than the time it takes for the carrier to descend one grid.

5. A sheet material conveying method according to claim 1, characterized in that: When the carrier is used to replenish sheet materials at the front loading station of the first conveying module, the carrier's addition of sheet materials is completed according to the preset delay of the carrier, wherein the preset delay of the carrier is less than the time it takes for the carrier to descend one grid.

6. The sheet material conveying method according to claim 1, characterized in that: When the material is transferred from the first transfer module to the second transfer module, the first transfer module and the second transfer module are simultaneously accelerated to the first transfer speed and move at a uniform speed at the first transfer speed, so that the material is transferred from the first transfer module to the second transfer module.

7. The sheet material conveying method according to claim 1, characterized in that: When the sheet materials in the carrier are used up, the cached sheet materials are released to the cache station while the carrier is replaced, so as to achieve uninterrupted transmission.

8. The sheet material conveying method according to claim 1, characterized in that: The first transmission speed is a low speed, and the first transmission speed is set to be less than a certain threshold; the second transmission speed is a high speed, and the second transmission speed is set to be greater than a certain threshold.

9. A sheet material conveying device, used to implement the sheet material conveying method according to any one of claims 1 to 8, characterized in that: The device includes: A first conveying module (1) and a second conveying module (2) arranged in sequence along a conveying direction; A carrier (3) is arranged at a loading station at the front end of the first conveying module (1) and is used to store and replenish the sheet material (6); A buffer module (4) is arranged at a buffer station at the rear end of the first conveying module (1) and is used for buffering and replenishing the sheet material (6); The control module is used to control the first conveying module (1), the second conveying module (2), the carrier (3) and the buffer module (4) to execute the conveying, replenishing, buffering and material taking steps of the sheet material (6) to achieve uninterrupted conveying.

10. The sheet material conveying device according to claim 9, characterized in that: The second conveying module is provided with a sheet-taking robot (5) for taking away the sheet material on the second conveying module (2).

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