Continuous and accurate conveying system for sheet-shaped objects and working method of continuous and accurate conveying system

Abstract

The invention relates to a continuous and accurate sheet-shaped object conveying system and a working method thereof. The continuous and accurate sheet-shaped object conveying system comprises a main transmission shaft, a sheet-shaped object conveying belt, a sheet-shaped object single-sheet conveying device, a conveying tail end gauge, a main shaft angular position recognition encoder, a single-sheet conveying device transmission servo motor, a conveying belt transmission servo motor and a control mechanism. Compared with the prior art, the system has the advantages that the main shaft angular position identification encoder is additionally arranged on the main transmission shaft, angular position information and rotating speed information of the main transmission shaft are obtained, and a single-piece conveying device transmission servo motor and a conveying belt transmission servo motor are arranged; according to the sheet-shaped object conveying device, when sheet-shaped objects with different thicknesses, different lengths and different softness need to be continuously conveyed, and the requirement for the relative position precision of the sheet-shaped objects in the whole conveying process is high, the conveying modes can be switched, the conveying step pitch can be adjusted in a stepless mode, and the requirement for accurate and stable conveying of the different sheet-shaped objects is met.

Description

Technical Field

[0001] The invention relates to the technical field of sheet conveying, and in particular to a sheet continuous and precise conveying system and a working method thereof. Background Art

[0002] In the process of industrial production, sheet materials such as paper and film are often transported. The process of transporting sheet materials requires efficient transportation and accurate positioning. Because the transported materials are relatively light and thin, sheet materials are prone to drift, deviation or wrinkles during transportation, which makes it impossible for the materials to be positioned at the designated position on the conveyor belt during transportation, and the positioning is inaccurate. When the production efficiency is improved or the requirements for transportation positioning accuracy are increased, light and thin sheet materials are relatively light and thin, which causes drift during transportation, deviates from the original position, and even floats out of the conveyor, which will cause the production process to be unable to continue; or the positioning accuracy is poor when the transportation stops, making the production process unsustainable.

[0003] Conveying modes (excluding stacking conveying) are generally divided into two types: (positive and negative) fish scale conveying mode (see Figure 1 ); intermittent delivery mode (see Figure 2 ). Generally, there is only one mode on a set of equipment or two modes through mechanical switching and limited different step distances for conveying. The more types of switching, the more complex and large the mechanical structure. Different conveying modes will produce different conveying effects. When the thickness, softness and curvature of the sheet material change, the conveying step distance in the fish scale conveying mode will also have a greater impact on the conveying effect.

[0004] Therefore, there is an urgent need for a continuous and precise sheet conveying system that can switch the conveying mode and adjust the conveying step step to meet the requirements of precise and stable conveying of different sheet materials. Summary of the invention

[0005] The purpose of the present invention is to provide a continuous and precise sheet conveying system and a working method thereof in order to overcome the defects of the above-mentioned prior art. By adding a main shaft angular position identification encoder on the main transmission shaft, the angular position information and speed information of the main transmission shaft are obtained, and a single-piece conveying device transmission servo motor and a conveyor belt transmission servo motor are set. It is possible to continuously convey sheets of various thicknesses, lengths, and softnesses, and when the relative position accuracy of the sheets is required to be relatively high during the entire conveying process, the conveying mode can be switched and the conveying step distance can be adjusted steplessly to meet the requirements of accurate and stable conveying of different sheets.

[0006] The purpose of the present invention can be achieved by the following technical solutions:

[0007] The first object of the present invention is to provide a continuous and precise sheet conveying system, which comprises a main transmission shaft, a sheet conveyor belt, a sheet single-piece conveying device, a conveying end gauge, a spindle angular position identification encoder, a single-piece conveying device transmission servo motor, a conveyor belt transmission servo motor, and a control mechanism; the sheet single-piece conveying device is used to deliver sheets to the sheet conveyor belt; the sheet conveyor belt is transmission-connected to the conveyor belt transmission servo motor; the sheet single-piece conveying device is transmission-connected to the single-piece conveying device transmission servo motor; the main transmission shaft is connected to the spindle angular position identification encoder; the control mechanism is respectively connected to the spindle angular position identification encoder, the single-piece conveying device transmission servo motor, and the conveyor belt transmission servo motor; the conveying end gauge is arranged at the end of the sheet conveyor belt.

[0008] Furthermore, the control mechanism includes a controller; the controller is respectively connected to the spindle angular position recognition encoder, the single-chip conveying device transmission servo motor, and the conveyor belt transmission servo motor for communication.

[0009] Furthermore, the sheet-like object continuous and precise conveying system further comprises a conveying pressure wheel; the conveying pressure wheel is arranged above the sheet-like object conveying belt.

[0010] Optionally, the sheet-by-sheet conveying device comprises a suction nozzle; the suction nozzle is used to suck the sheets from the sheet pile.

[0011] Optionally, the sheet-by-sheet conveying device comprises a gripper; the gripper is used to grab the sheet from the sheet pile.

[0012] Furthermore, the sheet conveyor belt is wrapped around a driving wheel; and the driving wheel is drivingly connected to a conveyor belt driving servo motor.

[0013] Furthermore, the sheet continuous and precise conveying system also includes a conveying platform; the conveyor belt is arranged on the conveying platform; the upper end surface of the conveying terminal gauge is higher than the conveying platform, and the front edge of the sheet is positioned against the side of the terminal gauge, waiting to be taken away by the next process.

[0014] Furthermore, the spindle angular position identification encoder is a rotary encoder.

[0015] A second object of the present invention is to provide a working method of a sheet material continuous and precise conveying system, the working method comprising the following steps:

[0016] S1, the main shaft angular position identification encoder obtains the angular position information and speed information of the main transmission shaft;

[0017] S2. The servo motor driving the single-chip conveyor device drives the single-chip conveyor device according to the angular position information obtained by the encoder spindle angular position recognition encoder, so as to always keep the conveyor device delivering one sheet per cycle. At the same time, the timing of the servo motor driving the single-chip conveyor device delivering the sheet can be set arbitrarily, and the timing is relative to the phase of the main transmission shaft, for example: delivering when the main transmission shaft rotates 1°, 2°, 3°... or 180°...;

[0018] S3, the conveyor belt drive servo motor starts to run according to a certain phase angle on the single-piece conveyor device drive servo motor shaft. The determined phase angle must meet the instantaneous speed V≦V when the sheet contacts the conveyor end gauge. T The phase angle is relatively fixed with the phase angle of the main transmission shaft.

[0019] S4, controlling the conveying step P1 of each cycle of the sheet conveyor belt through the conveyor belt drive servo motor, P1 can be calculated using the speed of the conveyor belt drive servo motor, the transmission ratio of the sheet conveyor belt and the diameter of the sheet conveyor belt drive wheel, and the actual value of P1 is: 300mm, 400mm, 1000mm...etc.;

[0020] Furthermore, in step S2, the sheet single-piece conveying device conveys the sheet to between the conveying pressure wheel and the sheet conveyor belt, and conveys the sheet to the conveying end against the gauge through the conveyor belt movement of the sheet conveyor belt.

[0021] Furthermore, in step S2, the main transmission shaft rotates 360 degrees in each cycle.

[0022] Furthermore, the working method of the sheet-like object continuous and precise conveying system includes a fish-scale conveying mode or an intermittent conveying mode.

[0023] Furthermore, in the fish-scale conveying mode, the value of P1 must be smaller than the length of the sheet in the conveying direction, and at the same time larger than the distance moved by the adjacent next sheet during the time the sheet stays at the gauge at the conveying end, so as to ensure that the next sheet will not reach the gauge position at the conveying end before the previous sheet is taken away.

[0024] Furthermore, in the intermittent conveying mode, the conveying interval l2 is required to be greater than the distance moved by the adjacent next sheet during the time the sheet stays at the gauge (7) at the conveying end, so as to ensure that the front end of the next sheet does not touch the end of the previous sheet.

[0025] Furthermore, the conveying pitch l2 is the difference between the conveying pitch P1 and the length L of the conveyed sheet in the conveying direction (the length in the conveying direction).

[0026] Furthermore, the speed V of the conveyor belt drive servo motor when rotating at a uniform speed is calculated according to the current rotation speed of the single-chip conveyor device drive servo motor and the currently set conveying step; when V≦V T When V>V T When the conveyor belt drive servo motor (10) is operated according to the speed curve mode 2, V is the actual operating speed of the servo motor, and by setting the phase angle of the conveyor belt drive servo motor in S3, the speed of the sheet when it reaches the conveying end and is close to the gauge is in the speed curve 2 ( Figure 6 ) in the low speed area (V <V T area), so that the speed of the sheet hitting the gauge V≦V T Requirements; V T For safe speed.

[0027] Furthermore, in the speed curve mode 1, V adopts uniform motion (such as Figure 5 ); In the speed curve mode 2, V adopts a variable speed motion of first accelerating and then decelerating (such as Figure 6 ).

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1) The technical solution provides a system for continuous and precise conveying of sheets and a working method thereof. By adding a main shaft angular position identification encoder on the main transmission shaft, the angular position information and speed information of the main transmission shaft are obtained, and a single-piece conveying device transmission servo motor and a conveyor belt transmission servo motor are set. When it is necessary to continuously convey sheets of various thicknesses, lengths, and softnesses, and when the relative position accuracy of the sheets is required to be relatively high during the entire conveying process, the conveying mode can be switched and the conveying step distance can be adjusted steplessly to meet the requirements of accurate and stable conveying of different sheets.

[0030] 2) The technical solution provides a continuous and precise sheet conveying system, which has a simple structure and high conveying efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 Schematic diagram of fish scale transport mode, where (a) is positive fish scale mode and (b) is negative fish scale mode.

[0032] Figure 2 It is an intermittent delivery mode.

[0033] Figure 3 It is a schematic diagram of the structure of a traditional conveying system in a comparative example.

[0034] Figure 4This is a schematic diagram of the structure of the sheet material continuous and precise conveying system in Example 1 of the present technical solution.

[0035] Figure 5 This is a schematic diagram of a speed curve of the sheet material continuous and precise conveying system in Example 2 of the present technical solution.

[0036] Figure 6 This is a schematic diagram of another speed curve method of the sheet object continuous and precise conveying system in Example 2 of the present technical solution.

[0037] The numbers in the figure show:

[0038] 1. Main transmission shaft, 2. Multi-section transmission chain, 3. Phase adjustment mechanism, 4. Sheet conveyor belt, 5. Sheet single-piece conveyor device, 6. Conveying pressure wheel, 7. Conveying end gauge, 8. Spindle angular position recognition encoder, 9. Single-piece conveyor device transmission servo motor, 10. Conveyor belt transmission servo motor;

[0039] P1, conveying step, l1, stacking length, l2, conveying spacing, L, the length of the conveyed sheet in the conveying direction;

[0040] w, sheet pile, x, sheet running direction, y, sheet being transported, z, rotation direction. DETAILED DESCRIPTION

[0041] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. The features such as component models, material names, connection structures, control methods, etc. that are not clearly described in this technical solution are all regarded as common technical features disclosed in the prior art.

[0042] Example 1

[0043] This embodiment provides a system for continuous and precise conveying of sheet materials. Figure 4 As shown, the sheet continuous precise conveying system includes a main transmission shaft 1, a sheet conveyor belt 4, a conveying pressure wheel 6, a sheet single-piece conveying device 5, a conveying end gauge 7, a spindle angular position identification encoder 8, a single-piece conveying device transmission servo motor 9 (DCM1), a conveyor belt transmission servo motor 10 (DCM2), and a control mechanism; the sheet single-piece conveying device 5 is used to deliver sheets to the sheet conveyor belt 4; the sheet conveyor belt 4 is transmission-connected to the conveyor belt transmission servo motor 10; the sheet single-piece conveying device 5 is transmission-connected to the single-piece conveyor device transmission servo motor 9; the main transmission shaft 1 is connected to the spindle angular position identification encoder 8; the control mechanism is respectively connected to the spindle angular position identification encoder 8, the single-piece conveying device transmission servo motor 9, and the conveyor belt transmission servo motor 10; the conveying end gauge 7 is arranged at the end of the sheet conveyor belt 4; the conveying pressure wheel 6 is arranged above the sheet conveyor belt 4.

[0044] The control mechanism includes a controller, which is a programmable controller or a mainstream single-chip microcomputer or one of the x86 architecture, ARM architecture, and RISC-V architecture processors; the controller is respectively communicated with the spindle angular position identification encoder 8, the single-chip transmission device transmission servo motor 9, and the conveyor belt transmission servo motor 10.

[0045] The specific working principles of the spindle angular position recognition encoder 8, the single-chip conveyor drive servo motor 9 (DCM1), and the conveyor belt drive servo motor 10 (DCM2) are prior art and will not be described in detail here.

[0046] The communication connection may be a wired or wireless connection.

[0047] The sheet conveying device 5 includes a suction nozzle or a gripper to suck or grab the sheet from the sheet pile. The sheet conveying device 5 can be an existing sheet conveying device with conventional settings. The sheet conveying device 5 is a prior art. The device can extract the top or bottom sheet from a pile of sheets and send it out. Extraction from the top is generally called the upper suction type, and extraction from the bottom is generally called the lower suction type. The upper suction type is drawn in the figure. The present application only needs to control the timing and frequency of the device to convey the sheet out, and has nothing to do with how the device conveys.

[0048] The sheet conveyor belt 4 is wrapped around the driving wheel; the driving wheel is connected to the conveyor belt driving servo motor 10 in driving connection.

[0049] The sheet material continuous and precise conveying system also includes a conveying platform; a conveyor belt is arranged on the conveying platform; the upper end surface of the conveying end gauge 7 is higher than the conveying platform, and the front edge of the sheet material is positioned against the side of the end gauge, waiting to be taken away by the next process.

[0050] The working method of the above-mentioned sheet material continuous and precise conveying system comprises the following steps:

[0051] A main shaft angular position identification encoder 8 is added to the main transmission shaft 1 to obtain the angular position information and rotation speed information of the main transmission shaft 1 .

[0052] The single-chip conveyor transmission servo motor 9 drives the sheet conveyor 5 according to the angular position information obtained by the main shaft angular position recognition encoder 8, and always keeps the conveyor 5 delivering a sheet per cycle (the main transmission shaft 1 rotates 360 degrees). At the same time, the timing of the sheet being delivered (relative to the phase of the main transmission shaft 1) can be arbitrarily set in the servo system program of the single-chip conveyor transmission servo motor 9. The timing of the sheet being delivered by the single-chip conveyor transmission servo motor 9 can be arbitrarily set, and the timing is relative to the phase of the main transmission shaft 1. For example: deliver when the main transmission shaft 1 rotates 1°, 2°, 3°... or 180°...

[0053] The conveyor belt drive servo motor 10 starts to operate according to a certain phase angle on the shaft of the single-piece conveyor device drive servo motor 9. The determined phase angle needs to meet the instantaneous speed V≦V when the sheet contacts the conveyor end gauge. T The phase angle is relatively fixed with the phase angle of the main transmission shaft 1. When the phase angle on the shaft of the single-chip conveyor drive servo motor 9 is reset, the phase angle of the conveyor belt drive servo motor 10 does not change relative to the single-chip conveyor drive servo motor 9, but the phase angle relative to the main transmission shaft 1 changes in the same way as the single-chip conveyor drive servo motor 9.

[0054] The conveying step P1 of each cycle of the sheet conveyor belt 4 can be set in the servo system program of the conveyor belt drive servo motor 10. P1 can be calculated using the rotation speed of the conveyor belt drive servo motor 10, the transmission ratio of the sheet conveyor belt, and the diameter of the sheet conveyor belt drive wheel. The actual value of P1 is, for example, 300 mm, 400 mm, 1000 mm, etc.

[0055] In fish scale transport mode ( Figure 1 ), the value of P1 must be smaller than the length of the sheet in the conveying direction, and at the same time larger than the distance moved by the next adjacent sheet during the time the sheet stays at the gauge 7 at the conveying end, so as to ensure that the next sheet will not reach the position at the gauge 7 at the conveying end before the previous sheet is taken away.

[0056] Similarly, in intermittent delivery mode ( Figure 2 ), the conveying spacing l2 is required to be greater than the distance moved by the adjacent next sheet during the time the sheet stays at the gauge 7 at the conveying end, so as to ensure that the front end of the next sheet does not touch the end of the previous sheet.

[0057] Example 2

[0058] The present embodiment is different from the embodiment 1 in that:

[0059] In this embodiment, the speed of the conveyor belt drive servo motor 10 can automatically switch its speed curve mode according to the current speed of the single-chip conveyor device drive servo motor 9 and the currently set conveying step P1. The speed V of the conveyor belt drive servo motor 10 when rotating at a uniform speed is calculated according to the current speed of the single-chip conveyor device drive servo motor 9 and the currently set conveying step P1. When V≦V T When the conveyor belt drives the servo motor 10, the speed curve mode 1 ( Figure 5 ) operation; when V>V T When the conveyor belt drives the servo motor 10, the speed curve mode 2 ( Figure 6) operation, in this example, the speed of the sheet when it contacts the conveyor end is the minimum value of V, and the contact timing (determines the phase angle) is Figure 6 0°(360°). V T The safety speed is the maximum speed that can ensure that the edge of the sheet is not damaged when the sheet is close to the conveying end and against gauge 7. It can be determined by testing the rigidity strength of the edges of sheets of different materials and thicknesses.

[0060] Comparative Example

[0061] like Figure 3 As shown, this comparative example provides a traditional conveying system, in which a sheet conveying device 5 sucks (grabs) a sheet from a sheet pile and sends it between a conveying pressure wheel 6 and a sheet conveying belt 4, and the sheet is sent to the conveying end gauge 7 by the movement of the conveying belt, where the sheet stays and waits for the next handover. During the stay, the sheet conveying belt 4 provides a conveying force to make the edge of the sheet close to the conveying end gauge 7 to maintain the position accuracy. The sheet conveying belt 4 is powered by the main transmission shaft 1 and is driven by a multi-stage transmission chain 2. In each cycle (the main transmission shaft 1 rotates 360 degrees), the sheet conveying device 5 sends out a sheet, and the distance (transmission step P1) sent out by the sheet conveying belt 4 in each cycle is determined by the transmission ratio of the multi-stage transmission chain and the diameter of the driving wheel of the sheet conveying belt 4. The timing of the sheet reaching the conveying end gauge 7 relative to the phase of the main transmission shaft 1 can be adjusted by the phase adjustment mechanism 3. This system is a mechanical transmission system and cannot meet the requirement that the transmission step P1 can be adjusted steplessly.

[0062] The technical improvements of the present invention compared with the comparative example are as follows: a main shaft angular position identification encoder 8 is added to the main transmission shaft 1 to obtain the angular position information and rotation speed information of the main transmission shaft 1; the multi-stage transmission chain 2 and the phase adjustment mechanism 3 are cancelled, and a single-piece conveying device transmission servo motor 9 and a conveyor belt transmission servo motor 10 are added. The present invention is suitable for the continuous transportation of sheets of various thicknesses, lengths, and softnesses, and is suitable for situations where the relative position accuracy of the sheets is required to be relatively high throughout the transportation process. The transportation mode can be switched and the transportation step can be adjusted steplessly to meet the requirements of accurate and stable transportation of different sheets.

[0063] The above description of the embodiments is to facilitate the understanding and use of the invention by those skilled in the art. It is obvious that those skilled in the art can easily make various modifications to these embodiments and apply the general principles described herein to other embodiments without creative work. Therefore, the present invention is not limited to the above embodiments, and improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the present invention should be within the scope of protection of the present invention.

Claims

1. A continuous and precise sheet conveying system, characterized in that: The sheet material continuous and precise conveying system comprises a main transmission shaft (1), a sheet material conveying belt (4), a sheet material single-piece conveying device (5), a conveying end gauge (7), a main shaft angular position identification encoder (8), a single-piece conveying device transmission servo motor (9), a conveying belt transmission servo motor (10), and a control mechanism; The sheet-like object single-piece conveying device (5) is used to convey the sheet-like objects onto the sheet-like object conveying belt (4); The sheet conveyor belt (4) is in driving connection with a conveyor belt driving servo motor (10); The sheet-like object single-piece conveying device (5) is in driving connection with a single-piece conveying device transmission servo motor (9); The main transmission shaft (1) is connected to a main shaft angular position identification encoder (8); The control mechanism is respectively connected to the spindle angular position recognition encoder (8), the single-chip conveyor drive servo motor (9), and the conveyor belt drive servo motor (10); The conveying end gauge (7) is arranged at the end of the sheet conveying belt (4).

2. A sheet material continuous and precise conveying system according to claim 1, characterized in that: The control mechanism includes a controller; The controller is respectively connected to the main shaft angular position identification encoder (8), the single-chip conveying device transmission servo motor (9), and the conveyor belt transmission servo motor (10) for communication.

3. A sheet material continuous and precise conveying system according to claim 1, characterized in that: The sheet material continuous and precise conveying system further comprises a conveying pressing wheel (6); The conveying pressure wheel (6) is arranged above the sheet conveying belt (4).

4. A working method of a sheet material continuous and precise conveying system as claimed in any one of claims 1 to 3, characterized in that: The working method comprises the following steps: S1, a main shaft angular position identification encoder (8) obtains angular position information and rotation speed information of a main transmission shaft (1); S2, the servo motor (9) driving the sheet conveyor (5) drives the sheet conveyor (5) according to the angular position information obtained by the encoder main shaft angular position recognition encoder (8), and always keeps the conveyor 5 delivering one sheet per cycle. At the same time, the servo motor (9) driving the sheet conveyor arbitrarily sets the timing of the sheet being delivered, that is, the phase relative to the main transmission shaft 1; S3, the conveyor belt drive servo motor (10) starts to operate according to a certain phase angle on the shaft of the single-piece conveyor device drive servo motor (9), and the determined phase angle must meet the instantaneous speed V≦V when the sheet contacts the conveyor end gauge (7) T The phase angle is relatively fixed with the phase angle of the main transmission shaft (1); S4, controlling the conveying step distance of the sheet conveyor belt (4) in each cycle through the conveyor belt drive servo motor (10).

5. The working method of the sheet material continuous and precise conveying system according to claim 4, characterized in that: In step S2, the sheet conveying device (5) conveys the sheet to between the conveying pressure wheel (6) and the sheet conveying belt (4), and conveys the sheet to the conveying end gauge (7) through the sheet conveying belt (4).

6. The working method of the sheet material continuous and precise conveying system according to claim 4, characterized in that: In step S2, the main transmission shaft (1) rotates 360 degrees in each cycle.

7. The working method of the sheet material continuous and accurate conveying system according to claim 6, characterized in that: Calculating the speed V of the conveyor belt drive servo motor (10) when rotating at a uniform speed according to the current rotation speed of the single-chip conveyor device drive servo motor (9) and the currently set conveying step distance; When V ≦ V T When the conveyor belt drive servo motor (10) operates according to the speed curve mode 1; When V>V T When the conveyor belt drive servo motor (10) operates according to the speed curve mode 2; V T For safe speed.

8. The working method of the sheet material continuous and precise conveying system according to claim 7, characterized in that: In the speed curve mode 1, V adopts uniform motion; In the speed curve method 2, V adopts a variable speed motion of first accelerating and then decelerating.

9. The working method of the sheet material continuous and precise conveying system according to claim 4, characterized in that: In the fish-scale conveying mode, the conveying step value is smaller than the length of the sheet in the conveying direction, and is also larger than the distance that the next adjacent sheet moves during the time the sheet stays at the gauge (7) at the conveying end, so as to ensure that the next sheet does not reach the position of the gauge (7) at the conveying end before the previous sheet is taken away.

10. The working method of the sheet material continuous and accurate conveying system according to claim 4, characterized in that: In the intermittent conveying mode, the conveying interval is greater than the distance that the next adjacent sheet moves during the time that the sheet stays at the gauge (7) at the conveying end, so as to ensure that the front end of the next sheet does not touch the end of the previous sheet; The conveying pitch is the difference between the conveying pitch and the length of the conveyed sheet in the conveying direction.

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