An automatic stacking machine for artificial boards

Abstract

The present application belongs to the technical field of artificial board production, and particularly relates to an automatic artificial board stacking machine, which comprises a robot device, the end of the robot device is fixedly connected with a movable platform device, a group of parallel supporting profiles are fixedly connected to the movable platform device, two-by-two symmetrical suction disc devices are fixedly connected to the two ends of the supporting profiles, first detection devices are fixedly connected to the two ends of the movable platform device, and second detection devices are arranged on the first detection devices; the suction disc devices are arranged on the robot device, and cooperate with the first detection devices and the second detection devices to complete the detection of the surface quality of the upper and lower surfaces of the artificial board while the artificial board is being stacked, and the unqualified products are timely isolated, so that the process flow is obviously reduced, the use of equipment, personnel and site is effectively reduced, the production cost is reduced, and the production efficiency is greatly improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of artificial board production, and particularly relates to an automatic artificial board stacking machine. BACKGROUND

[0002] Artificial board is a board material made of wood or other straw as raw material, which is mechanically processed into shavings or fragments, dried, glued, laid, and finally hot-pressed. In the existing production process, after the artificial board is formed, it is cooled, cut and processed, and then stacked on a tray by a stacking machine, and then transported to the next process for surface quality detection. During the surface quality detection process, the artificial board needs to be turned over for double-sided inspection. After the quality detection is completed, the artificial board is stacked neatly and then stored in the warehouse. As can be seen from the above, in the current artificial board production process, the stacking of the board and the surface quality detection are carried out separately, and the stacking needs to be repeated multiple times, and the quality detection also needs to be completed by special equipment or multiple detection personnel, which means that more equipment, space and labor need to be invested, greatly increasing the production cost. The existing stacking machine is a stacking robot with a mechanical hand or a cantilever cooperating with a suction cup, which only realizes the function of automatic stacking and cannot detect the quality of both sides of the artificial board. Therefore, if a stacking machine that can simultaneously detect the quality of both sides of the artificial board during stacking is proposed, it can not only shorten the process flow, reduce the use of equipment, personnel and space, and greatly reduce the production cost, but also greatly improve the production efficiency and achieve cost reduction and efficiency improvement.

[0003] Therefore, in view of the above shortcomings, the present application provides an artificial board automatic stacking machine which can effectively solve the above problems. SUMMARY

[0004] The purpose of the present application is to overcome the shortcomings of the prior art and provide an artificial board automatic stacking machine to effectively solve the problems in the prior art.

[0005] To achieve the above purpose, the specific technical solutions of the present application are as follows:

[0006] An artificial board automatic stacking machine comprises a robot hand device, the end of which is fixedly connected with a movable platform device, a group of parallel support profiles are fixedly connected on the movable platform device, two-by-two symmetrical suction cup devices are fixedly connected at both ends of the support profiles, a first detection device is fixedly connected at both ends of the movable platform device, and a second detection device is arranged on the first detection device. The suction cup device sucks and fixes the artificial board, the robot hand device stacks the artificial board, the first detection device detects the lower surface of the artificial board when the artificial board is in a vacant state, and the second detection device detects the upper surface of the artificial board, thereby simultaneously completing the surface quality detection process of the artificial board during stacking.

[0007] As a further arrangement of the above-mentioned scheme, the movable platform device comprises a movable platform, a flange table is arranged at the center of the upper end surface of the movable platform, the movable platform is fixedly connected to the robot device through the flange table, the movable platform device can move in six degrees of freedom under the driving of the robot device, and the movable platform is made of aluminum alloy profiles, has high strength and light weight.

[0008] As a further arrangement of the above-mentioned scheme, the suction disc device comprises a suction disc device body, a suction disc is fixedly connected to the suction disc device body through a suction disc connecting pipe, a metal sleeve is arranged on the outer cylindrical surface of the suction disc connecting pipe, a lubricating coating is coated on the surface of the metal sleeve, the suction disc is made of colorless and transparent material, and the shielding of the suction disc on the surface of the artificial board is reduced.

[0009] As a further arrangement of the above-mentioned scheme, the first detection device comprises a guide rod device, a driving block device, an extension rod and a first camera device, the guide rod device comprises a guide rod, an installation table is arranged at the center of the inner side surface of the guide rod, the guide rod is fixedly installed at both ends of the movable platform through the installation table, the guide rod is located outside the support profile and parallel to the support profile, a rack is arranged on the upper end surface of the guide rod, a positioning groove is arranged between the rack and the installation table, a load-bearing groove is arranged on the outer side surface of the guide rod, and the rack, the positioning groove and the load-bearing groove are parallel to each other.

[0010] As a further arrangement of the above-mentioned scheme, the driving block device is slidingly installed on the guide rod device, the driving block device comprises a driving block, the driving block comprises an L-shaped sliding block, an installation boss is arranged on the outer side surface of the vertical plate of the L-shaped sliding block, a gear groove is opened on the upper end surface of the horizontal plate of the L-shaped sliding block, a gear is rotatably connected in the gear groove, a load-bearing guide rail is arranged on the inner side surface of the vertical plate of the L-shaped sliding block, a positioning guide rail is arranged on the lower end surface of the horizontal plate of the L-shaped sliding block, the load-bearing guide rail is slidingly installed in the load-bearing groove, the positioning guide rail is slidingly installed in the positioning groove, the gear groove is located directly above the rack, the gear is meshingly connected with the rack, a driving box is arranged above the L-shaped sliding block, the driving box is connected with the gear, and the driving box drives the driving block device to reciprocatingly move on the guide rod device through the gear.

[0011] As a further arrangement of the above-mentioned scheme, the telescopic rods are vertically downward arranged and fixedly installed on the mounting bosses, the first camera device comprises a first camera device support, the first camera device support is fixedly installed on the lower ends of the two telescopic rods, the first camera device support is perpendicular to the guide rod device, the upper end surface of the first camera device support is provided with uniformly distributed first cameras, the lower end surface of the first camera device support is connected with a first processor, the first cameras are electrically connected with the first processor, when the drive box drives the drive block device to reciprocate on the guide rod device, the first camera device synchronously moves below the artificial board, and the quality of the lower surface of the artificial board is imaged and transmitted to the first processor for analysis and processing, so that the quality of the lower surface of the artificial board is obtained.

[0012] As a further arrangement of the above-mentioned scheme, the second detection device comprises a bridge plate, the bridge plate is fixedly installed at the centers of the lower end surfaces of the guide rods, the lower end surface of the bridge plate is provided with a first guide rail perpendicular to the guide rod, the first guide rail is slidably connected with a first drive device, the lower end surface of the first drive device is provided with a second guide rail perpendicular to the first guide rail, the second guide rail is slidably connected with a second drive device, the second drive device is fixedly connected with a second camera device, the second camera device comprises a second camera device support, the second camera device support is perpendicular to the bridge plate, the lower end surface of the second camera device support is provided with a second camera, and the center of the upper end surface of the second camera device support is provided with a second processor, the second camera is electrically connected with the second processor.

[0013] As a further arrangement of the above-mentioned scheme, the second camera device support is provided with a group of first U-shaped bends on the side surface, the first U-shaped bends are located on both sides of the second processor and have the same opening direction, the center lines of the first U-shaped bends are perpendicular to the second camera device support, the other side surface of the second camera device support is provided with a second U-shaped bend, the second U-shaped bend is parallel to the first U-shaped bend and has an opposite opening direction, the first drive device drives the second camera device to translate along the direction of the first guide rail in cooperation with the second drive device, the first U-shaped bend and the second U-shaped bend ensure that the second camera device can completely cover and pass through the upper surface of the artificial board, the quality of the upper surface of the artificial board is imaged and transmitted to the second processor for analysis and processing, so that the quality of the upper surface of the artificial board is obtained.

[0014] The beneficial effects of the present application are as follows:

[0015] Before the device works, the driving block device is located at the left end of the guide rod device, the telescopic rod is in the retracted state, the first camera device is located above the plane where the suction cup is located, the first driving device is located at the rear end of the bridge plate, a group of suction cup connecting pipes are located in the second U-shaped bend at this time, and the second camera device is located outside the suction cup device and is always above the plane where the suction cup is located. When working, the robot device drives the suction cup device to move to the upper side of the artificial board through the movable platform device and the supporting profile, the suction cup device moves downward, the suction cup contacts the upper surface of the artificial board and then sucks and fixes it, the robot device lifts the artificial board to the air for a period of time, the telescopic rod is started, and the first camera device is brought to the lower side of the artificial board by being elongated downward, the driving box is started, the gear is driven to rotate, the driving block slides to the right along the guide rod, so that the first camera device is translated to the right, the first camera head moves in the process, the quality of the lower surface of the artificial board is imaged and transmitted to the first processor for analysis and processing, and the quality of the lower surface of the artificial board is obtained. After the lower surface detection is completed, the telescopic rod is retracted, the first camera device is immediately reset to the plane where the suction cup is located; at the same time, the first driving device is started and moves to the front end of the bridge plate on the first guide rail, drives the second camera device to move to the front end of the bridge plate, and the second camera head is moved from above the artificial board at the same time. When the first driving device moves to the middle position of the first guide rail, the second driving device is started, the second driving device is translated to the right on the second guide rail by a specified displacement and then stopped and fixed, the first driving device continues to move to the front end of the bridge plate, the first U-shaped bend moves to the other group of suction cup connecting pipes, and when the suction cup connecting pipe is located at the innermost end of the first U-shaped bend, the second camera device completes the detection of the upper surface of the artificial board. The second camera head images the quality of the upper surface of the artificial board and transmits it to the second processor for analysis and processing, and the quality of the upper surface of the artificial board is obtained. When the surface quality of the artificial board is qualified, subsequent stacking action is performed, and if the surface quality of the artificial board is unqualified, the board is directly transported to the processing area, and the stacking and surface quality detection of the artificial board are completed.

[0016] The present application detects the surface quality of the upper and lower surfaces of the artificial board while stacking the artificial board by arranging the suction cup device on the robot device, cooperating with the first detection device and the second detection device, timely isolating unqualified products, obviously reducing the process flow, effectively reducing the use of equipment, personnel and site, reducing production cost, and greatly improving production efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is an appearance schematic view of the present application;

[0018] Figure 2 It is a working table device schematic view of the present application;

[0019] Figure 3 It is a working table device bottom view of the present application;

[0020] Figure 4 Positional schematic view of the suction cup device, movable platform device and support profile of the present application;

[0021] Figure 5 Schematic view of the first detection device of the present application;

[0022] Figure 6 Schematic view of the guide rod device of the present application

[0023] Figure 7 Schematic view of the driving block device of the present application;

[0024] Figure 8 Schematic view of the second detection device of the present application;

[0025] Figure 9 Schematic view of the second camera device of the present application.

[0026] robot device; 2, movable platform device; 3, support profile; 4, suction cup device; 5, guide rod device; 6, driving block device; 7, telescopic rod; 8, first camera device; 9, second detection device; 201, movable platform; 202, flange table; 401, suction cup device body; 402, suction cup; 403, suction cup connecting pipe; 501, guide rod; 502, mounting table; 503, rack; 504, positioning groove; 505, load-bearing groove; 601, driving block; 602, driving box; 6011, L-shaped slider; 6012, mounting boss; 6013, gear groove; 6014, gear; 6015, load-bearing guide rail; 6016, positioning guide rail; 801, first camera device support; 802, first camera; 803, first processor; 901, bridge plate; 9011, first guide rail; 902, first driving device; 9021, second guide rail; 903, second driving device; 904, second camera device support; 9041, first U-shaped bend; 9042, second U-shaped bend; 905, second camera; 906, second processor. DETAILED DESCRIPTION

[0027] In order to enable persons skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative labor should belong to the protection scope of the present application.

[0028] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described below with reference to the drawings and in combination with the embodiments. Figures 1-9 The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0029] As Figure 1 , Figure 2 , Figure 3 shown, the embodiment discloses an automatic stacking machine for artificial board, the end of the machine hand device 1 is fixedly connected with the movable platform device 2, a group of parallel support profiles 3 are fixedly connected on the movable platform device 2, two-by-two symmetrical suction disc devices 4 are fixedly connected at both ends of the support profiles 3, first detection devices are fixedly connected at both ends of the movable platform device 2, second detection devices 9 are arranged on the first detection devices, the suction disc devices 4 suck and fix the artificial board, the machine hand device 1 stacks the artificial board, when the artificial board is in a vacant state, the first detection devices detect the lower surface of the artificial board, the second detection devices 9 detect the upper surface of the artificial board, and the surface quality detection process of the artificial board is simultaneously completed in the stacking process.

[0030] As Figure 4 shown, the movable platform device 2 comprises a movable platform 201, a flange table 202 is arranged at the center of the upper end face of the movable platform 201, the movable platform 201 is fixedly connected on the machine hand device 1 through the flange table 202, the movable platform device 2 can move in six degrees of freedom under the driving of the machine hand device 1, and the movable platform 201 is made of aluminum alloy profiles; the suction disc device 4 comprises a suction disc device body 401, a suction disc 402 is fixedly connected on the lower end of the suction disc device body 401 through a suction disc connecting pipe 403, a metal sleeve is arranged on the outer cylindrical surface of the suction disc connecting pipe 403, a lubricating coating is coated on the surface of the metal sleeve, the suction disc 402 is made of colorless and transparent material, and the shielding of the suction disc 402 on the surface of the artificial board is reduced.

[0031] As Figure 5 , Figure 6 , Figure 7 shown, the first detection device comprises a guide rod device 5, a driving block device 6, an extension rod 7 and a first camera device 8, the guide rod device 5 comprises a guide rod 501, a mounting table 502 is arranged at the center of the inner side face of the guide rod 501, the guide rod 501 is fixedly installed at both ends of the movable platform 201 through the mounting table 502, the guide rod 501 is located outside the support profiles 3 and parallel to the support profiles 3, a rack 503 is arranged on the upper end face of the guide rod 501, a positioning groove 504 is arranged between the rack 503 and the mounting table 502, a bearing groove 505 is arranged on the outer side face of the guide rod 501, and the rack 503, the positioning groove 504 and the bearing groove 505 are parallel to each other.

[0032] The driving block device 6 is slidingly installed on the guide rod device 5, the driving block device 6 comprises a driving block 601, the driving block 601 comprises an L-shaped sliding block 6011, the L-shaped sliding block 6011 is provided with a mounting boss 6012 on the outer side of the vertical plate, a gear groove 6013 is opened in the upper end surface of the horizontal plate of the L-shaped sliding block 6011, a gear 6014 is rotatably connected in the gear groove 6013, a bearing guide rail 6015 is arranged on the inner side of the vertical plate of the L-shaped sliding block 6011, a positioning guide rail 6016 is arranged on the lower end surface of the horizontal plate of the L-shaped sliding block 6011, the bearing guide rail 6015 is slidingly installed in the bearing groove 505, the positioning guide rail 6016 is slidingly installed in the positioning groove 504, the gear groove 6013 is located directly above the rack 503, the gear 6014 is meshingly connected with the rack 503, a driving box 602 is arranged above the L-shaped sliding block 6011, the driving box 602 is connected with the gear 6014, and the driving box 602 drives the driving block device 6 to reciprocatingly move on the guide rod device 5 through the gear 6014.

[0033] The telescopic rods 7 are vertically downwardly arranged and fixedly installed on the mounting boss 6012, the first camera device 8 comprises a first camera device support 801, the first camera device support 801 is fixedly installed on the lower ends of the two telescopic rods 7, the first camera device support 801 is perpendicular to the guide rod device 5, the upper end surface of the first camera device support 801 is provided with uniformly distributed first cameras 802, the lower end surface of the first camera device support 801 is connected with a first processor 803, the first cameras 802 are electrically connected with the first processor 803, when the driving box 602 drives the driving block device 6 to reciprocatingly move on the guide rod device 5, the first camera device 8 moves synchronously below the artificial board, the first cameras 802 photograph the quality of the lower surface of the artificial board and transmit the quality to the first processor 803 for analysis and processing, and the quality of the lower surface of the artificial board is obtained

[0034] As shown in Figure 8 , Figure 9 The second detection device 9 comprises a bridge plate 901, the bridge plate is fixedly installed at the center of the lower end surface of the guide rod 501, the lower end surface of the bridge plate 901 is provided with a first guide rail 9011 which is perpendicular to the guide rod, the first guide rail 9011 is slidingly connected with a first driving device 902, the lower end surface of the first driving device 902 is provided with a second guide rail 9021 which is perpendicular to the first guide rail 9011, the second guide rail 9021 is slidingly connected with a second driving device 903, the second driving device 903 is fixedly connected with a second camera device, the second camera device comprises a second camera device support 904, the second camera device support 904 is perpendicular to the bridge plate 901, the lower end surface of the second camera device support 904 is provided with a second camera 905, and the upper end surface of the second camera device support 904 is provided with a second processor 906 at the center, the second camera 905 is electrically connected with the second processor 906.

[0035] The second camera support 904 is provided with a group of first U-shaped bends 9041 on one side, the first U-shaped bends 9041 are located on both sides of the second processor 906 and open towards the same direction, the center lines of the first U-shaped bends 9041 are perpendicular to the second camera support 904, the other side of the second camera support 904 is provided with second U-shaped bends 9042, the second U-shaped bends 9042 are parallel to the first U-shaped bends 9041 and open towards the opposite direction, the first driving device 902 drives the second camera to translate along the direction of the first guide rail 9011 in cooperation with the second driving device 903, the first U-shaped bends 9041 and the second U-shaped bends 9042 ensure that the second camera can completely cover and pass through the upper surface of the artificial board, the second camera 905 photographs the quality of the upper surface of the artificial board and transmits to the second processor 906 for analysis and processing to obtain the quality of the upper surface of the artificial board.

[0036] The working principle of the present application is as follows: when working, the robot hand device 1 drives the suction cup device 4 to move to the upper surface of the artificial board through the movable platform device 2 and the support profile 3, the suction cup device 4 moves downward, the suction cup 402 contacts the upper surface of the artificial board and then sucks and fixes it, during the time when the robot hand device 1 lifts the artificial board to the air, the telescopic rod 7 is started, extends downward and drives the first camera device 8 to the lower surface of the artificial board, the driving box 602 is started, drives the gear 6014 to rotate, the driving block 601 slides along the guide rod 501 to the right, thereby driving the first camera device 8 to translate to the right, during the movement of the first camera 802, the quality of the lower surface of the artificial board is photographed and transmitted to the first processor 803 for analysis and processing to obtain the quality of the lower surface of the artificial board, after the detection of the lower surface is completed, the telescopic rod 7 is retracted, the first camera device 8 is immediately reset to the upper surface of the plane where the suction cup 402 is located; at the same time, the first driving device 902 is started and moves to the front end of the bridge plate 901 on the first guide rail 9011, drives the second camera device to move to the front end of the bridge plate 901, the second camera 905 moves from the upper surface of the artificial board at the same time, when the first driving device 902 moves to the middle position of the first guide rail 9011, the second driving device 903 is started, the second driving device 903 translates to the right on the second guide rail 9021 by a specified displacement and then stops and fixes, the first driving device 902 continues to move to the front end of the bridge plate 901, the first U-shaped bend 9041 moves to the other group of suction cup connecting pipes 403, when the suction cup connecting pipe 403 is located at the innermost end of the first U-shaped bend 9041, the second camera device completes the detection of the upper surface of the artificial board, the second camera 905 photographs the quality of the upper surface of the artificial board and transmits to the second processor 906 for analysis and processing to obtain the quality of the upper surface of the artificial board, when the surface quality of the artificial board is qualified, subsequent stacking actions are performed, if the surface quality of the artificial board is unqualified, the board is directly transported to the processing area.

[0037] The foregoing merely illustrates the principles of the application and application of its leading features. This application is not limited to the illustrative embodiments shown and described herein. Rather, the scope of the present application is defined by the appended claims, and other embodiments of this application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. Therefore, to the extent that there is disclosed herein an illustrative implementation that could be embodied in any of a number of varied forms, the intent is to support a claim scope that includes any such forms as fall within the scope of claims, and their equivalents. It is therefore required by the claims to refer to any such patentable design that comes within the scope of a claim.

[0038] Furthermore, it should be understood that although the description above relates to embodiments, not every embodiment according to the application contains all features needed to implement the invention. The description is provided for purposes of illustration only and merely implies one of various alternatives to the present invention. Those skilled in the art will recognize immediately that the description is illustrative only and is not intended to be limiting on the overall scope of the present application. Therefore, the scope of the present application is defined not by the detailed description of the embodiments but by the appended claims, and their equivalents.

Claims

1. An automatic palletizing machine for artificial boards, comprising a robot device, a movable platform device fixedly connected to the end of the robot device, a set of parallel support profiles fixedly connected to the movable platform device, and two pairs of symmetrical suction cup devices fixedly connected to the two ends of the support profiles, characterized in that, The first detection device is fixedly connected with the second detection device, and the second detection device is arranged on the first detection device. The second detection device comprises a bridge plate, the bridge plate is fixedly installed at the center of the lower end surface of the guide rod, the lower end surface of the bridge plate is provided with a first guide rail perpendicular to the guide rod, the first guide rail is slidably connected with a first driving device, the lower end surface of the first driving device is provided with a second guide rail perpendicular to the first guide rail, the second guide rail is slidably connected with a second driving device, the second driving device is fixedly connected with a second camera device, the second camera device comprises a second camera device support, the second camera device support is perpendicular to the bridge plate, the lower end surface of the second camera device support is provided with a second camera, the center of the upper end surface of the second camera device support is provided with a second processor, and the second camera is electrically connected with the second processor. The second camera device support is provided with a group of first U-shaped bends on the side surface, the first U-shaped bends are located on both sides of the second processor and have the same opening direction, the center lines of the first U-shaped bends are perpendicular to the second camera device support, and the other side surface of the second camera device support is provided with a second U-shaped bend.

2. - The automatic pile for artificial boards according to claim 1, characterized in that, The movable platform device comprises a movable platform, and the center of the upper end surface of the movable platform is provided with a flange table.

3. The automatic palletizer of claim 1, wherein, The suction disc device comprises a suction disc device body, a suction disc is fixedly connected to the suction disc device body through a suction disc connecting pipe, a metal sleeve is arranged on the outer cylindrical surface of the suction disc connecting pipe, a lubricating coating is coated on the surface of the metal sleeve, and the suction disc is made of colorless transparent material.

4. The automatic palletizer of claim 1, wherein, The first detection device comprises a guide rod device, a driving block device, a telescopic rod and a first camera device, the guide rod device comprises a guide rod, the center of the inner side surface of the guide rod is provided with a mounting table, the guide rod is fixedly installed at both ends of the movable platform through the mounting table, the guide rod is located outside the support profile and parallel to the support profile, the upper end surface of the guide rod is provided with a rack, a positioning groove is arranged between the rack and the mounting table, and a bearing groove is arranged on the outer side surface of the guide rod.

5. - The automatic pile for artificial boards according to claim 4, characterized in that, The driving block device is slidably installed on the guide rod device, the driving block device comprises a driving block, the driving block comprises an L-shaped sliding block, the mounting boss is arranged on the outer side surface of the vertical plate of the L-shaped sliding block, the gear groove is opened on the upper end surface of the horizontal plate of the L-shaped sliding block, the gear is rotatably connected in the gear groove, the bearing guide rail is arranged on the inner side surface of the vertical plate of the L-shaped sliding block, the positioning guide rail is arranged on the lower end surface of the horizontal plate of the L-shaped sliding block, the bearing guide rail is slidably installed in the bearing groove, the positioning guide rail is slidably installed in the positioning groove, the gear groove is located directly above the rack, the gear is meshedly connected with the rack, and the driving box is arranged above the L-shaped sliding block.

6. The automatic palletizer of claim 4, wherein, The telescopic rods are vertically arranged downwards and fixedly installed on the mounting bosses, the first camera device comprises a first camera device support which is fixedly installed at the lower ends of the two telescopic rods, the first camera device support is perpendicular to the guide rod device, the upper end surface of the first camera device support is provided with uniformly distributed first cameras, the lower end surface of the first camera device support is connected with a first processor, and the first cameras are electrically connected with the first processor.

Images