Automatic cutting and carrying production line for glass fiber cloth

Abstract

The application discloses a glass fiber cloth automatic cutting and carrying production line, which is applied to the technical field of glass fiber cloth cutting and carrying and comprises a ground rail, a robot, a carrying mechanism, a conveying mechanism, a cutting mechanism and a unwinding machine. The robot is arranged on the ground rail, the carrying mechanism is arranged on the robot, the conveying mechanism is located on one side of the ground rail, the cutting mechanism is located above the conveying mechanism, and the unwinding machine is located on one side of the setting direction of the conveying mechanism. The conveying mechanism, the cutting mechanism and the unwinding machine are arranged in a line. The carrying mechanism comprises a connecting seat, a supporting assembly, a suction assembly, a cleaning assembly and a camera. The supporting assembly comprises two groups of air cylinders, a push plate, a supporting plate and a motor. A plurality of limiting grooves are equidistantly arranged at the bottom of the push plate, and the supporting plate is arranged in the limiting grooves. The application can clean and cut and detect the glass fiber cloth during carrying, and realizes efficient and accurate automatic carrying of the glass fiber cloth.

Description

Technical Field

[0001] This invention relates to the field of fiberglass cloth cutting and handling technology, specifically to an automatic fiberglass cloth cutting and handling production line. Background Technology

[0002] In the field of composite material manufacturing, fiberglass cloth is a key reinforcing substrate, and the level of automation in its cutting and handling directly affects product quality and production efficiency. Currently, the industry still largely relies on manual labor or semi-automatic single-piece equipment for cutting fiberglass cloth, while subsequent processes mainly use manual handling and placement.

[0003] Due to the inherent physical properties of fiberglass, both manual and existing mechanical cutting inevitably produce a large amount of burrs, debris, and fiber dust at the cut surface. These residues not only pollute the working environment but also pose a fundamental technical obstacle to subsequent automated handling. When attempting automated handling using robots in conjunction with vacuum suction cups, these burrs and debris at the cut points severely compromise the seal between the suction cup and the fabric, leading to insufficient vacuum, pickup failure, and even material detachment or misalignment during handling. Simultaneously, loose fibers are easily drawn into the vacuum system by the suction cup's airflow, causing blockages and equipment malfunctions. This problem makes it difficult to form a smooth automated closed loop between cutting and handling, forcing companies to revert to inefficient, high-pollution-risk manual handling even after achieving automated cutting at the front end, severely hindering the realization of fully automated production lines.

[0004] Therefore, it is necessary to provide an automated fiberglass cloth cutting and handling production line to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide an automated fiberglass cloth cutting and handling production line that can clean the fiberglass cloth during handling, thereby achieving efficient and precise automated handling of the fiberglass cloth and solving the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an automatic cutting and handling production line for fiberglass cloth, comprising a ground rail, a robot, a handling mechanism, a conveying mechanism, a cutting mechanism, and an unwinding machine. The robot is mounted on the ground rail, the handling mechanism is mounted on the robot, the conveying mechanism is located on one side of the ground rail, the cutting mechanism is located above the conveying mechanism, and the unwinding machine is located on one side of the direction in which the conveying mechanism is set. The conveying mechanism, the cutting mechanism, and the unwinding machine are arranged in a co-line manner.

[0007] The conveying mechanism includes a connecting seat, a support assembly, an adsorption assembly, a cleaning assembly, and a camera. The support assembly includes two sets of cylinders, a push plate, a tray, and a motor. The bottom of the push plate is provided with several limiting grooves at equal intervals. The tray is placed in the limiting grooves. The motor is fixed to the side of the push plate. The output end of the motor is fixedly connected to a rotating shaft. The rotating shaft passes through the push plate and is rotatably connected to the push plate. The rotating shaft is fixedly connected to the tray.

[0008] The adsorption assembly includes a second support base, two sets of second cylinders, and several suction cups. The cleaning assembly includes a third support base, two sets of first support frames, a second motor, and an adsorption chamber. The camera is fixed at the bottom of the third support base and located between the two sets of first support frames. The camera signal is connected to a cutting and handling system.

[0009] According to the above technical solution, the connecting seat is located at the end of the robot's movable end, the supporting component is located below the connecting seat, the adsorption component is located on the side of the supporting component, the cleaning component is located on the side of the adsorption component, and the camera is located on the cleaning component.

[0010] According to the above technical solution, a support rod is fixedly connected to the bottom of the connecting seat, and two sets of support seats are fixedly connected to the side of the support rod. The two sets of cylinders are respectively fixed on the two sets of support seats. Two sets of guide rails are fixedly connected to the bottom of the support rod. The push plate is set on the two sets of guide rails and slidably connected to the guide rails. The output end of the cylinder is fixedly connected to the push plate.

[0011] According to the above technical solution, the second support base is fixed at the end of the guide rail away from the first support base. The second support base is C-shaped. Two sets of the second cylinders are fixed on the top of the second support base. The output end of the second cylinder passes through the second support base. The output end of the second cylinder is fixedly connected to a support plate. Several suction cups are equidistantly arranged at the bottom of the support plate.

[0012] According to the above technical solution, the support base three is fixed on the side of the support base two away from the guide rail, the support base three is E-shaped, and the two sets of support frames one are arranged at the E-shaped opening of the support base three;

[0013] The second motor is fixed to the side of the third support base. The output end of the second motor is fixedly connected to the second rotating shaft. The second rotating shaft passes through the third support base and is rotatably connected to the third support base. The first support frame is fixedly connected to the third support base.

[0014] According to the above technical solution, the support frame is H-shaped, the adsorption chamber is located at the end of the support frame away from the support base, the adsorption chamber is rotatably connected to the support frame, and the end of the adsorption chamber is fixed to the support frame using fasteners.

[0015] According to the above technical solution, the cutting and handling system is electrically connected to an air pump and a three-way valve. The three-way valve includes one air outlet and two air inlets. The air pump is connected to the air outlet pipeline of the three-way valve. A pressure valve is installed on the pipeline connecting the air pump and the three-way valve. The pressure valve is connected to the cutting and handling system via a signal. The cutting and handling system is also electrically connected to the ground rail and the robot. The cutting and handling system is used to acquire the cutting image captured by the camera and identify the cutting and handling status of the fiberglass cloth edge, control the start of the air pump, control the opening and closing of the three-way valve, and acquire the adsorption pressure detected by the pressure valve. In turn, it adjusts the air pumping pressure to ensure the cleaning and automated handling of the fiberglass cloth.

[0016] Several suction cups are connected to air distribution pipes, which are connected to a main air pipe. The main air pipe is connected to one of the air inlets of a three-way valve, and the other air inlet of the three-way valve is also connected to the adsorption chamber pipe. A filter is installed on the pipe connecting the three-way valve and the adsorption chamber.

[0017] According to the above technical solution, the conveying mechanism includes a conveyor belt, two sets of clamping parts and a roller pressing part. The conveyor belt is located on one side of the ground rail. The two sets of clamping parts are arranged at both ends of the conveyor belt in the conveying direction. A connecting frame is fixedly connected to the top of the clamping part located in the conveyor belt in the feeding direction. The roller pressing part is arranged at the end of the connecting frame away from the clamping part.

[0018] According to the above technical solution, the cutting mechanism includes a second support frame, a three-axis moving seat, and a cutting tool. The second support frame is mounted above the conveyor belt and is located on the side of the roller pressing section away from the connecting frame. An operating port is provided on the top of the second support frame, the three-axis moving seat is located in the operating port on the top of the second support frame, and the cutting tool is mounted on the three-axis moving seat.

[0019] The conveying mechanism, cutting mechanism, and unwinding machine are all electrically connected to the cutting and handling system.

[0020] According to the above technical solution, a waste bin is provided on the side of the conveying mechanism away from the unwinding machine.

[0021] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: The present invention integrates four major functional modules of support, adsorption, cleaning and visual inspection into a single handling mechanism by setting up a support component, an adsorption component, a cleaning component and a camera, and is uniformly driven by a robot, which greatly simplifies the overall layout of the production line and enables the completion of a variety of complex operations in a limited space. At the same time, by using the support component as the main component and the adsorption component as the auxiliary component, the handling method achieves flexible and non-destructive gripping of fragile materials, and significantly reduces the material loss rate during the handling process.

[0022] By setting up a three-way valve, a single negative pressure air source can be used in a time-division manner for the adsorption chamber of the cleaning component and the suction cup of the gripping component. Only one air pump is needed instead of two independent vacuum systems, which reduces hardware costs and simplifies the internal piping of the entire handling mechanism, reducing maintenance points and potential failure points. At the same time, by using the pressure valve detection, the pressure of the adsorption fiberglass cloth can be adjusted according to different fiberglass cloths to achieve self-adaptation, which further helps to reduce the material loss rate during the handling process. Attached Figure Description

[0023] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0024] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 This is a schematic diagram of the transport mechanism structure of the present invention;

[0026] Figure 3 This is a top view schematic diagram of the conveying mechanism of the present invention;

[0027] Figure 4 This is a schematic front sectional view of the conveying mechanism of the present invention;

[0028] Figure 5 This is the invention Figure 4 Enlarged structural diagram of region A in the middle;

[0029] Figure 6 This is a schematic diagram of the pipeline connection of the present invention;

[0030] Figure 7 This is a partial structural schematic diagram of the present invention;

[0031] Figure 8 This is a partial rear view schematic diagram of the structure of the present invention;

[0032] In the diagram: 1. Ground rail; 2. Robot; 3. Handling mechanism; 31. Connecting seat; 32. Support rod; 33. Support assembly; 331. Support seat one; 332. Cylinder one; 333. Guide rail; 334. Push plate; 335. Limiting groove; 336. Pallet; 337. Motor one; 34. Adsorption assembly; 341. Support seat two; 342. Cylinder two; 343. Support plate; 344. Suction cup; 35. Cleaning assembly 351. Support base three; 352. Support frame one; 353. Motor two; 354. Adsorption chamber; 36. Camera; 37. Air pump; 38. Three-way valve; 39. Pressure valve; 4. Conveying mechanism; 41. Conveyor belt; 42. Clamping part; 43. Connecting frame; 44. Rolling part; 5. Cutting mechanism; 51. Support frame two; 52. Three-axis moving seat; 53. Cutting knife; 6. Unwinding machine; 7. Waste bin. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] Please see Figure 1-8 This invention provides a technical solution: an automatic fiberglass cloth cutting and handling production line, including a ground rail 1, a robot 2, a handling mechanism 3, a conveying mechanism 4, a cutting mechanism 5, and an unwinding machine 6. The robot 2 is mounted on the ground rail 1, the handling mechanism 3 is mounted on the robot 2, the conveying mechanism 4 is located on one side of the ground rail 1, the cutting mechanism 5 is located above the conveying mechanism 4, and the unwinding machine 6 is located on one side of the direction in which the conveying mechanism 4 is set. The conveying mechanism 4, the cutting mechanism 5, and the unwinding machine 6 are arranged in a coaxial manner. The ground rail 1 is used to drive the robot 2 to move along the direction in which the ground rail 1 is set, and the robot 2 is used to drive the handling mechanism 3 to move along the direction in which the conveying mechanism 4 is set, thereby facilitating the handling mechanism 3 to handle the cut fiberglass cloth. The conveying mechanism 4 is used to convey the fiberglass cloth to be cut, the cutting mechanism 5 is used to cut the fiberglass cloth raw material, and the unwinding machine 6 is used to automatically unwind the fiberglass cloth raw material roll, facilitating the conveying by the conveying mechanism 4 and the cutting by the cutting mechanism 5.

[0035] Specifically, such as Figures 2-5As shown, the conveying mechanism 3 includes a connecting seat 31, a support assembly 33, an adsorption assembly 34, a cleaning assembly 35, and a camera 36. The connecting seat 31 is located at the end of the movable end of the robot 2 for connection with the robot 2. The support assembly 33 is located below the connecting seat 31. The adsorption assembly 34 is located on the side of the support assembly 33. The cleaning assembly 35 is located on the side of the adsorption assembly 34. The camera 36 is located on the cleaning assembly 35. The support assembly 33 is used to support the cut and cleaned fiberglass cloth. The adsorption assembly 34 is used to adsorb the fiberglass cloth and assist the support assembly 33 in supporting the fiberglass cloth. The cleaning assembly 35 is used to clean the cut fiberglass cloth, remove debris from the cut edges, and facilitate the adsorption assembly 34 in adsorbing the fiberglass cloth.

[0036] Furthermore, such as Figure 2 and Figure 3 As shown, the support assembly includes two sets of cylinders 332, a push plate 334, a support plate 336, and a motor 337. A support rod 32 is fixedly connected to the bottom of the connecting seat 31. Two sets of support seats 331 are fixedly connected to the side of the support rod 32. The two sets of cylinders 332 are respectively fixed on the two sets of support seats 331. Two sets of guide rails 333 are fixedly connected to the bottom of the support rod 32. The push plate 334 is set on the two sets of guide rails 333 and slidably connected to the guide rails 333. The output end of the cylinder 332 is fixedly connected to the push plate 334. When the cylinder 332 starts to extend, it can push the push plate 334 to move away from the cylinder 332 on the guide rail 333. Conversely, when the cylinder 332 starts to retract, it can drive the push plate 334 to move closer to the cylinder 332 on the guide rail 333.

[0037] The bottom of the push plate 334 is provided with several equidistant limiting grooves 335. The support plate 336 is set in the limiting grooves 335. The motor 337 is fixed to the side of the push plate 334. The output end of the motor 337 is fixedly connected to the rotating shaft. The rotating shaft passes through the push plate 334 and is rotatably connected to the push plate 334. The rotating shaft is fixedly connected to the support plate 336. When the motor 337 starts to rotate forward, it can drive the support plate 336 to rotate forward around the circumference of the rotating shaft. Conversely, when the motor 337 starts to rotate in reverse, it can drive the support plate 336 to rotate in reverse around the circumference of the rotating shaft. This adjusts the tilt angle of the support plate 336 to facilitate the support of the cut fiberglass cloth.

[0038] It should be noted that cylinder 332 is preferably a multi-stage cylinder, which can increase the moving distance of push plate 334 within a limited space.

[0039] Furthermore, such as Figures 2-5As shown, the adsorption assembly 34 includes a second support base 341, two sets of second cylinders 342, and several suction cups 344. The second support base 341 is fixed to the end of the guide rail 333 away from the first support base 331. The second support base 341 is C-shaped. The two sets of second cylinders 342 are fixed to the top of the second support base 341. The output end of the second cylinder 342 passes through the second support base 341. The output end of the second cylinder 342 is fixedly connected to a support plate 343. When the second cylinder 342 is in a fully retracted state, the support plate 343 is located in the C-shaped opening of the second support base 341. Several suction cups 344 are equidistantly arranged at the bottom of the support plate 343. When the two sets of second cylinders 342 are activated to extend, they can drive the support plate 343 and the suction cups 344 above it to descend. Conversely, when the second cylinder 342 is activated to retract, it can drive the support plate 343 and the suction cups 344 above it to rise.

[0040] Furthermore, such as Figures 2-5 As shown, the cleaning component 35 includes a support base 351, two sets of support frames 352, a motor 353, and an adsorption chamber 354. The support base 351 is fixed on the side of the support base 341 away from the guide rail 333. The support base 351 is E-shaped, and the two sets of support frames 352 are set at the E-shaped opening of the support base 351.

[0041] Motor 2 353 is fixed to the side of support base 351. The output end of motor 2 353 is fixedly connected to rotating shaft 2. Rotating shaft 2 passes through support base 351 and is rotatably connected to support base 351. Support frame 1 352 is fixedly connected to support base 351. Thus, by starting motor 2 353 and rotating forward or backward, support frame 1 352 can be driven to rotate forward or backward around the circumference of rotating shaft 2.

[0042] The support frame 352 is H-shaped to reduce its overall weight. The adsorption chamber 354 is located at the end of the support frame 352 away from the support base 351. The adsorption chamber 354 is rotatably connected to the support frame 352. The end of the adsorption chamber 354 is fixed to the support frame 352 with fasteners, thereby allowing adjustment of the angle between the adsorption chamber 354 and the support frame 352, and adjusting the adsorption angle and range of the adsorption chamber 354 on the fiberglass cloth.

[0043] Furthermore, the camera 36 is fixed to the bottom of the support base 351, located between the two sets of support frames 352. The camera 36 is used to photograph the cut fiberglass cloth, and the camera 36 is connected to the cutting and handling system.

[0044] Specifically, such as Figure 6As shown, the cutting and handling system is electrically connected to an air pump 37 and a three-way valve 38. The air pump 37 is an adjustable air pump. The three-way valve 38 includes one air outlet and two air inlets. The air pump 37 is connected to the air outlet of the three-way valve 38. A pressure valve 39 is installed on the pipeline connecting the air pump 37 and the three-way valve 38. The pressure valve 39 is connected to the signal of the cutting and handling system. The pressure valve 39 is used to record the adsorption pressure when the air pump 37 starts. The cutting and handling system is also electrically connected to the ground rail 1 and the robot 2 to control the operation of the ground rail 1, the robot 2 and the conveying mechanism 4. The cutting and handling system is used to acquire the cutting image captured by the camera 36 and identify the cutting and handling status of the fiberglass cloth edge, control the start of the air pump 37, control the opening and closing of the three-way valve 38 and acquire the adsorption pressure detected by the pressure valve 39, and then adjust the air pump pressure when the air pump 37 starts to ensure the cleaning and automated operation of the fiberglass cloth.

[0045] Several suction cups 344 are connected to air distribution pipes, which are connected to a main air pipe. The main air pipe is connected to one of the air inlets of a three-way valve 38. The other air inlet of the three-way valve 38 is also connected to the adsorption chamber 354. A filter is installed on the pipe connecting the three-way valve 38 and the adsorption chamber 354. The filter is used to adsorb and filter impurities.

[0046] Specifically, such as Figure 7 and Figure 8 As shown, the conveying mechanism 4 includes a conveyor belt 41, two sets of clamping parts 42, and a roller pressing part 44. The conveyor belt 41 is located on one side of the ground rail 1. The two sets of clamping parts 42 are located at both ends of the conveyor belt 41 in the conveying direction. A connecting frame 43 is fixedly connected to the top of the clamping part 42 located in the material feeding direction of the conveyor belt 41. The roller pressing part 44 is located at the end of the connecting frame 43 away from the clamping part 42. The conveyor belt 41 is used to drive the fiberglass cloth raw material, the clamping part 42 is used to clamp the fiberglass cloth raw material, the connecting frame 43 is used to provide support for the roller pressing part 44, and the roller pressing part 44 is used to press the edge of the fiberglass cloth raw material conveyed on the conveyor belt 41 to prevent the fiberglass cloth raw material from curling up when the cutting mechanism 5 cuts.

[0047] Specifically, such as Figure 7 and Figure 8 As shown, the cutting mechanism 5 includes a second support frame 51, a three-axis moving seat 52, and a cutting blade 53. The second support frame 51 is mounted above the conveyor belt 41 and is located on the side of the roller pressing section 44 away from the connecting frame 43. An operating port is provided on the top of the second support frame 51. The three-axis moving seat 52 is located in the operating port on the top of the second support frame 51. The cutting blade 53 is mounted on the three-axis moving seat 52. The second support frame 51 is used to provide support for the three-axis moving seat 52. The three-axis moving seat 52 is used to drive the cutting blade 53 to move back and forth, up and down, left and right within the spatial range. The cutting blade 53 is used to cut the fiberglass cloth on the conveyor belt 41.

[0048] The conveying mechanism 4, the cutting mechanism 5, and the unwinding machine 6 are all electrically connected to the cutting and handling system and are controlled and operated by the cutting and handling system.

[0049] It should be noted that the conveyor belt 41, clamping unit 42, roller pressing unit 44, three-axis moving seat 52, cutting blade 53, and unwinding machine 6 are all existing devices that can be selected according to actual needs, including but not limited to whether to set them, drive type, setting spacing, etc., which will not be elaborated here.

[0050] Specifically, such as Figure 1 As shown, a waste bin 7 is provided on the side of the conveying mechanism 4 away from the unwinding machine 6. The waste bin 7 is used for recycling fiberglass cloth cutting waste.

[0051] Working principle:

[0052] Step 1: Feeding and Conveying: The unwinding machine 6 automatically unwinds the fiberglass cloth raw material roll and feeds it into the conveying mechanism 4. The conveyor belt 41 transports the flattened fiberglass cloth raw material to the cutting station. During this process, the clamping part 42 located in the material feeding direction of the conveyor belt 41 clamps the raw material to ensure smooth entry. Subsequently, the fiberglass cloth raw material passes through the roller pressing part 44, which presses its edges to prevent it from curling up during the subsequent cutting process.

[0053] Step 2: Positioning and Cutting: The cutting and conveying system controls the cutting mechanism 5 to start working. The three-axis moving seat 52 drives the cutting blade 53 to move back and forth, left and right, and up and down in space, and precisely cuts the fiberglass cloth on the conveyor belt 41 according to the preset program.

[0054] Step 3: Inspection and handling preparation: After cutting, the cutting and handling system controls the ground rail 1 to drive the robot 2 to move, and the robot 2 itself to position the handling mechanism 3 above the cut fiberglass cloth;

[0055] A camera 36 fixed on the conveying mechanism 3 captures images of the cut fiberglass cloth and transmits the images to the cutting and conveying system, which then analyzes the quality and position of the cut edges of the fiberglass cloth.

[0056] The cutting and handling system is equipped with standard dimensions and outlines of the cut fiberglass cloth. When the actual size and outline of the fiberglass cloth in the image match the standard size and outline, the cutting is normal and the subsequent process proceeds normally. Otherwise, the cutting is abnormal, the cutting and handling system will issue an alarm and remove the affected piece.

[0057] Step Four: Cleaning and Handling: Cleaning Stage: Motor 2 353 starts rotating forward and drives support frame 1 352 to rotate forward, so that the adsorption chamber 354 faces the fiberglass cloth. At the same time, the air inlet connected to the three-way valve 38 and the adsorption chamber 354 opens and controls the air pump 37 to start pumping air. Simultaneously, the filter starts, using the negative pressure generated above the fiberglass cloth by the adsorption chamber 354 to suck away the edge debris generated during the cutting process. The filter then filters and collects the debris. During this process, the pressure valve 39 obtains the adsorption pressure and feeds it back to the cutting and handling system. At the same time, the cutting and handling system obtains the image captured by the camera 36, ​​identifies the state of the fiberglass cloth, and controls the air pump 37 to increase its operating power, that is, to increase the air pump pressure. During this process, the adsorption pressure detected by the pressure valve 39 will also change accordingly, until the cutting and handling system identifies that the fiberglass cloth in the image captured by the camera 36 is in a slightly floating state, stops increasing the operating power of the air pump 37, and records the adsorption pressure recorded by the pressure valve 39 at this time as f. 清 .

[0058] Handling stage: The cutting and handling system is equipped with a pressure deviation ∆F to evaluate the state of the fiberglass cloth when it is picked up and its state after handling.

[0059] After cleaning, the cutting and handling system controls the three-way valve 38 and the air inlet of the suction cup 344 to open and controls the air pump 37 to start air extraction. At the same time, cylinder 1 332 pushes the push plate 334 to extend outward along the guide rail 333, so that the support plate 336 moves to the bottom of the fiberglass cloth. Meanwhile, motor 1 337 adjusts the tilt angle of the support plate 336 to match the shape of the fiberglass cloth and prepares to support it. Then, the two sets of cylinders 2 342 extend synchronously, pushing the support plate 343 and several suction cups 344 at its bottom to descend until the suction cups 344 contact the surface of the fiberglass cloth.

[0060] To ensure that suction cup 344 can properly lift the fiberglass cloth, the suction pressure must be greater than the adsorption pressure f. 清 Simultaneously, the cutting and handling system acquires the image captured by camera 36, ​​identifies the state of the fiberglass cloth, and controls the suction pump 37 to increase its operating power, i.e., increase the suction pressure of the suction pump 37. If the fiberglass cloth can be picked up by suction cup 344, the system immediately stops increasing the operating power of the suction pump 37. The cutting and handling system records the adsorption pressure detected by pressure valve 39 and denotes this adsorption pressure as f. 吸 When f 吸 ≤f 清 When the value is +∆F, the fiberglass cloth surface is normal after cleaning.

[0061] When f 吸 >f 清When the value is +∆F, it indicates that there may be damage to the surface or edges of the fiberglass cloth, which may cause leakage during adsorption. Therefore, a greater adsorption force is required to pick up the fiberglass cloth. The cutting and handling system will issue an alarm and carry out handling and rejection procedures.

[0062] If the fiberglass cloth cannot be picked up by suction cup 344, it indicates that there is an abnormality in the suction cup and its connecting pipes or that there is extensive damage on the surface of the fiberglass cloth. The cutting and handling system will issue an alarm, and the staff will handle the situation.

[0063] Then, with the combined action of the support component 33 and the adsorption component 34, the cut and cleaned fiberglass cloth is stably gripped.

[0064] Following instructions, robot 2 moves the handling mechanism 3 and the gripped fiberglass cloth to the designated stacking position or the next process platform. Upon reaching the target position, the vacuum pump 37 stops working, the suction cup 344 releases negative pressure, and simultaneously, cylinder 2 342 retracts, causing the suction cup 344 to rise. Cylinder 1 332 retracts, causing the pallet 336 to retract, placing the fiberglass cloth stably. The cutting and handling system then re-acquires the image of the fiberglass cloth captured by camera 36. If the surface of the fiberglass cloth is deformed at the suction position corresponding to the suction cup 344, including but not limited to wrinkles and protrusions, and if the number of such deformations is less than the number of suction cups 344, it indicates uneven suction pressure of the suction cups 344. If the number of such deformations is the same as the number of suction cups 344, it indicates that the suction force is too strong, but the suction force is just enough to lift the fiberglass cloth. This indicates that the surface of the fiberglass cloth was not thoroughly cleaned, causing the suction cups 344 to pick up residual debris during suction. The cutting and handling system then issues an alarm and performs a removal process.

[0065] The handling and rejection process is divided into two cases: For items that can be picked up by suction cups 344: Motor 1 337 adjusts the tilt angle of the pallet 336 to match the shape of the fiberglass cloth, preparing to support it; then, the two sets of cylinders 2 342 extend synchronously, pushing the support plate 343 and several suction cups 344 at its bottom to descend until the suction cups 344 contact the surface of the fiberglass cloth and support it. Then, the ground rail 1 and robot 2 run to transport the fiberglass cloth to the designated position.

[0066] Items that cannot be picked up by the suction cups: continue to be conveyed by the conveyor belt 41 and discharged into the waste bin 7.

[0067] Step 5: Reset and Cycle: After placement, robot 2 and transport mechanism 3 reset, ready to carry out the next cutting and transport operation of fiberglass cloth. At the same time, conveyor mechanism 4 transports new fiberglass cloth raw material to the cutting station, and cutting mechanism 5 performs the next cutting. This cycle is repeated to achieve automated continuous production.

[0068] The above methods enable the cleaning and cutting inspection of fiberglass cloth during handling, achieving efficient and precise automated handling of fiberglass cloth.

[0069] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0070] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automated fiberglass cloth cutting and handling production line, comprising a ground rail (1), a robot (2), a handling mechanism (3), a conveying mechanism (4), a cutting mechanism (5), and an unwinding machine (6), characterized in that, The robot (2) is set on the ground rail (1), the conveying mechanism (3) is set on the robot (2), the conveying mechanism (4) is located on one side of the ground rail (1), the cutting mechanism (5) is located above the conveying mechanism (4), and the unwinding machine (6) is located on one side of the direction in which the conveying mechanism (4) is set. The conveying mechanism (4), the cutting mechanism (5), and the unwinding machine (6) are arranged in the same line. The handling mechanism (3) includes a connecting seat (31), a support assembly (33), an adsorption assembly (34), a cleaning assembly (35), and a camera (36). The connecting seat (31) is located at the end of the moving end of the robot (2). The support assembly (33) is located below the connecting seat (31). The adsorption assembly (34) is located on the side of the support assembly (33). The cleaning assembly (35) is located on the side of the adsorption assembly (34). The camera (36) is located on the cleaning assembly (35). The support assembly includes two sets of cylinders (332), a push plate (334), a support plate (336), and a motor (337). The bottom of the push plate (334) is provided with several limiting grooves (335) at equal intervals. The support plate (336) is set in the limiting grooves (335). The motor (337) is fixed to the side of the push plate (334). The output end of the motor (337) is fixedly connected to a rotating shaft. The rotating shaft passes through the push plate (334) and is rotatably connected to the push plate (334). The rotating shaft is fixedly connected to the support plate (336). The adsorption assembly (34) includes a second support base (341), two sets of second cylinders (342) and several suction cups (344). The cleaning assembly (35) includes a third support base (351), two sets of first support frames (352), a second motor (353) and an adsorption chamber (354). The camera (36) is fixed at the bottom of the third support base (351) and located between the two sets of first support frames (352). The camera (36) is connected to a cutting and handling system. The cutting and handling system is electrically connected to an air pump (37) and a three-way valve (38). The three-way valve (38) includes one air outlet and two air inlets. The air pump (37) is connected to the air outlet pipe of the three-way valve (38). A pressure valve (39) is installed on the pipe connecting the air pump (37) and the three-way valve (38). The pressure valve (39) is connected to the cutting and handling system via a signal. The cutting and handling system is also electrically connected to the ground rail (1) and the robot (2). The cutting and handling system is used to acquire the cutting image captured by the camera (36) and identify the cutting and handling status of the fiberglass cloth edge, control the start of the air pump (37), control the opening and closing of the three-way valve (38), and acquire the adsorption pressure detected by the pressure valve (39). In turn, the air pump (37) is adjusted to ensure the cleaning and automated handling of the fiberglass cloth. Several suction cups (344) are connected to air distribution pipes, which are connected to a main air pipe. The main air pipe is connected to one of the air inlets of a three-way valve (38), and the other air inlet of the three-way valve (38) is connected to the adsorption chamber (354). A filter is provided on the pipe connecting the three-way valve (38) and the adsorption chamber (354).

2. The automatic cutting and handling production line for fiberglass cloth according to claim 1, characterized in that, The bottom of the connecting seat (31) is fixedly connected to a support rod (32), and the side of the support rod (32) is fixedly connected to two sets of support seats (331). The two sets of cylinders (332) are respectively fixed on the two sets of support seats (331). The bottom of the support rod (32) is fixedly connected to two sets of guide rails (333). The push plate (334) is set on the two sets of guide rails (333) and slidably connected to the guide rails (333). The output end of the cylinder (332) is fixedly connected to the push plate (334).

3. The automatic cutting and handling production line for fiberglass cloth according to claim 2, characterized in that, The second support base (341) is fixed at the end of the guide rail (333) away from the first support base (331). The second support base (341) is C-shaped. Two sets of cylinders (342) are fixed on the top of the second support base (341). The output end of the cylinder (342) passes through the second support base (341). The output end of the cylinder (342) is fixedly connected to a support plate (343). Several suction cups (344) are equidistantly arranged at the bottom of the support plate (343).

4. The automatic cutting and handling production line for fiberglass cloth according to claim 3, characterized in that, The support base three (351) is fixed on the side of the support base two (341) away from the guide rail (333). The support base three (351) is E-shaped, and two sets of the support frame one (352) are arranged at the E-shaped opening of the support base three (351). The second motor (353) is fixed on the side of the third support (351). The output end of the second motor (353) is fixedly connected to the second rotating shaft. The second rotating shaft passes through the third support (351) and is rotatably connected to the third support (351). The first support frame (352) is fixedly connected to the third support (351).

5. The automatic cutting and handling production line for fiberglass cloth according to claim 4, characterized in that, The support frame 1 (352) is H-shaped, and the adsorption chamber (354) is located at the end of the support frame 1 (352) away from the support base 3 (351). The adsorption chamber (354) is rotatably connected to the support frame 1 (352), and the end of the adsorption chamber (354) is fixed to the support frame 1 (352) with fasteners.

6. The automatic cutting and handling production line for fiberglass cloth according to claim 5, characterized in that, The conveying mechanism (4) includes a conveyor belt (41), two sets of clamping parts (42) and a roller pressing part (44). The conveyor belt (41) is located on one side of the ground rail (1). The two sets of clamping parts (42) are located at both ends of the conveyor belt (41) in the conveying direction. A connecting frame (43) is fixedly connected to the top of the clamping part (42) located in the material receiving direction of the conveyor belt (41). The roller pressing part (44) is located at the end of the connecting frame (43) away from the clamping part (42).

7. The automatic cutting and handling production line for fiberglass cloth according to claim 6, characterized in that, The cutting mechanism (5) includes a second support frame (51), a three-axis moving seat (52), and a cutting tool (53). The second support frame (51) is mounted above the conveyor belt (41). The second support frame (51) is located on the side of the roller pressing part (44) away from the connecting frame (43). The top of the second support frame (51) is provided with an operating port. The three-axis moving seat (52) is located in the operating port at the top of the second support frame (51). The cutting tool (53) is mounted on the three-axis moving seat (52). The conveying mechanism (4), the cutting mechanism (5), and the unwinding machine (6) are all electrically connected to the cutting and handling system.

8. The automatic cutting and handling production line for fiberglass cloth according to claim 7, characterized in that, A waste bin (7) is provided on the side of the conveying mechanism (4) away from the unwinding machine (6).

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