Flexible manufacturing system for composite material laying

Abstract

The invention provides a flexible manufacturing system for composite material laying, and belongs to the technical field of flexible manufacturing. The device comprises a unit layer storage station, a blank material storage station, a grabbing mechanism, a unit layer detection station, a laying detection station, a feeding station, a needling mechanism, a discharging station, a semi-finished product or finished product grabbing station and a control module. The unit layer storage station and the blank material storage station are adjusted to be different in size, the technical problem that the adaptability of a production line is poor is solved, the control module, the unit layer detection station, the laying detection station, the feeding station, the discharging station and the like meet the requirement for automation and intelligentization of the system.

Description

Technical Field

[0001] The invention relates to the technical field of flexible manufacturing, and in particular to a flexible manufacturing system for composite material stacking. Background Art

[0002] At present, the application of composite material automation equipment in the industry is becoming more and more extensive, but a large amount of manpower is still required in this industry, which indirectly affects the product quality and production efficiency of enterprises. However, due to the large size of the composite material manufacturing industry, the demand for composite material products is increasing every year. Faced with such a large-scale production volume every year, and under the premise of a substantial increase in employment and labor costs, it is imperative to realize the automated and intelligent production of composite material manufacturing. In the production process, due to the wide variety of composite material manufacturing products and models, the production line has poor adaptability. The development of flexible manufacturing equipment for production lines has become a top priority in the design of automated production lines, and it also has a positive role in promoting the development of the entire industry towards intelligence. Summary of the invention

[0003] In view of this, in order to solve the technical problems existing in the prior art of a wide variety of composite manufacturing products and models and poor adaptability of production lines, the present invention provides a flexible manufacturing system for composite material stacking, which adjusts different sizes through unit layer storage stations and blank storage stations to solve the technical problem of poor adaptability of production lines, and the control module, unit layer detection station, stacking detection station, loading and unloading stations, etc., meet the automation and intelligence of the system.

[0004] To achieve the above object, the present invention provides the following technical solutions: A flexible manufacturing system for composite material layup, comprising: The unit layer storage station is used to store unit layers of composite materials, which can be adjusted to meet the storage of unit layers of different sizes; The blank storage station is used to store blanks, which can be adjusted to meet the storage of blanks of different sizes; A gripping mechanism, used for gripping the blank and the unit layer, and stacking the blank and the unit layer to a stacking inspection station; A unit layer detection station, used for detecting and positioning the unit layer; A stacking detection station is used to detect the stacking quality of the unit layer and the blank, and stack the blank and the unit layer on the stacking detection station to form a material to be needled; A loading station is provided at the feeding end of the needling mechanism, and is used to deliver the material to be needling to the needling mechanism according to the process requirements; A needle punching mechanism is used to make the unit layers firmly stacked; A material unloading station is arranged at the discharging end of the acupuncture mechanism, and is used to receive the discharged workpiece of the acupuncture mechanism and transfer the workpiece to a semi-finished product or finished product grabbing station; A semi-finished product or finished product grabbing station is arranged at the lower end of the unloading station to facilitate the grabbing and transfer of the workpiece by the grabbing mechanism; The control module is used to communicate with the gripping mechanism, the unit layer detection station and the stacking detection station, and generate control instructions according to the detection results of the unit layer detection station and the stacking detection station.

[0005] Preferably, the unit layer storage station or the blank storage station comprises: Frame; A positioning plate, arranged on the frame, and having scale marks engraved thereon; A plurality of positioning posts are arranged on the positioning plate; A slideway, disposed on the positioning plate and located between the positioning posts; The positioning posts can slide along the slideway, and the distance between the positioning posts can be adjusted according to the scale marks to achieve unit layers or blanks of different sizes.

[0006] Preferably, the loading station or the unloading station or the semi-finished product or finished product grabbing station comprises: First chassis; A first synchronous lifter, disposed on the first base frame; A first conveyor belt, disposed on the first synchronous elevator; A first driving device, used for driving the first conveyor belt to move; The first synchronous elevator is used to adjust the height of the first conveyor belt.

[0007] Preferably, the unit layer detection station includes: Bracket; A glass table, arranged on the bracket; The first camera is arranged below the glass platform and is used for realizing the positioning recognition and defect detection of the unit layer.

[0008] Preferably, the gripping mechanism comprises: A cross clamp with scale markings engraved on it; A guide rail, arranged at the bottom end of the cross clamp; A guide rail fixture, slidably connected to the guide rail; The needle suction cup is arranged at the bottom end of the guide rail clamp.

[0009] Preferably, the cross clamp is a cross clamp capable of centering adjustment.

[0010] Preferably, the needle suction cup is flexibly fixed to the bottom end of the guide rail clamp.

[0011] Preferably, the stacking detection station includes: The second chassis, a second synchronous lift, disposed on the second base frame; A second conveyor belt, disposed on the second synchronous elevator; a second camera, disposed above the second conveyor belt; A second driving device, used for driving the second conveyor belt to move; The second synchronous elevator is used to adjust the height of the second conveyor belt.

[0012] Preferably, the method for detecting and processing defects of the unit layer by the unit layer detection station comprises the following steps: Method for detecting defects in the unit layer itself: Detect the wrinkle condition of the unit layer by identifying the length and width of the unit layer; detect the corner defect of the unit layer by contour comparison; Method for dealing with defects in the unit layer itself: Minor folds are handled by flattening, while serious wrinkles caused by defects or grabbing of the unit layer itself are handled as waste.

[0013] Preferably, the method for the stacking detection station to perform stacking alignment on the blank and the unit layer stacked thereon comprises the following steps: After the blank is transferred to the stacking detection station, the center point position of the blank is obtained; The unit layer with the center point obtained is transferred to the blank located on the stacking detection station, and the blank and the unit layer are aligned by center point alignment.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The flexible manufacturing system for composite material stacking provided by the present invention adjusts different sizes through the unit layer storage station and the blank storage station to solve the technical problem of poor adaptability of the production line. The control module, the unit layer detection station, the stacking detection station, and the loading and unloading stations etc. meet the automation requirements of the system.

[0015] The present invention realizes the production of composite materials from loading of blanks to layer-by-layer stacking of unit layers through a gripping mechanism, a camera for visual positioning, and a material transmission system. The coordinated use of multiple flexible manufacturing systems can meet different product requirements, solve the problem of poor adaptability of the production line, and expand the adaptability of the product. Different circulation times are performed according to the number of unit layers that need to be stacked for different products. At the same time, the detection station can automatically detect whether there are defects in the unit layer. The control module can detect defects in the unit layer, locate the center point, and detect the stacking detection station, etc., to improve the production efficiency and product quality of carbon felt. From loading to unloading of finished products, fully automated production is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a structural schematic diagram of a unit layer storage station or a blank storage station; Figure 3 It is a structural schematic diagram of the unit layer detection station; Figure 4 It is a structural diagram of the grasping mechanism; Figure 5 It is a structural schematic diagram of the stacking inspection station; Figure 6 A schematic diagram of the structure of one of the loading station, the unloading station, and the semi-finished product or finished product grabbing station; Figure 7 This is a simulation diagram of the unit layer defect detection principle; In the figure, 1. grabbing mechanism; 2. unit layer storage station; 201. frame; 202. slide; 203. positioning column; 204. positioning plate; 3. unit layer detection station; 301. glass table; 302. bracket; 303. first camera; 4. blank material storage station; 401. cross clamp; 402. guide rail; 403. needle suction cup; 404. guide rail clamp; 5. stacking detection station; 501. camera bracket; 502. second camera; 503. second base frame; 504. second synchronous elevator; 505. second conveyor belt; 6. loading station; 601. first base frame; 602. first synchronous elevator; 603. first conveyor belt; 7. needling mechanism; 8. unloading station; 9. semi-finished product or finished product grabbing station. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention; it is obvious that the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making creative work are within the scope of protection of the present invention.

[0018] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0019] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "mounted / connected", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0020] like Figure 1-7 As shown, the present invention provides a flexible manufacturing system for composite material layup, comprising: The unit layer storage station 2 is used to store unit layers of composite materials. It can be adjusted to meet the storage of unit layers of different sizes. At the same time, the blank storage station 4 can also be used to store semi-finished parts or finished parts. The blanks will be formed into semi-finished parts or finished parts after multiple processes as the process flows; The blank material storage station 4 is used to store blank materials. The blank material storage station 4 can be adjusted to meet the storage of blank materials of different sizes. At the same time, the blank material storage station 4 can also be used to store semi-finished products or finished products. The blank materials will be formed into semi-finished products or finished products after circulating multiple processes along with the process flow; The gripping mechanism 1 is used to grip the blank and the unit layer, and stack the blank and the unit layer to the stacking detection station 5, such as first stacking the blank on the stacking detection station 5, and then stacking the unit layer on the blank. The number of unit layers is set according to actual needs. For example, if 20 layers of unit layers are needed, as the process is cycled (20 times), 20 layers of unit layers are stacked on the blank. The gripping mechanism 1 is preferably a commonly used manipulator in the art, and more preferably a multi-degree-of-freedom multi-joint manipulator in the art; The unit layer detection station 3 is used to detect and locate the unit layer, such as locating the position of the defect of the unit layer or locating the center point of the unit layer; A stacking detection station 5 is used to detect the stacking quality of the unit layer and the blank, and stack the blank and the unit layer on the stacking detection station 5 to form a material to be needled; A feeding station 6 is provided at the feeding end of the needling mechanism 7 and is used to deliver the material to be needling to the needling mechanism according to the process requirements; A needling mechanism 7, used to firmly bond the stacked unit layers; A material unloading station 8 is provided at the discharging end of the acupuncture mechanism 7, and is used to receive the discharged workpieces of the acupuncture mechanism 7 and transfer the workpieces to a semi-finished product or finished product grabbing station 9; A semi-finished product or finished product grabbing station 9 is arranged at the lower end of the unloading station 8 to facilitate the grabbing and transfer of the workpiece by the grabbing mechanism 1; The control module is used to communicate with the gripping mechanism 1, the unit layer detection station 3 and the stacking detection station 5, and generate control instructions according to the detection results of the unit layer detection station 3 and the stacking detection station 5.

[0021] In the above-mentioned flexible manufacturing system for composite material stacking provided by the present invention, the control module is connected to the unit layer detection station 3 in communication to receive the detection result of the detection structure, and judges whether the unit layer has defects such as wrinkles, missing corners, and burrs according to the detection result, and grabs the unit layer to generate corresponding processing instructions. It is connected to the stacking detection station 5 in communication to receive the detection result of the detection structure, and judges the overlap information such as the overlap of the blank material and the unit layer stacking (that is, whether the blank material and the unit layer are aligned) according to the detection result, and generates corresponding processing instructions.

[0022] like Figure 2 As shown, the present invention provides a specific embodiment of the unit layer storage station 2 or the blank storage station 4. In the present invention, the unit layer storage station 2 or the blank storage station 4 includes: Frame 201; A positioning plate 204 is disposed on the frame 201 and has scale marks engraved thereon; A plurality of positioning posts 203 are disposed on the positioning plate 204, wherein the height of the positioning posts is preferably 550 mm; The slideway 202 is disposed on the positioning plate 204 and located between the positioning posts 203; The positioning posts 203 can slide along the slide 202, and the distance between the positioning posts 203 can be adjusted according to the scale mark to achieve the positioning of unit layers or blanks of different sizes. The distance between the positioning posts 203 can be adjusted manually or electrically so that the unit layer or blank is located between the positioning posts 203, and the positioning is achieved through the positioning posts 203 (the two opposite corners of the unit layer or blank are respectively located between the two positioning posts 203). Preferably, a long hole is provided on the positioning plate 204, and the positioning post 203 slides on the slide 202, and can be arbitrarily moved, adjusted and fixed along the long hole, and the long hole can increase the stability of the movement of the positioning post 203. The adjustment of the positioning post 203 can achieve the positioning of unit layers and blanks of different sizes of 200-600mm.

[0023] In the present invention, the unit layer storage station 2 or the blank storage station 4 can select the above Figure 2 The structure shown may also be selected to be a structure without a structure and with storage and adjustment functions to accommodate unit layers or blanks of different sizes, thereby improving the adaptability of the production line.

[0024] like Figure 6 As shown, the present invention provides a specific implementation of a loading station 6 or a unloading station 8 or a semi-finished product or finished product grabbing station 9, wherein the loading station 6 or the unloading station 8 or the semi-finished product or finished product grabbing station 9 comprises: First chassis 601; The first synchronous lifter 602 is arranged on the first base frame 601, and the height can be adjusted in the range of (0-250) mm. It is synchronously lifted and lowered with the needling mechanism 7, and can realize the functions of caching, chasing and flexible conveying of materials, and ensure that the interval between adjacent materials conveyed to the needling machine is (0-50) mm; A first conveyor belt 603, disposed on the first synchronous elevator 602; A first driving device (not shown in the figure), used for driving the first conveyor belt 603 to move; The first synchronous elevator 602 is used to adjust the height of the first conveyor belt 603 .

[0025] In the above specific implementations provided by the present invention, the first synchronous lift 602 can be selected from conventional hydraulic lifts, scissor lifts, cylinder lifts, rack and pinion lifts, etc. in the art, and can be selected according to actual needs, and no special requirements are made for this. The first conveyor belt 603 is preferably a two-stage conveyor belt, such as Figure 6 The first driving device is preferably a motor, more preferably a servo motor.

[0026] like Figure 3 As shown, the present invention provides an implementation of a unit layer detection station, and the unit layer detection station 3 includes: Bracket 302; A glass table 301 is disposed on the support 302; The first camera 303 is disposed below the glass stage 301 and is used to realize the positioning recognition and defect detection of the unit layer.

[0027] In the above-mentioned unit layer detection station 3 provided by the present invention, the glass table 301 is preferably tempered glass, which is laid on the bracket 302, the object distance of the first camera 303 is about 650mm, and the camera field of view is 800mm*700mm.

[0028] like Figure 4 As shown, the present invention provides a structure of a gripping mechanism 1, and the gripping mechanism 1 includes: A cross clamp 401 having scale marks engraved thereon, preferably a cross clamp 401 capable of centering adjustment (centering adjustment means ensuring that a component or tool can be accurately positioned at the center during certain operations or adjustments); A guide rail 402 is disposed at the bottom end of the cross clamp 401; A guide rail fixture 401 is slidably connected to the guide rail 402; The needle suction cup 403 is arranged at the bottom end of the guide rail clamp 404, and the number is preferably two. The needle suction cup 403 is preferably connected to the bottom end of the guide rail clamp 404 in a flexible fixed manner to avoid damaging the surface of the unit layer positioning tempered glass table 301 when acupuncture is used to grab materials, thereby affecting visual recognition. The roller can be manually adjusted to adjust the needle length of the needle suction cup 403. The long needle is used for acupuncture to grab thin materials, and the short needle is used for acupuncture to grab thick materials.

[0029] The needle suction cup 403 can be moved along the guide rail 402 by manually adjusting the knob of the guide rail clamp 404. The needle suction cup 403 can adapt to the stable grasping and flattening of unit layers or blanks of different sizes of 200-600mm, and ensure that they will not fall off or move out of shape during rapid movement after grasping.

[0030] like Figure 5 As shown, the present invention provides an implementation of a stacking detection station 5, and the stacking detection station 5 includes: The second chassis 503, The second synchronous lifter 504 is arranged on the second bottom frame 503, and the height can be adjusted in the range of (0-250) mm. It is synchronously lifted and lowered with the needling mechanism 7, and can realize the functions of caching, chasing and flexible conveying of materials, and ensure that the interval between adjacent materials conveyed to the needling machine is (0-50) mm; A second conveyor belt 505, disposed on the second synchronous elevator 504; A second camera 502 is disposed above the second conveyor belt 505, preferably disposed above the second conveyor belt 505 through a camera bracket 501; A second driving device (not shown in the figure), used for driving the second conveyor belt 505 to move; The second synchronous elevator 504 is used to adjust the height of the second conveyor belt 505 .

[0031] In the above specific implementations provided by the present invention, the second synchronous lifter 504 can be selected from conventional hydraulic lifts, scissor lifts, cylinder lifts, rack and pinion lifts, etc. in the art, and can be selected according to actual needs, and no special requirements are made for this. The first conveyor belt 505 is preferably a two-stage conveyor belt, such as Figure 6 The second driving device is preferably a motor, more preferably a servo motor. The object distance of the second camera 502 is about 650 mm, and the camera field of view is 800 mm*700 mm.

[0032] In the present invention, the method for detecting and processing the defects of the unit layer by the unit layer detection station 3 comprises the following steps: Method for detecting defects in the unit layer itself: Detect the wrinkle condition of the unit layer by identifying the length and width of the unit layer; detect the corner defect of the unit layer by contour comparison; Method for dealing with defects in the unit layer itself: Minor discounts are handled by flattening (preferably by flattening with the needle suction cup 403 after the needle is closed). If the unit layer itself has defects or severe wrinkles caused by grasping, the unit layer is treated as waste (preferably by the grasping mechanism 1).

[0033] In the present invention, the method for aligning the blank and the unit layer stacked on the stacking detection station 5 comprises the following steps: After the blank is transferred to the stacking detection station 5, the center point position of the blank is obtained; The unit layer with the obtained center point is transferred to the blank located on the stacking detection station 5, and the blank and the unit layer are aligned by center point alignment. The details are as follows: The gripping mechanism 1 transfers the blank to the stacking inspection station 5; Then, the center point position of the blank is obtained by the second camera 502; Then the gripping mechanism 1 picks up the unit layer and places it in the unit layer detection station 3, and obtains the center point position of the unit layer through the first camera 303; After the center position of the unit layer is obtained, the unit layer is transferred to the blank material of the stacking detection station 5, and the purpose of alignment is achieved by center point alignment.

[0034] The method of use of the present invention is as follows: like Figure 1 As shown, the present invention is used in conjunction with at least two flexible manufacturing systems for composite material layup, as follows: Step (1): the grabbing mechanism 1 grabs the blank stored in the blank storage station 4 and lays it on the layup detection station 5; Step (2): the grabbing mechanism 1 grabs the unit layer on the unit layer storage station 2 and places it on the unit layer inspection station 3 for defect inspection (the defect processing method is the same as the above-mentioned processing method) and center point positioning; Step (3): After the unit layer is qualified in the inspection, it is stacked on the blank on the stacking inspection station 5 through the grabbing mechanism 1, and the unit layer and the blank are aligned and then transported to the loading station 6; Step (4): As the process progresses, the blank and the unit layer on the loading station 6 are transferred to the needling mechanism (for needling operation, so that the unit layer is tightly combined with the blank and the interlayer shear performance is improved through the needling mechanism), the unloading station 8 and the semi-finished product or finished product grabbing station 9 in turn; Step (5): After the semi-finished workpiece is transferred to the semi-finished or finished product grabbing station 9 without any problem, the semi-finished workpiece is grabbed by the grabbing mechanism 1 and placed on the stacking inspection station 5; The above steps (1) to (5) are a flow process.

[0035] Step (6): After step (5), repeat the above steps (2) to (5) until the required unit layer stacking is completed.

[0036] The above are only preferred specific implementations of the present invention; however, the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and improved concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A flexible manufacturing system for composite material layup, characterized in that: include: The unit layer storage station is used to store unit layers of composite materials, which can be adjusted to meet the storage of unit layers of different sizes; The blank storage station is used to store blanks, which can be adjusted to meet the storage of blanks of different sizes; A gripping mechanism, used for gripping the blank and the unit layer, and stacking the blank and the unit layer to a stacking inspection station; A unit layer detection station, used for detecting and positioning the unit layer; A stacking detection station is used to detect the stacking quality of the unit layer and the blank, and stack the blank and the unit layer on the stacking detection station to form a material to be needled; A loading station is provided at the feeding end of the needling mechanism, and is used to deliver the material to be needling to the needling mechanism according to the process requirements; A needle punching mechanism is used to firmly bond the unit layers; A material unloading station is arranged at the discharging end of the acupuncture mechanism, and is used to receive the discharged workpiece of the acupuncture mechanism and transfer the workpiece to a semi-finished product or finished product grabbing station; A semi-finished product or finished product grabbing station is arranged at the lower end of the unloading station to facilitate the grabbing and transfer of the workpiece by the grabbing mechanism; The control module is used to communicate with the gripping mechanism, the unit layer detection station and the stacking detection station, and generate control instructions according to the detection results of the unit layer detection station and the stacking detection station.

2. A flexible manufacturing system for composite material layup according to claim 1, characterized in that: The unit layer storage station or the blank storage station comprises: Frame; A positioning plate, arranged on the frame, and having scale marks engraved thereon; A plurality of positioning posts are arranged on the positioning plate; A slideway, disposed on the positioning plate and located between the positioning posts; The positioning posts can slide along the slideway, and the distance between the positioning posts can be adjusted according to the scale marks to achieve positioning of unit layers or blanks of different sizes.

3. A flexible manufacturing system for composite material layup according to claim 1, characterized in that: The loading station or the unloading station or the semi-finished product or finished product grabbing station comprises: First chassis; A first synchronous lifter, disposed on the first base frame; A first conveyor belt, disposed on the first synchronous elevator; A first driving device, used for driving the first conveyor belt to move; The first synchronous elevator is used to adjust the height of the first conveyor belt.

4. A flexible manufacturing system for composite material layup according to claim 1, characterized in that: The unit layer detection station includes: Bracket; A glass table, arranged on the support; The first camera is arranged below the glass platform and is used for realizing the positioning recognition and defect detection of the unit layer.

5. A flexible manufacturing system for composite material layup according to claim 1, characterized in that: The grabbing mechanism comprises: A cross clamp with scale markings engraved on it; A guide rail, arranged at the bottom end of the cross clamp; A guide rail fixture, slidably connected to the guide rail; The needle suction cup is arranged at the bottom end of the guide rail clamp.

6. A flexible manufacturing system for composite material layup according to claim 5, characterized in that: The cross clamp is a cross clamp capable of centering adjustment.

7. A flexible manufacturing system for composite material layup according to claim 5, characterized in that: The needle suction cup is flexibly fixed to the bottom end of the guide rail clamp.

8. A flexible manufacturing system for composite material layup according to claim 1, characterized in that: The stacking detection station comprises: The second chassis, a second synchronous lift, disposed on the second base frame; A second conveyor belt, disposed on the second synchronous elevator; a second camera, disposed above the second conveyor belt; A second driving device, used for driving the second conveyor belt to move; The second synchronous elevator is used to adjust the height of the second conveyor belt.

9. A flexible manufacturing system for composite material layup according to claim 1, characterized in that: The method for detecting and processing defects of the unit layer at the unit layer detection station comprises the following steps: Method for detecting defects in the unit layer itself: Detect the wrinkle condition of the unit layer by identifying the length and width of the unit layer; detect the corner defect of the unit layer by contour comparison; Method for dealing with defects in the unit layer itself: Minor folds are handled by flattening, while serious wrinkles caused by defects or grabbing of the unit layer itself are handled as waste.

10. A flexible manufacturing system for composite material layup according to claim 1, characterized in that: The method for the stacking detection station to perform stacking alignment on the blank and the unit layer stacked thereon comprises the following steps: After the blank is transferred to the stacking detection station, the center point position of the blank is obtained; The unit layer with the center point obtained is transferred to the blank located on the stacking detection station, and the blank and the unit layer are aligned by center point alignment.

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