Display printing plate displacement system

Abstract

This invention relates to the field of automated printing technology, and in particular provides a display printing plate displacement system, including a base, a seat body inside the base, a material area below the seat body, a lifting adsorption component and a lateral adsorption component inside the seat body, the lifting adsorption component being located at the adsorption and material picking position above the material area, and the lateral adsorption component being located on the discharge side of the lifting adsorption component, the lateral adsorption component slidingly engaging with the seat body relative to the lifting adsorption component in a back-and-forth manner, and two exhaust pipes being provided inside the seat body, each equipped with a pneumatic nozzle. The combination of a sheet-separating and airflow separation device effectively solves the problem of positioning and separating stacked boards. Compared with traditional robotic arm solutions, this significantly reduces equipment manufacturing costs while maintaining the same production efficiency, and avoids the problems of low efficiency and safety hazards associated with manual operation.

Description

Technical Field

[0001] This invention relates to the field of automated printing technology, and in particular to a display printing plate displacement system. Background Technology

[0002] In automated printing processes, precise displacement and efficient transfer of printing plates are crucial for ensuring the smooth operation of subsequent processes (such as lamination, hot stamping, die-cutting, or inspection). Existing technologies sometimes employ mechanical clamping or a single suction cup structure for plate handling and transfer. However, these methods often suffer from unstable adsorption, insufficient transfer accuracy, plate damage, or low efficiency when handling lightweight, easily deformable, or surface-sensitive printing plates. Furthermore, for scenarios requiring multi-station collaborative operation, there is a lack of a displacement system capable of integrated control of lifting, handover, and lateral movement, making it difficult to balance operational stability, flexibility, and intelligence. Patent CN107720345B discloses an automatic printing separation device and its method for automatically separating printed materials. This patent utilizes an ejector mechanism in conjunction with a pressure plate to vertically eject stacks of printed materials from bottom to top for automatic separation, followed by transport by a clamping device to a designated area. However, this solution relies on rigid ejection and clamping actions. When processing single thin sheets or pre-printed finished sheets, uneven contact pressure can easily lead to ink smudging, paper indentation, or warping. Furthermore, its separation and conveying are separate and independent actions, failing to achieve a smooth transfer under adsorption conditions, making it difficult to meet the requirements of high-precision, damage-free transport. A printing separation device with publication number CN206814042U uses a push rod with silicone tips to separate stacks of paper sheet by sheet, and then transports the separated paper to downstream equipment via a conveyor belt. Although it reduces damage to the paper surface through silicone, its separation mechanism is still based on physical pushing, which cannot effectively handle printing plates of different thicknesses, materials, or stacking densities. Moreover, this device only performs separation and conveying, lacking the ability to control the posture and precisely position the plates during the transfer process, and it does not integrate intelligent sensing and adaptive adjustment functions, making it difficult to adapt to the requirements of flexible and intelligent production lines. Summary of the Invention

[0003] To address the aforementioned problems, this invention provides a display printing plate displacement system, comprising a base, an inner body within the base, a material area below the inner body, a lifting adsorption assembly and a transverse adsorption assembly within the inner body, the lifting adsorption assembly being located near the inlet side of the material area and positioned at an adsorption and material-taking position above the material area, and the transverse adsorption assembly being located on the outlet side of the lifting adsorption assembly, the transverse adsorption assembly being slidably fitted within the inner body relative to the lifting adsorption assembly in a back-and-forth movement manner, the inner body having two exhaust pipes, left and right, each with a pneumatic nozzle located between the lifting adsorption assembly and a second disc suction assembly, the exhaust direction of the pneumatic nozzle being perpendicular to the back-and-forth movement direction of the transverse adsorption assembly, a support rod mounted on the inlet side of the inner body, the support rod being vertically downward and having a segmented deflector at its bottom end, the segmented deflector extending above the plate workpiece within the material area; It also includes a pneumatic actuator and a control system. The pneumatic actuator includes an air source, a first vacuum generator and a second vacuum generator connected to the air source and providing negative pressure to the lifting suction cup and the lateral suction cup. The control system includes a controller electrically connected to the lateral body, the lifting cylinder and the lateral cylinder.

[0004] As a further preferred embodiment, the top of the segmented feeder is provided with a guide surface, which gradually slopes downward toward the material area.

[0005] As a further preferred embodiment, the lifting and adsorption assembly includes a fixing frame, a lifting cylinder, and a lifting suction cup. The fixing frame is fixed to the base body, the lifting cylinder is vertically fixed to the fixing frame, and the lifting suction cup is vertically downward and installed at the bottom end of the lifting cylinder.

[0006] As a further preferred embodiment, the seat body is provided with slide rails on both sides, and the transverse adsorption assembly includes a transverse body located on the discharge side of the fixed frame. The two sides of the transverse body slide on the two slide rails respectively. The transverse adsorption assembly also includes a transverse cylinder installed on the transverse body, and a transverse suction cup installed on the transverse cylinder. The transverse suction cup is vertically downward. An electric drive device is also installed in the seat body. The actuating end of the electric drive device is connected to the transverse body to drive the transverse body to move back and forth.

[0007] As a further preferred option, The lifting cylinder is controlled to lower the lifting suction cup to contact and pick up the workpiece, and then the lifting cylinder is controlled to raise the lifting suction cup, which in turn raises the workpiece. After controlling the lifting cylinder to drive the lifting suction cup to rise, the lateral cylinder is controlled to drive the lateral suction cup to descend so as to contact and pick up the workpiece. Then, the first vacuum generator is controlled to stop working so that the lifting suction cup can release the workpiece. The transverse cylinder is controlled to drive the transverse suction cup to rise, and the transverse body is controlled to drive the transverse cylinder, so that the transverse suction cup moves the workpiece to the discharge side. The second vacuum generator is controlled to stop working, so that the transverse suction cup releases the workpiece to the discharge side.

[0008] As a further preferred embodiment, a guide plate is installed on the discharge side of the base, and a discharge plate is connected to the guide plate. The discharge plate is inclined downward and connected to the unloading equipment. The maximum stroke of the transverse body reaches the connection between the guide plate and the discharge plate.

[0009] As a further preferred embodiment, the base is also provided with a wheel guide frame, which is located at the connection between the discharge plate and the guide plate, and the rollers on the wheel guide frame are close to the surface of the discharge plate.

[0010] As a further preferred embodiment, the electric drive device is an electric cylinder, the transverse body is driven by the electric cylinder, the electric cylinder is connected to the controller, and a limit sensor is installed on the base, the limit sensor being located at the maximum stroke of the transverse body moving towards the discharge side.

[0011] The advantages of this invention compared to the prior art are: Above the material area are lifting and lateral suction components with lifting and lowering actions. After the lifting suction cups in the lifting suction cup group complete vertical lifting and picking up the material, the lateral suction cups in the lateral suction component change the discharge direction by moving horizontally. With the assistance of air blowing from the pneumatic nozzles on both sides, the transfer of the sheet material from the lifting suction cup to the lateral suction cup is ensured smoothly. When the sheet material is picked up by the lifting suction cup, one end of its bottom surface rests on the separating plate. The separating plate separates the picked-up sheet material from the underlying material. With the help of air blowing from the pneumatic nozzles, the underlying sheet material is further prevented from sticking to the bottom surface of the picked-up sheet material, ensuring that the picked-up sheet material is quickly conveyed to the unloading equipment on the discharge side after the lateral suction cup moves linearly. By decomposing the vertical picking and horizontal transferring actions and using a collaborative operation mode of dual suction cup components, the equipment structure is significantly simplified. At the same time, it enables efficient transfer of sheet material from picking up to feeding. The rigid base and seat structure ensure the stability of equipment operation. The combination of the segmentation and airflow separation device effectively solves the problem of positioning and separating the stacked boards. While maintaining the same production efficiency, it significantly reduces the equipment manufacturing cost and avoids the problems of low efficiency and safety hazards of manual operation. Attached Figure Description

[0012] Figure 1A schematic diagram of the display printing plate displacement system provided for an embodiment of the present invention; Figure 2 A schematic diagram of the base of the printing plate displacement system provided for the embodiment of the present invention from the discharge side perspective; Figure 3 The display printing plate displacement system provided for embodiments of the present invention consists of Figure 2 A schematic diagram taken from the feed side perspective; Figure 4 The display printing plate displacement system provided for embodiments of the present invention consists of Figure 2 A schematic diagram illustrating the second perspective. Figure 5 The display printing plate displacement system provided for embodiments of the present invention consists of Figure 3 A schematic diagram showing the upper part of the base after it has been cut away, from another perspective. Figure 6 The control principle diagram of the control system and pneumatic actuator in the printed circuit board displacement system provided for the embodiment of the present invention is shown.

[0013] In the diagram: 1. Base; 2. Seat body; 3. Material area; 4. Air pipe; 5. Pneumatic nozzle; 6. Support rod; 7. Segmentation lever; 71. Guide surface; 8. Fixing frame; 9. Lifting cylinder; 10. Lifting suction cup; 11. Slide rail; 12. Lateral movement body; 13. Lateral movement cylinder; 14. Lateral movement suction cup; 15. First vacuum generator; 16. Second vacuum generator; 17. Controller; 18. Lead plate; 19. Discharge plate; 20. Unloading equipment; 21. Wheel guide frame; 22. Roller; 23. Limit sensor; 24. Air source. Detailed Implementation

[0014] The above and other embodiments and advantages 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.

[0015] In one implementation, such as Figures 1-6 As shown: This embodiment provides a display printing plate displacement system, including a base 1. Inside the base 1 is a seat assembly 2, which is fixed within the base 1. Below the seat assembly 2 is a material area 3. The seat assembly 2 contains a lifting adsorption component and a lateral adsorption component. The lifting adsorption component is located near the feed side of the material area 3 and is positioned at an adsorption and material-taking position above the material area 3. The lateral adsorption component is located on the discharge side of the lifting adsorption component. The lateral adsorption component is slidably fitted within the seat assembly relative to the lifting adsorption component in a back-and-forth motion manner. The seat assembly 2 contains two exhaust pipes 4, left and right. Pneumatic nozzles 5 are mounted on the exhaust pipes 4 and are located between the lifting adsorption component and the second disc adsorption component. The exhaust direction of the pneumatic nozzles 5 is perpendicular to the back-and-forth motion direction of the lateral adsorption component. A support rod 6 is installed on the feed side of the seat assembly 2. The support rod 6 is vertically downward and has a splitter 7 at its bottom end, extending above the workpiece within the material area 3.

[0016] The base 1 refers to the enclosed frame supporting the main structure of the equipment, which can be implemented using a welded steel plate box structure, providing a stable installation foundation for internal components. The seat 2 refers to the suspended support frame installed within the base 1, which can be implemented using a combination of aluminum alloy profiles and steel connectors, used to fix the suction cup assembly, guiding mechanism, and air passages. The lifting and adsorption assembly refers to the vacuum adsorption device that performs the initial material handling action, which can be implemented using a vacuum suction cup controlled by a solenoid valve in conjunction with a linear cylinder to complete the vertical lifting and placing of the sheet material. The lateral adsorption assembly refers to the sliding adsorption device that performs the material handling action, which can be implemented using a lateral body 12 mounted on a linear slide rail 11 in conjunction with a vacuum suction cup to achieve the horizontal transfer of the sheet material. The air pipe 4 refers to the pipeline system for conveying compressed air, which can be implemented using a combination of polyurethane hoses and metal quick-connect fittings, providing an air source 24 for the pneumatic nozzle 5. The pneumatic nozzle 5 refers to the jetting device that generates directional airflow, which can be implemented using a conical copper nozzle in conjunction with an angle adjustment seat, forming a vertical airflow in the area where the two suction cups intersect, with the airflow direction parallel to the sheet surface. Support rod 6 refers to the vertical support rod connected to base 2. It can be implemented using a combination of a stainless steel round rod and a locking nut, and is used to fix the segmented lever 7. Segmented lever 7 refers to a limiting device that applies non-rigid pressure. It can be implemented using a combination of a polyurethane rubber plate and a spring buffer mechanism, and is used to flexibly position the laminated plates.

[0017] In this embodiment, the base 1 forms the main support structure of the equipment, and the seat 2, as the core load-bearing component, is fixed inside the base 1. The material area 3 is located directly below the seat 2 for stacking the plates to be processed. The lifting and adsorption assembly is vertically installed above the feed side of the material area 3, and completes the adsorption and lifting of the plates through lifting and lowering movements. The transverse adsorption assembly is installed on the discharge side of the lifting and adsorption assembly through a sliding mechanism and can move in the front-back direction. After the lifting and adsorption assembly completes the lifting and raising, the transverse adsorption assembly moves to the bottom of the picked-up workpiece to adsorb and connect the pipe. Two exhaust pipes 4 blow air horizontally towards the bottom surface of the plate through pneumatic nozzles 5, so that the bottom surface of the plate and the first plate stacked on top form an airflow spray curtain, preventing the plate from falling back when it is picked up and transferred to the transverse adsorption assembly pipe, and at the same time preventing the plates below the plate from being lifted by inertia under the blowing action. The segmented lever 7 at the end of the support rod 6 extends to the top of the plate stack in the material area 3, and applies appropriate downward pressure to the stacked plates before picking up the material to ensure that the top plate is flat and positioned. Through spatial layout optimization, after the lifting suction cup 10 completes vertical lifting and material picking, the horizontal moving suction cup 14 achieves material discharge direction transfer through horizontal movement. With the air blowing assistance of the pneumatic nozzles 5 on both sides, the transfer of the board from the lifting suction cup 10 to the horizontal moving suction cup 14 is ensured. When the board is picked up by the lifting suction cup 10, one end of its bottom surface falls on the dividing plate 7. The dividing plate 7 is used to separate the picked-up board from the bottom material. With the air blowing assistance of the pneumatic nozzles 5, the bottom board is further prevented from sticking to the bottom surface of the picked-up board. This ensures that the picked-up board is quickly conveyed to the unloading device 20 on the discharge side after the horizontal moving suction cup 14 moves in a straight line.

[0018] This eliminates the need for a complex motion control system, achieving efficient material transfer through a linear motion mechanism. The synergistic effect of alternating dual suction cups and airflow-assisted separation ensures positioning accuracy while increasing the operating cycle time. The rigid base 1 and seat 2 structure ensures equipment operational stability. The combination of the segmentation lever 7 and the airflow separation device effectively solves the positioning and separation problems of stacked boards, avoiding the inefficiencies and safety hazards of manual operation.

[0019] In another embodiment, the top of the slitting plate 7 is provided with a guide surface 71, which gradually slopes downward toward the material area 3. Through the structure of the guide surface 71, the bottom end of the lifted sheet material rests on the guide surface 71 of the slitting plate 7, thereby increasing the separation distance between the picked-up sheet material and the bottom sheet material. This ensures that after the stacked sheet material is picked up by the lifting suction cup 10, it is effectively transferred to the transverse suction cup 14, smoothly entering the unloading stage during high-speed continuous feeding.

[0020] In another embodiment, the lifting and adsorption assembly includes a fixed frame 8, a lifting cylinder 9, and a lifting suction cup 10. The fixed frame 8 is fixed inside the base 2, and the lifting cylinder 9 is vertically fixed on the fixed frame 8. The vertical mounting of the lifting suction cup 10 at the bottom of the cylinder ensures uniform surface contact when the suction cup contacts the workpiece. The lifting suction cup 10 is mounted at the bottom of the lifting cylinder 9. The fixed frame 8 is a rigid support structure for supporting the cylinder, which can be implemented by welding or bolting a metal frame. Its fixed connection with the base 2 forms a stable mechanical transmission path, preventing displacement deviation of the suction cup assembly during high-speed movement. The lifting cylinder 9 is the power element that drives the suction cup to perform vertical lifting and lowering actions. It can be implemented by using a double-acting cylinder or a cylinder with a guide rod. The vertical fixing method ensures that the piston rod's axis of motion remains perpendicular to the workpiece plane, eliminating angular errors caused by multi-degree-of-freedom motion.

[0021] In this embodiment, the fixing frame 8 forms an integral structure with the base 2 through a rigid connection, providing a stable mounting reference surface for the cylinder. The vertical fixing method of the lifting cylinder 9 ensures that the movement direction of its piston rod is consistent with the normal direction of the workpiece surface. When the lifting cylinder 9 drives the lifting suction cup 10 to descend, the bottom surface of the lifting suction cup 10 can contact the workpiece surface in a vertical posture, ensuring a uniform distribution of vacuum adsorption force. The lifting suction cup 10 is directly installed at the bottom end of the lifting cylinder 9, eliminating the linkage transmission mechanism required by traditional robotic arms. The linear motion of the lifting cylinder 9 directly drives the lifting suction cup 10 to complete the lifting action, reducing the cumulative error of the gap in the kinematic chain. During the adsorption process, after the lifting cylinder 9 pushes the lifting suction cup 10 vertically down to the preset height, the vacuum system is activated to form a negative pressure to adsorb the workpiece. Subsequently, the cylinder retracts, driving the workpiece to rise vertically, completing a single material handling cycle.

[0022] Therefore, the suction cup assembly in traditional unloading equipment 20 typically employs a multi-joint robotic arm structure. Its motion trajectory is affected by the cumulative angular errors of multiple rotary joints, leading to a risk of tilting when the suction cup contacts the workpiece. Furthermore, the complex transmission mechanism requires frequent maintenance. This solution, through a rigid vertical connection between the fixed frame 8 and the cylinder, restricts the suction cup movement to a single vertical degree of freedom, eliminating angular deviations caused by multi-axis motion and simplifying the mechanical structure.

[0023] In another embodiment, the seat 2 is provided with slide rails 11 on both sides. The transverse adsorption assembly includes a transverse body 12 located on the discharge side of the fixed frame 8. The two sides of the transverse body 12 slide on the two slide rails 11 respectively. The transverse adsorption assembly also includes a transverse cylinder 13 installed on the transverse body 12, and a transverse suction cup 14 installed on the transverse cylinder 13. The transverse suction cup 14 is vertically downward. An electric drive device is also installed in the seat 2. The actuating end of the electric drive device is connected to the transverse body 12 to drive the transverse body 12 to move back and forth.

[0024] The slide rail 11 refers to the guide structure extending along the length of the base 2, which can be implemented using a linear guide rail or a grooved track. It is used to constrain the sliding trajectory of the transverse moving body 12, ensuring that the transverse adsorption assembly moves in a predetermined direction. The transverse moving body 12 refers to the support structure that carries the transverse moving cylinder 13 and the suction cup, which can be implemented using a metal frame or plate-like components. The sliding cooperation between its two sides and the slide rail 11 can reduce motion resistance and maintain the stability of the assembly. The electric drive device refers to the actuator that provides linear power, which can be an electric cylinder driving linear motion, and the displacement speed and positional accuracy of the transverse moving body 12 are controlled by a program. The transverse moving cylinder 13 refers to the pneumatic component that drives the transverse moving suction cup 14 to move vertically, ensuring that the transverse moving suction cup 14 can still perform adsorption actions during movement.

[0025] Specifically, the transverse body 12 is restricted to its forward and backward movement direction by sliding connections to the slide rail 11 on both sides. The electric drive device drives the transverse body 12 to move along the slide rail 11 to the target position according to the control signal. When the transverse body 12 reaches the adsorption station, the transverse cylinder 13 drives the transverse suction cup 14 to descend and contact the workpiece surface. At the same time, the lifting cylinder 9 drives the lifting suction cup 10 to rise and reset. The lifting cylinder 9 stops adsorption and transfers the plate to the transverse suction cup 14 for adsorption. Subsequently, the electric drive device drives the transverse body 12 to move towards the discharge side, and the transverse body 12 drives the transverse cylinder 13 to move towards the discharge side. The transverse cylinder 13 drives the transverse suction cup 14 to move towards the discharge side. The transverse suction cup 14 conveys the plate workpiece in a straight line into the unloading equipment. Then, the transverse cylinder 13 rises and resets. At the same time, the transverse suction cup 14 releases the plate workpiece, allowing it to fall into the unloading equipment. The cooperative structure of slide rail 11 and transverse body 12 replaces the multi-axis motion mechanism of traditional manipulators, achieving directional displacement within the internal space of the base 2. At the same time, the electric drive device directly acts on the transverse body 12, avoiding the accumulation of errors caused by complex transmission chains. In terms of linear motion, this solution can fully meet the requirements.

[0026] Therefore, this solution, through the integrated design of the slide rail 11 and the transverse moving body 12, restricts the movement of the transverse adsorption component to a single direction, using the base 2 as the support structure, eliminating the need for an additional robotic arm base. The electric drive device directly drives the transverse moving body 12, simplifying the power transmission path and reducing the complexity of motion control. At the same time, the guiding effect of the slide rail 11 prevents the suction cup from shifting during movement, reducing equipment manufacturing costs.

[0027] In another embodiment, a pneumatic actuator and a control system are also included. The pneumatic actuator includes an air source 24, a first vacuum generator 15 connected to the air source 24 and providing negative pressure to the lifting suction cup 10 and the lateral suction cup 14, and a second vacuum generator 16. The control system includes a controller 17 electrically connected to the lateral body 12, the lifting cylinder 9, and the lateral cylinder 13, and is programmed to execute the following control logic: The lifting cylinder 9 is controlled to drive the lifting suction cup 10 to descend so as to contact and pick up the workpiece. Then the lifting cylinder 9 is controlled to drive the lifting suction cup 10 to rise, and the lifting suction cup 10 drives the workpiece to rise. After the lifting cylinder 9 is controlled to drive the lifting suction cup 10 to rise, the transverse cylinder 13 is controlled to drive the transverse suction cup 14 to descend so as to contact and pick up the workpiece. Then the first vacuum generator 15 is controlled to stop working so that the lifting suction cup 10 can release the workpiece. The transverse cylinder 13 is controlled to drive the transverse suction cup 14 to rise, and the transverse body 12 is controlled to drive the transverse cylinder 13, so that the transverse suction cup 14 moves the workpiece to the discharge side. The second vacuum generator 16 is controlled to stop working so that the transverse suction cup 14 releases the workpiece to the discharge side.

[0028] In this embodiment, when the workpiece is placed in the material area 3, the lifting suction cup 10 is driven by a cylinder to descend vertically to complete the adsorption, and then vertically lifted to detach from the material pile. At this time, the transverse suction cup 14 descends synchronously to contact the workpiece surface and initiates adsorption. The lifting suction cup 10 releases the adsorption, allowing the workpiece to be transferred to the transverse suction cup 14. After the transverse suction cup 14 lifts the workpiece, the transverse body 12 moves horizontally along the guide rail to a predetermined position on the discharge side. By closing the vacuum, the workpiece accurately falls into the conveying channel. The entire process is achieved through a preset program by the controller, realizing the alternating adsorption and transfer of the two suction cups without manual intervention or complex mechanical structures.

[0029] Therefore, this solution, through the decomposed actions of vertical lifting and horizontal movement of two suction cups, combined with the timing control of vacuum adsorption, ensures automation efficiency while requiring only a single-axis linear drive device, significantly reducing equipment complexity and manufacturing costs. The alternating adsorption mechanism of the dual suction cups enables the hourly material unloading capacity to meet automated production requirements without the high cost of a robotic arm. Independent control of the vacuum generator ensures workpiece stability during transfer, reducing the cost of the linear motion of the transverse body 12.

[0030] In another embodiment, a guide plate 18 is installed on the discharge side of the base 1, and a discharge plate 19 is connected to the guide plate 18. The discharge plate 19 is inclined downward and connected to the unloading device 20. The maximum stroke of the transverse moving body 12 reaches the connection between the guide plate 18 and the discharge plate 19. When the transverse moving body 12 drives the transverse adsorption assembly to the maximum stroke position, the workpiece is released onto the surface of the guide plate 18. A continuous conveying path is formed at the connection between the guide plate 18 and the discharge plate 19. In addition, a wheel guide frame 21 is provided in the base 1. The wheel guide frame 21 is located at the connection between the discharge plate 19 and the guide plate 18, and the rollers 22 on the wheel guide frame 21 are close to the surface of the discharge plate 19.

[0031] In this embodiment, the sliding friction between the sheet material and the discharge plate 19 is converted into rolling friction between the roller 22 and the sheet material. The roller 22 is positioned at the connection between the discharge plate 19 and the guide plate 18, ensuring that the center of gravity of the sheet material is always supported by the roller 22 after it detaches from the transverse adsorption assembly. This support reduces the direct friction between the downward pressure generated by the sheet material's own weight and the surface of the discharge plate 19, thus preventing the sheet material from jamming due to excessive local resistance during transfer. Furthermore, this solution utilizes the combined structure of the guide plate 18 and the inclined discharge plate 19 to achieve automatic workpiece sliding using gravity, eliminating the need for an additional power unit and simplifying the transmission mechanism. By introducing the passive roller 22 structure, resistance is reduced using rolling friction characteristics without adding a power unit, while the continuous support of the roller 22 maintains the stability of the movement trajectory.

[0032] In another embodiment, the electric drive device is an electric cylinder, the transverse body 12 is driven by the electric cylinder, the electric cylinder is connected to the controller 17, and a limit sensor 23 is installed on the base 2. The limit sensor 23 is located at the maximum stroke of the transverse body 12 moving in the direction of discharge.

[0033] In this embodiment, the electric cylinder is directly controlled by the controller 17, forming a closed-loop control system. By adjusting the motor speed and direction in real time, the forward and backward movement trajectory of the transverse body 12 is precisely controlled. When the transverse body 12 moves towards the discharge side driven by the electric cylinder, the limit sensor 23 detects the position of the transverse body 12 at its maximum stroke and sends a signal to the controller 17. The controller then cuts off the power output of the electric cylinder, ensuring that the transverse body 12 stops at the predetermined position. In this process, the linear drive of the electric cylinder avoids the structural complexity and control errors caused by the multi-axis linkage of traditional robotic arms. The dual protection mechanism of the limit sensor 23 further eliminates positioning deviations caused by control signal delays or mechanical inertia.

[0034] Therefore, the linear motion control driven by the electric cylinder, combined with the position detection of the limit sensor 23, not only reduces the manufacturing cost of the equipment, but also significantly improves the transfer accuracy and operational stability through mechatronics closed-loop control.

[0035] The electronic control component of this invention is as follows: The control system further includes a detection module, an analysis module, and a feedback execution module. The detection module includes a first negative pressure sensor, a second negative pressure sensor, and an infrared scanning sensor. The first negative pressure sensor is installed on the lifting suction cup 10, the second negative pressure sensor is installed on the transverse suction cup 14, and the infrared scanning sensor is installed on the transverse moving body. The infrared scanning sensor scans the material to obtain an infrared scanning waveform when the transverse moving body moves. The analysis module includes a waveform analysis strategy. The waveform analysis strategy generates high-frequency waveform features and low-frequency waveform features based on the infrared scanning waveform. The high-frequency waveform features are used as input values ​​for the roughness analysis algorithm, and the low-frequency waveform features are used as input values ​​for the deformation analysis algorithm. The detection process is completely synchronized with the original equipment's material handling and transfer process, and is divided into three stages: pre-adsorption equilibrium detection, horizontal scanning detection, and adsorption stability verification. It does not increase the equipment's operating cycle. The triggering conditions for each stage are linked to the original equipment's limit switch signals to ensure the coordination between detection and operation. The pre-adsorption equilibrium detection stage is triggered when the lifting suction cup descends to 5mm from the surface of the board. At this point, the limit switch S1 of the original equipment sends a signal, and the controller immediately activates the first proportional flow valve to introduce compressed air into the balancing nozzle. Simultaneously, the first proportional pressure reducing valve is controlled to gradually reduce the internal pressure of the suction cup until the laser displacement sensor detects that the board is stationary. At this point, it is determined that the board has reached a state of equilibrium between suction and blowing force, and the negative pressure value and blowing force value at this time are recorded. The horizontal scanning detection stage is triggered when the lifting suction cup rises to a predetermined height after adsorbing the board. During the return stroke of the horizontal moving body, the infrared scanning sensor is activated to continuously scan the surface of the board, covering the entire area of ​​the board. The scanning data is transmitted to the data analysis module of the controller in real time. This stage is synchronized with the movement process. The adsorption stability verification stage is triggered when the horizontal movement ends and the limit switch S3 sends a signal. At this time, the negative pressure and blowing force of the lifting suction cup are kept constant. The deformation data of the board is continuously collected by the laser displacement sensor, and the average value is taken as the final deformation detection result. At the same time, the pressure value of the pressure sensor is recorded, and the detection data is integrated and output. The infrared scanning sensor employs a dual-frequency scanning mode, where the high-frequency band is used to capture microscopic protrusions on the surface of the material, and the low-frequency band is used to capture macroscopic deformation features. During the scanning process, the entire effective adsorption area of ​​the material is covered.

[0036] For applications involving printed circuit board displacement systems, the boards are typically lightweight materials such as paper and thin plastics, characterized by low surface roughness, high deformation sensitivity, and uniform weight distribution. Therefore, the signal processing module of the infrared scanning sensor incorporates a targeted filtering algorithm: Gaussian filtering is used on the high-frequency waveform to remove ambient light interference and highlight microscopic roughness signals; moving average filtering is used on the low-frequency waveform to smooth noise from mechanical vibrations, improving deformation detection accuracy. This adaptive design accurately acquires the raw data of board roughness and deformation, ensuring the reliability of the algorithm's input signal.

[0037] The analysis module is equipped with roughness analysis algorithm, deformation analysis algorithm and weight analysis algorithm; The roughness analysis algorithm is used to calculate the roughness of the board material. Surface roughness is calculated using spectral data collected by an infrared scanning sensor. A correlation model between reflectivity and roughness is established by utilizing the difference in reflectivity of near-infrared light on surfaces with different roughnesses. This model is trained using a BP neural network algorithm. The training process is as follows: First, 100 standard printing boards with different roughnesses (Ra range 0.1-10 μm) are selected. The standard Ra value of each board is measured using a professional roughness meter. Simultaneously, spectral data of each board is collected using an infrared scanning sensor of the same model. The standard deviation of the grayscale value of the spectral curve is extracted as a feature parameter. The feature parameter is used as input, and the standard Ra value is used as output to train the BP neural network. The neural network structure consists of one neuron in the input layer, three neurons in the hidden layer, and one neuron in the output layer. Gradient descent is used to optimize the weights. The training iterations are 1000 times, with a learning rate of 0.01. The prediction error of the final model is controlled within ±0.05 μm. In actual testing, an infrared scanning sensor collects spectral data from the surface of the board, extracts the standard deviation σ of the grayscale values, inputs it into a trained BP neural network, and outputs the surface roughness Ra of the board. The calculation formula is as follows:

[0038] Where w1, w2, and w3 are the weight coefficients of each layer of the neural network, and b1, b2, and b3 are the bias terms of each layer, all of which are fixed parameters after model training.

[0039] The deformation analysis algorithm is used to calculate the deformation of the board in the adsorption state. The calculation of the board adsorption deformation is achieved through the detection data of the infrared sensor. The initial position of the board surface before adsorption is selected as the reference point, and the displacement of the same position after adsorption is the deformation value. To eliminate random errors, the moving average method is used to process the detection data. The calculation formula is as follows:

[0040] in This represents the average deformation value of the sheet material, and n represents the number of samples, with a value of 50. Representing the Displacement data collected in this second session. This represents the initial position data of the board.

[0041] The weight analysis algorithm is used to analyze the weight of the board and generate board information based on the board weight, deformation, and roughness. The board weight is calculated using the negative pressure value and blowing force value during the pre-adsorption balance detection stage. Based on the principle of force balance, when the board is in a static state, the difference between the adsorption force of the suction cup and the blowing force of the balance nozzle is equal to the weight of the board. The adsorption force is calculated using the difference between the negative pressure inside the suction cup and the atmospheric pressure and the adsorption area. The specific formula is as follows:

[0042] in Represents the weight of the board material. Represents standard atmospheric pressure, with a value of 101325 Pascals. S1 represents the stable negative pressure value inside the lifting suction cup, which is collected in real time by the first negative pressure sensor. S2 represents the effective adsorption area of ​​the lifting suction cup, which is an inherent parameter of the original equipment, and its value is determined according to the suction cup model. The total blowing force of the balanced nozzle is calculated from the output flow rate of the proportional flow valve and the nozzle parameters, using the following formula: Where Q is the flow rate, The density of air is taken as 1.29 kg per cubic meter. The nozzle outlet velocity is... It represents gravitational acceleration.

[0043] The feedback execution module is configured with a target speed execution algorithm and a second target negative pressure execution algorithm: The core of the target speed is to balance material feeding efficiency with the stability of the sheet conveying: the greater the weight of the sheet, the greater its inertia, requiring a slower speed to prevent it from falling off; the greater the deformation, the weaker the sheet's resistance to deformation, requiring a slower speed to reduce secondary deformation caused by inertia; the greater the roughness, the worse the adhesion and sealing between the sheet and the suction cup, and excessive speed can easily cause relative slippage, thus requiring an appropriate speed reduction. At the same time, upper and lower speed limits need to be set to avoid excessively low speeds affecting production efficiency or excessively high speeds damaging adhesion stability.

[0044] The target speed execution algorithm is as follows:

[0045] The target execution speed of the electric cylinder, i.e. the speed at which the transverse moving body drives the transverse moving suction cup to transport the material, is the final output value of the algorithm. : Baseline speed, the preset standard operating speed, corresponding to standard printing plates with medium weight, small deformation, and low roughness, which needs to be calibrated according to the rated efficiency of the equipment; : Weight correction factor, a negative constant, physically means the reduction in target speed for every 1g increase in board weight. The greater the weight, the more significant the speed reduction, thus offsetting the effect of inertia. The weight of the board material is calculated by the weight analysis algorithm in the analysis module, reflecting the inertial load of the board material. Deformation correction coefficient, a negative constant, physically represents the reduction in target velocity for every 1μm increase in plate deformation. The larger the deformation, the more significant the velocity reduction, thus avoiding secondary deformation. The deformation of the board under adsorption state is calculated by the deformation analysis algorithm of the analysis module, reflecting the board's resistance to deformation. : Roughness correction coefficient, a negative constant. Its physical meaning is the reduction in target speed for every 1μm increase in plate roughness. The greater the roughness, the more obvious the speed reduction, which compensates for the adsorption risk caused by insufficient sealing performance. Minimum allowable speed: The lowest speed threshold for stable operation of the equipment, to prevent production efficiency from falling below the design standard due to excessively low speed; The maximum permissible speed is the highest speed threshold for safe operation of the equipment, determined by the adsorption limit of the transverse suction cup and the power performance of the electric cylinder. This prevents excessive speed from causing the sheet material to fall off or the equipment to vibrate. The design dynamically adapts to different sheet material characteristics, automatically reducing the conveying speed for heavy, easily deformable, and rough-surfaced sheets, while maintaining a higher speed for lightweight, rigid, and smooth-surfaced sheets, balancing high-speed feeding with stable conveying. It avoids risks associated with extreme working conditions by constraining the upper and lower speed limits, preventing sheet material from falling or shifting due to excessive efficiency, and avoiding excessive conservatism that could affect the production cycle. It also reduces equipment wear and tear by matching the speed with the sheet material load and adsorption state, reducing the impact of starting and stopping the electric cylinder and mechanical friction, and extending the service life of components such as the slide rails and transverse moving parts.

[0046] The second objective is that the negative pressure must meet the dual requirements of reliable adsorption of the substrate and no damage to the substrate: the greater the weight of the substrate, the greater the required adsorption force, and the corresponding negative pressure needs to be increased; the greater the deformation, the more easily the substrate is damaged, and the negative pressure needs to be reduced to avoid excessive deformation; the greater the roughness, the worse the seal between the substrate and the suction cup, and the negative pressure needs to be increased to compensate for leakage and ensure adsorption force; at the same time, the upper and lower limits of the negative pressure need to be limited to avoid insufficient negative pressure leading to adsorption failure, or excessive negative pressure damaging the substrate.

[0047] The formula for the second target negative pressure is:

[0048] The target negative pressure of the second vacuum generator is the final output value of the algorithm, which determines the magnitude of the suction force of the transverse suction cup. Reference negative pressure: The preset standard working condition negative pressure, which needs to be calibrated according to the adsorption area of ​​the transverse suction cup; : Weight load correction factor, physically meaning the negative pressure compensation amplitude corresponding to the weight load per unit area, through The weight is converted into load pressure per unit adsorption area to ensure that the negative pressure matches the load. The weight of the board material is converted into kilograms by the weight analysis algorithm of the analysis module, reflecting the gravitational load on the board material. : The effective adsorption area of ​​the transverse suction cup, an inherent parameter of the equipment, reflecting the area of ​​action of the adsorption force; Deformation suppression coefficient: Physically, it represents the reduction in target negative pressure for every 1μm increase in sheet deformation, thus preventing further deformation of the sheet by lowering the negative pressure. The deformation of the sheet material under adsorption conditions is calculated by the deformation analysis algorithm in the analysis module, reflecting the degree of deformation of the sheet material. Roughness sealing compensation coefficient, which physically represents the increase in target negative pressure for every 1μm increase in plate roughness, compensating for sealing leakage on rough surfaces and ensuring adsorption force; : The surface roughness of the board is calculated by the roughness analysis algorithm of the analysis module, reflecting the sealing performance of the contact surface between the board and the suction cup; Minimum allowable negative pressure: The lowest negative pressure threshold to ensure reliable adsorption, which must meet the following requirements. To avoid adsorption failure; The maximum allowable negative pressure is the highest negative pressure threshold that prevents damage to the board. It is determined by the board's deformation resistance limit to prevent excessive negative pressure from wrinkling or breaking the board.

[0049] This design addresses the pain points of adhesion issues with thin and light boards and unstable adhesion with heavy boards by automatically increasing negative pressure to ensure adsorption, automatically reducing negative pressure to prevent damage to easily deformable boards, and compensating for negative pressure to prevent leakage. It also mitigates the effects of load conversion per unit area, avoiding insufficient or excessive adsorption due to differences in board size, and adapting to different specifications of printed boards. Furthermore, it matches the negative pressure with the sealing state of the contact surface, reducing excessive squeezing caused by excessive negative pressure or sliding friction caused by insufficient negative pressure, thus reducing wear on the suction cup.

[0050] The above orientation references do not represent the specific orientations of each component in this implementation scheme. This implementation scheme is only for the convenience of describing the scheme and to make relative descriptions based on the orientations of the references. In reality, the specific orientations of each component are based on their actual installation and use, as well as the orientation descriptions that are customary to those skilled in the art. This is hereby stated.

[0051] The specific embodiments described above further illustrate the inventive purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, or improvements made by those skilled in the art within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A printed circuit board displacement system, characterized in that, The system includes a base (1), a pneumatic actuator, and a control system. The base (1) has a seat (2) inside, and a material area (3) is located below the seat (2). The seat (2) contains a lifting adsorption assembly and a lateral adsorption assembly. The lifting adsorption assembly is located near the feed side of the material area (3) and is positioned at an adsorption and material collection point above the material area (3). The lateral adsorption assembly is located on the discharge side of the lifting adsorption assembly. The lateral adsorption assembly slides relative to the lifting adsorption assembly in a back-and-forth motion. Inside the seat (2), there are two exhaust pipes (4) on the left and right sides. The air pipes (4) are equipped with pneumatic nozzles (5). The pneumatic nozzles (5) are located between the lifting adsorption assembly and the second disc suction assembly. The air outlet direction of the pneumatic nozzles (5) is perpendicular to the front and back movement direction of the transverse adsorption assembly. A support rod (6) is installed on the feeding side of the seat (2). The support rod (6) is vertically downward and has a splitting deflector (7) at the bottom. The splitting deflector (7) extends to the top of the plate workpiece in the material area (3). The pneumatic actuator includes an air source (24), a first vacuum generator (15) connected to the air source (24) and providing negative pressure to the lifting suction cup (10) and the lateral suction cup (14), and a second vacuum generator (16); the control system includes a controller (17) electrically connected to the lateral body (12), the lifting cylinder (9), and the lateral cylinder (13); The control system further includes a detection module, an analysis module, and a feedback execution module. The detection module includes a first negative pressure sensor, a second negative pressure sensor, and an infrared scanning sensor. The first negative pressure sensor is installed on the lifting suction cup (10), the second negative pressure sensor is installed on the transverse suction cup (14), and the infrared scanning sensor is installed on the transverse body. The analysis module is equipped with a roughness analysis algorithm, a deformation analysis algorithm, and a weight analysis algorithm. The roughness analysis algorithm is used to calculate the roughness of the board, the deformation analysis algorithm is used to calculate the deformation of the board in the adsorption state, and the weight analysis algorithm is used to analyze the weight of the board and generate board information based on the board weight, deformation, and roughness. The feedback execution module is configured with a target speed execution algorithm and a second target negative pressure execution algorithm. The target speed execution algorithm is used to calculate target speed information based on the plate information to control the execution speed of the electric cylinder. The second target negative pressure execution algorithm is used to calculate a second target negative pressure based on the plate information to control the power of the second vacuum generator.

2. The display printing plate displacement system according to claim 1, characterized in that, The control logic of the control system includes: controlling the lifting cylinder (9) to drive the lifting suction cup (10) to descend to contact and pick up the workpiece, and then controlling the lifting cylinder (9) to drive the lifting suction cup (10) to rise, and the lifting suction cup (10) drives the workpiece to rise. After the lifting cylinder (9) is controlled to drive the lifting suction cup (10) to rise, the transverse cylinder (13) is controlled to drive the transverse suction cup (14) to fall so as to contact and pick up the workpiece. Then the first vacuum generator (15) is controlled to stop working so that the lifting suction cup (10) can release the workpiece. Control the transverse cylinder (13) to drive the transverse suction cup (14) to rise, and control the transverse body (12) to drive the transverse cylinder (13) so that the transverse suction cup (14) moves the workpiece to the discharge side. Control the second vacuum generator (16) to stop working so that the transverse suction cup (14) releases the workpiece to the discharge side.

3. The display printing plate displacement system according to claim 2, characterized in that, The lifting and adsorption assembly includes a fixed frame (8), a lifting cylinder (9), and a lifting suction cup (10). The fixed frame (8) is fixed inside the base (2). The lifting cylinder (9) is vertically fixed on the fixed frame (8). The lifting suction cup (10) is vertically downward and installed at the bottom of the lifting cylinder (9).

4. The display printing plate displacement system according to claim 3, characterized in that, The seat (2) is provided with slide rails (11) on both sides. The transverse adsorption assembly includes a transverse body (12) located on the discharge side of the fixed frame (8). The two sides of the transverse body (12) slide on the two slide rails (11) respectively. The transverse adsorption assembly also includes a transverse cylinder (13) installed on the transverse body (12) and a transverse suction cup (14) installed on the transverse cylinder (13). The transverse suction cup (14) is vertically downward. An electric drive device is also installed inside the seat (2). The actuating end of the electric drive device is connected to the transverse body (12) to drive the transverse body (12) to move back and forth.

5. The display printing plate displacement system according to claim 1, characterized in that, A guide plate (18) is installed on the discharge side of the base (1), and a discharge plate (19) is connected to the guide plate (18). The discharge plate (19) is inclined downward and connected to the feeding device (20). The maximum stroke of the transverse body (12) reaches the connection between the guide plate (18) and the discharge plate (19).

6. The display printing plate displacement system according to claim 5, characterized in that, The base (1) is also provided with a wheel guide frame (21), which is located at the connection between the discharge plate (19) and the guide plate (18), and the rollers (22) on the wheel guide frame (21) are close to the surface of the discharge plate (19).

7. The display printing plate displacement system according to claim 7, characterized in that, The electric drive device is an electric cylinder. The transverse body (12) is driven by the electric cylinder, which is connected to the controller (17). A limit sensor (23) is installed on the seat (2). The limit sensor (23) is located at the maximum stroke of the transverse body (12) moving towards the discharge side.

8. The display printing plate displacement system according to claim 1, characterized in that, The infrared scanning sensor scans the plate to obtain an infrared scanning waveform when the transverse body is displaced. The analysis module includes a waveform analysis strategy, which generates high-frequency waveform features and low-frequency waveform features based on the infrared scanning waveform. The high-frequency waveform features are used as the input values ​​of the roughness analysis algorithm, and the low-frequency waveform features are used as the input values ​​of the deformation analysis algorithm.

9. The display printing plate displacement system according to claim 1, characterized in that, The top of the segmented feeder (7) is provided with a guide surface (71), which gradually slopes downward toward the material area (3).

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