Sheet material conveying equipment and method and computer equipment

Abstract

The invention relates to the technical field of material conveying and solar cell processing, and discloses flaky material conveying equipment, a flaky material conveying method and computer equipment, a control module controls the conveying speed and the conveying duration of each stage of conveying module in each conveying stage, so that spacing adjustment is carried out on materials which are sent out from an upstream discharging end and are to be sent into a downstream feeding end; the adjacent materials are fed into a downstream feeding end after being separated; the first conveying module in the multiple stages of conveying modules receives materials at the upstream discharging speed, the feeding speed of the front conveying module in any two adjacent conveying modules in the middle is the same as the material receiving speed of the rear conveying module, and at least it is kept that the materials completely leave the front conveying module. Corresponding speed control strategies are executed according to the functions of all stages of conveying modules, the distance between incoming materials can be adjusted under the condition that single-face contact with the materials is still kept and no relative friction exists, the distance between the adjacent materials is increased, and material blockage or material collision can be effectively prevented.

Description

Technical Field

[0001] This application relates to the fields of material handling and solar cell processing technology, and in particular to a sheet material handling device, method, and computer equipment. Background Technology

[0002] In the process of conveying sheet materials, especially in the field of solar cell processing, problems such as material blockage or collision may occur when dealing with materials conveyed by belt, chain, or roller conveyors due to varying spacing. Existing technologies often use grippers or other transfer mechanisms to acquire the material, transfer it to a specific module for spacing adjustment, and then transfer the adjusted material to the processing position.

[0003] However, for BC solar cells, due to the special nature of their process, the grippers need to avoid the electrode pattern position when gripping. This places higher demands on the material size of the gripper head or other mechanisms as well as the gripping stability. Therefore, it is not feasible to apply the existing technology of transfer methods to the field of BC cell processing. Summary of the Invention

[0004] The main objective of this application is to provide a sheet material conveying device, method, and computer equipment, which aims to solve the technical problem that it is difficult to adjust the spacing of sheet materials during the material conveying process in the prior art.

[0005] This application provides a sheet material conveying device, which includes: a control module and a multi-stage conveying module continuously arranged between an upstream discharge end and a downstream inlet end, wherein each stage conveying module is a belt conveying module. The control module is used to control the conveying speed and conveying time of each level of the conveying module in each conveying stage according to a preset speed control strategy, so as to adjust the spacing and position of the materials sent from the upstream discharge end and to be sent into the downstream feed end, so that two adjacent materials in any material group are sent into the downstream feed end at equal spacing, wherein the original spacing between the materials sent from the upstream discharge end is random. In a multi-stage conveying module, the material is received at the upstream discharge speed of the first conveying module. In any two adjacent conveying modules, the feeding speed of the preceding conveying module is the same as the receiving speed of the following conveying module, and this is maintained at least until the material has completely left the preceding conveying module.

[0006] This application also provides a method for conveying sheet materials, applied to a control module in any of the sheet material conveying devices described above, the sheet material conveying method comprising: The transmission speed and transmission time of each level of the transmission module are controlled by a preset speed control strategy to adjust the spacing and position of the materials sent from the upstream discharge end and to be sent into the downstream feed end, so that two adjacent materials in any material group are sent into the downstream feed end at equal intervals. The initial spacing between the materials sent from the upstream discharge end is random, and each level of conveying module is continuously set between the upstream discharge end and the downstream feed end. Each level of conveying module is a belt conveyor module. The speed control strategy is used to control the upstream discharge speed of the first conveying module in the multi-level conveying module and the receiving speed of the next conveying module in any two adjacent conveying modules. The feeding speed of the first conveying module is the same as the receiving speed of the next conveying module, and this is maintained at least until the material has completely left the first conveying module.

[0007] A third aspect of this application provides a computer device, comprising: a memory and at least one processor, wherein the memory stores instructions; the at least one processor invokes the instructions in the memory to cause the computer device to perform the above-described sheet material transfer method.

[0008] This application implements corresponding speed control strategies based on the functions of each level of the conveying module. It can adjust the material spacing while maintaining single-sided contact with the material and without relative friction, thereby increasing the distance between adjacent materials and effectively preventing material blockage or collision. Attached Figure Description

[0009] Figure 1 This is a schematic diagram of the functional modules of the first embodiment of the sheet material conveying device in this application; Figure 2 This is a schematic diagram showing the spacing between two adjacent materials in each group and the spacing between groups in the embodiments of this application; Figure 3 This is a schematic diagram of the functional modules of the second embodiment of the sheet material conveying device in this application; Figure 4 This is a schematic diagram illustrating pairing and positioning when historical materials exist in an embodiment of this application; Figure 5 This is a schematic diagram of pairing and positioning when there are no historical materials in this application embodiment; Figure 6 This is a schematic diagram of one embodiment of the computer device described in this application. Detailed Implementation

[0010] The terms “comprising” or “having” and any variations thereof in this application are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product or device.

[0011] As described in the background art, for thin materials such as BC solar cells, when facing materials transported by belt, chain, or roller, the varying spacing may cause material blockage or collisions. It is not possible to use existing technologies such as grippers or other transfer mechanisms to obtain the materials, transfer them to a specific module for spacing adjustment, and then transfer the adjusted BC solar cells to the processing position.

[0012] This application aims to solve the above-mentioned problems. For example, when BC solar cells are sintered in the sintering furnace and transferred to the subsequent process, the spacing between the transferred BC solar cells is not uniform, and some BC photovoltaic cells even have a spacing of 0, which leads to material blockage or material collision. The technical solution provided by this application increases the spacing between BC solar cells when they enter the subsequent process to avoid material blockage or collision.

[0013] refer to Figure 1 This application provides a sheet material conveying device, which includes: a control module 10 and a multi-stage conveying module 20 continuously arranged between the upstream discharge end and the downstream feed end, wherein each stage of the conveying module 20 is a belt conveying module. The control module 10 is used to control the conveying speed and conveying time of each level of conveying module in each conveying stage according to a preset speed control strategy, so as to adjust the spacing and position of the materials sent from the upstream discharge end and to be sent into the downstream feed end, so that two adjacent materials in any material group are sent into the downstream feed end at equal spacing, wherein the original spacing between the materials sent from the upstream discharge end is random. In a multi-stage conveying module, the material is received at the upstream discharge speed of the first conveying module. In any two adjacent conveying modules, the feeding speed of the preceding conveying module is the same as the receiving speed of the following conveying module, and this is maintained at least until the material has completely left the preceding conveying module.

[0014] Specifically, the materials sent from the upstream discharge end are all transferred to the downstream feed end after the spacing of the materials is adjusted and the spacing is increased by the multi-stage conveying module in this embodiment.

[0015] It should be noted that continuous setup refers to multiple conveyor modules being connected, with materials being conveyed sequentially on the conveyor modules.

[0016] During material transfer, the upstream discharge end delivers material to the first conveyor module at the upstream discharge speed. Each conveyor module functions as both a feeding and receiving module. The control module 10, based on a speed control strategy, controls the first conveyor module to receive material from the upstream discharge end at the same upstream discharge speed. It also controls the feeding speed of any conveyor module to the next conveyor module to be the same as the receiving speed of that next conveyor module. Since the material has a certain length, to ensure smooth material transfer, the speeds of the two conveyor modules transferring the material must remain consistent during the transfer process, at least until the material is completely transferred from the previous conveyor module to the next. Each conveyor module performs corresponding speed-changing transmission under the control of the control module 10 to increase the material spacing. Each piece of material is ultimately transferred from the last conveyor module to the downstream feed end at the downstream feed speed.

[0017] It should be noted that the conveying speed, acceleration of speed changes, and conveying time of each level of the conveying module are related to the length of the material and the required spacing between them. The required spacing between the materials can be within a preset range; as long as the actual spacing between all materials remains within this preset range, collisions can be prevented.

[0018] Furthermore, the control module 10 and the transmission module can communicate via wired or wireless communication, and this embodiment does not impose any restrictions on this.

[0019] This embodiment can adjust the material feeding distance while maintaining one-sided contact with the material and without relative friction, thereby increasing the distance between adjacent materials and effectively preventing material blockage or collision.

[0020] In one embodiment, the multi-level transmission module includes a first type of transmission module and a second type of transmission module; The first type of conveying module is used to receive materials at the upstream discharge speed under the control of the control module 10, and to widen the material spacing through r stages of variable speed transmission, and finally to hand over the materials to the next first type of conveying module or second type of conveying module at the upstream discharge speed. The second type of conveying module is used to receive material from the last first type of conveying module at the upstream discharge speed under the control of the control module 10. The material spacing is widened by k stages of variable speed transmission. Then the material is transferred to the downstream feed end at the downstream feed speed. Finally, the downstream feed speed is restored to the upstream discharge speed through one stage of variable speed transmission. Specifically, the number of the first type of transmission modules can be set according to the actual application scenario, and this application does not impose any restrictions on this.

[0021] The first type of conveying module receives material from the upstream discharge end at the upstream discharge speed, and the material spacing is increased through r conveying stages. These r conveying stages may include one or more of the following: acceleration stage, constant speed stage, deceleration stage, etc.

[0022] If there is only one Type I conveyor module, the first Type I conveyor module will eventually return to the upstream discharge speed, and then the material will be handed over to the Type II conveyor module at the upstream discharge speed. The Type II conveyor module will also receive the material at the upstream discharge speed.

[0023] If a second type-1 conveying module is included, the first type-1 conveying module eventually returns to the upstream discharge speed, and then transfers the material to the second type-1 conveying module at the upstream discharge speed. The second type-1 conveying module also receives the material at the upstream discharge speed, and the material spacing continues to increase through r conveying stages. These r conveying stages may include one or more of the following: acceleration stage, constant speed stage, deceleration stage, etc.

[0024] If there are only two Type I conveying modules, the second Type I conveying module will eventually return to the upstream discharge speed, and then the material will be handed over to the Type II conveying module at the upstream discharge speed. The Type II conveying module will also receive the material at the upstream discharge speed.

[0025] If a third type-1 conveying module is also included, the second type-1 conveying module eventually returns to the upstream discharge speed, and then transfers the material to the third type-1 conveying module at the upstream discharge speed. The third type-1 conveying module also receives the material at the upstream discharge speed, and the material spacing continues to increase through r conveying stages. These r conveying stages may include one or more of the following: acceleration stage, constant speed stage, deceleration stage, etc. This process continues, with each type-1 conveying module increasing the material spacing through r conveying stages, and the last type-1 conveying module ultimately transferring the material to the second type-1 conveying module.

[0026] The second type of conveyor module receives material from the last first type of conveyor module at the upstream discharge speed. It then further increases the material spacing through k conveying stages. Simultaneously, in the kth conveying stage, the speed changes to the downstream feed speed. These k conveying stages may include one or more of the following: acceleration stage, constant speed stage, and deceleration stage. After the speed of the second type of conveyor module returns to the downstream feed speed, it transfers the material to the downstream feed end. After the material transfer is completed, the second type of conveyor module finally returns to the upstream discharge speed from the downstream feed speed through a final speed change stage, facilitating the next material reception from the first type of conveyor module.

[0027] This embodiment utilizes two types of conveying modules to transmit materials at different speeds in different stages. This not only increases the distance between materials but also ensures that adjacent conveying modules exchange materials at the same transport speed, thus achieving a smooth material transfer.

[0028] In one embodiment, the multi-level transmission module includes a first type of transmission module, a second type of transmission module, and a fourth type of transmission module; The first type of conveying module is used to receive materials at the upstream discharge speed under the control of the control module 10, and to widen the material spacing through r stages of variable speed transmission, and finally to hand over the materials to the next first type of conveying module or second type of conveying module at the upstream discharge speed. The second type of conveying module is used to receive material from the last first type of conveying module under the control of the control module 10 by the upstream discharge speed, to increase the material spacing by k stages of variable speed transmission, and then to transfer the material to the first fourth type of conveying module by the downstream feeding speed, and finally to restore the upstream discharge speed by one stage of variable speed transmission. The fourth type of conveying module is used to receive materials from the second type of conveying module at the downstream feeding speed under the control of the control module 10. According to the material arrival status, the materials are paired and positioned. After the distance between the two successfully paired materials is adjusted to the target distance, they are synchronously handed over to the downstream feeding end at the downstream feeding speed.

[0029] Specifically, the materials sent from the upstream discharge end will be adjusted in terms of spacing and positioned and matched with each other by the multi-level conveying module in this embodiment. After the matching is successful and the target spacing is increased, the materials will be transferred to the downstream feed end in groups.

[0030] Figure 2 This is a schematic diagram illustrating the spacing between two adjacent materials in each group and the spacing between groups in an embodiment of the present invention; see reference. Figure 2 The purpose of this embodiment is to group two adjacent materials together, while ensuring that the distance between the two materials in each group is equal, L1; the distance between groups can be arbitrary. For example... Figure 2 In the process, after spacing adjustment, the spacing between materials 1 and 2 in the first group when they are conveyed to the downstream feed end is L1; the spacing between materials 3 and 4 in the second group when they are conveyed to the downstream feed end is L1; and the spacing between materials 5 and 6 in the third group when they are conveyed to the downstream feed end is L1. The spacing L2 between materials 2 in the first group and materials 3 in the second group, and the spacing L3 between materials 4 in the second group and materials 5 in the third group, can be any non-zero spacing, and this application does not impose any restrictions on this. Of course, Figure 2 This is merely an illustrative example; in practical applications, this application does not limit the quantity of materials to be transmitted.

[0031] The number of the first type of transmission module, the second type of transmission module, and the fourth type of transmission module can be set according to the actual application scenario, and this application does not impose any restrictions on this.

[0032] The first type of conveying module receives material from the upstream discharge end at the upstream discharge speed, and the material spacing is increased through r conveying stages. These r conveying stages may include one or more of the following: acceleration stage, constant speed stage, deceleration stage, etc.

[0033] If the first type I conveying module is the last type I conveying module, then the first type I conveying module will eventually return to the upstream discharge speed, and then the material will be handed over to the second type conveying module at the upstream discharge speed. The second type conveying module will also receive the material at the upstream discharge speed.

[0034] If a second type-1 conveying module is included (i.e., the first type-1 conveying module is not the last type-1 conveying module), then the first type-1 conveying module eventually returns to the upstream discharge speed, and then transfers the material to the second type-1 conveying module at the upstream discharge speed. The second type-1 conveying module also receives the material at the upstream discharge speed, and the material spacing continues to increase through r conveying stages. These r conveying stages may include one or more of the following: acceleration stage, constant speed stage, deceleration stage, etc.

[0035] If there are only two Type I conveying modules, the second Type I conveying module will eventually return to the upstream discharge speed, and then the material will be handed over to the Type II conveying module at the upstream discharge speed. The Type II conveying module will also receive the material at the upstream discharge speed.

[0036] If a third type-1 conveying module is also included, the second type-1 conveying module eventually returns to the upstream discharge speed, and then transfers the material to the third type-1 conveying module at the upstream discharge speed. The third type-1 conveying module also receives the material at the upstream discharge speed, and the material spacing continues to increase through r conveying stages. These r conveying stages may include one or more of the following: acceleration stage, constant speed stage, deceleration stage, etc. This process continues, with each type-1 conveying module increasing the material spacing through r conveying stages, and the last type-1 conveying module ultimately transferring the material to the second type-1 conveying module.

[0037] The second type of conveyor module receives material from the last first type of conveyor module at an upstream discharge speed. It then further increases the material spacing through k conveying stages. Simultaneously, in the kth conveying stage, the speed changes to the downstream feed speed. These k conveying stages may include one or more of the following: acceleration, constant speed, and deceleration stages. After the second type of conveyor module returns to the downstream feed speed, it transfers the material to the first fourth type of conveyor module. After the material transfer is complete, the second type of conveyor module finally returns to the upstream discharge speed from the downstream feed speed through a final speed change stage, facilitating the next material reception from the first type of conveyor module.

[0038] Each conveyor module, under the control of the control module 10, performs corresponding speed-changing transmission to increase the material spacing. The fourth type of conveyor module requires material pairing and positioning. In the two cases where the last conveyor module already has materials and where there are no materials, the materials are conveyed to different preset positions and then handed over to the downstream feed end at the preset positions. For example, if the last conveyor module already has historical materials, the fourth type of conveyor module will convey the current material to the first preset position. The current material at the first preset position will form a material pair with the historical material located in the last conveyor module. The current material and the historical material will be handed over to the downstream feed end at the target spacing. If the last conveyor module is empty, the fourth type of conveyor module will convey the current material to the second preset position. At this time, the current material will not be handed over to the downstream feed end temporarily, but will wait for the next material to successfully pair with the current material and increase the target spacing before being conveyed to the downstream feed end.

[0039] Taking the dual-material production line of BC solar cells as an example, this embodiment conveys materials in groups, with each group containing two materials at a target spacing.

[0040] This embodiment implements corresponding speed control strategies based on the functions of each level of the conveying module. It can adjust the material spacing while maintaining one-sided contact with the material and eliminating relative friction, ensuring that two adjacent materials in each group are fed into the downstream feed end with equal spacing. This also effectively prevents material blockage or collisions. Furthermore, by utilizing various conveying modules and varying speeds at different stages, it is possible to both increase the material spacing and ensure that adjacent conveying modules exchange materials at the same transport speed, thus achieving a smooth material transfer.

[0041] In one embodiment, the multi-level transmission module includes a first type of transmission module, a second type of transmission module, a third type of transmission module, and a fourth type of transmission module; The first type of conveying module is used to receive materials at the upstream discharge speed under the control of the control module 10, and to widen the material spacing through r stages of variable speed transmission, and finally to hand over the materials to the next first type of conveying module or second type of conveying module at the upstream discharge speed. The second type of conveying module is used to receive material from the last first type of conveying module under the control of the control module 10 by the upstream discharge speed, to increase the material spacing by k stages of variable speed transmission, and then to transfer the material to the third type of conveying module by the downstream feeding speed. Finally, the material is restored from the downstream feeding speed to the upstream discharge speed by one stage of variable speed transmission. The third type of conveying module is used to receive and feed materials at the downstream feeding speed under the control of the control module 10. The fourth type of conveying module is used to receive materials from the third type of conveying module at the downstream feeding speed under the control of the control module 10. According to the material arrival status, the materials are paired and positioned. After adjusting the distance between the two successfully paired materials to the target distance, they are synchronously handed over to the downstream feeding end at the downstream feeding speed. The third type of transmission module is equipped with a warning sensor. The control module 10 is also used to issue an early warning and / or control the third type of conveying module to suspend the conveying of the new material if it detects that a new material being conveyed from the second type of conveying module triggers the early warning sensor before the fourth type of conveying module has completed pairing and positioning.

[0042] Specifically, refer to Figure 3 The multi-stage conveyor module includes M first-type conveyor modules 21, N second-type conveyor modules 22, P third-type conveyor modules 23, and Q fourth-type conveyor modules 24. The values ​​of M, N, P, and Q are all integers greater than or equal to 1, and these conveyor modules are cascaded sequentially. Any material enters the downstream feed end from the upstream discharge end via the first-type conveyor module 21, the second-type conveyor module 22, the third-type conveyor module 23, and the fourth-type conveyor module 24.

[0043] Each type-1 conveying module receives and feeds materials at the upstream discharge speed. Each type-1 conveying module uses r stages of variable-speed transmission to increase the material spacing. These r stages include at least a first stage of uniform speed, a last stage of uniform speed, and one or more intermediate stages of variable speed, which can be acceleration or deceleration stages; more specifically, they include sequential acceleration and deceleration stages. Furthermore, in the first and last stages, the type-1 conveying modules move at the same uniform upstream discharge speed.

[0044] It should be noted that the first type of conveying module moves at a constant upstream discharge speed before receiving material. Only after receiving material will it change from the upstream discharge speed to other speeds and finally return to the upstream discharge speed.

[0045] It should be noted that the movement time and acceleration of the first type of conveyor module at each stage are related to the inherent length of the first type of conveyor module itself and the length of the material. The inherent length of the first type of conveyor module is the length of the non-conveying structure, specifically the distance from the first end to the last end of the first type of conveyor module in the conveying direction, not the length of the conveyor belt. The purpose of the first type of conveyor module is to increase the spacing between materials and to prevent material collisions or blockages.

[0046] The second type of conveyor module receives materials at the upstream discharge speed and transfers them to the third type of conveyor module at the downstream feed speed. The second type of conveyor module uses k stages of variable speed transmission to increase the material spacing. These k stages include at least a first uniform speed stage (first stage), one or more intermediate variable speed stages, and a second uniform speed stage (kth stage). The second type of conveyor module transfers materials to the third conveyor module in the kth stage, and in the (k+1)th stage, it returns to the upstream discharge speed. The variable speed stage can be an acceleration or deceleration stage, and can be sequential acceleration or deceleration stages.

[0047] The working objective of the second type of conveyor module is to quickly send the material away at the downstream feeding speed and then change the speed to match the speed of the incoming material to receive it.

[0048] It should be noted that the movement duration and acceleration of the second type of conveyor module at each stage are related to the inherent length of the second type of conveyor module itself and the length of the material. The inherent length of the second type of conveyor module itself refers to the length of the non-conveying structure, specifically the distance from the beginning to the end of the second type of conveyor module in the conveying direction, and is not the length of the conveyor belt.

[0049] The third type of conveying module is used to receive and feed materials at the downstream feeding speed under the control of the control module 10. Specifically, the third type of conveying module receives materials from the second type of conveying module at the downstream feeding speed under the control of the control module 10, moves at a constant speed, and transfers the materials to the first fourth type of conveying module at the downstream feeding speed.

[0050] The fourth type of conveying module receives materials from the third type of conveying module at the downstream feeding speed. Based on the material arrival status, it determines whether a pair can be formed and adjusts the stopping position of the current material through a corresponding deceleration strategy. If a pair can be formed, the distance between the current material and the historical material is adjusted to the target distance. Then, the current material and the historical material are synchronously handed over to the downstream feeding end at the downstream feeding speed.

[0051] More specifically, the fourth type of transport module includes at least two fourth type transport modules.

[0052] Based on the incoming material status, the current material is conveyed to the corresponding preset position. If there is a historical material that can be matched with the current material on the last fourth type of conveying module, the current material is conveyed to the first preset position and then stopped. The distance between the matched current material and the historical material is adjusted to the target distance. Under the control of the control module 10, the current material and the historical material are synchronously transferred to the downstream feeding end at the downstream feeding speed. If there is no historical material that can be matched with the current material on the last fourth-category conveying module, the current material will be conveyed to the last fourth-category conveying module and then moved to the second preset position before being placed on the last fourth-category conveying module, so that it can be used as historical material to wait for matching with the next material and for spacing adjustment.

[0053] The first preset position is located before the last fourth-type transmission module is reached, and the second preset position is located on the last fourth-type transmission module.

[0054] Furthermore, while the fourth type of conveying module is pairing and positioning materials, the preceding first to third type of conveying modules are still receiving and conveying new materials. If the old materials are not delivered to the downstream feed end in time before the new materials arrive at the fourth type of conveying module, the new materials may collide with the old materials or cause blockages.

[0055] Based on this, the third type of conveying module in this embodiment is also equipped with a warning sensor. If the control module 10 detects new material from the second type of conveying module triggering the warning sensor before the fourth type of conveying module completes pairing and positioning, the control module 10 can issue a warning to remind the user to take appropriate anti-collision measures. And / or, if the control module 10 detects new material from the second type of conveying module triggering the warning sensor, it controls the third type of conveying module to suspend the conveying of new material, so that new material will not continue to be conveyed to the fourth type of conveying module before the fourth type of conveying module sends the old material to the downstream feed end, thus preventing the risk of material blockage on the fourth type of conveying module.

[0056] In addition, the control module 10 is also used to restore the third type of conveying module to receive and feed materials at the downstream feeding speed after two materials that have been successfully matched on the fourth type of conveying module are handed over to the downstream feeding end, so as to continue to hand over new materials to the fourth type of conveying module and restore material conveying.

[0057] In one embodiment, the current first type of conveying module is specifically used to drive the material to move at a uniform speed to a first preset displacement at the upstream discharge speed in the first conveying stage under the control of the control module 10. If a first acceleration signal is received from the control module 10, then in the second conveying stage, after uniformly accelerating at the first preset acceleration for a second preset time to reach the first speed, in the third conveying stage, after uniformly decelerating at the first preset acceleration for a second preset time, it returns to the upstream discharge speed and is in front of the next conveying module. The material is then transferred to the next conveying module at the upstream discharge speed. During the material transfer, before the material completely leaves the current first type of conveying module, the feeding speed of the current first type of conveying module is the same as the receiving speed of the next conveying module. The next conveying module is either the next first type of conveying module or the second type of conveying module. The control module 10 is specifically used to send the first acceleration signal if the detection sensor set on the first type of conveying module is detected to trigger the material.

[0058] Specifically, each of the first type of conveying modules conveys materials using the variable speed adjustment scheme of first moving at a constant speed, then accelerating, and finally decelerating in this embodiment. If the lengths of the first type of conveying modules are different, the duration of constant speed movement, the duration of deceleration movement, and the duration of acceleration movement in the first, second, and third stages need to be set according to parameters such as the length of the first type of conveying module.

[0059] Taking a module containing four Type I transport modules as an example: The first type of conveying module uses different speeds at different stages. Specifically, in the first stage and above, the upstream discharge speed V0 drives the material to move at a constant speed for a first preset time T. 10 The material transport distance after the first stage of motion is S. 10 =V0*T 10 .

[0060] A detection sensor is set at a distance S10 from the head end of the first type of conveying module. After the first type of conveying module moves the material a distance S10, the material will trigger the detection sensor set here. When the detection sensor detects the material passing by, it will generate a material detection signal. After receiving the material detection signal, the control module 10 will send a first acceleration signal to the first type of conveying module.

[0061] The first type-1 teleportation module enters the second stage, and in the second stage, the first type-1 teleportation module accelerates at a first preset acceleration a. 10 The second preset duration T of uniformly accelerated motion 11 Reaching the first speed V 11 V 11 =V0+a 10×T 11 After the second stage of motion, the material transport distance is S. 11 =(V0+V 11 )×T 11 / 2.

[0062] Then, the first type-1 teleportation module enters the third stage, in which the first type-1 teleportation module accelerates at a first preset acceleration a. 10 The second preset duration T of uniformly decelerated motion 11 The material is restored to the upstream discharge speed V0. The material transport distance after the third stage of motion is S. 12 =S 11 =(V 11 +V0)×T 11 / 2.

[0063] After the first type of conveyor module decelerates uniformly to its upstream discharge speed V0, it arrives just before the second type of conveyor module. The first type of conveyor module then feeds material at its upstream discharge speed V0, and the second type of conveyor module receives material at its upstream discharge speed V0. During this material exchange, and before the material completely leaves the first type of conveyor module, both the first and second type of conveyor modules move at a uniform speed of upstream discharge speed V0. In the first stage, the second type of conveyor module moves at a uniform speed for a third preset time T. 20 The material transport distance after the first stage of motion is S. 20 =V0×T 20 Among them, S 20 The distance must be at least sufficient to ensure that the material is completely removed from the first type 1 conveyor module.

[0064] S at the distance from the beginning of the second type I transmission module 20 A detection sensor is installed at the distance position, and the second type of first-class conveyor module drives the material movement S 20 After a certain distance, the material will trigger the detection sensor set here. When the detection sensor detects the material passing by, it will generate a material detection signal. After receiving the material detection signal, the control module 10 will send a first acceleration signal to the second first-type conveying module.

[0065] The second type-1 teleportation module enters the second stage, and in the second stage, the second type-1 teleportation module accelerates at a first preset acceleration a. 20 The second preset duration T of uniformly accelerated motion 21 Reaching the first speed V 21 V 21 =V0+a 20 ×T 21 After the second stage of motion, the material transport distance is S. 21 =(V0+V 21)×T 21 / 2.

[0066] Then, the second type-1 teleportation module enters the third stage, in which the second type-1 teleportation module accelerates at a first preset acceleration a. 20 The second preset duration T of uniformly decelerated motion 21 The material is restored to the upstream discharge speed V0. The material transport distance after the third stage of motion is S. 22 =S 21 =(V 21 +V0)×T 21 / 2.

[0067] After the second type of first-class conveyor module decelerates uniformly to its upstream discharge speed V0, it arrives just before the third type of first-class conveyor module. The second type of first-class conveyor module feeds material at its upstream discharge speed V0, and the third type of first-class conveyor module receives material at its upstream discharge speed V0. During the material transfer, and before the material completely leaves the second type of first-class conveyor module, both the second and third type of first-class conveyor modules move at a uniform speed of upstream discharge speed V0. In the first stage, the third type of first-class conveyor module moves at a uniform speed for a third preset time T. 30 The material transport distance after the first stage of motion is S. 30 =V0*T 30 Among them, S 30 The distance must be at least sufficient to ensure that the material is completely removed from the second type 1 conveyor module.

[0068] S at the distance from the head end of the third type I transmission module 30 A detection sensor is installed at the distance position, and the third type of first-class conveyor module drives the material movement S 30 After a certain distance, the material will trigger the detection sensor set here. When the detection sensor detects the material passing by, it will generate a material detection signal. After receiving the material detection signal, the control module 10 will send a first acceleration signal to the third first-type conveying module.

[0069] The third type I teleportation module enters the second stage, and in the second stage, the third type I teleportation module accelerates at a first preset acceleration a. 30 The second preset duration T of uniformly accelerated motion 31 Reaching the first speed V 31 V 31 =V0+a 30 ×T 31 After the second stage of motion, the material transport distance is S. 31 =(V0+V 31 )×T 31 / 2.

[0070] Then, the third type-1 teleportation module enters the third stage, in which the third type-1 teleportation module accelerates at a first preset acceleration a. 30 The second preset duration T of uniformly decelerated motion 31 The material is restored to the upstream discharge speed V0. The material transport distance after the third stage of motion is S. 32 =S 31 =(V 31 +V0)×T 31 / 2.

[0071] After the third type of first-class conveyor module decelerates uniformly to its upstream discharge speed V0, it arrives just before the fourth type of first-class conveyor module. The third type of first-class conveyor module feeds material at its upstream discharge speed V0, and the fourth type of first-class conveyor module receives material at its upstream discharge speed V0. During the material transfer, and before the material completely leaves the third type of first-class conveyor module, both the third and fourth type of first-class conveyor modules move at a uniform speed of upstream discharge speed V0. In the first stage, the fourth type of first-class conveyor module moves at a uniform speed for a third preset time T. 40 The material transport distance after the first stage of motion is S. 40 =V0×T 40 Among them, S 40 The distance must be at least sufficient to ensure that the material is completely removed from the third type 1 conveyor module.

[0072] At a distance S from the head end of the fourth type I transmission module 40 A distance sensor is installed at the position, and the fourth type of first-class conveyor module drives the material movement S. 40 After a certain distance, the material will trigger the detection sensor set here. When the detection sensor detects the material passing by, it will generate a material detection signal. After receiving the material detection signal, the control module 10 will send a first acceleration signal to the fourth first-type conveying module.

[0073] The fourth type-1 teleportation module enters the second stage. In the second stage, the fourth type-1 teleportation module accelerates at a first preset acceleration a. 40 The second preset duration T of uniformly accelerated motion 41 Reaching the first speed V 41 V 41 =V0+a 40 ×T 41 After the second stage of motion, the material transport distance is S. 41 =(V0+V 41 )×T 41 / 2.

[0074] Then, the fourth type-1 teleportation module enters the third stage, in which the fourth type-1 teleportation module accelerates at a first preset acceleration a. 40The second preset duration T of uniformly decelerated motion 41 The material is restored to the upstream discharge speed V0. The material transport distance after the third stage of motion is S. 42 =S 41 =(V 41 +V0)×T 41 / 2.

[0075] Wherein, the first preset acceleration a 10 a 20 a 30 a 40 They can be set to the same acceleration.

[0076] In one embodiment, the duration or distance of uniform motion of any next first type of conveying module other than the first first type of conveying module in the first stage is at least sufficient to ensure that the material is completely separated from the previous first type of conveying module, and there is a conveying module spacing between any two adjacent conveying modules. For any first-class transmission module, the uniform acceleration distance in the second stage = the uniform deceleration distance in the third stage = (transmission module spacing + length of the first-class transmission module - distance of uniform motion of the first-class transmission module in the first stage) / 2.

[0077] In one embodiment, the second type of conveying module is specifically used to receive material from the last first type of conveying module at the upstream discharge speed under the control of the control module 10. In the first conveying stage, it first moves at a constant speed of the upstream discharge speed for a first preset displacement. If a second acceleration signal is received from the control module 10, it moves at a constant speed of the second preset acceleration for a third preset time in the second conveying stage to reach the downstream feed speed and enter the third stage. In the third stage, it moves at a constant speed of the downstream feed speed and transfers the material to the next conveying module. Then, in the third conveying stage, it moves at a constant speed of the downstream feed speed for a fourth preset time. Finally, in the fourth conveying stage, it moves at a constant speed of the second preset acceleration. After the third preset time period, the material speed returns to the upstream feed rate. The next conveying module is the conveying module directly connected to the second type of conveying module (i.e., the conveying module that directly receives material from the second type of conveying module). For example, when the sheet material conveying device includes a first type of conveying module and a second type of conveying module, the next conveying module is the conveying module at the downstream feed end. When the sheet material conveying device includes a first type of conveying module, a second type of conveying module, and a fourth type of conveying module, the next conveying module is the fourth type of conveying module. When the sheet material conveying device includes a first type of conveying module, a second type of conveying module, a third type of conveying module, and a fourth type of conveying module, the next conveying module is the third type of conveying module. Specifically, the control module 10 is used to send the second acceleration signal if the material triggers a detection sensor located on the second type of conveying module.

[0078] Specifically, in the first stage, the upstream discharge speed V0 of the second type of conveying module moves at a constant speed. After the last first type of conveying module decelerates to its upstream discharge speed V0, it arrives just before the second type of conveying module. The last first type of conveying module then feeds material at its upstream discharge speed V0, and the second type of conveying module receives material at its upstream discharge speed V0. During the material transfer, and before the material completely leaves the last first type of conveying module, both the last first type of conveying module and the second type of conveying module move at a constant speed of upstream discharge speed V0. In the first stage, the second type of conveying module moves at a constant speed for a third preset time T. 50 The material transport distance after the first stage of motion is S. 50 =V0×T 50 Among them, S 50 The distance must be at least sufficient to ensure that the material is completely removed from the last Class I conveyor module.

[0079] S at the distance from the head end of the second type of transmission module 50 A detection sensor is installed at the distance position, and the second type of conveyor module drives the material movement S 50 After a certain distance, the material will trigger the detection sensor set here. When the detection sensor detects the material passing by, it will generate a material detection signal. After receiving the material detection signal, the control module 10 will send a second acceleration signal to the second type of conveying module.

[0080] The second type of transmission module enters the second stage, in which the second type of transmission module accelerates at a second preset acceleration a. 50 The second preset duration T of uniformly accelerated motion 51 When the downstream feed rate reaches V5, V5 = V0 + a 50 ×T 51 After the second stage of motion, the material transport distance is S. 51 =(V0+V5)×T 51 / 2.

[0081] Then, the second type of conveying module enters the third stage. In the third stage, the second type of conveying module moves at a constant speed of downstream feed rate V5. The purpose is to transfer the material to the third type of conveying module at the downstream feed rate V5.

[0082] The distance traveled during the uniform motion in the third stage is S. 52 =V5×T 52 T 52 This refers to the duration of the uniform motion in the third stage.

[0083] In the third stage, S 52 The distance must be at least sufficient to ensure that the material is completely detached from the second type of conveyor module.

[0084] In the fourth stage, the second type of transmission module uses a second preset acceleration a.50 The second preset duration T of uniformly decelerated motion 51 The feed speed decreases uniformly from the downstream feed rate V5 to the upstream discharge rate V0. The material transport distance after the fourth stage of motion is S. 53 =S 51 =(V5+V0)×T 51 / 2.

[0085] In the fourth stage, the purpose of the second type of conveyor module returning to the upstream discharge speed V0 is to wait for it to receive material from the last first type of conveyor module again at the upstream discharge speed V0.

[0086] The second type of conveyor module plays a connecting role. After receiving the material at a low speed, the second type of conveyor module transfers the material to the third type of conveyor module at a high speed and uniform speed, and then returns to a low speed to receive the material.

[0087] In one embodiment, the control module 10 is specifically configured to, when the current material triggers the first detection sensor, if historical material is detected on the second fourth-type conveying module, control the first fourth-type conveying module to receive the current material from the transition conveying module at a uniform downstream feeding speed. The transition conveying module is a conveying module that directly feeds material to the fourth-type conveying module. For example, when the sheet material conveying device includes a first-type conveying module, a second-type conveying module, and a fourth-type conveying module, the transition module is the second-type conveying module; when the conveying modules include a first-type conveying module, a second-type conveying module, a third-type conveying module, and a fourth-type conveying module, the transition module is the third-type conveying module. The control module 10 is further specifically used to control the first fourth-type conveying module to move a first distance (S6) and then stop when the current material triggers the first detection sensor, so that the distance between the current material and the historical material is adjusted to the target distance. The control module 10 is also specifically used to control the first fourth type of conveying module and the second fourth type of conveying module to synchronously transfer the current material and the historical material to the downstream feeding end at the downstream feeding speed while maintaining the target spacing. Specifically, the control module 10 is used to, when the current material triggers the first detection sensor, if no historical material is detected on the second fourth-type conveying module, control the first fourth-type conveying module to receive and transport the current material from the transition conveying module at the downstream feeding speed, and control the second fourth-type conveying module to receive the current material from the first fourth-type conveying module at the downstream feeding speed. The control module 10 is also specifically used to control the second fourth type of conveying module to move a second distance after the current material triggers the second detection sensor, and then place the current material on the second fourth type of conveying module to wait for it to be matched with the next material. The first detection sensor is disposed between the transition module and the first fourth type of transmission module or on the first fourth type of transmission module, and the second detection sensor is disposed between the first fourth type of transmission module and the second fourth type of transmission module or on the second fourth type of transmission module.

[0088] Specifically, the third type of transmission module (with Figure 4 Taking module 6 as an example, it moves at a constant downstream feeding speed of V5. It receives material from the second type of conveyor module at the downstream feeding speed and transfers the material to the first fourth type of conveyor module at the downstream feeding speed. Figure 4 (Take module 7 as an example).

[0089] During the material transfer, both the transitional conveyor module (corresponding to the second or third type of conveyor module) and the first fourth type of conveyor module move at a constant downstream feed rate V5.

[0090] When the current material triggers the first detection sensor, the control module 10 monitors whether there is material in the second fourth-category conveying module. If there is existing material in the second fourth-category conveying module, the current material needs to be transferred to the first fourth-category conveying module. Simultaneously, the current material needs to eventually stop before the second fourth-category conveying module. Therefore, the transition conveying module transfers the material uniformly to the first fourth-category conveying module and then conveys it to a first preset position. For example, when the current material triggers the first detection sensor, the first fourth-category conveying module travels a first distance (S6) and then stops before the second fourth-category conveying module.

[0091] If there is no historical material on the second fourth-category conveying module, the current material needs to be transferred to the second fourth-category conveying module, and the current material stops on the second fourth-category conveying module. Therefore, the transition conveying module transfers the current material to the first fourth-category conveying module at a constant speed. After the first fourth-category conveying module hands over the current material to the second fourth-category conveying module, it is conveyed to the second preset position. For example, if the current material triggers the second detection sensor, the second fourth-category conveying module runs a second distance (S7).

[0092] More specifically, the first fourth-category conveyor module receives material from the transition conveyor module at the downstream feed rate. If the current material triggers the first detection sensor and there is historical material on the second fourth-category conveyor module (the last fourth-category conveyor module), the first fourth-category conveyor module receives material from the transition conveyor module at the downstream feed rate until the transition conveyor module and the first fourth-category conveyor module complete the material transfer. After that, the first fourth-category conveyor module begins to decelerate uniformly and stops moving after reaching the first distance (S6). The current material stops at the first preset position. The current material and the historical material will form a pair of materials and be sent to the downstream feed end.

[0093] If the current material triggers the first detection sensor and there is no historical material on the second fourth-category conveyor module (i.e., no material is detected by the second detection sensor), then the first fourth-category conveyor module continues to feed material at the downstream feeding speed. The second fourth-category conveyor module receives material at the downstream feeding speed until the first and second fourth-category conveyor modules complete the material handover. After that, the second fourth-category conveyor module begins to decelerate and stops after reaching the second preset distance (S7), and the current material stops at the second preset position. At this time, the current material will not be fed into the downstream feeding end from the second preset position, but will wait as historical material to be matched with the next material and adjusted to the target spacing before being synchronously fed into the downstream feeding end.

[0094] It should be noted that the upstream discharge speed is less than the downstream feed speed. More specifically, for example, the downstream feed speed minus the upstream discharge speed equals 500 mm / s.

[0095] Figure 4 This is a schematic diagram illustrating pairing and positioning when historical materials exist in an embodiment of this application; Figure 4 For example, the blue-bordered rectangle represents the current material, and the purple-bordered rectangle represents the historical material. Conveyor Module 1, Conveyor Module 2, Conveyor Module 3, and Conveyor Module 4 are the first type of conveyor modules; Conveyor Module 5 is the second type of conveyor module; Conveyor Module 6 is the third type of conveyor module; and Conveyor Module 7 and Conveyor Module 8 are the fourth type of conveyor modules.

[0096] There is a module gap (spacing interval) between transmission module six and transmission module seven, and a first detection sensor is set in the module gap between transmission module six and transmission module seven. Figure 4 (Not shown in the image). When the current material is conveyed to conveyor module six and triggers the first detection sensor, control module 10 detects that there is historical material on the last conveyor module (conveyor module eight). Therefore, control module 10 determines that the current material can be successfully matched with the historical material. Control module 10 controls conveyor module seven to receive the material from conveyor module six at the downstream feeding speed. After the current material completely leaves conveyor module six, control conveyor module seven to decelerate uniformly at a third preset acceleration and stop. The current material reaches the first preset distance (S6) from triggering the first detection sensor to stopping. Figure 4 At the stop position in the middle, the distance between the current material and the historical material is adjusted to the target distance. At this time, both the conveying module 7 and the conveying module 8 are stationary. The control module 10 needs to control the conveying module 7 and the conveying module 8 again to simultaneously send the current material and the historical material into the downstream feed end at the downstream feeding speed.

[0097] Figure 5 This is a diagram illustrating pairing and positioning when no historical materials exist in this application embodiment; Figure 5 For example, when the current material is conveyed to conveyor module six and triggers the first detection sensor in the gap between conveyor modules six and seven, control module 10 detects that there is no historical material on the last conveyor module (conveyor module eight). Therefore, control module 10 determines that the current material cannot be successfully matched. Thus, control module 10 controls conveyor module seven to receive material from conveyor module six at the downstream feeding speed, and controls conveyor module eight to receive the current material from conveyor module seven at a uniform speed at the downstream feeding speed. After the current material triggers the second detection sensor located in the gap between conveyor modules seven and eight, control module 10 controls conveyor module eight to receive material from conveyor module seven at the downstream feeding speed. After the current material completely leaves conveyor module seven, control conveyor module eight to decelerate uniformly at a fourth preset acceleration and stop. The time from triggering the second detection sensor to stopping the second distance (S7) is when the current material reaches... Figure 5 The stop position in the process. The current material will not be immediately fed into the downstream feed end, but will be treated as historical material and wait to be matched with the next material and the spacing adjusted to the target spacing before being fed into the downstream feed end.

[0098] The purpose of the fourth type of conveying module is to combine the current material with the historical material and then transmit them together to the downstream feeding end.

[0099] In one embodiment, the number of required conveying modules = material target spacing / 10 × (V2 - V1) / 500.

[0100] Specifically, the required number of conveying modules is calculated based on the target material spacing, the known upstream discharge speed (V0), and the downstream feed speed (V5).

[0101] It should be noted that the target material spacing, material length, upstream discharge speed, downstream feed speed, acceleration, and uniform motion speed are all known. Therefore, the required module length for each conveying module, the spacing between conveying modules, and the conveying parameters for each conveying module when conveying materials can be calculated. These conveying parameters include conveying time or conveying distance. Material length refers to the length of the material in the conveying direction.

[0102] In one embodiment, the first type of transmission module includes n transmission modules connected sequentially, where n > 1. When n=1, the length of the first type of transmission module is: L n = (Length of the material to be conveyed) × a, When n > 1, the length of the first type of transmission module is: L n =L1+L 10 ×V0×(n-1) / V5, The spacing L between two adjacent Type I transmission modules 10=(Length of the material)×(1 - a); Where a is a preset coefficient, 0.6 < a < 1, Ln is the length of the nth first - type conveyor module, V0 is the upstream discharging speed, and V5 is the downstream feeding speed.

[0103] In one embodiment, n = 4, and the first - type conveyor module includes a first conveyor module, a second conveyor module, a third conveyor module, and a fourth conveyor module connected in sequence; The length L1 of the first conveyor module=(Length of the material to be conveyed)×a, 0.6 < a < 1; The length L2 of the second conveyor module = L1 + L 10 ×V0 / V5; The length L3 of the third conveyor module = L + L1 10 ×V0×2 / V5; The length L4 of the fourth conveyor module = L + L1 10 ×V0×3 / V5; The distance L between two adjacent conveyor modules 10 =(Length of the material)×(1 - a); Where a is a preset coefficient, V0 is the upstream discharging speed, and V5 is the downstream feeding speed.

[0104] Specifically, the design of the length and quantity of the conveyor modules is related to the length of the material, and different combinations of conveyor module segments are determined according to different material spacing requirements and different material lengths.

[0105] The second - type conveyor module includes a fifth conveyor module, The length of the fifth conveyor module is equal to the length of the first conveyor module; The third - type conveyor module includes a sixth conveyor module; The fourth - type conveyor module includes a seventh conveyor module and an eighth conveyor module; The length of the sixth conveyor module is equal to the length of the first conveyor module; The length of the seventh conveyor module is not less than the length of the material to be conveyed; The length of the eighth conveyor module is not less than the length of the material to be conveyed.

[0106] In this embodiment, M = 4, N = 1, P = 1, Q = 2.

[0107] This application also provides a method for transporting sheet materials, which is applied to the control module 10 in the sheet material transport device described in any of the above, and the method for transporting sheet materials includes: The transmission speed and transmission time of each level of the transmission module are controlled by a preset speed control strategy to adjust the spacing and position of the materials sent from the upstream discharge end and to be sent into the downstream feed end, so that two adjacent materials in any material group are sent into the downstream feed end at equal intervals. The initial spacing between the materials sent from the upstream discharge end is random, and each level of conveying module is continuously set between the upstream discharge end and the downstream feed end. Each level of conveying module is a belt conveyor module. The speed control strategy is used to control the upstream discharge speed of the first conveying module in the multi-level conveying module and the receiving speed of the next conveying module in any two adjacent conveying modules. The feeding speed of the first conveying module is the same as the receiving speed of the next conveying module, and this is maintained at least until the material has completely left the first conveying module.

[0108] Specifically, the functions of the control module 10 and each level of the conveying module are described in the above description of the sheet material conveying equipment, and will not be repeated here.

[0109] Figure 6 This is a schematic diagram of the structure of a computer device 7000 provided in an embodiment of this application. The computer device 7000 can vary significantly due to different configurations or performance. It may include one or more central processing units (CPUs) 710 (e.g., one or more processors) and a memory 720, and one or more storage media 730 (e.g., one or more mass storage devices) for storing application programs 733 or data 732. The memory 720 and storage media 730 can be temporary or persistent storage. The program stored in the storage media 730 may include one or more modules (not shown in the diagram), each module including a series of instruction operations on the computer device 7000. Furthermore, the processor 710 may be configured to communicate with the storage media 730 and execute the series of instruction operations in the storage media 730 on the computer device 7000.

[0110] The computer device 7000 may also include one or more power supplies 740, one or more wired or wireless network interfaces 750, one or more input / output interfaces 760, and / or one or more operating systems 731, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, etc. Those skilled in the art will understand that... Figure 6 The computer device structure shown does not constitute a limitation on the computer device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0111] This application also provides a computer device including a memory and a processor. The memory stores computer-readable instructions, which, when executed by the processor, cause the processor to perform the steps of the sheet material transfer method described in the above embodiments. This application also provides a computer-readable storage medium, which can be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. The computer-readable storage medium stores instructions that, when executed on a computer, cause the computer to perform the steps of the sheet material transfer method.

[0112] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0113] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0114] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A sheet material conveying apparatus characterized by comprising: The sheet material conveying device comprises a control module and a plurality of conveying modules arranged in series between an upstream discharge end and a downstream feeding end, each conveying module being a belt conveying module; The control module is configured to control the conveying speed and conveying time length of each conveying module in each conveying stage according to a preset speed control strategy, so as to adjust the interval of the materials sent out from the upstream discharge end and the materials to be sent into the downstream feeding end, and control the conveying module to pull apart the interval of any two adjacent materials and then send the materials into the downstream feeding end at the downstream feeding speed, wherein the original interval between the materials sent out from the upstream discharge end is random. The first conveying module in the plurality of conveying modules receives the materials at the upstream discharge speed, the feeding speed of the front one of any two adjacent conveying modules is the same as the receiving speed of the rear one, and the feeding speed is maintained at least until the materials completely leave the front one.

2. The sheet material conveying apparatus according to claim 1, wherein The plurality of conveying modules comprise first conveying modules and second conveying modules; The first conveying module is configured to receive the materials at the upstream discharge speed under the control of the control module, pull apart the interval of the materials through r stages of variable-speed transmission, and finally hand over the materials to the next first conveying module or second conveying module at the upstream discharge speed. The second conveying module is configured to receive the materials from the last first conveying module at the upstream discharge speed under the control of the control module, pull apart the interval of the materials through k stages of variable-speed transmission, and then hand over the materials to the downstream feeding end at the downstream feeding speed, and finally recover from the downstream feeding speed to the upstream discharge speed through one stage of variable speed.

3. The sheet material conveying apparatus of claim 1 wherein, The plurality of conveying modules comprise first conveying modules, second conveying modules and fourth conveying modules; The first conveying module is configured to receive the materials at the upstream discharge speed under the control of the control module, pull apart the interval of the materials through r stages of variable-speed transmission, and finally hand over the materials to the next first conveying module or second conveying module at the upstream discharge speed. The second conveying module is configured to receive the materials from the last first conveying module at the upstream discharge speed under the control of the control module, pull apart the interval of the materials through k stages of variable-speed transmission, and then hand over the materials to the first fourth conveying module at the downstream feeding speed, and finally recover from the downstream feeding speed to the upstream discharge speed through one stage of variable speed. The fourth conveying module is configured to receive the materials from the second conveying module at the downstream feeding speed under the control of the control module, pair and position the materials according to the material feeding condition, and hand over the two materials successfully paired to the downstream feeding end at the downstream feeding speed after adjusting the interval of the two materials to a target interval.

4. The sheet material conveying apparatus of claim 1 wherein, The plurality of conveying modules comprise first conveying modules, second conveying modules, third conveying modules and fourth conveying modules; The first conveying module is configured to receive the materials at the upstream discharge speed under the control of the control module, pull apart the interval of the materials through r stages of variable-speed transmission, and finally hand over the materials to the next first conveying module or second conveying module at the upstream discharge speed. the second type of conveying module is used to receive the material from the last first type of conveying module at the upstream discharge speed under the control of the control module, to pull apart the material spacing through k stages of variable speed transmission, and then to deliver the material to the third type of conveying module at the downstream feeding speed, and finally to restore the upstream discharge speed from the downstream feeding speed through one stage of variable speed; the third type of conveying module is used to receive and deliver the material at the downstream feeding speed under the control of the control module; the fourth type of conveying module is used to receive the material from the third type of conveying module at the downstream feeding speed under the control of the control module, to pair and position the material according to the material condition, to adjust the spacing of the two successfully paired materials to the target spacing, and to synchronously deliver the two materials to the downstream feeding end at the downstream feeding speed; the third type of conveying module is provided with a pre-warning sensor, the control module is further used to perform pre-warning prompting and / or control the third type of conveying module to pause conveying the new material if the control module monitors that the new material conveyed from the second type of conveying module triggers the pre-warning sensor before the pairing and positioning of the fourth type of conveying module are completed.

5. The sheet material conveying device according to any one of claims 2-4, wherein the current first type of conveying module is specifically used to move the material at a constant speed for a first preset displacement at the upstream discharge speed in a first conveying stage under the control of the control module, to accelerate at a first preset acceleration for a second preset time length to reach a first speed in a second conveying stage if a first acceleration signal of the control module is received, to decelerate at the first preset acceleration for the second preset time length to restore to the upstream discharge speed in a third conveying stage, to be in front of a next conveying module, and to deliver the material to the next conveying module at the upstream discharge speed, and during the delivery of the material, the feeding speed of the current first type of conveying module is the same as the receiving speed of the next conveying module before the material completely separates from the current first type of conveying module, wherein the next conveying module is a next first type of conveying module or a second type of conveying module; the control module is specifically used to issue the first acceleration signal if the control module monitors that the material triggers the detection sensor arranged on the first type of conveying module.

6. The sheet material conveying device according to claim 5, wherein the time length or distance of the uniform speed movement of any next first type of conveying module except the first first type of conveying module in the first stage can at least ensure that the material completely separates from the last first type of conveying module, and there is a conveying module spacing between any two adjacent conveying modules; for any first type of conveying module, the uniform acceleration distance in the second stage = the uniform deceleration distance in the third stage = (the conveying module spacing + the length of the first type of conveying module - the distance of the uniform speed movement of the first type of conveying module in the first stage) / 2.

7. The sheet material conveying device according to any one of claims 2-4, wherein The second type of conveying module is specifically configured to receive the material from the last first type of conveying module at the upstream discharging speed under the control of the control module, uniformly move at the upstream discharging speed for a first preset displacement in a first conveying stage, if a second acceleration signal of the control module is received, uniformly accelerate at a second preset acceleration for a third preset time length to reach a downstream feeding speed and enter a third stage, uniformly move at the downstream feeding speed in the third stage and hand over the material to a next conveying module, uniformly move at the downstream feeding speed for a fourth preset time length in a third conveying stage, and finally uniformly decelerate at the second preset acceleration for the third preset time length to restore to the upstream feeding speed in a fourth conveying stage. The control module is specifically configured to issue the second acceleration signal if the material triggers a detection sensor arranged on the second type of conveying module.

8. The sheet material conveying device according to any one of claims 3-4, wherein The control module is specifically configured to, when the current material triggers the first detection sensor, if it is detected that there is historical material on the second fourth type of conveying module, control the first fourth type of conveying module to uniformly receive the current material from the transition conveying module at the downstream feeding speed, wherein the transition conveying module is a conveying module that directly feeds the first fourth type of conveying module, The control module is further specifically configured to, when the current material triggers the first detection sensor, control the first fourth type of conveying module to move a first distance and then stop, so that the spacing between the current material and the historical material is adjusted to a target spacing, The control module is further specifically configured to, while maintaining the target spacing, control the first fourth type of conveying module and the second fourth type of conveying module to synchronously hand over the current material and the historical material to a downstream feeding end at the downstream feeding speed; The control module is specifically configured to, when the current material triggers the first detection sensor, if it is detected that there is no historical material on the second fourth type of conveying module, control the first fourth type of conveying module to uniformly receive and transport the current material from the transition conveying module at the downstream feeding speed, and control the second fourth type of conveying module to uniformly receive the current material from the first fourth type of conveying module at the downstream feeding speed, The control module is further specifically configured to, when the current material triggers the second detection sensor, control the second fourth type of conveying module to move a second distance and then place the current material on the second fourth type of conveying module to wait for alignment with a next material; The first detection sensor is arranged between the transition module and the first fourth type of conveying module or on the first fourth type of conveying module, and the second detection sensor is arranged between the first fourth type of conveying module and the second fourth type of conveying module or on the second fourth type of conveying module.

9. A sheet material conveying apparatus according to any one of claims 2 to 4, 6, wherein , The first type of conveying module includes n conveying modules connected in sequence, n>1, and preferably n=4. When n = 1, the length of the first type of conveying module is: L n = (the length of the material to be conveyed) x a, When n>1, the length of the first type of transfer module is: L n =L1+L 10 ×V0×(n-1) / V5, The distance L between two adjacent first conveying modules 10 = (material length) x (1 - a); Wherein, a is a preset coefficient, 0.6 < a < 1, L n is the length of the nth first type of conveying module, V0 is the upstream discharge speed, and V5 is the downstream feeding speed.

10. A sheet material conveying method applied to the control module in the sheet material conveying apparatus according to any one of claims 1 to 9, characterized by, The sheet material conveying method includes: The preset speed control strategy is used to control the conveying speed and conveying time length of each stage conveying module in each conveying stage, so as to adjust the interval and position of the materials sent out from the upstream discharge end and to be sent into the downstream feeding end, and to send the two adjacent materials in any material group into the downstream feeding end with equal interval. The original interval between the materials sent out from the upstream discharge end is random, and each stage conveying module is continuously arranged between the upstream discharge end and the downstream feeding end, and each stage conveying module is a belt conveying module. The speed control strategy is used to control the first conveying module in the multi-stage conveying module to receive the materials at the upstream discharge speed, the feeding speed of the front conveying module and the receiving speed of the rear conveying module of any two adjacent conveying modules are the same, and at least until the materials completely leave the front conveying module.

11. A computer device, comprising: The computer device comprises a memory and at least one processor, and the memory stores instructions; The at least one processor invokes the instructions in the memory, so that the computer device executes the sheet material conveying method according to claim 10.

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