CN114888505A

CN114888505A - Plate splicing device

Info

Publication number: CN114888505A
Application number: CN202210454208.5A
Authority: CN
Inventors: 黄杰灵; 张国君; 邓建群; 谢国庆
Original assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Current assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Priority date: 2022-04-27
Filing date: 2022-04-27
Publication date: 2022-08-12

Abstract

The embodiment of the invention provides a splicing device, which comprises a splicing platform, a clamping mechanism and a controller, wherein a lifting limiting plate is arranged on the splicing platform, the controller is in signal connection with the clamping mechanism and the limiting plate, and the controller is configured as follows: controlling the limiting plate to rise above the splicing platform; controlling the first clamping assembly and the second clamping assembly to clamp the first plate and the second plate respectively; controlling the first clamping assembly and the second clamping assembly to move towards the limiting plate; determining that the side edges of the first plate and the second plate are tightly attached to the limiting plate; controlling the limiting plate to move below the splicing platform; the first clamping assembly and the second clamping assembly are controlled to move in opposite directions for a preset distance, the splicing gap can be accurately controlled by the splicing device, the repeated precision of splicing operation is high, and the problems that the precision of the splicing gap between plates is not enough, the gap value is uncontrollable and the edge misalignment can be caused during splicing can be solved.

Description

Plate splicing device

Technical Field

The invention relates to the technical field of plate processing equipment, in particular to a plate splicing device.

Background

The method is characterized in that a plurality of large-width plates are often required to be spliced into a whole plate in the plate processing process, the control method of the plate splicing gap can directly influence the welding quality of the spliced plate in the splicing process, and if the plates are placed on a splicing platform at any position and any angle before splicing, the gap between the plates is uneven, the misalignment amount is large, and the relative position of the plates on the splicing platform can not be accurately positioned by a splicing device. At present, large-width plates are large in size and heavy in weight, and are difficult to operate when grabbing and positioning, the prior art generally grabs the plates by matching a transfer robot with an electro-permanent magnet, the plates are directly placed on a splicing platform after grabbing, or manual hoisting and splicing are adopted, but the gap precision of plate splicing in the mode is mainly influenced by the precision, the visual precision, the self precision of the plates, sliding in the placing process and the like of the transfer robot, so that the gap value of plate splicing still cannot be controlled, and the high-precision positioning is difficult to realize.

Disclosure of Invention

The embodiment of the invention aims to provide a plate splicing device which is simple in structure, can control the gap value between two plates when used for splicing the plates, and is high in splicing precision.

In order to achieve the above object, an embodiment of the present invention provides a plate splicing device, including:

the splicing platform is provided with a first plate placing area, a second plate placing area and a limiting plate which is arranged between the first plate placing area and the second plate placing area in a lifting mode, the first plate placing area is used for placing a first plate, and the second plate placing area is used for placing a second plate;

the clamping mechanism comprises a first clamping assembly and a second clamping assembly which are used for clamping a first plate and a second plate, and the first clamping assembly and the second clamping assembly can move oppositely;

the controller, with clamping mechanism, limiting plate signal connection, the controller is configured into:

controlling the limiting plate to rise above the splicing platform;

controlling the first clamping assembly and the second clamping assembly to clamp the first plate and the second plate respectively;

controlling the first clamping assembly and the second clamping assembly to move towards the limiting plate;

determining that the side edges of the first plate and the second plate are tightly attached to the limiting plate;

controlling the limiting plate to move below the splicing platform;

and controlling the first clamping assembly and the second clamping assembly to move towards each other for a preset distance.

In an embodiment of the present invention, the plate material splicing apparatus further includes:

the transverse adjusting mechanism comprises a first transverse adjusting component and a second transverse adjusting component which are used for transversely adjusting the positions of the first clamping component and the second clamping component respectively;

control first clamping component, second clamping component and all move towards the limiting plate and include:

controlling the first transverse adjusting assembly to drive the first clamping assembly to move towards the limiting plate;

and controlling the second transverse adjusting assembly to drive the second clamping assembly to move towards the limiting plate.

In an embodiment of the present invention, controlling the first clamping component and the second clamping component to move towards each other by a preset distance includes:

controlling the first transverse adjusting assembly to drive the first clamping assembly to move towards the second clamping assembly for a preset distance;

and controlling the second transverse adjusting assembly to drive the second clamping assembly to move towards the first clamping assembly for a preset distance.

In an embodiment of the present invention, the first clamping assembly includes a first clamping member and a second clamping member for clamping both longitudinal ends of the first plate material, respectively;

the first transverse adjusting assembly comprises a first transverse adjusting piece and a second transverse adjusting piece which are used for adjusting the transverse positions of the first clamping piece and the second clamping piece respectively;

control first horizontal adjusting part and drive first clamping component and move towards the limiting plate and include:

controlling the first transverse adjusting piece to drive the first clamping piece to move towards the limiting plate;

and controlling the second transverse adjusting piece to drive the second clamping piece to move towards the limiting plate.

In an embodiment of the present invention, the plate splicing apparatus further includes:

the driving mechanism is in signal connection with the controller and comprises a first driving motor and a second driving motor which are used for driving the first transverse adjusting piece and the second transverse adjusting piece respectively;

confirm that the side of first panel is hugged closely with the limiting plate and includes:

determining that the first drive motor and the second drive motor are both in a torque mode;

acquiring a first external load torque of a first driving motor and a second external load torque of a second driving motor;

judging whether the first external load torque is larger than a first preset output torque or not;

judging whether the second external load torque is larger than a second preset output torque or not;

and determining that the side edge of the first plate is tightly attached to the limiting plate under the condition that the first external load torque is greater than the first preset output torque and the second external load torque is greater than the second preset output torque.

In an embodiment of the present invention, the second clamping assembly includes a third clamping member and a fourth clamping member for clamping both longitudinal ends of the second sheet material, respectively;

the second transverse adjusting assembly comprises a third transverse adjusting piece and a fourth transverse adjusting piece which are used for adjusting the transverse positions of the third clamping piece and the fourth clamping piece respectively;

control second horizontal adjustment assembly and drive second clamping component and move towards the limiting plate and include:

controlling the third transverse adjusting piece to drive the third clamping piece to move towards the limiting plate;

and controlling the fourth transverse adjusting piece to drive the fourth clamping piece to move towards the limiting plate.

In an embodiment of the present invention, the driving mechanism further comprises a third driving motor and a fourth driving motor for driving the third lateral adjustment member and the fourth lateral adjustment member, respectively;

confirm that the side of second panel is hugged closely with the limiting plate and includes:

determining that the third drive motor and the fourth drive motor are both in a torque mode;

acquiring a third external load torque of a third drive motor and a fourth external load torque of a fourth drive motor;

judging whether the third external load torque is greater than a third preset output torque or not;

judging whether the fourth external load torque is greater than a fourth preset output torque;

and determining that the side edge of the second plate is tightly attached to the limiting plate under the condition that the third external load torque is greater than the third preset output torque and the fourth external load torque is greater than the fourth preset output torque.

the longitudinal adjusting mechanism is in signal connection with the controller and is used for adjusting the longitudinal positions of the first plate and the second plate;

the controller is further configured to:

after the side edges of the first plate and the second plate are tightly attached to the limiting plate, controlling a longitudinal adjusting mechanism to adjust the first plate and the second plate to preset longitudinal positions;

controlling the longitudinal adjusting mechanism to stop;

and controlling the limiting plate to move below the splicing platform.

In an embodiment of the invention, the longitudinal adjustment mechanism comprises a first longitudinal adjustment member and a second longitudinal adjustment member for adjusting the longitudinal positions of the first clamping member and the third clamping member, respectively;

controlling the longitudinal adjustment mechanism to adjust the first sheet material and the second sheet material to a preset longitudinal position comprises:

controlling the first longitudinal adjusting piece to drive the first clamping piece to move longitudinally;

controlling the second longitudinal adjusting piece to drive the third clamping piece to move longitudinally;

determining that the first plate moves to a preset longitudinal position;

and determining that the second plate moves to the preset longitudinal position.

In an embodiment of the invention, the drive mechanism further comprises:

the fifth driving motor is used for driving the first longitudinal adjusting piece;

determining that the first sheet of material has moved to the predetermined longitudinal position comprises:

determining that the fifth drive motor is in a torque mode;

acquiring a fifth external load torque of a fifth drive motor;

judging whether the fifth external load torque is greater than a fifth preset output torque or not;

and under the condition that the fifth external load torque is larger than the fifth preset output torque, determining that the first plate moves to the preset longitudinal position.

In an embodiment of the invention, the drive mechanism further comprises:

the sixth driving motor is used for driving the second longitudinal adjusting piece;

determining that the second sheet material has moved to the predetermined longitudinal position comprises:

determining that the sixth drive motor is in a torque mode;

acquiring a sixth external load torque of a sixth drive motor;

judging whether the sixth external load torque is greater than a sixth preset output torque;

and determining that the second plate moves to the preset longitudinal position under the condition that the sixth external load torque is greater than the sixth preset output torque.

In an embodiment of the invention, the controller is further configured to:

after the side edges of the first plate and the second plate are tightly attached to the limiting plate, the second clamping piece is controlled to loosen the first plate;

controlling the fourth clamping piece to loosen the second plate;

and controlling the longitudinal adjusting mechanism to adjust the first plate and the second plate to preset longitudinal positions.

Through the technical scheme, but be equipped with the limiting plate of oscilaltion on splicing device's concatenation platform, first clamping component, second clamping component can press from both sides tight first panel, second panel respectively and move in opposite directions, controller and clamping mechanism, limiting plate signal connection, earlier control the limiting plate during the concatenation and rise splicing platform's top makes first clamping component, second clamping component drag first panel, second panel to the position that pastes tightly mutually with the limiting plate again, later makes the limiting plate move splicing platform's below, later can make first clamping component, second clamping component remove in opposite directions according to actual demand and predetermine the distance and can realize that the clearance value between first panel, the second panel is controllable, this kind of splicing device repetition precision is high, can also solve first panel, the problem of the inhomogeneous, the wrong limit of clearance when second panel splices.

Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:

FIG. 1 is a schematic view of a first perspective structure of a splicing apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a second perspective structure of the splicing apparatus according to the embodiment of the invention;

FIG. 3 is a schematic diagram of a third view structure of a splicing apparatus according to an embodiment of the present invention;

fig. 4 is a schematic structural view of a clamping mechanism in an embodiment of the present invention.

Description of the reference numerals

1-splicing the platform; 2-a limiting plate; 3-a first sheet material; 4-a second sheet material; 5-a clamping mechanism; 501-a first clamping assembly; 5011 — first clamp; 5012-second clamp; 502-a second clamping assembly; 5021-a third clamp; 5022-a fourth clamp; 6-a lateral adjustment mechanism; 601-a first lateral adjustment assembly; 6011-a first lateral adjustment member; 6012-a second lateral adjustment member; 602-a second lateral adjustment assembly; 6021-a third lateral adjustment member; 6022-a fourth lateral adjustment member; 7-longitudinal adjusting mechanism; 701-a first longitudinal adjustment member; 702-a second longitudinal adjustment member; 8-a stopper lifting mechanism; 9-upper fixing part; 10-lower moving part.

Detailed Description

The following describes in detail embodiments of the present invention with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.

An embodiment of the present invention provides a novel plate splicing device, as shown in fig. 1 to 3, the plate splicing device includes:

the splicing platform 1 is provided with a first plate placing area, a second plate placing area and a limiting plate 2 which is arranged between the first plate placing area and the second plate placing area in a liftable mode, wherein the first plate placing area is used for placing a first plate 3, and the second plate placing area is used for placing a second plate 4;

the clamping mechanism 5 comprises a first clamping assembly 501 and a second clamping assembly 502 for clamping the first plate 3 and the second plate 4, and the first clamping assembly 501 and the second clamping assembly 502 can move towards each other;

the controller is in signal connection with the clamping mechanism 5 and the limiting plate 2, and the controller is configured to:

controlling the limiting plate 2 to rise above the splicing platform 1;

controlling a first clamping assembly 501 and a second clamping assembly 502 to clamp a first plate 3 and a second plate 4 respectively;

controlling the first clamping assembly 501 and the second clamping assembly 502 to move towards the limiting plate 2; determining that the side edges of the first plate 3 and the second plate 4 are tightly attached to the limiting plate 2;

controlling the limiting plate 2 to move below the splicing platform 1;

the first clamping assembly 501 and the second clamping assembly 502 are controlled to move towards each other by a preset distance.

The conical cylinder mainly refers to a cylinder section formed by splicing various tank bodies of tank cars, the unfolded surface of the cylinder section is a sector surface, the conical cylinder is spliced by small sector plates firstly, the small sector plates are welded to form large sector plates after splicing, the large sector plates are rolled to form the conical cylinder, the small sector plates are made of metal materials, the area of the small sector plates is large, and high-precision splicing is difficult to achieve by manpower.

The splicing device in the embodiment can splice small fan-shaped plates forming a combined cone, specifically, a hollowed-out structure is formed on the splicing platform 1, a position of the hollowed-out structure is provided with a limit block lifting mechanism 8 capable of executing lifting operation (the limit block lifting mechanism 8 is located below the splicing platform 1), the limit plate 2 is arranged on the limit block lifting mechanism 8, the limit plate 2 is arranged in the vertical direction, the splicing platform 1 is provided with a first plate placing area and a second plate placing area on two transverse sides of the limit plate 2, the first plate placing area is used for placing a first plate 3 to be spliced, the second plate placing area is used for placing a second plate 4 to be spliced, and the splicing platform 1 is provided with bull-eye balls on the first plate placing area and the second plate placing area and used for improving the convenience of moving the first plate 3 and the second plate 4; the first clamping assembly 501 and the second clamping assembly 502 are respectively located on two lateral sides of the limiting plate 2, and both extend upwards from the hollow-out structure position, so as to clamp the first plate 3 and the second plate 4 respectively located on the first plate placing area and the second plate placing area.

During the concatenation, the staff can be with arbitrary position and arbitrary angle with first panel 3, second panel 4 places first panel respectively and places the region, the second panel is placed in the region (also can adopt the mode of transfer robot transport in this embodiment with first panel 3, second panel 4 places first panel respectively and places the region, the second panel is placed the region), panel places and presses splicing apparatus's start key (not shown in the figure) after accomplishing, later this splicing apparatus's controller (not shown in the figure) can control clamping mechanism 5 and limiting plate 2 and carry out automatic concatenation according to the procedure of presetting. Specifically, the controller firstly controls the limiting plate 2 to rise above the splicing platform 1, and since the relative positions of the limiting plate 2 and the splicing platform 1 are fixed, the limiting plate 2 is used as a positioning reference when the plates are spliced in the embodiment, and the relative positions of the first plate 3 and the second plate 4 on the splicing platform 1 are defined by the coordinate positions of the limiting plate 2; after the limiting plate 2 rises, the controller controls the first clamping assembly 501 and the second clamping assembly 502 to clamp the first plate 3 and the second plate 4 respectively, then controls the first clamping assembly 501 to drag the first plate 3 and the second clamping assembly 502 to drag the second plate 4 to move towards the direction of the limiting plate 2 until the lateral sides of the first plate 3 and the second plate 4 are attached to the lateral sides of the limiting plate 2, then controls the limiting plate 2 to fall below the splicing platform 1, controls the thickness value of the limiting plate 2 to be K, controls the thickness value to be a constant value and stores the constant value in the controller in advance, and also pre-stores a formula delta-K-x in the controller, if the splicing gap between the first plate 3 and the second plate 4 before welding is delta, the controller controls the first plate 3 and the second plate 4 to move x/2 in the opposite direction (x/2 is the preset distance in the embodiment), can accurate control the concatenation clearance between first panel 3 and the second panel 4 through this kind of mode, during follow-up concatenation, the controller controls first clamping component 501 again and drives first panel 3 and predetermine the distance towards the direction motion of second panel 4 place, second clamping component 502 drives second panel 4 and predetermine the distance towards the direction motion of first panel 3 place, can accomplish the concatenation between first panel 3 and the second panel 4, the splicing apparatus and the concatenation mode that provide make panel even by the optional position in this embodiment, arbitrary angle is placed on splicing platform 1, also can accurate control the concatenation clearance, and the repeatability of concatenation operation is high, be favorable to promoting the subsequent welding precision of panel.

In one embodiment of the present invention, the panel splicing apparatus further comprises:

a lateral adjustment mechanism 6 including a first lateral adjustment assembly 601 and a second lateral adjustment assembly 602 for laterally adjusting the positions of the first clamping assembly 501 and the second clamping assembly 502, respectively;

controlling the movement of both the first 501 and second 502 clamping assemblies towards the limit plate 2 comprises:

controlling the first transverse adjusting component 601 to drive the first clamping component 501 to move towards the limiting plate 2;

the second lateral adjustment assembly 602 is controlled to move the second clamping assembly 502 towards the position-limiting plate 2.

Specifically, the transverse adjusting mechanism 6 is arranged below the splicing platform 1 and is in signal connection with the controller, and the transverse adjusting mechanism 6 includes a first transverse adjusting component 601 and a second transverse adjusting component 602, wherein the first transverse adjusting component 601 is transversely movably arranged below the first clamping component 501, so that the transverse position of the first clamping component 501 can be directly adjusted, and the first clamping component 501 drives the first plate 3 to perform synchronous movement when moving transversely; the second lateral adjustment assembly 602 is disposed below the second clamping assembly 502 in a laterally movable manner, and can directly adjust the lateral position of the second clamping assembly 502, and the second clamping assembly 502 drives the second plate 4 to perform a synchronous movement when moving laterally. Therefore, if the first clamping assembly 501 and the second clamping assembly 502 are both moved towards the limiting plate 2, only the first transverse adjusting assembly 601 and the second transverse adjusting assembly 602 are controlled to move towards the limiting plate 2, and the transverse movement (such as the moving time or the moving distance) of the first clamping assembly 501 and the second clamping assembly 502 can be controlled independently through the structural arrangement, so that the flexibility of the movement of the first clamping assembly 501 and the second clamping assembly 502 is improved.

In one embodiment of the present invention, controlling the first clamping assembly 501 and the second clamping assembly 502 to move towards each other by a preset distance comprises:

controlling the first lateral adjustment assembly 601 to drive the first clamping assembly 501 to move a preset distance towards the second clamping assembly 502;

the second lateral adjustment assembly 602 is controlled to drive the second clamping assembly 502 to move a predetermined distance toward the first clamping assembly 501.

Similarly, if the first clamping assembly 501 and the second clamping assembly 502 are to be moved a predetermined distance towards each other, the controller only needs to send a control command to the first transverse adjusting assembly 601 and the second transverse adjusting assembly 602, so that the first transverse adjusting assembly 601 and the second transverse adjusting assembly 602 are moved a predetermined distance towards each other.

In one embodiment of the present invention, the first clamping assembly 501 includes a first clamping member 5011 and a second clamping member 5012 for clamping both longitudinal ends of the first sheet 3, respectively;

the first lateral adjustment assembly 601 includes a first lateral adjustment member 6011 and a second lateral adjustment member 6012 for adjusting the lateral positions of the first and

second clamp members

5011 and 5012, respectively;

controlling the first lateral adjustment assembly 601 to drive the first clamping assembly 501 to move towards the limiting plate 2 comprises:

controlling the first transverse adjusting piece 6011 to drive the first clamping piece 5011 to move towards the limiting plate 2;

the second lateral adjustment member 6012 is controlled to drive the second clamping member 5012 to move towards the limiting plate 2.

Specifically, the first clamping piece 5011 is arranged at a first longitudinal end of the first plate 3, the second clamping piece 5012 is arranged at a second longitudinal end of the first plate 3, and the first clamping piece 5011 and the second clamping piece 5012 are in signal connection with the controller and can clamp two longitudinal ends of the first plate 3 under the control of the controller; the first transverse adjusting piece 6011 is transversely movably arranged below the first clamping piece 5011, and can directly adjust the transverse position of the first clamping piece 5011, and the first clamping piece 5011 drives the first longitudinal end of the first plate 3 to synchronously move when transversely moving; the second transverse adjusting member 6012 is transversely movably disposed below the second clamping member 5012, and can directly adjust the transverse position of the second clamping member 5012, and the second clamping member 5012 drives the second longitudinal end of the first plate 3 to perform a synchronous movement when moving transversely. Therefore, if the first clamping piece 5011 and the second clamping piece 5012 both move towards the limiting plate 2, only the first transverse adjusting piece 6011 and the second transverse adjusting piece 6012 are required to be controlled to move towards the direction of the limiting plate 2, and the structure enables the transverse movement (such as movement time or movement distance) of the first clamping piece 5011 and the second clamping piece 5012 to be controlled independently, so that the movement flexibility of the first clamping piece 5011 and the second clamping piece 5012 is improved, and the adjustment of the inclination angle of the plate is facilitated, for example, when the first plate 3 is placed obliquely, the transverse distance between the first longitudinal end of the first plate 3 and the limiting plate 2 is 10cm, the first transverse adjusting piece 6011 drives the first clamping piece 5011 to move 10cm towards the limiting plate 2, and the movement time is only 2 s; the transverse distance between the second longitudinal end of the first plate 3 and the limiting plate 2 is 20cm, and then the second transverse adjusting piece 6012 needs to drive the second clamping piece 5012 to move 20cm towards the limiting plate 2, and the moving time needs 4 s.

the driving mechanism is in signal connection with the controller and comprises a first driving motor and a second driving motor which are used for driving the first transverse adjusting piece 6011 and the second transverse adjusting piece 6012 respectively;

confirm that the side of first panel 3 and limiting plate 2 are hugged closely including:

and determining that the side edge of the first plate 3 is tightly attached to the limiting plate 2 under the condition that the first external load torque is greater than the first preset output torque and the second external load torque is greater than the second preset output torque.

Specifically, a first driving motor is in driving connection with the first lateral adjusting member 6011 and is in signal connection with the controller, for driving the first lateral adjusting member 6011; the second driving motor is drivingly connected to the second lateral adjustment member 6012 and is in signal communication with the controller for driving the second lateral adjustment member 6012.

When the first plate 3 is controlled to be close to the limiting plate 2, the first driving motor and the second driving motor are both set to be in a torque mode, the controller controls the first driving motor and the second driving motor to rotate simultaneously, the first plate 3 moves transversely as a whole, the first driving motor and the second driving motor continuously feed back external load torques to the controller in the process, and if the first longitudinal end (specifically, the first longitudinal end of the first plate 3 faces the side end face of the limiting plate 2) and the second longitudinal end (specifically, the second longitudinal end of the first plate 3 faces the side end face of the limiting plate 2) of the first plate 3 do not touch the limiting plate 2, the external load torques of the first driving motor and the second driving motor are both zero, namely, the first external load torque and the second external load torque are both zero; if the first longitudinal end and/or the second longitudinal end of the first plate 3 touches the limiting plate 2, the limiting plate 2 will apply an acting force to the touched longitudinal end of the first plate 3, so that the external load torque corresponding to the first driving motor and/or the second driving motor will suddenly change (i.e. increase rapidly), specifically, if the controller detects that the first external load torque is greater than the first preset output torque, it indicates that the first longitudinal end of the first plate 3 touches the limiting plate 2, the controller controls the first driving motor to stop driving immediately; similarly, if the controller detects that the second external load torque is greater than the second preset output torque, it indicates that the second longitudinal end of the first plate 3 touches the limiting plate 2, the controller controls the second driving motor to stop driving immediately, and when the first external load torque is greater than the first preset output torque and the second external load torque is greater than the second preset output torque, it indicates that the first longitudinal end and the second longitudinal end of the first plate 3 both touch the limiting plate 2, i.e., the side edge of the first plate 3 is tightly attached to the limiting plate 2. The controller in this embodiment is the independent control to first driving motor, second driving motor's control, and the drive of first driving motor and second driving motor's drive do not influence each other promptly to the realization is adjusted the horizontal position of the first panel 3 of arbitrary position, arbitrary angle, and the straight line edge of up to first panel 3 and limiting plate 2 laminates completely.

Further, in another embodiment of the present invention, the splicing device includes a first detection assembly disposed on the limiting plate 2 and in signal connection with the controller, the first detection assembly includes a first detection member and a second detection member respectively disposed on a first longitudinal end and a second longitudinal end of the limiting plate 2 facing the side end surface of the first plate 3, the first detection member is configured to detect a distance between the first longitudinal end of the first plate 3 and the limiting plate 2 and send a detection result to the controller, the second detection member is configured to detect a distance between the second longitudinal end of the first plate 3 and the limiting plate 2 and send a detection result to the controller, and the controller determines respective rotation amounts of the first driving motor and the second driving motor according to results of the first detection member and the second detection member. The first and second detecting members are one of a pressure sensor device, a laser ranging sensor, and a proximity sensor.

In one embodiment of the present invention, the second clamping assembly 502 includes a third clamp 5021 and a fourth clamp 5022 for clamping the longitudinal ends of the second sheet 4, respectively;

the second lateral adjustment assembly 602 includes a third lateral adjustment member 6021 and a fourth lateral adjustment member 6022 for adjusting the lateral positions of the third jaw 5021 and the fourth jaw 5022, respectively;

controlling the second lateral adjustment assembly 602 to drive the second clamping assembly 502 to move towards the limiting plate 2 includes:

controlling the third transverse adjusting part 6021 to drive the third clamping part 5021 to move towards the limiting plate 2;

the fourth transverse adjusting member 6022 is controlled to drive the fourth clamping member 5022 to move towards the limit plate 2.

Specifically, the third clamping piece 5021 is arranged at a first longitudinal end of the second plate 4, the fourth clamping piece 5022 is arranged at a second longitudinal end of the second plate 4, and the third clamping piece 5021 and the fourth clamping piece 5022 are in signal connection with the controller and can clamp two longitudinal ends of the second plate 4 under the control of the controller; the third transverse adjusting piece 6021 is transversely movably arranged below the third clamping piece 5021, so that the transverse position of the third clamping piece 5021 can be directly adjusted, and the third clamping piece 5021 can drive the first longitudinal end of the second plate 4 to synchronously move when transversely moving; the fourth transverse adjusting member 6022 is transversely movably disposed under the fourth clamping member 5022, and can directly adjust the transverse position of the fourth clamping member 5022, and the fourth clamping member 5022 can drive the second longitudinal end of the second plate 4 to synchronously move when transversely moving. Therefore, if to make third clamping piece 5021, fourth clamping piece 5022 all moves towards limiting plate 2, only need to control third lateral adjustment piece 6021, fourth lateral adjustment piece 6022 all move towards limiting plate 2 place direction can, this kind of structure setting makes third clamping piece 5021, the lateral shifting (if removal time or migration distance) of fourth clamping piece 5022 can be controlled alone, third 5021 has been promoted, the flexibility of fourth clamping piece 5022 motion, be favorable to adjusting the inclination of second panel 4.

In one embodiment of the present invention, the drive mechanism further comprises a third drive motor and a fourth drive motor for driving the third 6021 and fourth 6022 lateral adjustments, respectively;

confirm that the side of second panel 4 and limiting plate 2 hug closely including:

and under the condition that the third external load torque is greater than the third preset output torque and the fourth external load torque is greater than the fourth preset output torque, determining that the side edge of the second plate 4 is tightly attached to the limiting plate 2.

Specifically, a third drive motor is drivingly connected to the third traverse adjustment member 6021 and signally connected to the controller for driving the third traverse adjustment member 6021; a fourth drive motor is drivingly connected to the fourth traverse adjustment member 6022 and is in signal communication with the controller for driving the fourth traverse adjustment member 6022.

When the second plate 4 is controlled to be close to the limiting plate 2, the third driving motor and the fourth driving motor are both set to be in a torque mode, the controller controls the third driving motor and the fourth driving motor to rotate simultaneously, the second plate 4 moves transversely as a whole, in the process, the third driving motor and the fourth driving motor continuously feed back external load torques to the controller, and if the first longitudinal end (specifically, the first longitudinal end of the second plate 4 faces the side end face of the limiting plate 2) and the second longitudinal end (specifically, the second longitudinal end of the second plate 4 faces the side end face of the limiting plate 2) of the second plate 4 do not touch the limiting plate 2, the external load torques of the third driving motor and the fourth driving motor are both zero, namely, the third external load torque and the fourth external load torque are both zero at the moment; if the first longitudinal end and/or the second longitudinal end of the second plate 4 touch the limiting plate 2, the limiting plate 2 applies an acting force to the longitudinal end of the second plate 4 touched by the limiting plate 2, so that the external load torque corresponding to the third driving motor and/or the fourth driving motor is suddenly changed (i.e. rapidly increased), specifically, if the controller detects that the third external load torque is greater than the third preset output torque, it indicates that the first longitudinal end of the second plate 4 touches the limiting plate 2, the controller controls the third driving motor to immediately stop driving; similarly, if the controller detects that the fourth external load torque is greater than the fourth preset output torque, it indicates that the second longitudinal end of the second plate 4 touches the limiting plate 2, the controller controls the fourth driving motor to stop driving immediately, and when the third external load torque is greater than the third preset output torque and the fourth external load torque is greater than the fourth preset output torque, it indicates that the first longitudinal end and the second longitudinal end of the second plate 4 touch the limiting plate 2, that is, the side edge of the second plate 4 is tightly attached to the limiting plate 2. The controller in this embodiment is the independent control to third driving motor, fourth driving motor's control, and the drive of third driving motor and the drive of fourth driving motor do not influence each other promptly to realize adjusting the horizontal position of arbitrary position, arbitrary angle second panel 4, until the straight line edge of second panel 4 and the straight line edge of limiting plate 2 laminate completely.

Further, in another embodiment of the present invention, the splicing device includes a second detection assembly disposed on the limiting plate 2 and in signal connection with the controller, the second detection assembly includes a third detection member and a fourth detection member respectively disposed on a first longitudinal end and a second longitudinal end of the limiting plate 2 facing the side end surface of the second plate 4, the third detection member is configured to detect a distance between the first longitudinal end of the second plate 4 and the limiting plate 2 and send a detection result to the controller, the fourth detection member is configured to detect a distance between the second longitudinal end of the second plate 4 and the limiting plate 2 and send a detection result to the controller, and the controller determines rotation amounts corresponding to the third driving motor and the fourth driving motor according to results of the third detection member and the fourth detection member. The third and fourth detecting members are one of a pressure sensor device, a laser ranging sensor, and a proximity sensor.

the longitudinal adjusting mechanism 7 is in signal connection with the controller and is used for adjusting the longitudinal positions of the first plate 3 and the second plate 4;

the controller is further configured to:

after the side edges of the first plate 3 and the second plate 4 are tightly attached to the limiting plate 2, controlling the longitudinal adjusting mechanism 7 to adjust the first plate 3 and the second plate 4 to preset longitudinal positions;

controlling the longitudinal adjusting mechanism 7 to stop;

and controlling the limiting plate 2 to move below the splicing platform 1.

Specifically, after the side of first panel 3, second panel 4 all hug closely with limiting plate 2, still need to adjust first panel 3, the longitudinal position of second panel 4, in order to avoid first panel 3, second panel 4 takes place vertical dislocation before the concatenation, controller control vertical adjustment mechanism 7 all adjusts first panel 3 and second panel 4 to predetermine the longitudinal position after, the misalignment amount of first panel 3 and second panel 4 on vertical is zero (namely the difference in the position of first panel 3 and second panel 4 on vertical is zero), controller control vertical adjustment mechanism 7 stops and makes limiting plate 2 move to the below of concatenation platform 1 after longitudinal position control is accomplished, later make first panel 3 and second panel 4 again move in opposite directions and predetermine the distance and can accomplish the concatenation.

Further, in this embodiment, the position of the limiting plate 2 may also be changed in other manners, such as turning over or manual carrying and removing, and after the manner of changing the position of the limiting plate 2 is changed, the control steps of the controller are also changed correspondingly.

In one embodiment of the present invention, the longitudinal adjustment mechanism 7 includes a first longitudinal adjustment member 701 and a second longitudinal adjustment member 702 for adjusting the longitudinal positions of the first jaw 5011 and the third jaw 5021, respectively;

controlling the longitudinal adjustment mechanism 7 to adjust the first sheet 3 and the second sheet 4 to a preset longitudinal position comprises:

the first longitudinal adjusting piece 701 is controlled to drive the first clamping piece 5011 to move longitudinally;

the second longitudinal adjusting piece 702 is controlled to drive the third clamping piece 5021 to move longitudinally;

determining that the first plate 3 moves to a preset longitudinal position;

it is determined that the second sheet 4 is moved to the preset longitudinal position.

Specifically, the first longitudinal adjusting member 701 is connected to the bottom of the first clamping member 5011 and is longitudinally movably disposed above the first lateral adjusting member 6011, the first longitudinal adjusting member 701 is in signal connection with a controller, the longitudinal position of the first clamping member 5011 can be directly adjusted, and when the first clamping member 5011 is longitudinally moved, the first plate 3 is moved synchronously therewith; the second longitudinal adjuster 702 is coupled to the bottom of the third clamp 5021 and is longitudinally movably disposed above the third transverse adjuster 6021. the second longitudinal adjuster 702 is in signal communication with a controller to directly adjust the longitudinal position of the third clamp 5021, and the second sheet 4 is moved in synchronization therewith as the third clamp 5021 is longitudinally moved. Therefore, if the first plate 3 and the second plate 4 are moved to the preset longitudinal position, only the first clamping piece 5011 and the third clamping piece 5021 are required to be controlled to move to the preset longitudinal position, and in this embodiment, the first longitudinal adjusting piece 701 and the second longitudinal adjusting piece 702 are both controlled by the controller separately, so that the longitudinal movement of the first plate 3 and the longitudinal movement of the second plate 4 are not affected by each other, and the flexibility of the longitudinal movement of the first clamping piece 5011 and the third clamping piece 5021 is further improved.

Further, the first lateral adjusting member 6011, the second lateral adjusting member 6012, the third lateral adjusting member 6021, the fourth lateral adjusting member 6022, the first longitudinal adjusting member 701, and the second longitudinal adjusting member 702 in this embodiment all include a slider, a guide rail, and a ball screw axially disposed along the guide rail, the slider is disposed on the ball screw in a penetrating manner, the driving motors corresponding to the adjusting members drive the ball screw to rotate, and the slider can move along the axial direction of the guide rail, so as to adjust the position of the member connected to the slider. For example, a slider in the first longitudinal adjusting member 701 is connected to the bottom of the first clamping member 5011, a guide rail in the first longitudinal adjusting member 701 is disposed above the first transverse adjusting member 6011, and the fifth driving motor drives the ball screw in the first longitudinal adjusting member 701 to rotate, so that the slider in the first longitudinal adjusting member 701 moves along the axial direction of the corresponding guide rail, thereby achieving the longitudinal position adjustment of the first clamping member 5011.

In one embodiment of the present invention, the drive mechanism further comprises:

a fifth driving motor for driving the first longitudinal adjusting member 701;

determining that the first sheet 3 is moved to the preset longitudinal position comprises:

determining that the fifth drive motor is in a torque mode;

acquiring a fifth external load torque of a fifth drive motor;

The fifth driving motor is in driving connection with the first longitudinal adjusting member 701 and is in signal connection with the controller, the splicing device further comprises a first limiting block arranged at the first position, the first limiting block is used for longitudinally limiting the first clamping member 5011, and when the first clamping member 5011 moves to the position of the first limiting block, the first plate 3 is located at a preset longitudinal position. Specifically, the fifth driving motor is set to be in a torque mode, the controller controls the fifth driving motor to rotate, the first clamping member 5011 moves towards the first position, the first plate 3 moves towards the preset longitudinal position, and in the process, the fifth driving motor continuously feeds back the external load torque to the controller, and if the first clamping member 5011 does not touch the first limiting block, the external load torque of the fifth driving motor is zero, that is, the fifth external load torque is zero at this time; if the first clamping member 5011 touches the first limiting block, the first limiting block applies a force to the touched first clamping member 5011, so that the external load torque of the fifth driving motor is suddenly changed (i.e. rapidly increased), and if the controller detects that the fifth external load torque is greater than the fifth preset output torque, it indicates that the first clamping member 5011 touches the first limiting block, and the controller controls the fifth driving motor to immediately stop driving.

Further, in another embodiment of the present invention, the splicing apparatus includes a fifth detecting member provided at the first position to detect a distance between the first clamping member 5011 and the first stopper and transmit a result of the detection to the controller, and the controller determines a rotation amount of the fifth driving motor based on a result of the fifth detecting member. The fifth detection member is one of a pressure sensor device, a laser ranging sensor, and a proximity sensor.

a sixth driving motor for driving the second longitudinal adjusting member 702;

determining that the second sheet 4 is moved to the preset longitudinal position comprises:

determining that the sixth drive motor is in a torque mode;

acquiring a sixth external load torque of a sixth drive motor;

Similarly, the sixth driving motor is in driving connection with the second longitudinal adjusting member 702 and is in signal connection with the controller, the splicing device further comprises a second limiting block arranged at the second position, the second limiting block is used for longitudinally limiting the third clamping member 5021, and when the third clamping member 5021 moves to the position of the second limiting block, the second plate 4 is located at a preset longitudinal position. Specifically, the sixth driving motor is set to be in a torque mode, the controller controls the sixth driving motor to rotate, the third clamping piece 5021 moves towards the second position, the second plate 4 moves towards the preset longitudinal position, the sixth driving motor continuously feeds back external load torque to the controller in the process, and if the third clamping piece 5021 does not touch the second limiting block, the external load torque of the sixth driving motor is zero, that is, the sixth external load torque is zero at this time; if the third clamping member 5021 touches the second limiting block, the second limiting block will exert an acting force on the third clamping member 5021, so that the external load torque of the sixth driving motor suddenly changes (i.e., rapidly increases), and if the controller detects that the sixth external load torque is greater than the sixth preset output torque, it indicates that the third clamping member 5021 touches the second limiting block, and the controller controls the sixth driving motor to immediately stop driving.

Further, in another embodiment of the present invention, the splicing device includes a sixth detecting member disposed at the second position for detecting a distance between the third clamping member 5021 and the second stopper and transmitting a result of the detection to the controller, and the controller determines a rotation amount of the sixth driving motor according to a result of the sixth detecting member. The sixth detection member is one of a pressure sensor device, a laser ranging sensor, and a proximity sensor.

Each driving motor in this embodiment is a servo driving motor, and further, each servo driving motor may also be replaced by another driving mechanism, such as a stepping motor, an air cylinder or an oil cylinder, and further, if the driving manner of the air cylinder or the oil cylinder is adopted, a stroke limiting block of the air cylinder or the oil cylinder may be correspondingly added to control the stroke amount of the air cylinder or the oil cylinder. When the form of the driving mechanism is changed, the controller correspondingly changes the control mode of the changed driving mechanism.

In one embodiment of the invention, the controller is further configured to:

after the side edges of the first plate 3 and the second plate 4 are tightly attached to the limiting plate 2, the second clamping piece 5012 is controlled to loosen the first plate 3;

the fourth clamping piece 5022 is controlled to release the second sheet material 4;

and controlling a longitudinal adjusting mechanism 7 to adjust the first plate 3 and the second plate 4 to preset longitudinal positions.

Specifically, in order to enable the first clamping piece 5011 and the third clamping piece 5021 to smoothly drive the first plate 3 and the second plate 4 to perform longitudinal position adjustment, the second clamping piece 5012 and the fourth clamping piece 5022 need to be controlled to be in an open state, so that the respective second longitudinal ends of the first plate 3 and the second plate 4 are free ends, and then the first longitudinal adjusting piece 701 and the second longitudinal adjusting piece 702 of the longitudinal adjusting mechanism 7 can respectively drive the first plate 3 and the second plate 4 to perform longitudinal position adjustment.

In the embodiment of the present invention, the first clamping piece 5011, the second clamping piece 5012, the third clamping piece 5021, and the fourth clamping piece 5022 are all configured to open and close up and down, as shown in fig. 4, the structure includes an upper fixing portion 8 and a lower moving portion 9 disposed below the upper fixing portion 8 and capable of moving up and down, and the lower moving portion 9 is in signal connection with a controller, and the opening and closing movement of the clamping pieces can be achieved by controlling the lower moving portion 9 to move up and down. Further, the first clip 5011, the second clip 5012, the third clip 5021, and the fourth clip 5022 in this embodiment may also take other forms, such as an electromagnetic absorption assembly or a vacuum absorption assembly. In addition, the splicing device in the embodiment can also increase the number of the clamping pieces adaptively according to actual use requirements.

The embodiment provides a splicing device, a limiting plate capable of ascending and descending is arranged on a splicing platform of the splicing device, a first clamping assembly and a second clamping assembly can respectively clamp a first plate and a second plate and move oppositely, a controller is in signal connection with a clamping mechanism and the limiting plate, the limiting plate is controlled to be lifted to the upper side of the splicing platform during splicing, then the first clamping assembly and the second clamping assembly drag the first plate and the second plate to the positions tightly attached to the limiting plate, then the limiting plate moves to the lower side of the splicing platform, then the first clamping assembly and the second clamping assembly can move oppositely by a preset distance according to actual requirements, and the gap value between the first plate and the second plate can be controlled, the splicing device is high in repetition precision, and the problems of uneven gaps and misalignment when the first plate and the second plate are spliced can be solved.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.

The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. The utility model provides a panel splicing apparatus which characterized in that, panel splicing apparatus includes:

the splicing platform (1) is provided with a first plate placing area, a second plate placing area and a limiting plate (2) which is arranged between the first plate placing area and the second plate placing area in a lifting mode, the first plate placing area is used for placing the first plate (3), and the second plate placing area is used for placing the second plate (4);

the clamping mechanism (5) comprises a first clamping assembly (501) and a second clamping assembly (502) which are used for clamping the first plate (3) and the second plate (4), and the first clamping assembly (501) and the second clamping assembly (502) can move oppositely;

a controller in signal connection with the clamping mechanism (5), the limiting plate (2), the controller configured to:

controlling the limiting plate (2) to rise above the splicing platform (1);

controlling the first clamping assembly (501) and the second clamping assembly (502) to clamp the first plate (3) and the second plate (4) respectively;

controlling the first clamping assembly (501) and the second clamping assembly (502) to move towards the limit plate (2);

determining that the side edges of the first plate (3) and the second plate (4) are tightly attached to the limiting plate (2);

controlling the limiting plate (2) to move below the splicing platform (1);

and controlling the first clamping assembly (501) and the second clamping assembly (502) to move towards each other by a preset distance.

2. The panel splicing apparatus of claim 1, further comprising:

a lateral adjustment mechanism (6) comprising a first lateral adjustment assembly (601) and a second lateral adjustment assembly (602) for laterally adjusting the positions of the first clamping assembly (501) and the second clamping assembly (502), respectively;

the controlling the first clamping assembly (501) and the second clamping assembly (502) to move towards the limit plate (2) comprises:

controlling the first transverse adjusting assembly (601) to drive the first clamping assembly (501) to move towards the limiting plate (2);

controlling the second transverse adjusting assembly (602) to drive the second clamping assembly (502) to move towards the limiting plate (2).

3. The apparatus for splicing sheets according to claim 2, wherein said controlling said first clamping assembly (501) and said second clamping assembly (502) to move towards each other by a preset distance comprises:

controlling the first transverse adjusting assembly (601) to drive the first clamping assembly (501) to move towards the second clamping assembly (502) for the preset distance;

and controlling the second transverse adjusting assembly (602) to drive the second clamping assembly (502) to move towards the first clamping assembly (501) for the preset distance.

4. The device for splicing sheets according to claim 2, wherein said first clamping assembly (501) comprises a first clamping member (5011) and a second clamping member (5012) for clamping the longitudinal ends of said first sheet (3), respectively;

the first lateral adjustment assembly (601) comprises a first lateral adjustment member (6011) and a second lateral adjustment member (6012) for adjusting lateral positions of the first clamp member (5011) and the second clamp member (5012), respectively;

the controlling the first lateral adjustment assembly (601) to drive the first clamping assembly (501) to move towards the limiting plate (2) comprises:

controlling the first transverse adjusting piece (6011) to drive the first clamping piece (5011) to move towards the limiting plate (2);

and controlling the second transverse adjusting piece (6012) to drive the second clamping piece (5012) to move towards the limiting plate (2).

5. The panel splicing apparatus of claim 4, further comprising:

the driving mechanism is in signal connection with the controller and comprises a first driving motor and a second driving motor which are used for driving the first transverse adjusting piece (6011) and the second transverse adjusting piece (6012) respectively;

the step of determining that the side edge of the first plate (3) is tightly attached to the limiting plate (2) comprises the following steps:

acquiring a first external load torque of the first drive motor and a second external load torque of the second drive motor;

and under the condition that the first external load torque is larger than the first preset output torque and the second external load torque is larger than the second preset output torque, determining that the side edge of the first plate (3) is tightly attached to the limiting plate (2).

6. The sheet splicing device according to claim 5, wherein the second clamping assembly (502) comprises a third clamp (5021) and a fourth clamp (5022) for clamping the longitudinal ends of the second sheet (4), respectively;

the second lateral adjustment assembly (602) includes a third lateral adjustment member (6021), a fourth lateral adjustment member (6022) for adjusting the lateral positions of the third clamp member (5021), the fourth clamp member (5022), respectively;

the controlling the second lateral adjustment assembly (602) to drive the second clamping assembly (502) to move towards the limiting plate (2) comprises:

controlling the third transverse adjusting piece (6021) to drive the third clamping piece (5021) to move towards the limiting plate (2);

and controlling the fourth transverse adjusting piece to drive the fourth clamping piece (5022) to move towards the limiting plate (2).

7. The panel splicing apparatus of claim 6, wherein said drive mechanism further comprises a third drive motor and a fourth drive motor for driving said third transverse adjustment member (6021), said fourth transverse adjustment member, respectively;

the step of determining that the side edge of the second plate (4) is tightly attached to the limiting plate (2) comprises the following steps:

acquiring a third external load torque of the third drive motor and a fourth external load torque of the fourth drive motor;

and under the condition that the third external load torque is greater than the third preset output torque and the fourth external load torque is greater than the fourth preset output torque, determining that the side edge of the second plate (4) is tightly attached to the limiting plate (2).

8. The panel splicing apparatus of claim 6, further comprising:

the longitudinal adjusting mechanism (7) is in signal connection with the controller and is used for adjusting the longitudinal positions of the first plate (3) and the second plate (4);

the controller is further configured to:

after the side edges of the first plate (3) and the second plate (4) are tightly attached to the limiting plate (2), controlling the longitudinal adjusting mechanism (7) to adjust the first plate (3) and the second plate (4) to preset longitudinal positions;

controlling the longitudinal adjusting mechanism (7) to stop;

and controlling the limiting plate (2) to move to the position below the splicing platform (1).

9. The sheet splicing device according to claim 8, wherein the longitudinal adjustment mechanism (7) comprises a first longitudinal adjustment member (701) and a second longitudinal adjustment member (702) for adjusting the longitudinal positions of the first clamp (5011) and the third clamp (5021), respectively;

the controlling the longitudinal adjustment mechanism (7) to adjust the first sheet (3) and the second sheet (4) to a preset longitudinal position comprises:

controlling the first longitudinal adjusting piece (701) to drive the first clamping piece (5011) to move longitudinally;

controlling the second longitudinal adjusting piece to drive the third clamping piece (5021) to move longitudinally;

-determining that the first sheet (3) is moved to the preset longitudinal position;

determining that the second sheet (4) is moved to the preset longitudinal position.

10. The panel splicing apparatus of claim 9 wherein the drive mechanism further comprises:

a fifth drive motor for driving the first longitudinal adjustment member (701);

said determining that said first sheet (3) is moved to said preset longitudinal position comprises:

determining that the fifth drive motor is in a torque mode;

acquiring a fifth external load torque of the fifth drive motor;

judging whether the fifth external load torque is greater than a fifth preset output torque;

-determining that the first sheet (3) is moved to the preset longitudinal position in case the fifth external load torque is greater than the fifth preset output torque.

11. The panel splicing apparatus of claim 10 wherein the drive mechanism further comprises:

a sixth driving motor for driving the second longitudinal adjusting member;

said determining that said second sheet (4) is moved to said preset longitudinal position comprises:

determining that the sixth drive motor is in a torque mode;

acquiring a sixth external load torque of the sixth drive motor;

judging whether the sixth external load torque is larger than a sixth preset output torque;

determining that the second sheet material (4) is moved to the preset longitudinal position if the sixth external load torque is greater than the sixth preset output torque.

12. The sheet splicing apparatus of claim 8, wherein the controller is further configured to:

after the side edges of the first plate (3) and the second plate (4) are tightly attached to the limiting plate (2), the second clamping piece (5012) is controlled to release the first plate (3);

controlling the fourth clamp (5022) to release the second sheet (4);

controlling the longitudinal adjusting mechanism (7) to adjust the first plate (3) and the second plate (4) to preset longitudinal positions.