A sheet positioning device, positioning method, transfer system and transfer method

Abstract

The present application provides a kind of sheet positioning device, positioning method, transfer system and transfer method, it is related to sheet handling technical field.Sheet transfer system includes sheet positioning device, sheet positioning device includes suction cup with air hole and first direction inclination angle, air floatation system that can form air film on the surface of suction cup, first reference surface for first direction positioning, reference surface for second direction positioning and overturning drive mechanism for driving suction cup to produce inclination action in second direction.Sheet transfer method includes sheet positioning method, sheet positioning method is realized by controlling overturning drive mechanism the positioning of sheet in first direction and second direction, and the fixation of sheet is completed by disconnecting air floatation system.

Description

Technical Field

[0001] This invention relates to the field of sheet material handling technology, and in particular to a sheet material positioning device, positioning method, transfer system, and transfer method. Background Technology

[0002] In automated production, there is no mature solution for the transfer and positioning of sheet materials. Some sheet materials, such as foam materials, are not only thin and light but also soft, making it difficult to handle and position them using conventional methods. Manual handling and feeding are required, resulting in low automation. At the same time, in some production scenarios, there are high requirements for the positioning accuracy of sheet materials, leading to low production efficiency. Summary of the Invention

[0003] In a first aspect, the present invention provides a sheet positioning device, comprising: The suction cup has multiple air holes on its surface and is configured to support the sheet material and has a preset tilt angle in a first direction. An air flotation system, selectively connected to air vents, is used to supply positive pressure gas to the air vents to form an air film on the suction cup surface that suspends the sheet. The suction cup is also provided with a first reference surface, which is used to limit the sheet in a first direction; A flipping drive mechanism, connected to the suction cup, is used to drive the suction cup to tilt in a second direction; The suction cup also has a second reference surface, which is used to limit the sheet in a second direction.

[0004] In an optional embodiment, the flipping drive mechanism includes a rotary drive element, the drive end of which is connected to the suction cup to drive the suction cup to complete a tilting action in the second direction.

[0005] In an optional embodiment, the flipping drive mechanism includes a roller and a track. The roller is rolled within the track, which includes a first straight section and a first inclined section. When the roller is in the first straight section, the suction cup is in a straight state in the second direction. When the roller is in the first inclined section, the suction cup completes the tilting action in the second direction.

[0006] In an optional implementation, a negative pressure system is also included, selectively connected to the vent, for providing negative pressure to the vent to adsorb and fix the sheet onto the suction cup surface.

[0007] The sheet positioning device provided by the present invention has the following beneficial effects: 1. An air film is formed on the surface of the suction cup using an air flotation system, which allows the sheet to be suspended on the surface of the suction cup, thus enabling free sliding. The first reference plane and the second reference plane are used to limit the sliding sheet in the first and second directions, respectively, thus completing the positioning of the sheet on the surface of the suction cup. The positioning efficiency is high, and it is especially suitable for materials with a high coefficient of friction. 2. The flipping drive mechanism enables the sheet to be positioned in the first and second directions sequentially, ensuring accurate positioning in both directions and avoiding interference when positioning in both directions simultaneously, thus guaranteeing the completion of positioning.

[0008] Secondly, the present invention provides a sheet positioning method, applied to a sheet transfer system according to any of the foregoing embodiments, comprising the following steps: The suction cup is tilted in the first direction and straight in the second direction. The air flotation system is connected to the air hole of the suction cup to form an air film on the surface of the suction cup. The sheet is placed on the surface of the suction cup, and the sheet slides along the first direction to the first reference surface under its own weight, thus completing the positioning in the first direction; The flipping drive mechanism drives the suction cup to tilt in the second direction, so that the sheet slides along the second direction to the second reference surface under its own weight, thus completing the second direction positioning. Disconnect the air flotation system from the air vent of the suction cup.

[0009] In an optional implementation, the following steps are included: After the suction cup is driven to tilt in the second direction by the flip drive mechanism, the tilting state of the suction cup in the second direction is maintained by the flip drive mechanism.

[0010] In an optional embodiment, the sheet transfer system further includes a negative pressure system, which is selectively connected to the air vents to provide negative pressure to the air vents in order to adsorb and fix the sheet onto the suction cup surface, and further includes the following steps: Disconnect the air flotation system from the air holes of the suction cup, connect the negative pressure system to the air holes of the suction cup, and fix the sheet to the surface of the suction cup. The suction cup is driven by a flipping drive mechanism to tilt in the opposite direction in the second direction, so that the suction cup is in a straight state in the second direction.

[0011] The sheet positioning method provided by this invention has the following beneficial effects: 1. By using a flipping drive mechanism to enable the sheet to be positioned in the first and second directions in sequence, accurate positioning in both directions can be achieved, avoiding interference when positioning in two directions simultaneously and ensuring the completion of positioning. 2. After positioning is completed, disconnect the air flotation system. The sheet's position can be maintained by the combination of the sheet's own friction and the suction cup's posture. The air flotation system does not need to be continuously connected to the suction cup.

[0012] Thirdly, the present invention provides a sheet transfer system, comprising: A sheet positioning device according to any of the foregoing embodiments; The feeding device is used to place the sheet to be positioned onto the suction cup of the sheet positioning device; The unloading device is used to remove the positioned sheet material from the suction cup; A conveying device is used to transport the suction cups from the loading device to the unloading device.

[0013] The sheet transfer system provided by this invention has the following beneficial effects: 1. The sheet positioning device is used to position the sheet, which has high positioning efficiency and is especially suitable for materials with a high coefficient of friction. 2. The conveying device only needs to transport the suction cup from the loading device to the unloading device, resulting in low conveying load.

[0014] Fourthly, the present invention provides a sheet transfer method applied to a sheet transfer system according to the foregoing embodiments, comprising the following steps: The feeding device places the sheet onto the suction cup of the sheet positioning device; The sheet positioning device positions the sheet in the first and second directions; The conveying device transports the suction cups from the loading device to the unloading device.

[0015] In an optional embodiment, the sheet transfer system further includes a negative pressure system, which is selectively connected to the air vents to provide negative pressure to the air vents, thereby adsorbing and fixing the sheet onto the suction cup surface. The system also includes the following steps: After positioning the sheet, disconnect the air flotation system from the air holes of the suction cup, connect the negative pressure system to the air holes of the suction cup, and fix the sheet to the surface of the suction cup.

[0016] The sheet transfer method provided by this invention has the following beneficial effects: 1. The sheet positioning device is used to position the sheet, which has high positioning efficiency and is especially suitable for materials with a high coefficient of friction. 2. The conveying device only needs to transport the suction cup from the loading device to the unloading device, resulting in low conveying load. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the sheet positioning device provided in Embodiment 1 of the present invention in one usage state; Figure 2 This is a partial side view of the sheet positioning device in use according to Embodiment 1 of the present invention; Figure 3 This is one of the schematic diagrams showing the second usage state of the sheet positioning device provided in Embodiment 1 of the present invention; Figure 4 This is a second schematic diagram illustrating the second usage state of the sheet positioning device provided in Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the air flotation system and negative pressure system of the sheet positioning device provided in Embodiment 1 of the present invention; Figure 6 This is a schematic diagram of the track structure in the sheet positioning device provided in Embodiment 1 of the present invention; Figure 7 This is a schematic diagram of the sheet positioning method provided in Embodiment 1 of the present invention; Figure 8 This is a schematic diagram of the suction cup and flipping drive mechanism in the sheet positioning device provided in Embodiment 2 of the present invention; Figure 9 This is a schematic diagram of the suction cup and flipping drive mechanism in the sheet positioning device provided in Embodiment 3 of the present invention.

[0019] Icons: 100-Suction cup; 110-Air hole; 120-First reference plane; 130-Second reference plane; 200-Flipping drive mechanism; 210-Roller; 220-Rail; 230-Rotation drive element; 221-First straight section; 222-First inclined section; 300-Air flotation system; 400-Negative pressure system; 500-Sheet. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0022] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0023] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0024] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0025] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0026] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0027] Example 1 Embodiment 1 of the present invention provides a sheet positioning device, comprising: a suction cup 100, the surface of which is provided with a plurality of air holes 110, the suction cup 100 being configured to support a sheet 500 and having a preset tilt angle in a first direction; an air flotation system 300, selectively connected to the air holes 110, for providing positive pressure gas to the air holes 110 to form an air film on the surface of the suction cup 100 that suspends the sheet 500; the suction cup 100 further comprising a first reference surface 120, the first reference surface 120 being used to limit the sheet 500 in the first direction; a flipping drive mechanism 200, connected to the suction cup 100, for driving the suction cup 100 to tilt in a second direction; and the suction cup 100 further comprising a second reference surface 130, the second reference surface 130 being used to limit the sheet 500 in the second direction.

[0028] The sheet positioning device provided in this embodiment utilizes the air flotation system 300 to form an air film on the surface of the suction cup 100, allowing the sheet 500 to be suspended on the surface of the suction cup 100, thereby enabling free sliding. The first reference surface 120 and the second reference surface 130 respectively limit the sliding sheet 500 in the first and second directions, thus completing the positioning of the sheet 500 on the surface of the suction cup 100. The positioning efficiency is high, and it is especially suitable for materials with a high coefficient of friction. The flipping drive mechanism 200 in the sheet positioning device provided in this embodiment enables the sheet 500 to be positioned in the first direction and the second direction in sequence. It can accurately position both directions, avoid interference when positioning in two directions at the same time, and ensure the completion of positioning.

[0029] Embodiment 1 of the present invention also provides a sheet positioning method, applied to the above-mentioned sheet positioning device, comprising the following steps: The suction cup 100 is tilted in the first direction and straight in the second direction. The air flotation system 300 is connected to the air hole 110 of the suction cup 100 to form an air film on the surface of the suction cup 100. The sheet 500 is placed on the surface of the suction cup 100, and the sheet 500 slides along the first direction to the first reference surface 120 under its own weight, thus completing the positioning in the first direction. The flipping drive mechanism 200 drives the suction cup 100 to tilt in the second direction, so that the sheet 500 slides along the second direction to the second reference surface 130 under its own weight, thus completing the second direction positioning. Disconnect the air flotation system 300 from the air hole 110 of the suction cup 100.

[0030] This sheet positioning method utilizes a flipping drive mechanism 200 to enable the sheet 500 to be positioned sequentially in the first and second directions. This ensures accurate positioning in both directions, avoiding interference when positioning in two directions simultaneously and guaranteeing the completion of positioning. After positioning is completed, the air flotation system 300 is disconnected. The sheet 500's own friction and the attitude of the suction cup 100 are used to maintain the position of the sheet 500, eliminating the need for the air flotation system 300 to be continuously connected to the suction cup 100.

[0031] Embodiment 1 of the present invention also provides a sheet material transfer system, including: a sheet material positioning device as described above; a feeding device for placing the sheet material 500 to be positioned on the suction cup 100 of the sheet material positioning device; a discharging device for removing the positioned sheet material 500 from the suction cup 100; and a conveying device for conveying the suction cup 100 from the feeding device to the discharging device.

[0032] The sheet transfer system provided in this embodiment uses a sheet positioning device to position the sheet 500, which has high positioning efficiency and is especially suitable for materials with a high coefficient of friction. The conveying device only needs to transport the suction cup 100 from the loading device to the unloading device, resulting in low conveying load.

[0033] Embodiment 1 of the present invention also provides a sheet material transfer method, applied to the above-mentioned sheet material transfer system, comprising the following steps: The feeding device places the sheet 500 onto the suction cup 100 of the sheet positioning device; The sheet positioning device positions the sheet 500 in the first and second directions; The conveying device transports the suction cup 100 from the loading device to the unloading device.

[0034] The sheet positioning device, positioning method, transfer system, and transfer method provided in this embodiment are particularly suitable for sheet materials 500 with high surface friction coefficients, soft texture, or that are not easily broken, such as foam materials. Due to their high surface friction coefficients, these materials easily adhere to the carrier surface, even when the carrier is tilted to nearly 90°, remaining stationary or only experiencing slight movement. Conventional positioning methods are difficult to apply in such cases. The sheet positioning device in this embodiment solves the problem of sheet material adhesion by forming an air film on the surface of the suction cup 100, thus ensuring the normal sliding of the sheet material 500 and completing the positioning process.

[0035] Figure 1 This is a schematic diagram of the sheet positioning device provided in Embodiment 1 of the present invention in one usage state, as shown below. Figure 1As shown, the suction cup 100 has multiple air holes 110 on its surface. The suction cup 100 is configured to support the sheet 500 and has a preset tilt angle in a first direction. The air flotation system 300 communicates with the air holes 110 and provides positive pressure gas to the air holes 110 to form an air film on the surface of the suction cup 100 that suspends the sheet 500. Due to the presence of the air film, the sheet 500 slides along the first direction to the first reference surface 120 on the surface of the suction cup 100, thus completing the positioning in the first direction. The preset tilt angle can be an angle sufficient to allow the sheet 500 to slide under its own weight, for example, a tilt of 5° to 85°, preferably 30° to 60°. The suction cup 100 can be fixed at the preset tilt angle, or the suction cup 100 can be made to produce the preset tilt angle by setting a driving mechanism.

[0036] The first reference surface 120 and the second reference surface 130 can both be walls protruding from the surface of the suction cup 100.

[0037] Figure 3 This is one of the schematic diagrams showing the second usage state of the sheet positioning device provided in Embodiment 1 of the present invention, as shown below. Figure 3 As shown, the flipping drive mechanism 200 drives the suction cup 100 to tilt in the second direction. After the suction cup 100 is tilted in the second direction, the sheet 500 slides along the second direction to the second reference surface 130, completing the positioning in the second direction.

[0038] Figure 7 This is a schematic diagram of the sheet positioning method provided in Embodiment 1 of the present invention, as shown below. Figure 7 As shown in (a) above, the original state of sheet 500 is that it is randomly arranged, as follows: Figure 7 As shown in (b), when sheet 500 is placed on suction cup 100, its first and second directions are both random and unpositioned, as... Figure 7 As shown at (c) in the figure, the first direction of the sheet 500 is positioned by the first reference plane 120, as follows. Figure 7 As shown at (d) in the figure, the second direction of the sheet 500 is positioned by the second reference plane 130, that is, the positioning of the sheet 500 is completed.

[0039] In this embodiment, as Figure 2 , Figure 4 and Figure 6As shown, the flipping drive mechanism 200 includes a roller 210 and a track 220. The roller 210 is rolled within the track 220. The track 220 includes a first straight section 221 and a first inclined section 222. When the roller 210 is located in the first straight section 221, the suction cup 100 is in a straight state in the second direction. When the roller 210 is located in the first inclined section 222, the suction cup 100 completes the tilting action in the second direction. For example, the suction cup 100 can be mounted on a roller shaft. The upper and lower sections of a connector are respectively connected to the roller 210 and the suction cup 100. When the roller 210 rolls in the first inclined section 222, it drives the connector to move longitudinally. At this time, the suction cup 100 rotates around the roller shaft as the center of rotation, that is, the suction cup 100 produces a tilting action in the second direction.

[0040] Preferably, the track 220 may further include a second straight section, a second inclined section and a third straight section. The second straight section is located after the first inclined section 222 to maintain the inclined state in the second direction. The second inclined section is located after the second straight section to cause the suction cup 100 to perform a reverse tilting action in the second direction, so that it returns to the straight state in the second direction. The third straight section is located after the second inclined section to maintain the straight state of the suction cup 100 in the second direction.

[0041] At this time, the sheet positioning method further includes the following steps: after the suction cup 100 is driven to tilt in the second direction by the flipping drive mechanism 200, the tilting state of the suction cup 100 in the second direction is maintained by the flipping drive mechanism 200; the suction cup 100 is driven to tilt in the opposite direction by the flipping drive mechanism 200, so that it returns to the straight state in the second direction, and the straight state of the suction cup 100 in the second direction is maintained.

[0042] Preferably, the sheet positioning device further includes a negative pressure system 400, which is selectively connected to the air hole 110 and is used to provide negative pressure to the air hole 110 to adsorb and fix the sheet 500 onto the surface of the suction cup 100.

[0043] At this point, the sheet positioning method further includes the following steps: disconnecting the air flotation system 300 from the air hole 110 of the suction cup 100, connecting the negative pressure system 400 to the air hole 110 of the suction cup 100, and fixing the sheet 500 to the surface of the suction cup 100. Further utilizing the negative pressure system 400 to adsorb and fix the sheet 500 can enhance the fixing effect of the sheet 500.

[0044] Preferably, after the second-direction positioning is completed and before the suction cup 100 is reset in the second direction, the air flotation system 300 is disconnected, the negative pressure system 400 is connected to the air hole 110 of the suction cup 100, and then the second-direction reset of the suction cup 100 is performed. In this way, the sheet 500 is fixed by the negative pressure system 400 during the reset process of the suction cup 100, which can ensure that the sheet 500 will not shift its position during the reset process of the suction cup 100.

[0045] Preferably, the sheet transfer method further includes the following step: disconnecting the negative pressure system 400 from the air vent 110 of the suction cup 100 before the conveying device conveys the suction cup 100 to the unloading device. When transferring sheets 500 with a high coefficient of friction, such as foam, the sheet 500 can adhere to the surface of the suction cup 100 using its own friction. Therefore, even if the negative pressure system 400 is disconnected during the conveying process, the position of the sheet 500 will not shift. This simplifies the negative pressure system 400, which does not need to be connected to the suction cup 100 throughout its movement.

[0046] Figure 5 This is a schematic diagram of the air flotation system 300 and the negative pressure system 400 of the sheet positioning device provided in Embodiment 1 of the present invention. Only the air inlet pipes are shown for the air flotation system 300 and the negative pressure system 400; that is, the air inlet pipes represent the air flotation system 300 and the negative pressure system 400, respectively. Figure 4 and Figure 5 Both the air inlet pipe of the air flotation system 300 and the air inlet pipe of the negative pressure system 400 can be fixedly installed, and when the transfer system drives the suction cup 100 to move, they are connected to the suction cup 100 within a certain range, thereby realizing the effect of automatically connecting and disconnecting the air flotation system 300 and the negative pressure system 400 respectively when the transfer system drives the suction cup 100 to move.

[0047] Preferably, the conveying device in the sheet transfer system drives the suction cup 100 to perform a circular motion, that is, continuously transporting the suction cup 100 from the loading device to the unloading device, and then from the unloading device to the loading device.

[0048] Example 2 The main difference between Embodiment 2 and Embodiment 1 of the present invention lies in the flipping drive mechanism 200. Specifically, the flipping drive mechanism 200 includes a rotation drive element 230, the drive end of which is connected to the suction cup 100 to drive the suction cup 100 to complete the tilting action in the second direction.

[0049] like Figure 8 As shown, Figure 8 This is a schematic diagram of the suction cup 100 and the flipping drive mechanism 200 in the sheet positioning device provided in Embodiment 2 of the present invention. Figure 8(a) is a front view of the suction cup 100, and (b) is a side view of the suction cup 100 and the flipping drive mechanism 200. The rotary drive element 230 is a rotary cylinder, which directly drives the suction cup 100 to rotate, thereby enabling the suction cup 100 to complete the tilting action in the second direction.

[0050] Example 3 The main difference between Embodiment 3 and Embodiment 2 of the present invention lies in the specific type of the driving element of the flipping drive mechanism 200, specifically: the rotary drive element 230 is a servo motor or a stepper motor.

[0051] Figure 9 This is a schematic diagram of the suction cup 100 and the flipping drive mechanism 200 in the sheet positioning device provided in Embodiment 3 of the present invention, as shown below. Figure 9 As shown, a servo motor or stepper motor is used to drive the chuck 100 to rotate, making it easier to control the rotation angle, speed, and other parameters. Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention 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 or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A sheet positioning device, characterized in that, include: A suction cup (100) has a plurality of air holes (110) on its surface. The suction cup (100) is configured to support a sheet (500) and has a preset tilt angle in a first direction. An air flotation system (300), selectively connected to the air hole (110), is used to provide positive pressure gas to the air hole (110) to form an air film on the surface of the suction cup (100) that suspends the sheet (500). The suction cup (100) is also provided with a first reference surface (120), which is used to limit the sheet (500) in a first direction; A flipping drive mechanism (200) is connected to the suction cup (100) and is used to drive the suction cup (100) to tilt in a second direction; The suction cup (100) is also provided with a second reference surface (130), which is used to limit the sheet (500) in a second direction.

2. The sheet positioning device according to claim 1, characterized in that, The flipping drive mechanism (200) includes a rotary drive element (230), the drive end of which is connected to the suction cup (100) to drive the suction cup (100) to produce a tilting action in the second direction.

3. The sheet positioning device according to claim 1, characterized in that, The flipping drive mechanism (200) includes a roller (210) and a track (220). The roller (210) is rolled within the track (220). The track (220) includes a first straight section (221) and a first inclined section (222). When the roller (210) is located in the first straight section (221), the suction cup (100) is in a straight state in the second direction. When the roller (210) is located in the first inclined section (222), the suction cup (100) produces an inclined action in the second direction.

4. The sheet positioning device according to claim 1, characterized in that, It also includes a negative pressure system (400) selectively connected to the vent (110) for providing negative pressure to the vent (110) to adsorb and fix the sheet (500) onto the surface of the suction cup (100).

5. A sheet positioning method, characterized in that, The sheet positioning device according to any one of claims 1 to 4 includes the following steps: The suction cup (100) is tilted in the first direction and straight in the second direction. The air flotation system (300) is connected to the air hole (110) of the suction cup (100) to form an air film on the surface of the suction cup (100). The sheet (500) is placed on the surface of the suction cup (100), and the sheet (500) slides along the first direction to the first reference surface (120) under its own weight, thus completing the positioning in the first direction; The chuck (100) is driven by the flipping drive mechanism (200) to tilt in the second direction, so that the sheet (500) slides along the second direction to the second reference surface (130) under its own weight, thus completing the second direction positioning; Disconnect the air flotation system (300) from the air hole (110) of the suction cup (100).

6. The sheet positioning method according to claim 5, characterized in that, Includes the following steps: After the suction cup (100) is driven to tilt in the second direction by the flip drive mechanism (200), the tilting state of the suction cup (100) in the second direction is maintained by the flip drive mechanism (200).

7. The sheet positioning method according to claim 5, characterized in that, The sheet positioning device further includes a negative pressure system (400), which is selectively connected to the air hole (110) and is used to provide negative pressure to the air hole (110) to adsorb and fix the sheet (500) onto the surface of the suction cup (100). The device also includes the following steps: Disconnect the air flotation system (300) from the air hole (110) of the suction cup (100), connect the negative pressure system (400) to the air hole (110) of the suction cup (100), and fix the sheet (500) to the surface of the suction cup (100). The suction cup (100) is driven by the flipping drive mechanism (200) to produce a reverse tilting action in the second direction, so that the suction cup (100) is in a straight state in the second direction.

8. A sheet transfer system, characterized in that, include: The sheet positioning device according to any one of claims 1 to 4; A feeding device is used to place the sheet material (500) to be positioned onto the suction cup (100) of the sheet positioning device; A feeding device is used to remove the positioned sheet (500) from the suction cup (100). A conveying device for conveying the suction cup (100) from the loading device to the unloading device.

9. A sheet material transfer method, characterized in that, The sheet transfer system according to claim 8 includes the following steps: The feeding device places the sheet (500) onto the suction cup (100) of the sheet positioning device; The sheet positioning device positions the sheet (500) in the first and second directions; The conveying device transports the suction cup (100) from the loading device to the unloading device.

10. The sheet transfer method according to claim 9, characterized in that, The sheet positioning device further includes a negative pressure system (400), which is selectively connected to the air hole (110) and is used to provide negative pressure to the air hole (110) to adsorb and fix the sheet (500) onto the surface of the suction cup (100). The device also includes the following steps: After the sheet (500) is positioned, the air flotation system (300) is disconnected from the air hole (110) of the suction cup (100), the negative pressure system (400) is connected to the air hole (110) of the suction cup (100), and the sheet (500) is fixed to the surface of the suction cup (100).

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