A fan-shaped sheet shaping and stacking system and device

Abstract

The present invention relates to the technical field of sector sheet stacking and pressing, and in particular to a sector sheet shaping and stacking system and device, which includes a host computer, two working areas arranged mirror-symmetrically, and a hydraulic press disposed between the two working areas. A single working area includes a feeder, a feeding trolley, a moving workbench, a second robotic arm, and a CCD detection unit. The second robotic arm is used to simultaneously grab a first sector sheet and a second sector sheet from a positioning platform and place them on the moving workbench. The second robotic arm is configured to perform a grabbing process, a placing process, and a rotating process. The host computer is configured to determine the horizontal rotation mode of the second robotic arm based on the weight difference between the first sector sheet and the second sector sheet, and couple the process durations of the two working areas. Through the process integration of feeding, detection, grabbing, flipping, placing, rotating, and stacking, as well as the intelligent control of the host computer, the adaptability to the differences of sector sheets is improved, and the stacking accuracy and working efficiency of sector sheets are significantly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of laminated sector sheets, and particularly to a shaping and laminating system and device for sector sheets. Background Art

[0002] Currently, large motors and generators are all formed by splicing and laminating sector sheets. For example, an automated laminating system for a sector sheet generator in the prior art is disclosed, which includes a reciprocating component, a feeding component, a fixing component, a shock-absorbing component, a clamping component, a fixed workbench, and a sector sheet 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. In this technical solution, by controlling the second cylinder to drive the first clamp to move, the first clamp picks up the sector sheet body, by controlling the first cylinder to drive the feeding plate to move, controlling the second cylinder to drive the first clamp to drop, placing the sector sheet body on the feeding plate, controlling the first cylinder to drive the feeding plate to reset, and by controlling the robotic arm to drive the second clamp to pick up the sector sheet body on the feeding plate and place it on the product mold, thereby reducing labor costs and improving product quality.

[0003] However, the above laminating solution cannot ensure the matching of multiple processes and lacks effective adaptation to the differences of sector sheets, and thus cannot ensure the accuracy of lamination forming while ensuring work efficiency. Summary of the Invention

[0004] Therefore, the present invention provides a shaping and laminating system and device for sector sheets to overcome the problems in the prior art that the matching of multiple processes cannot be ensured, the effective adaptation to the differences of sector sheets is lacking, and thus the accuracy of lamination forming cannot be ensured while ensuring work efficiency.

[0005] To achieve the above object, the present invention provides a shaping and laminating system for sector sheets, including a host computer, two working areas arranged mirror-symmetrically, and a hydraulic press arranged between the two working areas. A single working area includes:

[0006] A feeder, the feeder is provided with a first robotic arm for grasping the first sector sheet and the second sector sheet to move in the vertical direction, and a positioning platform for positioning the sector sheet;

[0007] A feeding trolley, movably arranged at the bottom of the feeder, for separately placing the first sector sheet and the second sector sheet;

[0008] A moving workbench, the moving workbenches of the two working areas are arranged on the same track and are configured to be able to move under the hydraulic press for laminating the sector sheets;

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

[0010] Grasping process: Simultaneously grasp the first sector piece and the second sector piece by vacuum adsorption at both ends of the second robotic arm.

[0011] Placing process: Place the first sector piece or the second sector piece on the moving workbench.

[0012] Rotating process: Horizontally rotate 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 identification on the sector piece to determine the weight of the sector piece, and detect the position, profile, and missing corner of the sector piece.

[0014] The host computer is configured to determine the horizontal rotation mode of the second robotic arm based on the weight difference between the first sector piece and the second sector piece, and couple the process durations of the two work areas.

[0015] As a preferred technical solution of the sector piece shaping and stacking system, the host computer is provided with the standard masses of the first sector piece and the second sector piece. For a single grasp, calculate the mass differences between the first sector piece and the second sector piece grasped by the second robotic arm and the corresponding standard masses respectively, and determine the absolute value of the difference between the mass differences on both sides as the fluctuation evaluation value.

[0016] As a preferred technical solution of the sector piece shaping and stacking system, when the fluctuation evaluation value is less than or equal to the first threshold, the host computer completes the rotating process of the second robotic arm at the standard rotation speed.

[0017] As a preferred technical solution of the sector piece shaping and stacking system, when the fluctuation evaluation value is less than or equal to the second threshold and greater than the first threshold, the host computer completes the rotating process of the second robotic arm at a preset rotation speed;

[0018] wherein, the preset rotation speed is less than the standard rotation speed, and the second threshold is greater than the first threshold.

[0019] As a preferred technical solution of the sector piece shaping and stacking system, when the fluctuation evaluation value is greater than the second threshold, the host computer executes a segmented rotation strategy for the rotating process of the second robotic arm. The segmented rotation strategy specifically includes:

[0020] Divide the rotation path into at least two equal-angle strokes, rotate at the preset rotation speed in each stroke, and pause for a preset duration after each single stroke 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 Figures 1-4 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 embodiments, by integrating multiple processes such as feeding, detecting, grasping, flipping, placing, rotating, and stacking, and introducing a CCD detection and host computer intelligent control mechanism, the problems in the prior art of being unable to match multiple processes and lacking adaptability to the differences of fan-shaped sheets are effectively solved, the precision and working efficiency of fan-shaped sheet stacking are significantly improved, at the same time, efficient collaborative work between different work areas is realized, and production consistency is ensured.

[0057] In particular, by reserving weight identification for the fan-shaped sheet, the present invention can directly obtain the quality of the fan-shaped sheet. For a single grasp of the second robotic arm, if the quality difference is large, the rotational inertia is likely to cause position deviation of the fan-shaped sheet or the robotic arm, and this phenomenon can be effectively weakened through the corresponding rotation control strategy.

[0058] In particular, during the operation of the system of the present invention, the cooperation and working rhythm of the two working areas on both sides are required. If the operation durations of the processes on both sides are inconsistent, it will affect the working efficiency of the system. By determining the coupled processes and decelerating the corresponding processes, while improving the operation precision, the processes of the two working areas are coupled, and the working efficiency of the system is improved while improving the operation precision of the system.

[0059] Specifically, the feeder grasps the first fan-shaped sheet and the second fan-shaped sheet through the first robotic arm, and completes the positioning operation on the positioning platform, and combines with the CCD detection unit to perform precise quality, shape, and position detection. This design realizes precise control of the position and shape of the material through the cooperation of robotic arm grasping and precise detection. The CCD detection unit uses optical recognition technology to scan the shape and identification of the fan-shaped sheet, judges whether it is qualified through a preset algorithm, and triggers an alarm in case of an abnormality.

[0060] As a preferred technical solution of the fan-shaped sheet shaping and stacking system, the host computer is provided with the standard quality of the first fan-shaped sheet 3 and the second fan-shaped sheet 4. For a single grasp, the mass differences between the first fan-shaped sheet 3 and the second fan-shaped sheet 4 grasped by the second robotic arm and the corresponding standard quality are respectively calculated, and the absolute value of the difference between the mass differences on both sides is determined as the fluctuation evaluation value. Specifically, the host computer uses the standard quality of the fan-shaped sheet as the reference value, and by obtaining the mass data of the first fan-shaped sheet and the second fan-shaped sheet actually detected during a single grasp of the second robotic arm, calculates the mass differences from the corresponding standard quality respectively. Further calculate the absolute value of the difference between the mass differences on both sides 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 grasp. 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 the fluctuation evaluation value E:

[0065] E = |ΔM1 - ΔM2|,

[0066] where M 实际1 and M 实际2 are the actual masses of the first and second sector pieces respectively, and M 标准1 and M 标准2 are the corresponding standard masses respectively. Through the quantification of the fluctuation evaluation value, the asymmetry of the mass distribution of the sector pieces can be accurately reflected, providing an accurate parameter basis for the subsequent rotation process. It significantly improves the control ability of symmetry in the lamination and forming process, avoiding the rotational inertia deviation caused by mass differences. It realizes the dynamic adjustment of the rotational speed and the process rhythm, improving the stability and efficiency of the system operation.

[0067] For the weight identification, it can be achieved by designing special micro-identifications (such as micro-bumps, micro-grooves or micro-inserts) in the non-critical areas of the sector pieces. These identifications 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 sector pieces. Through the above design, the reservation of the weight identification can provide accurate mass data support for the shaping and lamination system without affecting the normal operation of the sector pieces.

[0068] As a preferred technical solution of the sector piece shaping and lamination system, the upper computer responds to the fluctuation evaluation value being less than or equal to the first threshold and completes the rotation process of the second robotic arm 8 at the standard rotational speed.

[0069] As a preferred technical solution of the sector piece shaping and lamination system, the upper computer responds to the fluctuation evaluation value being less than or equal to the second threshold and greater than the first threshold, and completes the rotation process of the second robotic arm 8 at a preset rotational speed;

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

[0071] As a preferred technical solution of the sector piece shaping and lamination system, the upper computer responds to the fluctuation evaluation value being greater than the second threshold and executes a segmented rotation strategy for the rotation process of the second robotic arm. The segmented rotation strategy specifically includes:

[0072] Dividing the rotation path into at least two equal-angle strokes, rotating at a preset rotational speed in each stroke, and pausing for a preset duration after each single stroke before continuing to the next stroke.

[0073] In the above embodiments, the host computer dynamically adjusts the rotation strategy of the second robotic 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 robotic arm at the standard rotation speed. At this time, the high-speed rotation can maximize the operation efficiency and is applicable to the case where the mass distribution of the fan-shaped sheet 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 the preset rotation speed, which is less than the standard rotation speed, so as to reduce the possible influence of the rotational inertia on the position of the fan-shaped sheet and adapt to the scenario where there are certain differences in the mass distribution. For the case where the fluctuation evaluation value exceeds the second threshold, the host computer executes a segmented rotation strategy, dividing the rotation path into at least two equal-angle strokes. In each stroke, the second robotic arm rotates at the preset rotation speed and pauses for a preset duration after completing a single stroke before continuing with the next stroke. This strategy effectively weakens the adverse effect of the rotational inertia on the system accuracy through step-by-step rotation, while ensuring the stability and consistency of the lamination forming. The overall solution significantly improves the reliability and flexibility of the shaping and lamination system by precisely adjusting the rotation speed and process rhythm to adapt to different mass difference conditions. It can be understood that the standard rotation speed, the preset duration, the preset rotation speed, the first threshold, and the second threshold are obtained through on-site calibration and can be adjusted according to the actual working conditions requirements.

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

[0075] In response to the different process durations of the two working areas, the host computer determines the speed coupling process from the grabbing process, the flipping process, and the placing process in the working area with the shorter process duration. In the above embodiments, in the optimal technical solution of the fan-shaped sheet shaping and lamination system, the host computer can dynamically adjust the process rhythm between the working areas to achieve efficient coordination. When the second robotic arm completes the rotation process at the preset rotation speed, the host computer calculates the difference in the process durations of the two working areas based on the real-time monitored operation progress of each working area. If it is detected that the process durations of the two working areas are different, the host computer analyzes the grabbing process, the flipping process, and the placing process in the working area with the shorter duration and determines the speed coupling process that has the greatest impact on the overall rhythm. By optimizing and adjusting the speed of this coupling process, such as appropriately reducing the actuation speed and prolonging the process duration, the host computer can effectively balance the operation progress of the two working areas and make them run synchronously. This method lays a foundation for high-precision lamination operations while ensuring the overall operation efficiency of the system and avoiding system incoordination problems caused by rhythm differences.

[0076] As an optimal technical solution of the fan-shaped sheet shaping and stacking system, the speed coupling process determined by the host computer is the process with the largest offset from the set path among the grasping process, flipping process, and placing process of the previous group of fan-shaped sheets. Specifically, the host computer further refines the selection logic of the speed coupling process. By dynamically monitoring the grasping process, flipping process, and placing process of the previous group of fan-shaped sheets, it determines the process with the largest offset from the set path as the speed coupling process. This determination of the offset is based on the robot arm trajectory data collected in real time and the preset standard path model. The magnitude of the offset reflects the degree of deviation in operation accuracy. The host computer preferentially selects the process with the largest offset for adjustment because the path error of such a process often has the greatest impact on the overall cycle time and the stacking accuracy of the fan-shaped sheets. By precisely controlling the operating speed of the speed coupling process, the host computer can effectively correct the path error, further enhancing the synchronization during operation between the two work areas and the consistency of stacking and forming. This mechanism not only optimizes the coordination between processes but also significantly improves the stability and adaptability of the system in a high-complexity operating environment.

[0077] As an optimal technical solution of the fan-shaped sheet shaping and stacking system, the host computer reduces the operating speed of the speed coupling process according to the difference in working duration, so that the process durations of the two work areas are the same. In the optimal technical solution of the fan-shaped sheet shaping and stacking system, the host computer realizes the dynamic balance of the process durations of the two work areas by precisely regulating the operating speed of the speed coupling process. When it detects a difference in the process durations of the two work areas, the host computer analyzes the operating parameters of the speed coupling process in the work area with the shorter duration according to the progress of this work area, and appropriately reduces the operating speed of this process. This speed adjustment aims to shorten the difference in process cycle time. On the premise of ensuring operation stability, it extends the completion time of the shorter process, ultimately making the process durations of the two work areas tend to be the same. The adjustment logic of the operating speed is based on a real-time feedback mechanism. The host computer will compare the adjusted speed parameters with the process completion efficiency to ensure that no new uncertainties are introduced due to too low a speed. In addition, by controlling the amplitude of the speed adjustment in a hierarchical manner (for example, reducing the speed in stages), the system can smoothly complete process synchronization without having a negative impact on the coherence of the current process. In this way, the fan-shaped sheet shaping and stacking system not only achieves the optimal in operation efficiency but also further strengthens the accuracy and consistency of multi-work area collaborative operation, meeting the requirements of high-reliability stacking operations under complex working conditions.

[0078] So far, the technical solution of the present invention has 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 all fall within the protection scope of the present invention.

[0079] The above are only the 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 changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within 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 processes: 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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