Material sheet carrying and transferring device and control method thereof

Abstract

The invention relates to the technical field of material sheet transferring equipment, in particular to a material sheet carrying and transferring device and a control method thereof. The transfer trolley bears the cut material pieces and moves to the material taking position of the hot mold pressing equipment along the running track. The laser projector is used for primarily positioning the material sheets on the transfer trolley; the carrying assembly is arranged on the transfer truss and comprises a plurality of linear modules, spiral lifters located at the driving ends of the same sides of the linear modules and vacuum suction cup assemblies arranged at the driving ends of the spiral lifters. A transfer platform is arranged on the transfer truss, and a supporting seat, a first limiting assembly and two second limiting assemblies are arranged on the transfer platform; the vacuum suction cup assembly carries material sheets on the transfer trolley to the transfer platform, the first limiting assembly and the two second limiting assemblies carry out precise positioning on the material sheets, the precise positions of the material sheets in the X direction and the Y direction are ensured, the position accuracy of the material sheets in the carrying process is ensured, and the product quality is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of sheet transfer equipment, and in particular to a sheet conveying and transferring device and a control method thereof. Background Art

[0002] The long stringer is to place multiple cut flat blanks in the hot molding mold for hot molding. However, since the flat blanks are directly transported to the hot molding mold by a transfer trolley, the joints of the blanks will be offset during the movement of the trolley. When the suction cup absorbs the whole into the hot molding equipment, the fiber state in the workpiece after molding will be asymmetric, which will cause the performance of the workpiece to fail to meet the use requirements. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a material sheet conveying and transferring device and a control method thereof, which effectively solve the problems in the background technology.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is: a material sheet conveying and transferring device, comprising: The transfer trusses are arranged side by side on one side of the hot molding equipment; The transfer trolley is used to carry the cut pieces and move along the running track from the cutting machine to the material taking position of the hot molding equipment; A plurality of laser projectors are arranged along the length direction of the transfer truss, and are used to initially position the sheet on the transfer trolley; A handling assembly is arranged on the transfer truss, comprising a plurality of linear modules arranged on the transfer truss, a spiral elevator located at the driving end of the same side of the plurality of linear modules, and a vacuum suction cup assembly arranged at the driving end of the spiral elevator, for handling the sheet on the transfer trolley; Wherein, a transfer platform is arranged in the arched space erected by the transfer truss, and the transfer platform is provided with a support seat for supporting the sheet, a first limit assembly for limiting the sheet in the X direction, and two second limit assemblies for limiting the sheet in the Y direction; The linear module extends out in a direction perpendicular to the sliding direction of the transfer trolley, the vacuum suction cup assembly moves the material on the transfer trolley to the transfer platform, and the first limiting assembly and the two second limiting assemblies precisely position the material.

[0005] Furthermore, the transfer trolley is provided with a scored area for placing the material sheets.

[0006] Furthermore, a mobile gantry is provided on the transfer platform, and a laser inkjet printer is provided on the mobile gantry; The movable gantry drives the laser inkjet printer to move along the length direction of the sheet so as to spray a reference line on the central axis of the sheet.

[0007] Furthermore, the transfer trolley is provided with a scanning gun used in conjunction with the barcode on the sheet; Furthermore, the laser projector projects a contour trajectory line corresponding to the material sheet onto the carrying surface of the transfer trolley.

[0008] Further, the linear module comprises a first telescopic arm, a second telescopic arm and a third telescopic arm which are arranged in parallel; The first telescopic arm is fixed on the transfer truss, the third telescopic arm is slidably arranged below the first telescopic arm along its length direction, the second telescopic arm is slidably arranged below the third telescopic arm, and the spiral elevator is slidably arranged below the second telescopic arm through a mounting seat.

[0009] Furthermore, a plurality of the linear modules are provided at their driving ends with a transmission shaft, and a plurality of the vacuum suction cup assemblies are arranged along the length direction of the transmission shaft; A support frame for supporting and driving the vacuum suction cup assembly to move along the axial direction of the transmission shaft and a linear drive member for driving the support frame to move are arranged on the transmission shaft.

[0010] Furthermore, the linear drive element includes a servo motor, and meshing gears and racks; The linear drive member is arranged on the right side of the support frame, the vacuum suction cup assembly is arranged on the left side of the support frame, and a guide rail group is arranged between the support frame and the transmission shaft; The rack is fixed on the top surface of the transmission shaft facing the supporting frame, and the gear is fixed on the driving end of the servo motor.

[0011] Furthermore, the support seat is fixedly arranged on the transfer platform, the support seat comprises two symmetrically arranged support blocks, and the first limit assembly is arranged between the two support blocks; Wherein, the first limiting assembly includes a moving seat, a driving assembly for driving the moving seat to move along the X direction, a cylinder arranged on the moving seat, and a stopper arranged at the driving end of the cylinder; When the driving assembly drives the moving seat to drive the cylinder to slide to a specified position, the cylinder drives the stopper to move toward the sheet to limit the position of the sheet in the X direction.

[0012] Furthermore, the second limiting assembly includes a base, a pillar slidably disposed on the base, and a calibration block disposed on the pillar; The two calibration blocks are arranged opposite to each other, and a receiving plane and a guiding inclined plane arranged at an angle to the receiving plane are provided on the contact surface between the calibration block and the sheet; When the sheet is placed on the support seat, the two pillars move toward each other, and the guiding inclined surface calibrates the two edges of the sheet to limit the position of the sheet in the Y direction.

[0013] The present invention also provides a material transport and transfer control method, which is applied to the material transport and transfer device, and comprises the following steps: The cutting machine can cut out sheets of various specifications according to different cutting requirements; The cut sheets are placed on the transfer trolley according to the preset sheet order and move along the running track from the cutter to the material taking position of the hot molding equipment; When the transfer trolley arrives at the designated position, the laser projector is started to perform initial positioning of the sheet on the transfer trolley; After the initial positioning is completed, multiple linear modules move synchronously and extend in a direction perpendicular to the sliding direction of the transfer trolley. The vacuum suction cup assembly sucks the sheet from the transfer trolley and transports it to the transfer platform. The support seat on the transfer platform supports the sheet, and the first limit assembly and the second limit assembly precisely position the sheet to ensure the accurate position of the sheet in the X and Y directions; After precise positioning, the blanks are transported to the hot molding equipment for hot molding processing.

[0014] The beneficial effects of the present invention are as follows: the present invention realizes automatic handling and positioning of the sheet through the arrangement of the transfer trolley, the linear module, the spiral elevator and the vacuum suction cup assembly, thereby greatly improving the production efficiency; and on the basis of the initial positioning of the laser projector, the support seat, the first limit assembly and the second limit assembly on the transfer platform are used to form a precise positioning system, which can ensure the precise position of the sheet in the X and Y directions, ensure the accuracy of the position of the sheet during the handling process, and improve the product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is a structural schematic diagram of a material sheet conveying and transferring device in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the transfer platform in an embodiment of the present invention; Figure 3 Schematic diagram of the structure of the first limit assembly and the second limit assembly in an embodiment of the present invention; Figure 4 A top view of a transfer platform in an embodiment of the present invention; Figure 5 is a schematic diagram of a scribed line area in an embodiment of the present invention; Figure 6 Schematic diagram of projection of a laser projector in an embodiment of the present invention; Figure 7 The figure is a schematic diagram of the installation of the laser inkjet printer in the embodiment of the present invention; Figure 8 It is a schematic diagram and a partial enlarged diagram of the installation of the handling assembly on the transfer truss in an embodiment of the present invention; Fig. 9 It is a structural schematic diagram and a partial enlarged diagram of a linear mold in an embodiment of the present invention.

[0017] Figure numerals: 1. transfer truss; 2. transfer trolley; 2a. engraved area; 3. laser projector; 4. handling assembly; 41. linear module; 411. first telescopic arm; 412. second telescopic arm; 413. third telescopic arm; 42. screw elevator; 43. vacuum suction cup assembly; 44. transmission shaft; 45. support frame; 46. linear drive; 5. transfer platform; 6. support seat; 7. first limit assembly; 71. moving seat; 72. drive assembly; 73. cylinder; 74. block; 8. second limit assembly; 81. base; 82. pillar; 83. calibration block; 83a. receiving plane; 83b. guide ramp; 9. gantry; 10. laser inkjet printer. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0019] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0021] like Figures 1 to 9 The material sheet handling and transfer device shown comprises: a transfer truss 1, a transfer trolley 2, a laser projector 3 and a handling assembly 4; the transfer truss 1 is arranged side by side on one side of the hot molding equipment; the transfer trolley 2 is used to carry the cut material sheet and move from the cutter to the material picking position of the hot molding equipment along the running track; a plurality of laser projectors 3 are arranged along the length direction of the transfer truss 1, and are used to perform initial positioning of the material sheet on the transfer trolley 2; the handling assembly 4 is arranged on the transfer truss 1, and comprises a plurality of linear modules 41 arranged on the transfer truss 1, and a spiral elevator 42 located at the driving end of the same side of the plurality of linear modules 41, and a vacuum suction cup assembly 43 arranged at the driving end of the spiral elevator 42, and is used to carry the material sheet on the transfer trolley 2; A transfer platform 5 is provided in the arched space of the transfer truss 1, and a support seat 6 for supporting the sheet, a first position-limiting component 7 for limiting the sheet in the X direction, and two second position-limiting components 8 for limiting the sheet in the Y direction are provided on the transfer platform 5; The linear module 41 extends in a direction perpendicular to the sliding direction of the transfer trolley 2, and the vacuum suction cup assembly 43 moves the sheet on the transfer trolley 2 to the transfer platform 5, and the first limit assembly 7 and the two second limit assemblies 8 precisely position the sheet. It should be noted that the X direction refers to the length direction of the sheet, and the Y direction refers to the width direction of the sheet; The present invention realizes automatic handling and positioning of the sheet by setting up the transfer trolley 2, the linear module 41, the spiral elevator 42 and the vacuum suction cup assembly 43, thereby greatly improving the production efficiency. On the basis of the initial positioning of the laser projector 3, the support seat 6, the first limit assembly 7 and the second limit assembly 8 on the transfer platform 5 are used to form a precise positioning system, which can ensure the precise position of the sheet in the X and Y directions, ensure the accuracy of the position of the sheet during the handling process, and improve the product quality.

[0022] In the preferred embodiment of the present invention, a scoreline area 2a for placing the sheet is provided on the transfer trolley 2. The scoreline area 2a provides a clear reference frame for the sheet, which facilitates the determination of the initial placement position of the sheet, helps to reduce the position deviation of the sheet during the handling and transfer process, and ensures that the sheet can be accurately transported to the target position.

[0023] In a preferred embodiment of the present invention, a mobile gantry 9 is provided on the transfer platform 5, and a laser inkjet printer 10 is provided on the mobile gantry 9; the mobile gantry 9 drives the laser inkjet printer 10 to move along the length direction of the sheet to spray a reference line on the central axis of the sheet. The existence of the reference line provides a clear reference for subsequent processing, testing or alignment steps, which helps to improve the overall production accuracy and consistency.

[0024] In another preferred embodiment, the transfer trolley 2 is provided with a scanning gun used in conjunction with the barcode on the material; the scanning gun can quickly and accurately read the barcode information on the material, thereby realizing rapid identification and verification of the material, reducing the time for manual search and verification of the material, and improving production efficiency. The laser projector 3 projects the contour trajectory line corresponding to the material on the carrying surface of the transfer trolley 2, and the operator can quickly and accurately verify the preset material sequence and specifications according to the contour trajectory line and perform preliminary positioning.

[0025] The preferred structure of the linear module 41 of the present invention is that the linear module 41 includes a first telescopic arm 411 and a second telescopic arm 412 which are arranged in parallel, and a third telescopic arm 413 is provided between the first telescopic arm 411 and the second telescopic arm 412; the first telescopic arm 411 is fixed on the transfer truss 1, the third telescopic arm 413 is slidably arranged below the first telescopic arm 411 along its length direction, the second telescopic arm 412 is slidably arranged below the third telescopic arm 413, and the spiral elevator 42 is slidably arranged below the second telescopic arm 412 through a mounting seat.

[0026] Specifically, the first telescopic arm 411 , the second telescopic arm 412 and the third telescopic arm 413 form a three-stage transmission mode to control the reciprocating motion repeat positioning accuracy of the vacuum suction cup assembly 43 to reach 0.05 mm, thereby ensuring the centering accuracy of the vacuum suction cup assembly 43 .

[0027] In the present invention, the linear module 41 drives the vacuum suction cup assembly 43 to move horizontally to accurately reach the position of the sheet and realize the transportation of the sheet. However, since the multiple linear modules 41 are independently controlled, in order to ensure that the multiple vacuum suction cup assemblies 43 reach the set adsorption position of the sheet synchronously, preferably, the driving ends of the multiple linear modules 41 are provided with a transmission shaft 44, and the multiple vacuum suction cup assemblies 43 are arranged along the length direction of the transmission shaft 44; and a support frame 45 that supports and drives the vacuum suction cup assembly 43 to move along the axial direction of the transmission shaft 44, and a linear drive member 46 that drives the support frame 45 to move.

[0028] The linear drive member 46 drives the support frame 45 to move and adjust the distance between adjacent suction cups to meet the needs of transporting sheets of different lengths.

[0029] As a preferred embodiment of the above embodiment, the linear drive 46 includes a servo motor, and meshing gears and racks; the linear drive 46 is arranged on the right side of the support frame 45, the vacuum suction cup assembly 43 is arranged on the left side of the support frame 45, and a guide rail group is provided between the support frame 45 and the transmission shaft 44; the rack is fixed to the side of the transmission shaft 44 facing the support frame 45, and the gear is fixed to the driving end of the servo motor.

[0030] There is one suction cup every 1 meter (17 in total), and each suction cup is controlled by a stepper motor and can move within a range of 1 meter in the X-axis direction and accurately move to a specified position to adapt to materials of different sizes and shapes, thereby achieving accurate grasping and placement of materials; and the structural design of the support frame 45 and the transmission shaft 44 makes the entire structure modular and easy to disassemble and replace.

[0031] In the present invention, the support seat 6 is fixedly arranged on the transfer platform 5. Since the prepreg sheet has a certain flexibility, the support seat 6 includes two symmetrically arranged support blocks, and the first limiting component 7 is arranged between the two support blocks; the support area is increased, and the pressure when the sheet is placed can be effectively dispersed to avoid the collapse of the middle position of the sheet due to concentrated force; in addition, in the preferred structure, the first limiting component 7 includes a moving seat 71, and a driving component 72 for driving the moving seat 71 to move along the X direction, and a cylinder 73 arranged on the moving seat 71, and a stopper 74 arranged at the driving end of the cylinder 73; when the driving component 72 drives the moving seat 71 to drive the cylinder 73 to slide to the specified position, the cylinder 73 drives the stopper 74 to move toward the sheet to limit the sheet in the X direction, and the sheet can be accurately limited in the X direction to achieve stable limitation of the sheet.

[0032] In a preferred embodiment of the present invention, the second limiting assembly 8 includes a base 81, a pillar 82 slidably arranged on the base 81, and a calibration block 83 arranged on the pillar 82; the two calibration blocks 83 are arranged opposite to each other, and a receiving plane 83a and a guiding inclined plane 83b arranged at an angle to the receiving plane 83a are provided on the contact surface between the calibration block 83 and the material; the receiving plane 83a arranged on the calibration block 83 can stably support the material, avoiding the position displacement of the material due to shaking or sliding during the placement process, and when the guiding inclined plane 83b contacts the material, it can gradually guide the material to move to the correct position, avoiding damage to the material due to sudden force, and the combined design of the receiving plane 83a and the guiding inclined plane 83b enables the material to move smoothly to the correct position when subjected to the calibration force. When the sheet is placed on the support seat 6, the two pillars 82 move towards each other, and the guide slope 83b calibrates the two edges of the sheet to limit the sheet in the Y direction, which can ensure that the sheet is accurately limited in the Y direction and avoid subsequent processing or assembly problems caused by position offset.

[0033] The present invention also provides a material transport and transfer control method, which is applied to a material transport and transfer device, and comprises the following steps: The cutting machine can cut out sheets of various specifications according to different cutting requirements; The cut sheets are placed on the transfer trolley 2 according to the preset sheet order, and move along the running track from the cutter to the material taking position of the hot molding equipment; When the transfer trolley 2 reaches the designated position, the laser projector 3 is started to perform initial positioning of the sheet on the transfer trolley 2; After the initial positioning is completed, the multiple linear modules 41 move synchronously, extending in a direction perpendicular to the sliding direction of the transfer trolley 2, and the sheet is sucked from the transfer trolley 2 and transported to the transfer platform 5 through the vacuum suction cup assembly 43; The support seat 6 on the transfer platform 5 supports the sheet, and the first limit assembly 7 and the second limit assembly 8 precisely position the sheet to ensure the accurate position of the sheet in the X and Y directions; After precise positioning, the blanks are transported to the hot molding equipment for hot molding processing.

[0034] This type of sheet handling and transfer device has the advantages of efficient automation, precise positioning, flexibility and scalability, as well as safety and reliability. During the working process, it can realize the rapid and accurate handling and positioning of the sheets, providing a strong guarantee for subsequent processing.

[0035] Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A sheet conveying and transferring device, characterized in that: include: The transfer trusses are arranged side by side on one side of the hot molding equipment; The transfer trolley is used to carry the cut pieces and move along the running track from the cutting machine to the material taking position of the hot molding equipment; A plurality of laser projectors are arranged along the length direction of the transfer truss, and are used to initially position the sheet on the transfer trolley; A handling assembly is arranged on the transfer truss, comprising a plurality of linear modules arranged on the transfer truss, a spiral elevator located at the driving end of the same side of the plurality of linear modules, and a vacuum suction cup assembly arranged at the driving end of the spiral elevator, for handling the sheet on the transfer trolley; Wherein, a transfer platform is arranged in the arched space erected by the transfer truss, and the transfer platform is provided with a support seat for supporting the sheet, a first limit assembly for limiting the sheet in the X direction, and two second limit assemblies for limiting the sheet in the Y direction; The linear module extends out in a direction perpendicular to the sliding direction of the transfer trolley, the vacuum suction cup assembly moves the material on the transfer trolley to the transfer platform, and the first limiting assembly and the two second limiting assemblies precisely position the material.

2. The sheet conveying and transferring device according to claim 1, characterized in that: The transfer trolley is provided with a scored area for placing the material sheets.

3. The sheet conveying and transferring device according to claim 1, characterized in that: The transfer trolley is provided with a scanning gun used in conjunction with the barcode on the sheet; Furthermore, the laser projector projects a contour trajectory line corresponding to the material sheet onto the carrying surface of the transfer trolley.

4. The sheet conveying and transferring device according to claim 1, characterized in that: The transfer platform is provided with a mobile gantry, and the mobile gantry is provided with a laser inkjet printer; The movable gantry drives the laser inkjet printer to move along the length direction of the sheet so as to spray a reference line on the central axis of the sheet.

5. The sheet conveying and transferring device according to claim 1, characterized in that: The linear module comprises a first telescopic arm, a second telescopic arm and a third telescopic arm arranged in parallel; The first telescopic arm is fixed on the transfer truss, the third telescopic arm is slidably arranged below the first telescopic arm along its length direction, the second telescopic arm is slidably arranged below the third telescopic arm, and the spiral elevator is slidably arranged below the second telescopic arm through a mounting seat.

6. The sheet conveying and transferring device according to claim 1, characterized in that: The driving ends of the plurality of linear modules are provided with transmission shafts, and the plurality of vacuum suction cup assemblies are arranged along the length direction of the transmission shafts; A support frame for supporting and driving the vacuum suction cup assembly to move along the axial direction of the transmission shaft and a linear drive member for driving the support frame to move are arranged on the transmission shaft.

7. The sheet conveying and transferring device according to claim 6, characterized in that: The linear drive element includes a servo motor, and meshing gears and racks; The linear drive member is arranged on the right side of the support frame, the vacuum suction cup assembly is arranged on the left side of the support frame, and a guide rail group is arranged between the support frame and the transmission shaft; The rack is fixed on a side of the transmission shaft facing the supporting frame, and the gear is fixed on a driving end of the servo motor.

8. The web conveying and transferring device according to claim 1, characterized in that: The support seat is fixedly arranged on the transfer platform, the support seat comprises two symmetrically arranged support blocks, and the first limit assembly is arranged between the two support blocks; Wherein, the first limiting assembly includes a moving seat, a driving assembly for driving the moving seat to move along the X direction, a cylinder arranged on the moving seat, and a stopper arranged at the driving end of the cylinder; When the driving assembly drives the moving seat to drive the cylinder to slide to a specified position, the cylinder drives the stopper to move toward the sheet to limit the position of the sheet in the X direction.

9. The web conveying and transferring device according to claim 1, characterized in that: The second limiting assembly includes a base, a support slidably disposed on the base, and a calibration block disposed on the support; The two calibration blocks are arranged opposite to each other, and a receiving plane and a guiding inclined plane arranged at an angle to the receiving plane are provided on the contact surface between the calibration block and the sheet; When the sheet is placed on the support seat, the two pillars move toward each other, and the guiding inclined surface calibrates the two edges of the sheet to limit the position of the sheet in the Y direction.

10. A material conveying and transferring control method, applied to the material conveying and transferring device according to any one of claims 1 to 9, characterized in that: The following steps are involved: The cutting machine can cut out sheets of various specifications according to different cutting requirements; The cut sheets are placed on the transfer trolley according to the preset sheet order and move along the running track from the cutter to the material taking position of the hot molding equipment; When the transfer trolley arrives at the designated position, the laser projector is started to perform initial positioning of the sheet on the transfer trolley; After the initial positioning is completed, multiple linear modules move synchronously and extend in a direction perpendicular to the sliding direction of the transfer trolley. The vacuum suction cup assembly sucks the sheet from the transfer trolley and transports it to the transfer platform. The support seat on the transfer platform supports the sheet, and the first limit assembly and the second limit assembly precisely position the sheet to ensure the accurate position of the sheet in the X and Y directions; After precise positioning, the blanks are transported to the hot molding equipment for hot molding processing.

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