Full-automatic composite gluing and attaching control method and device

Abstract

The invention discloses a full-automatic composite gluing and laminating control method and device. The method comprises the following steps: determining a target working material cage according to state information of a laminating material in each material cage; determining a first transmission path of the suction cup assembly according to the state information of the laminating material in the target working material cage; wherein the first transmission path comprises a material taking position, a material taking recovery position, a laminating preparation position, a laminating position and a laminating recovery position; an X-axis servo and a suction cup lifting servo are sequentially controlled to conduct transmission according to the first transmission path, and when a suction cup assembly is transmitted to a material taking position, a suction cup is controlled to suck the attaching material; and when the suction cup assembly is transmitted to the laminating preparation position, the push plate servo is controlled to drive the laminating material to make contact with the rubber roller for laminating and transmit the laminating material to a preset laminating station, the suction cup lifting servo is controlled to drive the suction cup assembly to descend to the laminating position, the laminating material and the laminating material subjected to contact laminating are laminated, and the laminating and laminating process is completed. According to the invention, full-automatic alignment and lamination of the flexible material are realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of automated material composite processing equipment, and relates to a full-automatic composite laminating control method and device. Background Art

[0002] In the field of composite processing of flexible materials such as EPE / EVA / XPE, traditional processes usually use manual operation or semi-automatic equipment to complete material handling, alignment, and lamination. With the development of industrial automation, some equipment has achieved a certain degree of automation through fixed bin feeding and basic drive control. For example, material transfer is completed by manually triggering a suction cup to pick up materials or a simple robotic arm.

[0003] In the prior art, the design of automated equipment is mostly based on a single-bin feeding mode. Such technologies have reduced manual intervention to a certain extent. However, due to the lack of dynamic path planning and multi-bin collaborative control capabilities, the material lamination process relies on manual adjustment of the suction cup picking trajectory and bin position, resulting in low lamination efficiency and unstable alignment accuracy. At the same time, the single-bin feeding mode requires frequent shutdowns for replenishing materials, seriously restricting production continuity. Moreover, there is a risk of burns when manually operating high-temperature laminated materials. Summary of the Invention

[0004] In view of the deficiencies of the prior art, the present application provides a full-automatic composite laminating control method and device, which realizes full-automatic precise alignment and continuous production during the lamination process of flexible materials, and avoids the low efficiency, lamination deviation, and safety hazards caused by manual operation.

[0005] To achieve the above object, in a first aspect, the present invention provides a full-automatic composite laminating control method, which is applicable to a full-automatic composite laminating device. The full-automatic composite laminating device includes: a frame, a plurality of material cages, a push plate servo installed on the frame, a rubber roller, a suction cup assembly, a suction cup lifting servo for driving the suction cup assembly to lift, and an X-axis servo for driving the suction cup lifting servo to horizontally drive.

[0006] The full-automatic composite laminating control method includes:

[0007] Determine a target working material cage according to the status information of the laminating materials in each of the material cages;

[0008] Determine a first transmission path of the suction cup assembly according to the status information of the laminating materials in the target working material cage; wherein, the first transmission path includes: a material picking position, a material picking and rising position, a lamination preparation position, a lamination position, and a lamination and rising position;

[0009] According to the first transmission path, control the X-axis servo and the sucker lifting servo to perform transmission in sequence. When the sucker assembly is transmitted to the material taking position, control the sucker to suck and attach the material.

[0010] When the sucker assembly is transmitted to the pre-lamination preparation position, control the push plate servo to drive the laminating material to contact and pass through the glue roller for gluing and then transmit it to the preset lamination station. Control the sucker lifting servo to drive the sucker assembly to descend to the lamination position, and laminate the attached material and the glue-passed laminating material after contact gluing, thus completing the glue-passing and laminating process.

[0011] Compared with the prior art, the embodiments of the present application have the following beneficial effects: By determining the target working cage according to the status information of the laminating materials in each cage, it is possible to automatically select the available cage, reduce manual intervention, and improve the continuous operation efficiency of the equipment; By determining the first transmission path of the sucker assembly (including the material taking position, the material taking and rising position, the pre-lamination preparation position, the lamination position, and the lamination and rising position), it ensures the precise planning and sequential control of mechanical transmission, and avoids material misalignment or damage caused by path confusion; According to the first transmission path, control the transmission actions of the X-axis servo and the sucker lifting servo in sequence, trigger the sucker to suck the material at the material taking position, synchronously drive the push plate servo to complete gluing and transmit it to the lamination station at the pre-lamination preparation position, and finally complete the lamination process by the descent of the sucker, realizing full-process automation, and significantly improving the lamination accuracy and production efficiency.

[0012] In some embodiments of the first aspect of the present application, the fully automatic compound glue-passing and laminating device further includes a cage cylinder.

[0013] After determining the target working cage according to the status information of the laminating materials in each cage, it further includes:

[0014] According to the cage cylinder, drive the target working cage to perform horizontal transmission to the preset target working area position.

[0015] Compared with the prior art, the above embodiments have the following beneficial effects: By driving the target working cage to perform horizontal transmission to the preset working area position by the cage cylinder, it is possible to quickly switch between different cages, avoiding the time waste of manual handling or adjusting the cage position; The horizontal transmission action of the cage is combined with the path control logic to ensure the precise positioning of the target cage to the working area, providing a stable material supply basis for subsequent material taking and lamination, and further improving the reliability of the continuous operation of the equipment.

[0016] In some embodiments of the first aspect of the present application, the fully automatic compound glue-passing and laminating device further includes a cage lifting servo and a material detection photoelectric switch installed on the top of the cage.

[0017] After determining the target working material cage according to the state information of the laminating material in each material cage, it further includes:

[0018] Control the material cage lifting servo to drive the laminating material in the target working material cage to rise until the material detection photoelectric switch detects the laminating material.

[0019] Compared with the prior art, the above embodiments have the following beneficial effects: By controlling the material cage lifting servo to drive the laminating material in the material cage to rise until the material detection photoelectric switch is triggered, the stacking height of the material can be dynamically adjusted to ensure that the material is always at the preset material taking position each time material is taken; Combining the detection signal of the photoelectric switch, the material state is feedback in real time, avoiding material taking failure or idling caused by insufficient material height, and improving the operation stability of the equipment and the material utilization rate.

[0020] In some embodiments of the first aspect of the present application, determining the first transmission path of the suction cup assembly according to the state information of the laminating material in the target working material cage includes:

[0021] Taking the position of the upper surface of the topmost laminating material in the current target working material cage as the material taking position;

[0022] Calculating the material taking return position according to the preset material taking lift height, the single-layer material thickness of the laminating material, and the material taking position;

[0023] Calculating the laminating preparation position according to the material taking return position and the position of the laminating station;

[0024] Calculating the laminating position according to the preset laminating pressure value, the thickness of the adhesive material, the single-layer material thickness of the laminating material, and the position of the laminating station;

[0025] Calculating the laminating return position according to the preset laminating lift height, the thickness of the adhesive material, the single-layer material thickness of the laminating material, and the position of the laminating station;

[0026] Connect the material taking position, the material taking return position, the laminating preparation position, the laminating position, and the laminating return position to obtain the first transmission path of the suction cup assembly.

[0027] Compared with the prior art, the above embodiments have the following beneficial effects: By calculating the material picking position (based on the position of the top material surface), the picking and rising position (combining the preset lifting height and material thickness), the pre-fitting position (combining the rising position and the fitting station), the fitting position (according to the fitting pressure and material thickness), and the fitting and rising position (combining the lifting height and material thickness), a complete transmission path of the suction cup assembly is dynamically generated to ensure that the movement trajectory of the suction cup during material picking, transportation, and fitting is precisely matched with the material characteristics; the path calculation logic takes into account the material thickness change and process parameters, avoiding fitting deviation caused by material stacking error or process fluctuation, and ensuring the consistency of fitting quality.

[0028] In some embodiments of the first aspect of the present application, when the suction cup assembly is driven to the material picking position, controlling the suction cup to pick up the fitting material includes:

[0029] After the suction cup picks up the fitting material, detect the vacuum degree of the suction cup:

[0030] If the vacuum degree meets the preset threshold, continue to drive the suction cup assembly to the picking and rising position, and control the cage lifting servo to drive the remaining fitting material in the target working cage to rise until the material detection photoelectric switch detects the fitting material;

[0031] If not, re-drive the suction cup assembly to the material picking position to repeat picking up the fitting material, and simultaneously control the cage lifting servo to drive the remaining fitting material in the target working cage to rise by a preset jacking distance.

[0032] Compared with the prior art, the above embodiments have the following beneficial effects: By detecting the vacuum degree after the suction cup picks up the material to judge whether the material is successfully grasped, if it meets the threshold, continue to execute the subsequent actions, if not, re-pick up the material and simultaneously control the cage lifting servo to jack up the material, effectively solving the problem of picking failure caused by uneven material surface or insufficient suction force of the suction cup; the combination of vacuum degree detection and retry mechanism reduces the need for manual intervention and improves the picking success rate; the fine-tuning action of cage material jacking further optimizes the picking conditions and ensures the continuity and stability of cyclic operation.

[0033] In the second aspect, the present invention also provides a full-automatic composite laminating control system, including: a control module, a frame, a plurality of cages, a push plate servo installed on the frame, a rubber roller, a suction cup assembly, a suction cup lifting servo for driving the suction cup assembly to lift, and an X-axis servo for driving the suction cup lifting servo to horizontally transmit.

[0034] The control module is used to determine the target working cage according to the state information of the fitting material in each cage;

[0035] The control module is further configured to determine a first transmission path of the suction cup assembly according to the state information of the laminating material in the target working cage; wherein, the first transmission path includes: a material taking position, a material taking lifting position, a laminating preparation position, a laminating position, and a laminating lifting position;

[0036] The control module is further configured to sequentially control the X-axis servo and the suction cup lifting servo to perform transmission according to the first transmission path, and when the suction cup assembly is transmitted to the material taking position, control the suction cup to suck the laminating material;

[0037] The control module is further configured to, when the suction cup assembly is transmitted to the laminating preparation position, control the push plate servo to drive the adhesive material to contact and pass through the rubber roller and be transmitted to a preset laminating station, and control the suction cup lifting servo to drive the suction cup assembly to descend to the laminating position to laminate the laminating material and the adhesive material after passing through the rubber roller, thereby completing the adhesive laminating process.

[0038] Compared with the prior art, the above embodiments of the present application have the following beneficial effects: By determining the target working cage according to the state information of the laminating material in each cage, it is possible to automatically select an available cage, reduce manual intervention and improve the continuous operation efficiency of the equipment; By determining the first transmission path of the suction cup assembly (including the material taking position, the material taking lifting position, the laminating preparation position, the laminating position, and the laminating lifting position), it is ensured that the mechanical transmission is accurately planned and sequentially controlled, avoiding material misalignment or damage caused by path confusion; According to the first transmission path, the transmission actions of the X-axis servo and the suction cup lifting servo are sequentially controlled, the suction cup is triggered to suck the material at the material taking position, the push plate servo is synchronously driven to complete the adhesive application and be transmitted to the laminating station at the laminating preparation position, and finally the laminating process is completed by the descent of the suction cup, realizing full-process automation and significantly improving the laminating accuracy and production efficiency.

[0039] In some embodiments of the second aspect of the present application, the fully automatic composite adhesive laminating device further includes a cage cylinder;

[0040] The control module is further configured to, after determining the target working cage according to the state information of the laminating material in each cage, drive the target working cage to perform horizontal transmission to a preset target working area position according to the cage cylinder.

[0041] Compared with the prior art, the above embodiments have the following beneficial effects: By driving the target working cage to perform horizontal transmission to the preset working area position by the cage cylinder, it is possible to quickly switch between different cages, avoiding the time waste of manually handling or adjusting the cage position; The horizontal transmission action of the cage is combined with the path control logic to ensure that the target cage is accurately positioned in the working area, providing a stable material supply basis for subsequent material taking and laminating, and further improving the reliability of the continuous operation of the equipment.

[0042] In some embodiments of the second aspect of the present application, the fully automatic composite laminating device further includes a cage lifting servo and a material detection photoelectric switch installed on the top of the cage;

[0043] The control module is further configured to control the cage lifting servo to drive the laminating material in the target working cage to rise until the material detection photoelectric switch detects the laminating material after determining the target working cage according to the state information of the laminating material in each cage.

[0044] Compared with the prior art, the above embodiments have the following beneficial effects: By controlling the cage lifting servo to drive the laminating material in the cage to rise until the material detection photoelectric switch is triggered, the stacking height of the material can be dynamically adjusted to ensure that the material is always at the preset material taking position each time material is taken; Combining with the detection signal of the photoelectric switch, the material state is feedback in real time, avoiding material taking failure or idling caused by insufficient material height, and improving the operation stability of the equipment and the material utilization rate.

[0045] In some embodiments of the second aspect of the present application, the control module is further configured to determine the first transmission path of the suction cup assembly according to the state information of the laminating material in the target working cage, including:

[0046] Taking the position of the upper surface of the topmost laminating material in the current target working cage as the material taking position;

[0047] Calculating the material taking return position according to the preset material taking lifting height, the single-layer material thickness of the laminating material and the material taking position;

[0048] Calculating the laminating preparation position according to the material taking return position and the position of the laminating station;

[0049] Calculating the laminating position according to the preset laminating pressure value, the thickness of the laminating material, the single-layer material thickness of the laminating material and the position of the laminating station;

[0050] Calculating the laminating return position according to the preset laminating lifting height, the thickness of the laminating material, the single-layer material thickness of the laminating material and the position of the laminating station;

[0051] Connecting the material taking position, the material taking return position, the laminating preparation position, the laminating position and the laminating return position to obtain the first transmission path of the suction cup assembly.

[0052] Compared with the prior art, the above embodiments have the following beneficial effects: By calculating the material taking position (based on the position of the top surface of the material), the material taking lifting position (combining the preset lifting height and the material thickness), the fitting preparation position (combining the lifting position and the fitting station), the fitting position (according to the fitting pressure and the material thickness), and the fitting lifting position (combining the lifting height and the material thickness), a complete transmission path of the suction cup assembly is dynamically generated to ensure that the movement trajectory of the suction cup during material taking, transportation, and fitting is precisely matched with the material characteristics; the path calculation logic takes into account the material thickness change and process parameters, avoiding fitting deviation caused by material stacking error or process fluctuation, and ensuring the consistency of fitting quality.

[0053] In some embodiments of the second aspect of the present application, the control module is further configured to detect the vacuum degree of the suction cup after the suction cup sucks the fitting material:

[0054] If the vacuum degree meets the preset threshold, continue to drive the suction cup assembly to the material taking lifting position, and control the cage lifting servo to drive the remaining fitting materials in the target working cage to rise until the material detection photoelectric switch detects the fitting material;

[0055] If not, drive the suction cup assembly back to the material taking position to repeat sucking the fitting material, and simultaneously control the cage lifting servo to drive the remaining fitting materials in the target working cage to rise by a preset jacking distance.

[0056] Compared with the prior art, the above embodiments have the following beneficial effects: By detecting the vacuum degree after the suction cup takes the material to judge whether the material is successfully grasped, if it meets the threshold, continue to execute the subsequent actions, if not, re-take the material and simultaneously control the cage lifting servo to jack up the material, effectively solving the problem of material taking failure caused by uneven material surface or insufficient suction force of the suction cup; the combination of vacuum degree detection and retry mechanism reduces the need for manual intervention and improves the material taking success rate; the fine adjustment action of cage material jacking further optimizes the material taking conditions, ensuring the continuity and stability of cyclic operation. Description of the Drawings

[0057] Figure 1 : A flowchart of a full-automatic composite laminating control method provided in some embodiments of the present invention.

[0058] Figure 2 : A hardware structure diagram of a full-automatic composite laminating device provided in some embodiments of the present invention.

[0059] Figure 3 : A hardware structure diagram of the bottom of the cage of a full-automatic composite laminating device provided in some embodiments of the present invention

[0060] Figure 4:Schematic diagram of the hardware structure at the top of the material cage of a fully automatic composite laminating device provided in some embodiments of the present invention Detailed implementation manners

[0061] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0062] Embodiment 1:

[0063] Please refer to Figure 1 , a fully automatic composite laminating control method provided in an embodiment of the present invention, which is applicable to a fully automatic composite laminating device, such as Figure 2 shown in the schematic diagram of the hardware structure of a fully automatic composite laminating device. The fully automatic composite laminating device includes: a frame 1, a plurality of material cages 2, a push plate servo 3 installed on the frame 1, a rubber roller 4, a suction cup assembly 5, a suction cup lifting servo 6 for driving the suction cup assembly 5 to lift, and an X-axis servo 7 for driving the suction cup lifting servo 6 to horizontally drive;

[0064] The fully automatic composite laminating control method includes steps S1 to S4:

[0065] Step S1: Determine the target working material cage according to the state information of the laminating materials in each of the material cages 2.

[0066] In this embodiment, by determining the target working material cage according to the state information of the laminating materials in each material cage in step S1, available material cages can be automatically selected, reducing manual intervention and improving the continuous operation efficiency of the equipment.

[0067] In specific implementation, as Figure 3 shown in the schematic diagram of the hardware structure at the bottom of the material cage, a material detection photoelectric switch 13 can be installed at the bottom of the material cage 2 to detect the information of the laminating materials in each material cage 2, determine whether there is material in the material cage 2, and determine the target working material cage.

[0068] Furthermore, the fully automatic composite laminating device further includes a material cage cylinder 11;

[0069] After determining the target working material cage according to the state information of the laminating materials in each of the material cages 2, it further includes step S11, which is specifically as follows:

[0070] S11: Drive the target working material cage to horizontally drive to a preset target working area position according to the material cage cylinder 11.

[0071] In specific implementation, fixed slide rails are installed below each material cage 2. After determining the target working material cage, the material cage cylinder 11 can be activated to drive each material cage 2 for horizontal transmission, so that the target working material cage moves to the target working area, providing a basis for subsequent material taking.

[0072] In this embodiment, step S11 drives the target working material cage to horizontally transmit to the preset working area position through the material cage cylinder, which can quickly switch between different material cages, avoiding the time waste of manual handling or adjusting the position of the material cage; the horizontal transmission action of the material cage is combined with the path control logic to ensure that the target material cage is accurately positioned to the working area, providing a stable material supply basis for subsequent material taking and laminating, and further improving the reliability of the continuous operation of the equipment.

[0073] Further, as Figure 4 shown in the schematic diagram of the hardware structure at the top of the material cage, the fully automatic compound laminating device further includes a material cage lifting servo 10 and a material detection photoelectric switch 9 installed on the top of the material cage 2;

[0074] In specific implementation, the material detection photoelectric switch 9 installed on the top of the material cage 2 and the material detection photoelectric switch 13 installed at the bottom of the material cage 2 are the same material detection photoelectric switch.

[0075] After determining the target working material cage according to the state information of the laminating material in each material cage 2, it further includes step S12, which is specifically as follows:

[0076] S12: Control the material cage lifting servo 10 to drive the laminating material in the target working material cage to rise until the material detection photoelectric switch 9 detects the laminating material.

[0077] In this embodiment, step S12 drives the laminating material in the material cage to rise until the material detection photoelectric switch is triggered by controlling the material cage lifting servo, which can dynamically adjust the stacking height of the material, ensuring that the material is always at the preset material taking position during each material taking; combined with the detection signal of the photoelectric switch, the material state is fed back in real time, avoiding material taking failure or idling caused by insufficient material height, and improving the operation stability of the equipment and the material utilization rate.

[0078] Step S2: Determine the first transmission path of the suction cup assembly 5 according to the state information of the laminating material in the target working material cage; wherein, the first transmission path includes: a material taking position, a material taking return position, a laminating preparation position, a laminating position, and a laminating return position.

[0079] Further, step S2 can be realized through the following preferred implementation manners, including steps S21 - S26, which are specifically as follows:

[0080] S21: Use the position of the upper surface of the topmost laminating material in the current target working cage as the material taking position.

[0081] S22: Calculate the material taking rising position based on the preset material taking lifting height, the thickness of a single layer of the laminating material, and the material taking position.

[0082] In specific implementation, for example, taking the starting point height of the suction cup assembly 5 as 0, with the vertical downward direction as the positive direction, the preset material taking lifting height as 20, the thickness of a single layer of the laminating material as 5, and the height of the material taking position as 100, then the material taking rising position is 75 (i.e., 100 - 20 - 5 = 75).

[0083] S23: Calculate the laminating preparation position based on the material taking rising position and the position of the laminating station 8.

[0084] S24: Calculate the laminating position based on the preset laminating pressure value, the thickness of the glue - applying material, the thickness of a single layer of the laminating material, and the position of the laminating station 8.

[0085] When calculating the laminating position, also taking the starting point height of the suction cup assembly 5 as 0, with the vertical downward direction as the positive direction. For example, the height of the laminating station is 110, the thickness of the glue - applying material is 6, the thickness of a single layer of the laminating material is 5, and the pressure value is assumed to be 3, then the height of the laminating position is 102 (i.e., 110 - 6 - 5 + 3 = 102).

[0086] S25: Calculate the laminating rising position based on the preset laminating lifting height, the thickness of the glue - applying material, the thickness of a single layer of the laminating material, and the position of the laminating station 8.

[0087] In specific implementation, continuing the calculation in step S24, assuming the thickness of the glue - applying material is 6, the thickness of a single layer of the laminating material is 5, and the preset laminating lifting height is 24, then the laminating rising position is above the position of the laminating station 8, and the height of the laminating rising position is 75 (i.e., 110 - 6 - 5 - 24 = 75).

[0088] S26: Connect the material taking position, the material taking rising position, the laminating preparation position, the laminating position, and the laminating rising position to obtain the first transmission path of the suction cup assembly 5.

[0089] In this preferred embodiment, steps S21 - S26 dynamically generate a complete transmission path for the suction cup assembly by calculating the material picking position (based on the position of the top - most material surface), the picking - up and rising position (combining the preset lifting height and material thickness), the fitting - preparation position (combining the rising position and the fitting station), the fitting position (according to the fitting pressure and material thickness), and the fitting - rising position (combining the lifting height and material thickness), ensuring that the movement trajectory of the suction cup during material picking, transportation, and fitting precisely matches the material characteristics; the path - calculation logic takes into account material - thickness changes and process parameters, avoiding fitting deviations caused by material - stacking errors or process fluctuations, and ensuring the consistency of fitting quality.

[0090] Step S3: According to the first transmission path, sequentially control the X - axis servo 7 and the suction - cup lifting servo 6 for transmission. When the suction - cup assembly 5 is transmitted to the material - picking position, control the suction cup 51 to pick up the fitting material.

[0091] Preferably, in step S3, when the suction - cup assembly 5 is transmitted to the material - picking position and controls the suction cup 51 to pick up the fitting material, it further includes step S31, which is specifically as follows:

[0092] S31: After the suction cup 51 picks up the fitting material, detect the vacuum degree of the suction cup 51:

[0093] If the vacuum degree meets the preset threshold, continue to transmit the suction - cup assembly 5 to the picking - up and rising position, and control the cage - lifting servo 10 to drive the remaining fitting material in the target working cage to rise until the material - detection optoelectronic switch 9 detects the fitting material;

[0094] If not, re - transmit the suction - cup assembly 5 to the material - picking position to repeat picking up the fitting material, and simultaneously control the cage - lifting servo 10 to drive the remaining fitting material in the target working cage to rise by a preset lifting distance.

[0095] In specific implementation, for example, when the suction cup 51 absorbs the bonding material, the vacuum degree of the suction cup 51 is detected. If the vacuum degree meets the preset requirements, the suction cup lifting servo 6 is controlled to continue to drive the suction cup assembly 5 to rise. After the rise is completed, the material cage lifting servo 10 is controlled to drive the remaining material to lift the single-layer thickness of the bonding material upward to ensure that each time the suction cup assembly 5 absorbs the bonding material, it can be absorbed at the same position. At the same time, the round-trip distance of the suction cup assembly 5 is also reduced to improve efficiency. If the detected vacuum degree does not meet the standard, it means that the bonding material is at risk of falling off, then the suction cup assembly 5 is controlled to return downward to re-absorb the material, and at the same time, the material cage lifting servo 10 is driven to lift the bonding material upward, such as 1 mm, to assist the suction cup assembly 5 in re-absorb the bonding material. In addition, the maximum number of repeated absorptions can be set here. For example, if the vacuum degree does not meet the requirements after three consecutive absorptions, the operation can be stopped and an alarm prompt can be activated.

[0096] In this preferred embodiment, step S31 determines whether the material is successfully grasped by detecting the vacuum degree after the suction cup picks up the material. If it meets the threshold, the subsequent actions are continued. If not, the material is picked up again and the material cage lifting servo is synchronously controlled to lift the material, effectively solving the problem of material picking failure caused by uneven material surface or insufficient suction force of the suction cup; the combination of vacuum degree detection and retry mechanism reduces the need for manual intervention and improves the success rate of material picking; the fine-tuning action of the cage material lifting further optimizes the material picking conditions to ensure the continuity and stability of the cyclic operation.

[0097] Step S4: When the suction cup assembly 5 is transmitted to the bonding preparation position, the push plate servo 3 is controlled to drive the glued material to contact with the glue roller 4 for gluing and transmit it to the preset bonding station 8, and the suction cup lifting servo 6 is controlled to drive the suction cup assembly 5 to descend to the bonding position, to bond the bonding material with the glued material after contacting with the glue, and complete the gluing bonding process.

[0098] In specific implementation, a rotary encoder 12 can also be installed on the frame 1 to detect the rotation speed of the rubber roller 4, ensuring that the rotation linear speed of the rubber roller 4 is consistent with the speed of the push plate servo 3 to ensure the effect of gluing. After the gluing and laminating is completed, the suction cup assembly 5 is controlled to rise and the push plate servo 3 is synchronously controlled to return to the origin. When the suction cup assembly 5 rises to the laminating and rising position, the suction cup 51 is closed to release the laminating material so that the laminating material falls off; in addition, a conveyor belt can be installed on the laminating station 8 to transport the fallen material away from the laminating station 8; finally, after all materials have been laminating, an alarm prompt can be activated.

[0099] In summary, compared with the prior art, the above embodiments of the present application have the following beneficial effects: By determining the target working material cage according to the status information of the laminating material in each material cage, it is possible to automatically select an available material cage, reduce manual intervention and improve the continuous operation efficiency of the equipment; By determining the first transmission path of the suction cup assembly (including the material taking position, the material taking and lifting position, the laminating preparation position, the laminating position and the laminating and lifting position), it ensures the precise planning and sequential control of mechanical transmission, and avoids material misalignment or damage caused by path confusion; According to the first transmission path, the transmission actions of the X-axis servo and the suction cup lifting servo are controlled in sequence. The suction cup sucks the material at the material taking position, synchronously drives the push plate servo to complete glue application and transmits it to the laminating station at the laminating preparation position, and finally completes the laminating process by lowering the suction cup, realizing full-process automation and significantly improving the laminating accuracy and production efficiency.

[0100] Embodiment 2:

[0101] Please refer to Figure 2 , based on the same inventive concept, an automatic composite glue laminating device disclosed in an embodiment of the present invention includes: a control module, a frame 1, a plurality of material cages 2, a push plate servo 3 installed on the frame 1, a rubber roller 4, a suction cup assembly 5, a suction cup lifting servo 6 for driving the suction cup assembly 5 to lift, and an X-axis servo 7 for driving the suction cup lifting servo 6 to horizontally transmit;

[0102] The control module is used to determine the target working material cage according to the status information of the laminating material in each of the material cages 2;

[0103] The control module is further used to determine the first transmission path of the suction cup assembly 5 according to the status information of the laminating material in the target working material cage; wherein, the first transmission path includes: a material taking position, a material taking and lifting position, a laminating preparation position, a laminating position and a laminating and lifting position;

[0104] The control module is further used to sequentially control the X-axis servo 7 and the suction cup lifting servo 6 to perform transmission according to the first transmission path, and when the suction cup assembly 5 is transmitted to the material taking position, control the suction cup 51 to suck the laminating material;

[0105] The control module is further used to when the suction cup assembly 5 is transmitted to the laminating preparation position, control the push plate servo 3 to drive the glue-applied material to contact the rubber roller 4 for glue application and transmit it to a preset laminating station 8, and control the suction cup lifting servo 6 to drive the suction cup assembly 5 to descend to the laminating position to laminate the laminating material and the glue-applied material after glue application, and complete the glue laminating process.

[0106] Further, the automatic composite glue laminating device further includes a material cage cylinder 11;

[0107] The control module is further configured to, after determining the target working material cage according to the state information of the laminating material in each material cage 2, drive the target working material cage to perform horizontal transmission to a preset target working area position according to the material cage cylinder 11.

[0108] In this preferred embodiment, driving the target working material cage to perform horizontal transmission to the preset working area position by the material cage cylinder can quickly switch between different material cages, avoiding the time waste of manual handling or adjusting the position of the material cage; combining the horizontal transmission action of the material cage with the path control logic ensures that the target material cage is accurately positioned in the working area, providing a stable material supply basis for subsequent material picking and laminating, and further improving the reliability of continuous operation of the equipment.

[0109] Further, as Figure 4 shown in the schematic diagram of the hardware structure at the top of the material cage, the full-automatic composite laminating device further includes a material cage lifting servo 10 and a material detection photoelectric switch 9 installed at the top of the material cage 2;

[0110] The control module is further configured to, after determining the target working material cage according to the state information of the laminating material in each material cage 2, control the material cage lifting servo 10 to drive the laminating material in the target working material cage to rise until the material detection photoelectric switch 9 detects the laminating material.

[0111] In this preferred embodiment, by controlling the material cage lifting servo to drive the laminating material in the material cage to rise until the material detection photoelectric switch is triggered, the stacking height of the material can be dynamically adjusted to ensure that the material is always at the preset material picking position during each material picking; combining the detection signal of the photoelectric switch, the material state is real-time feedback, avoiding material picking failure or idling caused by insufficient material height, and improving the operation stability of the equipment and the material utilization rate.

[0112] Further, the control module is further configured to determine the first transmission path of the suction cup assembly 5 according to the state information of the laminating material in the target working material cage, including:

[0113] Taking the position of the upper surface of the topmost laminating material in the current target working material cage as the material picking position;

[0114] Calculating the material picking return position according to the preset material picking lift height, the single-layer material thickness of the laminating material, and the material picking position;

[0115] Calculating the laminating preparation position according to the material picking return position and the position of the laminating station 8;

[0116] Calculating the laminating position according to the preset laminating pressure value, the thickness of the laminating material, the single-layer material thickness of the laminating material, and the position of the laminating station 8;

[0117] Calculate the fitting return position according to the preset fitting lift height, the thickness of the laminating material, the thickness of a single layer of the laminating material, and the position of the laminating station 8;

[0118] Connect the material taking position, the material taking return position, the fitting preparation position, the fitting position, and the fitting return position to obtain the first transmission path of the suction cup assembly 5.

[0119] In this preferred embodiment, by calculating the material taking position (based on the surface position of the topmost material), the material taking return position (combining the preset lift height and the material thickness), the fitting preparation position (combining the return position and the laminating station), the fitting position (according to the fitting pressure and the material thickness), and the fitting return position (combining the lift height and the material thickness), a complete transmission path of the suction cup assembly is dynamically generated to ensure that the movement trajectory of the suction cup during material taking, transportation, and laminating precisely matches the material characteristics; the path calculation logic takes into account the material thickness change and process parameters to avoid fitting deviation caused by material stacking error or process fluctuation, and ensure the consistency of the fitting quality.

[0120] Further, the control module is further configured to, after the suction cup 51 sucks the laminating material, detect the vacuum degree of the suction cup 51:

[0121] If the vacuum degree meets the preset threshold, continue to drive the suction cup assembly 5 to the material taking return position, and control the cage lifting servo 10 to drive the remaining laminating material in the target working cage to rise until the material detection photoelectric switch 9 detects the laminating material;

[0122] If not, drive the suction cup assembly 5 back to the material taking position to repeat sucking the laminating material, and synchronously control the cage lifting servo 10 to drive the remaining laminating material in the target working cage to rise by a preset jacking distance.

[0123] In this preferred embodiment, by detecting the vacuum degree after the suction cup takes the material, it is judged whether the material is successfully grasped. If the threshold is met, the subsequent actions are continued. If not, the material is taken again and the cage lifting servo is synchronously controlled to jack the material, effectively solving the problem of material taking failure caused by uneven material surface or insufficient suction force of the suction cup; the combination of vacuum degree detection and retry mechanism reduces the need for manual intervention and improves the material taking success rate; the fine-tuning action of the cage material jacking further optimizes the material taking conditions to ensure the continuity and stability of the cyclic operation.

[0124] In summary, compared with the prior art, the embodiments of the present application have the following beneficial effects: By determining the target working material cage according to the state information of the laminating materials in each material cage, it is possible to automatically select available material cages, reduce manual intervention, and improve the continuous operation efficiency of the equipment; By determining the first transmission path of the suction cup assembly (including the material taking position, the material taking and lifting position, the laminating preparation position, the laminating position, and the laminating and lifting position), it ensures the precise planning and sequential control of mechanical transmission, and avoids material misalignment or damage caused by path chaos; According to the first transmission path, the transmission actions of the X-axis servo and the suction cup lifting servo are controlled in sequence. The suction cup sucks the material at the material taking position, synchronously drives the push plate servo to complete glue application and transmits it to the laminating station at the laminating preparation position, and finally completes the laminating process by lowering the suction cup, realizing full-process automation and significantly improving the laminating accuracy and production efficiency.

[0125] For the specific working process of the above-described modules, reference may be made to the corresponding process in the foregoing method embodiments, which will not be elaborated herein. The division of the modules is only a logical function division, and there may be other division methods in actual implementation. For example, multiple modules may be combined or integrated into another system.

[0126] The above specific embodiments have further elaborated the purpose, technical solutions, and beneficial effects of the present invention. It should be understood that the above are only specific embodiments of the present invention and are not used to limit the protection scope of the present invention. In particular, for those skilled in the art, any modifications, equivalent replacements, improvements, 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 fully automatic composite laminating control method, characterized in that Applicable to a fully automatic composite laminating and gluing device, the fully automatic composite laminating and gluing device includes: a frame, a plurality of material cages, a push plate servo installed on the frame, a rubber roller, a suction cup assembly, a suction cup lifting servo for driving the lifting of the suction cup assembly, and an X-axis servo for driving the horizontal transmission of the suction cup lifting servo; The fully automatic composite laminating and gluing control method includes: Determining a target working material cage according to the status information of the laminating materials in each of the material cages; Determining a first transmission path of the suction cup assembly according to the status information of the laminating materials in the target working material cage; wherein, the first transmission path includes: a material taking position, a material taking and rising position, a laminating preparation position, a laminating position, and a laminating and rising position; According to the first transmission path, sequentially controlling the X-axis servo and the suction cup lifting servo to perform transmission, and when the suction cup assembly is transmitted to the material taking position, controlling the suction cup to suck the laminating material; When the suction cup assembly is transmitted to the laminating preparation position, controlling the push plate servo to drive the gluing material to contact the rubber roller for gluing and transmit it to a preset laminating station, and controlling the suction cup lifting servo to drive the suction cup assembly to descend to the laminating position to laminate the laminating material and the gluing material after contact gluing, completing the gluing and laminating process.

2. The fully automatic composite laminating control method according to claim 1, wherein The fully automatic composite laminating and gluing device further includes a material cage cylinder; After determining the target working material cage according to the status information of the laminating materials in each of the material cages, it further includes: Driving the target working material cage to perform horizontal transmission to a preset target working area position according to the material cage cylinder.

3. The fully automatic composite laminating control method according to claim 2, characterized in that The fully automatic composite laminating and gluing device further includes a material cage lifting servo and a material detection photoelectric switch installed on the top of the material cage; After determining the target working material cage according to the status information of the laminating materials in each of the material cages, it further includes: Controlling the material cage lifting servo to drive the laminating material in the target working material cage to rise until the material detection photoelectric switch detects the laminating material.

4. The fully automatic composite laminating control method according to claim 3, wherein The determining the first transmission path of the suction cup assembly according to the status information of the laminating materials in the target working material cage includes: Taking the position of the upper surface of the topmost laminating material in the current target working material cage as the material taking position; Calculating the material taking and rising position according to a preset material taking lifting height, the single-layer material thickness of the laminating material, and the material taking position; Calculating the laminating preparation position according to the material taking and rising position and the position of the laminating station; Calculating the laminating position according to a preset laminating pressure value, the thickness of the gluing material, the single-layer material thickness of the laminating material, and the position of the laminating station; Calculating the laminating and rising position according to a preset laminating lifting height, the thickness of the gluing material, the single-layer material thickness of the laminating material, and the position of the laminating station; Connecting the material taking position, the material taking and rising position, the laminating preparation position, the laminating position, and the laminating and rising position to obtain the first transmission path of the suction cup assembly.

5. The fully automatic composite laminating control method according to claim 4, wherein, The controlling the suction cup to suck the laminating material when the suction cup assembly is transmitted to the material taking position includes: After the suction cup sucks the laminating material, detecting the vacuum degree of the suction cup: If the vacuum degree meets the preset threshold, continue to drive the suction cup assembly to the material taking and lifting position, and control the material cage lifting servo to drive the remaining laminating materials in the target working material cage to rise until the material detection photoelectric switch detects the laminating materials; If not, drive the suction cup assembly back to the material taking position to repeat the suction of the laminating materials, and synchronously control the material cage lifting servo to drive the remaining laminating materials in the target working material cage to rise by a preset lifting distance.

6. A fully automatic composite laminating and bonding device, characterized in that, It includes: A control module, a frame, several material cages, a push plate servo installed on the frame, a rubber roller, a suction cup assembly, a suction cup lifting servo for driving the suction cup assembly to lift, and an X-axis servo for driving the suction cup lifting servo to horizontally move; The control module is used to determine the target working material cage according to the state information of the laminating materials in each material cage; The control module is further used to determine the first transmission path of the suction cup assembly according to the state information of the laminating materials in the target working material cage; wherein, the first transmission path includes: a material taking position, a material taking and lifting position, a laminating preparation position, a laminating position, and a laminating and lifting position; The control module is further used to sequentially control the X-axis servo and the suction cup lifting servo to drive according to the first transmission path, and when the suction cup assembly is driven to the material taking position, control the suction cup to suck the laminating materials; The control module is further used to when the suction cup assembly is driven to the laminating preparation position, control the push plate servo to drive the glue-applied material to contact and pass through the rubber roller and drive it to a preset laminating station, and control the suction cup lifting servo to drive the suction cup assembly to descend to the laminating position to laminate the laminating materials with the glue-applied material after passing through the glue, and complete the glue-laminating process.

7. The fully automatic composite laminating and adhering device according to claim 6, wherein, The full-automatic composite glue-laminating device further includes a material cage cylinder; The control module is further used to drive the target working material cage to horizontally move to a preset target working area position according to the material cage cylinder after determining the target working material cage according to the state information of the laminating materials in each material cage.

8. The fully automatic composite laminating device according to claim 7, wherein The full-automatic composite glue-laminating device further includes a material cage lifting servo and a material detection photoelectric switch installed on the top of the material cage; The control module is further used to control the material cage lifting servo to drive the laminating materials in the target working material cage to rise until the material detection photoelectric switch detects the laminating materials after determining the target working material cage according to the state information of the laminating materials in each material cage.

9. The fully automatic composite laminating and bonding device according to claim 8, characterized in that, The control module is further used to determine the first transmission path of the suction cup assembly according to the state information of the laminating materials in the target working material cage, including: Taking the position of the upper surface of the topmost laminating material in the current target working material cage as the material taking position; Calculating the material taking and lifting position according to the preset material taking lifting height, the single-layer material thickness of the laminating materials, and the material taking position; Calculating the laminating preparation position according to the material taking and lifting position and the position of the laminating station; Calculating the laminating position according to the preset laminating pressure value, the thickness of the glue-applied material, the single-layer material thickness of the laminating materials, and the position of the laminating station; Calculate the fitting return position according to the preset fitting lift height, the thickness of the laminating material, the single-layer material thickness of the laminating material, and the position of the laminating station; Connect the material taking position, the material taking return position, the fitting preparation position, the fitting position, and the fitting return position to obtain the first transmission path of the suction cup assembly.

10. The fully automatic composite laminating device according to claim 9, wherein, The control module is further configured to, after the suction cup sucks the laminating material, detect the vacuum degree of the suction cup: If the vacuum degree meets the preset threshold, continue to drive the suction cup assembly to the material taking return position, and control the material cage lifting servo to drive the remaining laminating material in the target working material cage to rise until the material detection photoelectric switch detects the laminating material; If not, drive the suction cup assembly back to the material taking position to repeat sucking the laminating material, and synchronously control the material cage lifting servo to drive the remaining laminating material in the target working material cage to rise by a preset jacking distance.

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