Fanning strip shaping and laminating system and device

Abstract

The invention relates to the technical field of fanning strip overlying, in particular to a fanning strip shaping and overlying system and device.The fanning strip shaping and overlying system comprises an upper computer, two working areas arranged in a mirror image mode and a hydraulic machine arranged between the two working areas, and each working area comprises a feeder, a feeding trolley, a movable workbench, a second mechanical arm and a CCD detection part; the second mechanical arm is used for grabbing the first fanning strip and the second fanning strip from the positioning platform at the same time and placing the fanning strip on the movable workbench, the second mechanical arm is configured to execute the grabbing procedure, the placing procedure and the rotating procedure, and the upper computer is configured to determine the horizontal rotating mode of the second mechanical arm based on the weight difference of the first fanning strip and the second fanning strip and to control the fanning strip to rotate. The automatic fanning strip laminating machine has the advantages that the automatic fanning strip laminating machine couples the working procedure durations of the two working areas, the fanning strip difference adaptability is improved by integrating the working procedures of feeding, detecting, grabbing, overturning, placing, rotating and laminating and intelligently controlling the upper computer, and the fanning strip laminating precision and the working efficiency are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of fan-shaped sheet lamination, and in particular to a fan-shaped sheet shaping and lamination system and device. Background Art

[0002] At present, large motors and generators are all made of fan-shaped pieces spliced ​​and stacked. For example, the prior art discloses an automated stacking system for fan-shaped generators, including a reciprocating component, a feeding component, a fixing component, a shock-absorbing component, a clamping component, a fixed workbench and a fan-shaped piece body; the bottom of the reciprocating component is installed on the top of the fixing component; the bottom of the feeding component is installed on the top of the fixing component, one side of the shock-absorbing component is installed inside the fixing component, and the clamping component is located on one side of the feeding component. This technical solution controls the second cylinder to drive the first clamp to move so that the first clamp clamps the fan-shaped piece body, controls the first cylinder to drive the feeding plate to move, controls the second cylinder to drive the first clamp to fall, places the fan-shaped piece body on the feeding plate, controls the first cylinder to drive the feeding plate to reset, and controls the robotic arm to drive the second clamp to clamp the fan-shaped piece body on the feeding plate and place it on the product mold, thereby reducing labor costs and improving product quality.

[0003] However, the above-mentioned lamination scheme cannot guarantee the matching of multiple processes and lacks effective adaptation to the differences of the fan-shaped pieces, and thus cannot guarantee the accuracy of lamination while ensuring work efficiency. Summary of the invention

[0004] To this end, the present invention provides a fan-shaped piece shaping and laminating system and device to overcome the problem in the prior art that it is impossible to ensure the matching of multiple processes, lacks effective adaptation to the differences of fan-shaped pieces, and thus cannot ensure the accuracy of laminating while ensuring work efficiency.

[0005] To achieve the above object, the present invention provides a fan-shaped sheet shaping and laminating system, comprising a host computer, two mirror-set working areas, and a hydraulic press arranged between the two working areas, wherein a single working area comprises:

[0006] A feeder, wherein the feeder is provided with a first mechanical arm for grabbing the first sector piece and the second sector piece and moving in a vertical direction, and a positioning platform for positioning the sector piece;

[0007] A feeding trolley is movably arranged at the bottom of the feeder and is used to place the first sector-shaped pieces and the second sector-shaped pieces in partitions;

[0008] The movable workbench of the two working areas is arranged on the same track and is configured to be able to move under the hydraulic press to perform lamination of the fan-shaped sheets;

[0009] The second robot arm is used to simultaneously grab the first sector piece and the second sector piece from the positioning platform and place them on the movable workbench. The second robot arm is configured to perform the following processes:

[0010] In the grasping process, the first sector and the second sector are grasped simultaneously by vacuum adsorption at both ends of the second robot arm.

[0011] a placing step of placing the first sector piece or the second sector piece on the movable workbench,

[0012] A rotation step, horizontally rotating 180° to switch the placement of the first sector piece or the second sector piece;

[0013] The CCD detection unit is configured to detect the weight mark on the fan-shaped piece to determine the weight of the fan-shaped piece, and to detect the position, contour and missing angle of the fan-shaped piece;

[0014] The host computer is configured to determine the horizontal rotation mode of the second manipulator and the process duration of coupling the two work areas based on the weight difference between the first sector and the second sector.

[0015] As an optimal technical solution for the fan-shaped piece shaping and laminating system, the host computer is provided with standard masses for the first fan-shaped piece and the second fan-shaped piece. For a single grasping, the mass difference between the first fan-shaped piece and the second fan-shaped piece grasped by the second manipulator and the corresponding standard mass is calculated respectively, and the absolute value of the difference between the mass differences on both sides is determined as the fluctuation evaluation value.

[0016] As a preferred technical solution of the fan-shaped sheet shaping and laminating system, the host computer completes the rotation process of the second robot arm at a standard rotation speed in response to the fluctuation evaluation value being less than or equal to the first threshold.

[0017] As a preferred technical solution of the fan-shaped sheet shaping and laminating system, the host computer completes the rotation process of the second mechanical arm at a preset rotation speed in response to the fluctuation evaluation value being less than or equal to the second threshold and greater than the first threshold;

[0018] The preset rotation speed is smaller than the standard rotation speed, and the second threshold is larger than the first threshold.

[0019] As a preferred technical solution of the fan-shaped sheet shaping and laminating system, in response to the fluctuation evaluation value being greater than the second threshold, the host computer executes a segmented rotation strategy for the rotation process of the second manipulator, and the segmented rotation strategy specifically includes:

[0020] The rotation path is divided into at least two equal-angle strokes, and the rotation is performed at the preset speed in each stroke. After a single stroke is completed, the preset length of time is paused before continuing to the next stroke.

[0021] As a preferred technical solution for the fan-shaped sheet shaping and laminating system, the host computer determines the process duration of the two working areas for a single grab with a preset rotation speed as the rotation speed.

[0022] In response to the different process times of the two work zones, a speed coupling process is determined from the grabbing process, the turning process and the placing process of the work zone with the shorter process time.

[0023] As a preferred technical solution for the fan-shaped sheet shaping and laminating system, the speed coupling process determined by the host computer is the process with the largest deviation from the set path among the grabbing process, flipping process and placement process of the previous group of fan-shaped sheets.

[0024] As a preferred technical solution for the fan-shaped sheet shaping and laminating system, the host computer reduces the actuation speed of the speed coupling process according to the difference in working time so that the process time of the two working areas is the same.

[0025] As a preferred technical solution for the fan-shaped piece shaping and laminating system, the second mechanical arm includes a rotating shaft, an adapter plate fixedly connected to the rotating shaft, and two grabbing members respectively installed at both ends of the adapter plate and matching the first fan-shaped piece and the second fan-shaped piece structure respectively.

[0026] As a preferred technical solution for the fan-shaped sheet shaping and laminating system, flapping assemblies are installed on both sides of the grabbing member, and the flapping assemblies flap the edges of the first fan-shaped sheet and the second fan-shaped sheet through pneumatic force to adjust the positions of the first fan-shaped sheet and the second fan-shaped sheet.

[0027] As a preferred technical solution for the fan-shaped sheet shaping and stacking system, the feeding trolley includes two magnetic suction parts fixedly connected to both ends of the feeding trolley, and the magnetic suction parts adsorb and fix the stacked first fan-shaped sheets and second fan-shaped sheets in the vertical direction.

[0028] Compared with the prior art, the beneficial effect of the present invention lies in that, by integrating multiple links such as feeding, detection, grasping, flipping, placement, rotation and stacking, and introducing CCD detection and host computer intelligent control mechanism, the problems in the prior art that multiple processes cannot be matched and lack adaptability to the differences of fan-shaped sheets are effectively solved, and the accuracy and work efficiency of fan-shaped sheet stacking are significantly improved. At the same time, efficient collaborative work between different work areas is realized, ensuring production consistency.

[0029] In particular, the present invention can directly obtain the mass of the sector by reserving the weight mark of the sector. For a single grasping of the second robot arm, if the mass difference is large, the rotational inertia can easily cause the position deviation of the sector or the robot arm. This phenomenon can be effectively reduced through the corresponding rotation control strategy.

[0030] In particular, the system of the present invention requires the coordination and work rhythm of the working areas on both sides during operation. If the process durations on both sides are inconsistent, it will affect the work efficiency of the system. By determining the coupling process, the corresponding process is slowed down to improve the operation accuracy while coupling the processes of the two working areas, thereby improving the system's work efficiency while improving the system's operation accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural block diagram of a fan-shaped sheet shaping and laminating system in an embodiment of the present invention;

[0032] Figure 2 It is a schematic structural diagram of a fan-shaped sheet shaping and laminating device in an embodiment of the present invention;

[0033] Figure 3 Schematic diagram of the structure of the second mechanical arm in an embodiment of the present invention;

[0034] Figure 4 It is a schematic diagram of the structure of the feeding trolley in an embodiment of the present invention.

[0035] In the figure, 1, hydraulic press; 2, feeder; 3, first sector; 4, second sector; 5, first mechanical arm; 6, feed trolley; 7, mobile workbench;

[0036] 8. Second robotic arm; 81. Rotating shaft; 82. Adapter plate; 83. Grabbing member; 84. Beating assembly;

[0037] 9. Magnetic parts. DETAILED DESCRIPTION

[0038] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with 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.

[0039] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0040] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0041] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it 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 those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] See also Figure 1-Figure 4 As shown, in order to better understand the present invention, this embodiment provides a fan-shaped sheet shaping and laminating device for the fan-shaped sheet shaping and laminating system of the present invention, and the device includes a feeding trolley 6, a feeder 2, a second mechanical arm 8, a hydraulic press 1 and a movable workbench 7:

[0043] The feeding trolley 6 is responsible for supplying the fan-shaped pieces to the feeder 2. The upper plane of the feeding trolley 6 is positioned and matched with the fan-shaped pieces. The maximum stacking height of the fan-shaped piece material pile is 600mm. In detail, the feeding trolley 6 is equipped with two magnetic suction parts 9, which are used for stacking the first fan-shaped piece 3 and the second fan-shaped piece 4 respectively. The magnetic suction parts 9 can be easily installed when changing materials, reducing the downtime of the device.

[0044] The feeder 2 grabs the fan-shaped piece on the feeding trolley 6 through the first mechanical arm 5, and after it rises to the upper limit, it is pushed out by the cylinder. At the same time, the fan-shaped piece is detected as a double piece. If it is not a double piece, an alarm is sounded. After the first mechanical arm 5 completes the material grabbing action, the positioning platform moves to the bottom of the first fan-shaped piece 3 and the second fan-shaped piece 4, and the first mechanical arm 5 places the first fan-shaped piece 3 and the second fan-shaped piece 4 on the positioning platform for positioning. A CCD detection unit is also installed on the feeder 2 to detect whether the punching position is correct and whether the punching piece is missing a corner, as well as the punching piece contour. The detection accuracy is above 0.5mm. If an abnormality is detected, the equipment will automatically alarm and stop, and the abnormality will be manually handled, and the normal working position will be restored with one key. At the same time, the CCD detection unit is also used to detect the weight mark reserved on the surface of the fan-shaped piece.

[0045] The second robot arm 8 uses a vacuum suction cup to grab the fan-shaped sheet, and its weight is 180kg. After the second robot arm 8 places the fan-shaped sheet, the beating component 84 on the arm automatically beats and arranges the punched sheet to ensure the consistency of the stacking of the punched sheet.

[0046] Based on the above device, this embodiment provides a fan-shaped sheet shaping and laminating system, which is applied to the above device for operation. The fan-shaped sheet shaping and laminating system includes a host computer, two mirror-set working areas, and a hydraulic press 1 arranged between the two working areas. A single working area includes:

[0047] The feeder 2 is provided with a first mechanical arm 5 for grabbing the first fan-shaped piece 3 and the second fan-shaped piece 4 and moving in the vertical direction, and a positioning platform for positioning the fan-shaped piece; in detail, for the first fan-shaped piece and the second fan-shaped piece, their structures can be the same or different, and the first fan-shaped piece and the second fan-shaped piece meet the stacking scheme that the two need to be stacked alternately, and the first fan-shaped piece and the second fan-shaped piece are respectively stacked in multiple layers on the feeding trolley, and each piece is grabbed at a time.

[0048] A feeding trolley 6 is movably arranged at the bottom of the feeder 2 and is used for placing the first sector-shaped pieces 3 and the second sector-shaped pieces 4 in partitions;

[0049] The movable workbench 7 of the two working areas is arranged on the same track and is configured to be able to move to the bottom of the hydraulic press 1 to perform the lamination of the fan-shaped sheets;

[0050] The second robot arm 8 is used to simultaneously grab the first sector piece 3 and the second sector piece 4 from the positioning platform and place them on the movable workbench 7. The second robot arm 8 is configured to perform the following processes:

[0051] In the grasping process, the first sector piece 3 and the second sector piece 4 are grasped simultaneously by vacuum adsorption at both ends of the second robot arm 8.

[0052] Placing step: placing the first sector piece 3 or the second sector piece 4 on the movable workbench 7,

[0053] Rotation process: horizontally rotate 180° to switch the placement of the first sector 3 or the second sector 4;

[0054] The CCD detection unit is configured to detect the weight mark on the fan-shaped piece to determine the weight of the fan-shaped piece, and to detect the position, contour and missing angle of the fan-shaped piece;

[0055] The host computer is configured to determine the horizontal rotation mode of the second manipulator based on the weight difference between the first sector 3 and the second sector 4, as well as the process duration of coupling the two work areas. The second manipulator 8 includes a rotating shaft 81, an adapter plate 82 fixedly connected to the rotating shaft 81, and two grabbing members 83 respectively mounted at both ends of the adapter plate 82 and matching the structures of the first sector 3 and the second sector 4. Beating components 84 are installed on both sides of the grabbing member 83, and the beating components 84 use pneumatic force to beat the edges of the first sector 3 and the second sector 4 to adjust the positions of the first sector 3 and the second sector 4. The feeding trolley 6 includes two magnetic suction members 9 fixedly connected to the two ends of the feeding trolley 6, and the magnetic suction members 9 adsorb and fix the stacked first sector 3 and the second sector 4 in the vertical direction.

[0056] In the above embodiment, by integrating multiple links such as feeding, detection, grasping, flipping, placement, rotation and stacking, and introducing CCD detection and host computer intelligent control mechanism, the problems of the prior art that cannot match multiple processes and lack adaptability to the differences of fan-shaped sheets are effectively solved, and the accuracy and work efficiency of fan-shaped sheet stacking are significantly improved. At the same time, efficient collaborative work between different work areas is achieved, ensuring production consistency.

[0057] In particular, the present invention can directly obtain the mass of the sector by reserving the weight mark of the sector. For a single grasping of the second robot arm, if the mass difference is large, the rotational inertia can easily cause the position deviation of the sector or the robot arm. This phenomenon can be effectively reduced through the corresponding rotation control strategy.

[0058] In particular, the system of the present invention requires the coordination and work rhythm of the working areas on both sides during operation. If the process durations on both sides are inconsistent, it will affect the work efficiency of the system. By determining the coupling process, the corresponding process is slowed down to improve the operation accuracy while coupling the processes of the two working areas, thereby improving the system's work efficiency while improving the system's operation accuracy.

[0059] In detail, the feeder grabs the first sector and the second sector through the first mechanical arm, completes the positioning operation on the positioning platform, and combines with the CCD detection unit to perform accurate quality, shape and position detection. This design achieves precise control of material position and shape through the synergy of mechanical arm grabbing and precision detection. The CCD detection unit uses optical recognition technology to scan the shape and logo of the sector, determines whether it is qualified through a preset algorithm, and triggers an alarm in abnormal situations.

[0060] As a preferred technical solution for the fan-shaped sheet shaping and laminating system, the host computer is provided with a standard mass of the first fan-shaped sheet 3 and the second fan-shaped sheet 4. For a single grasping, the mass difference between the first fan-shaped sheet 3 and the second fan-shaped sheet 4 grasped by the second manipulator and the corresponding standard mass is calculated respectively, and the absolute value of the difference between the mass differences on both sides is determined as the fluctuation evaluation value. In detail, the host computer uses the standard mass of the fan-shaped sheet as a reference value, and calculates the mass difference between the corresponding standard mass by obtaining the mass data of the first fan-shaped sheet and the second fan-shaped sheet actually detected by the second manipulator during a single grasping process. The absolute value of the difference between the mass differences on both sides is further calculated as the fluctuation evaluation value, which is used to measure the symmetry and uniformity of the mass distribution of the two fan-shaped sheets during a single grasping process. Optionally, the determination of the fluctuation evaluation value specifically includes the following steps:

[0061] Mass difference calculation:

[0062] ΔM1=M 实际1 -M 标准1 ,

[0063] ΔM2=M 实际2 -M 标准2 ,

[0064] Calculation of volatility assessment value E:

[0065] E=|ΔM1-ΔM2|,

[0066] Among them, M 实际1 and M 实际2 are the actual masses of the first and second sectors, M 标准1 and M 标准2 The corresponding standard masses are respectively. Through the quantification of the fluctuation evaluation value, the asymmetry of the mass distribution of the fan-shaped piece can be accurately reflected, providing an accurate parameter basis for the subsequent rotation process. The control ability of symmetry in the lamination process is significantly improved, and the rotation inertia deviation caused by quality differences is avoided. The rotation speed and process beat are dynamically adjusted, which improves the stability and efficiency of the system operation.

[0067] For weight marking, special micro-marking (such as micro-bumps, micro-grooves or micro-embedded parts) can be designed in non-critical areas of the fan-shaped sheet. These marks are embedded or formed during the manufacturing stage and can be read by CCD detection equipment or other measurement sensors to reflect the actual weight of the fan-shaped sheet. Through the above design, the reservation of weight marking can provide accurate quality data support for the shaping and laminating system without affecting the normal operation of the fan-shaped sheet.

[0068] As a preferred technical solution for the fan-shaped sheet shaping and laminating system, the host computer completes the rotation process of the second robot arm 8 at a standard rotation speed in response to the fluctuation evaluation value being less than or equal to the first threshold.

[0069] As a preferred technical solution of the fan-shaped sheet shaping and laminating system, the host computer completes the rotation process of the second mechanical arm 8 at a preset speed in response to the fluctuation evaluation value being less than or equal to the second threshold and greater than the first threshold;

[0070] The preset rotation speed is less than the standard rotation speed, and the second threshold is greater than the first threshold.

[0071] As a preferred technical solution of the fan-shaped sheet shaping and laminating system, in response to the fluctuation evaluation value being greater than the second threshold, the host computer executes a segmented rotation strategy for the rotation process of the second manipulator, and the segmented rotation strategy specifically includes:

[0072] The rotation path is divided into at least two equal-angle strokes, and the rotation is performed at a preset speed in each stroke. After a single stroke is completed, the rotation is paused for a preset time before continuing to the next stroke.

[0073] In the above embodiment, the host computer dynamically adjusts the rotation strategy of the second mechanical arm according to the range of the fluctuation evaluation value to ensure the accuracy and efficiency of the system operation. When the fluctuation evaluation value is less than or equal to the first threshold, the host computer completes the rotation process of the second mechanical arm at a standard speed. At this time, the high-speed rotation can maximize the operating efficiency and is suitable for the situation where the mass distribution of the fan-shaped piece is relatively uniform. When the fluctuation evaluation value is between the first threshold and the second threshold, the host computer adjusts the rotation speed to a preset speed, which is less than the standard speed, thereby reducing the influence of the rotation inertia on the position of the fan-shaped piece to adapt to the scene where there is a certain difference in mass distribution. For the case where the fluctuation evaluation value exceeds the second threshold, the host computer executes a segmented rotation strategy to divide the rotation path into at least two equal-angle strokes. In each stroke, the second mechanical arm rotates at a preset speed and pauses for a preset time after a single stroke is completed before continuing the next stroke. This strategy effectively reduces the adverse effect of rotation inertia on the system accuracy by gradually rotating, while ensuring the stability and consistency of the stacking molding. The overall solution significantly improves the reliability and flexibility of the shaping stacking system by accurately adjusting the rotation speed and process beat to adapt to different quality difference conditions. It is understandable that the standard speed, preset duration, preset speed, first threshold and second threshold are obtained through on-site calibration and can be adjusted according to actual working conditions.

[0074] As the preferred technical solution for the fan-shaped sheet shaping and laminating system, the host computer determines the process duration of the two working areas for a single grab with a preset rotation speed as the rotation speed.

[0075] In response to the different process durations of the two working areas, the speed coupling process is determined from the grabbing process, flipping process and placement process of the working area with a shorter process duration. In the above embodiment, in the preferred technical solution of the fan-shaped sheet shaping and laminating system, the host computer can dynamically adjust the process beat of the working interval to achieve efficient coordination. When the second robot arm completes the rotation process at a preset speed, the host computer will calculate the difference in process durations of the two working areas based on the operation progress of each working area monitored in real time. If it is detected that the process durations of the two working areas are different, the host computer will analyze the grabbing process, flipping process and placement process from the working area with a shorter duration to determine the speed coupling process that has the greatest impact on the overall beat. By optimizing the speed of the coupling process, such as appropriately reducing the actuation speed and extending the process duration, the host computer can effectively balance the operation progress of the two working areas and make them run synchronously. While ensuring the overall operating efficiency of the system, this method avoids the system non-coordination problem caused by the beat difference, laying the foundation for high-precision laminating operations.

[0076] As the preferred technical solution for the fan-shaped sheet shaping and laminating system, the speed coupling process determined by the host computer is the process with the largest offset from the set path among the grabbing process, flipping process and placement process of the previous group of fan-shaped sheets. In detail, the host computer further refines the selection logic of the speed coupling process, and dynamically monitors the grabbing process, flipping process and placement process of the previous group of fan-shaped sheets, and determines the process with the largest offset from the set path as the speed coupling process. The judgment of this offset is based on the real-time collected robot arm trajectory data and the preset standard path model, and the size of the offset reflects the degree of deviation of the operation accuracy. The host computer gives priority to adjusting the process with the largest offset, because the path error of such a process often has the greatest impact on the overall beat and the laminating accuracy of the fan-shaped sheets. Through the precise control of the actuation speed of the speed coupling process, the host computer can effectively correct the path error and further enhance the synchronization and consistency of laminating and forming of the two workspaces during the operation process. This mechanism not only optimizes the coordination between processes, but also significantly improves the stability and adaptability of the system in a highly complex operating environment.

[0077] As the preferred technical solution of the fan-shaped sheet shaping and laminating system, the host computer reduces the actuation speed of the speed coupling process according to the difference in working time, so that the process time of the two working areas is the same. In the preferred technical solution of the fan-shaped sheet shaping and laminating system, the host computer realizes the dynamic balance of the process time of the two working areas by accurately regulating the actuation speed of the speed coupling process. When it is detected that there is a difference in the process time of the two working areas, the host computer will analyze the operating parameters of the speed coupling process according to the progress of the working area with a shorter time, and appropriately reduce the actuation speed of the process. This speed adjustment aims to shorten the process beat difference, extend the completion time of the shorter process under the premise of ensuring operational stability, and finally make the process time of the two working areas tend to be consistent. The adjustment logic of the actuation speed is based on the real-time feedback mechanism. The host computer will compare the adjusted speed parameters with the process completion efficiency to ensure that no new uncertainty is introduced due to too low speed. In addition, by hierarchical control of the speed adjustment amplitude (for example, reducing the speed in stages), the system can smoothly complete the process synchronization without negatively affecting the continuity of the current process. In this way, the fan-shaped sheet shaping and lamination system not only achieves optimal operating efficiency, but also further enhances the accuracy and consistency of collaborative operations in multiple work areas, meeting the needs of high-reliability lamination operations under complex working conditions.

[0078] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0079] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A fan-shaped sheet shaping and laminating system, characterized in that: The invention comprises a host computer, two mirror-arranged working areas and a hydraulic press (1) arranged between the two working areas, wherein a single working area comprises: A feeder (2), wherein the feeder (2) is provided with a first mechanical arm (5) for grabbing the first sector (3) and the second sector (4) and moving in a vertical direction, and a positioning platform for positioning the sector; A feeding trolley (6) is movably arranged at the bottom of the feeder (2) and is used to place the first sector-shaped pieces (3) and the second sector-shaped pieces (4) in partitions; A movable workbench (7), wherein the movable workbench (7) of the two work areas is arranged on the same track and is configured to be movable to the bottom of the hydraulic press (1) to perform lamination of the first sector sheet (3) and the second sector sheet (4); The second mechanical arm (8) is used to simultaneously grab the first sector (3) and the second sector (4) from the positioning platform and place them on the movable workbench (7). The second mechanical arm (8) is configured to perform the following steps: In the grasping process, the first sector piece (3) and the second sector piece (4) are grasped simultaneously by vacuum adsorption at both ends of the second robot arm (8). a placing step of placing the first sector-shaped piece (3) or the second sector-shaped piece (4) on the movable workbench (7); A rotation step, horizontally rotating 180° to switch the placement of the first sector piece (3) or the second sector piece (4); The CCD detection unit is configured to detect the weight mark on the fan-shaped piece to determine the weight of the fan-shaped piece, and to detect the position, contour and missing angle of the fan-shaped piece; The host computer is configured to determine the horizontal rotation mode of the second manipulator and the process duration of coupling the two working areas based on the weight difference between the first sector (3) and the second sector (4).

2. The fan-shaped sheet shaping and laminating system according to claim 1, characterized in that: The host computer is provided with standard masses of the first sector (3) and the second sector (4). For a single grasping, the mass difference between the first sector (3) and the second sector (4) grasped by the second manipulator and the corresponding standard mass is calculated respectively, and the absolute value of the difference between the mass differences on both sides is determined as the fluctuation evaluation value.

3. The fan-shaped sheet shaping and laminating system according to claim 2, characterized in that: In response to the fluctuation evaluation value being less than or equal to a first threshold, the host computer completes the rotation process of the second robot arm (8) at a standard rotation speed.

4. The fan-shaped sheet shaping and laminating system according to claim 3 is characterized in that: In response to the fluctuation evaluation value being less than or equal to a second threshold value and greater than the first threshold value, the host computer completes the rotation process of the second mechanical arm (8) at a preset rotation speed; The preset rotation speed is smaller than the standard rotation speed, and the second threshold is larger than the first threshold.

5. The fan-shaped sheet shaping and laminating system according to claim 4, characterized in that: In response to the fluctuation evaluation value being greater than the second threshold, the host computer executes a segmented rotation strategy for the rotation process of the second manipulator, wherein the segmented rotation strategy specifically includes: The rotation path is divided into at least two equal-angle strokes, and the rotation is performed at the preset speed in each stroke. After a single stroke is completed, the preset length of time is paused before continuing to the next stroke.

6. The fan-shaped sheet shaping and laminating system according to claim 5, characterized in that: The host computer determines the process duration of the two working areas for a single grab with a preset rotation speed as the rotation speed. In response to the different process times of the two work zones, a speed coupling process is determined from the grabbing process, the turning process and the placing process of the work zone with the shorter process time.

7. The fan-shaped sheet shaping and laminating system according to claim 6, characterized in that: The speed coupling process determined by the host computer is the process with the largest deviation from the set path among the grabbing process, the turning process and the placing process of the previous group of fan-shaped pieces.

8. The fan-shaped sheet shaping and laminating system according to claim 7, characterized in that: The host computer reduces the actuation speed of the speed coupling process according to the difference in working time so that the process time of the two working areas is the same.

9. The fan-shaped sheet shaping and laminating system according to claim 1, characterized in that: The second mechanical arm (8) comprises a rotating shaft (81), an adapter plate (82) fixedly connected to the rotating shaft (81), and two grabbing members (83) respectively mounted at two ends of the adapter plate (82) and respectively matching the structures of the first sector piece (3) and the second sector piece (4).

10. The fan-shaped sheet shaping and laminating system according to claim 9, characterized in that: The grabbing member (83) is provided with flapping assemblies (84) on both sides thereof. The flapping assemblies (84) flap the edges of the first fan-shaped piece (3) and the second fan-shaped piece (4) by means of pneumatic force to adjust the positions of the first fan-shaped piece (3) and the second fan-shaped piece (4).

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