Automatic packaging system for gypsum board production

Abstract

The invention discloses an automatic packaging system for gypsum board production, and belongs to the technical field of gypsum board packaging equipment.The automatic packaging system comprises a first conveyor, a second conveyor, a mechanical arm and a vacuum pump, a mounting frame is mounted at the end of the mechanical arm, a plurality of suction cups are mounted on the mounting frame, and the vacuum pump communicates with the interiors of the suction cups through pipelines; an extrusion mechanism is further mounted on the mounting frame, and when the suction cups loosen the adsorption of the gypsum board, the extrusion mechanism extrudes the gypsum board to promote the gypsum board to be separated from the suction cups; according to the automatic packaging system, the extrusion mechanism is arranged on the mounting frame, in the process that the suction cups loosen the gypsum board, when the mechanical arm drives the mounting frame to be away from the gypsum board, the extrusion mechanism can limit the gypsum board to the second conveyor, the gypsum board is promoted to be separated from the suction cups, and the gypsum board cannot be hoisted by the suction cups again; and moreover, it can be ensured that the plasterboard placed later faces the plasterboard placed earlier all the time.

Description

Technical Field

[0001] The invention relates to the technical field of gypsum board packaging equipment, and in particular discloses an automatic packaging system for gypsum board production. Background Art

[0002] Gypsum board is a common building material, mainly made of natural gypsum (hydrate of calcium sulfate). It has the advantages of light weight, fire resistance, heat insulation, sound absorption, etc., and is widely used in interior partitions, ceilings and other building decoration projects; stacking and packaging in the production process of gypsum board are important steps to ensure product quality, safe transportation and efficient storage. Usually, stacking is done manually, which results in low packaging efficiency of gypsum board. Therefore, some companies have also begun to adopt automatic packaging systems, which use robots and suction cups to automatically stack.

[0003] For example, the patent with announcement number CN113460710B, with announcement date of 2023-01-13, discloses an automatic gypsum board palletizing production line, which includes a palletizing robot, a first conveyor, a cover plate storage device, a leg pad storage device, and a second conveyor. The first conveyor, the cover plate storage device, the leg pad storage device, and the second conveyor are respectively arranged around the palletizing robot. The palletizing robot places the leg pads in the leg pad storage device, the cover plates in the cover plate storage device, and the gypsum boards on the first conveyor from bottom to top in the order of leg pads, cover plates, gypsum boards, cover plates, and gypsum boards; a rolling shutter mechanism is used to grab the gypsum boards, and the rolling shutter mechanism and the grabbing mechanism cooperate with each other to grab the leg pads, and the suction device is used to suck the cover plates. The palletizing robot can realize a variety of different functions. The palletizing robot completes the automatic palletizing of gypsum boards in the process of realizing these multiple functions. The present invention has a high degree of automation, good consistency, and high stacking efficiency, which liberates labor.

[0004] The shortcoming of the existing palletizing production lines including the above-mentioned patent is that in the process of grabbing the gypsum board with the suction cup, when the gypsum board is released, the vacuum pump releases the pressure, that is, the inner cavity of the suction cup is connected to the outside world, but the pressure relief process is gradual, and the suction cup needs to be driven up by the mechanical arm to enter the next cycle during this process. Since the air pressure in the suction cup cannot be immediately restored to atmospheric pressure during this process, that is, the suction cup still has a certain suction force on the gypsum board, the gypsum board will be sucked up again after being placed, and then fall onto the gypsum board below under the action of gravity. Such impact can easily cause damage to the gypsum board, and is not conducive to the alignment and stacking of the upper and lower gypsum boards. Summary of the invention

[0005] The object of the present invention is to provide an automatic packaging system for the production of gypsum boards.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] An automatic packaging system for gypsum board production includes a mechanical arm and a vacuum pump. A mounting frame is installed at the end of the mechanical arm, a plurality of suction cups are installed on the mounting frame, the vacuum pump is connected to the inside of the suction cups through pipelines, and a squeezing mechanism is also installed on the mounting frame. When the suction cups release the adsorption of the gypsum board, the squeezing mechanism squeezes the gypsum board to promote the separation of the gypsum board and the suction cups.

[0008] In the automatic packaging system, the suction cup comprises a back plate, on which a suction cup is fixedly connected, the back plate is connected to the mounting frame via a telescopic tube, and a first spring is sleeved on the outside of the telescopic tube.

[0009] In the automatic packaging system, the squeezing mechanism includes a squeezing rod and a second spring arranged in the telescopic tube. The squeezing rod is a telescopic structure. When the squeezing rod is in a natural state, the second spring drives one end of the squeezing rod to extend outward from the suction cup.

[0010] In the above-mentioned automatic packaging system, an adjustment mechanism is provided at the position of the mounting frame corresponding to the extrusion rod, the extrusion rod is movably mounted on the mounting frame, and the adjustment mechanism adjusts the position of the extrusion rod relative to the suction cup so that the second spring can return to its original length after the suction cup absorbs the gypsum board.

[0011] In the above-mentioned automatic packaging system, through holes are opened at positions corresponding to the extrusion rods on the mounting frame, a first piston block is dynamically sealed and installed in the through holes, the extrusion rod is fixedly connected to the first piston block, sealing sleeves are fixedly connected at positions corresponding to the through holes on the mounting frame, an adjusting mechanism is arranged inside the sealing sleeve, and the vacuum pump drives the first piston block to reciprocate along the through holes through the adjusting mechanism.

[0012] In the above-mentioned automatic packaging system, a partition is arranged in the sealing sleeve, and the partition divides the inner cavity of the sealing sleeve into a first chamber and a second chamber. The first chamber is connected to the through hole. The adjustment mechanism includes a second piston block installed in the second chamber with a dynamic seal. The first piston block is connected to the second piston block through a connecting rod. A first hole and a second hole that connect the first chamber and the second chamber are opened in the middle of the partition. A first reversing valve is arranged in the middle of the first hole, and the first reversing valve is connected to the vacuum pump through a pipeline. A second reversing valve is arranged in the middle of the second hole, and the air inlet end of the second reversing valve is connected to the outside world. The sealing sleeve is also provided with a third hole that connects the second chamber with the outside world.

[0013] In the automatic packaging system, the inner diameter of the first chamber is larger than the inner diameter of the through hole near the suction cup, and the inner diameter of the part within the sliding stroke of the first piston block in the through hole is larger than the inner diameter of the through hole near the suction cup.

[0014] In the above automatic packaging system, a detection component is arranged in the telescopic tube, and the detection component is used to detect the elongation of the extrusion rod.

[0015] In the above-mentioned automatic packaging system, the inner wall of the suction cup is fixedly connected with the first half ring and the second half ring, the first half ring and the second half ring are hinged to each other, and the first half ring and the second half ring are both provided with connecting parts, and the connecting parts cooperate with the extrusion rod. When the extrusion rod extends from under the suction cup, the extrusion rod drives the first half ring and the second half ring to tilt up through the connecting parts.

[0016] In the automatic packaging system, the suction plate is connected to the upper surface, the outer side wall, the lower surface and the inner side wall of the first half ring and the second half ring in sequence.

[0017] In the above technical scheme, the automatic packaging system provided by the present invention, by arranging a squeezing mechanism on the mounting frame, in the process of the suction cup loosening the gypsum board, when the robotic arm drives the mounting frame away from the gypsum board, the squeezing mechanism can restrict the gypsum board to the second conveyor, promote the separation of the gypsum board from the suction cup, so that the gypsum board will not be lifted up again by the suction cup, and can ensure that the gypsum board placed later is always opposite to the gypsum board placed earlier. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0019] Figure 1 A top view of the positional relationship between the first conveyor, the second conveyor and the robot arm provided in an embodiment of the present invention;

[0020] Figure 2 A side view of the positional relationship between the first conveyor, the second conveyor and the robot arm provided in an embodiment of the present invention;

[0021] Figure 3 A schematic diagram of the structure of a mounting frame provided by an embodiment of the present invention;

[0022] Figure 4 A partial cross-sectional view of a mounting frame provided by an embodiment of the present invention;

[0023] Figure 5 The embodiment of the present invention provides Figure 4 A partial enlarged schematic diagram of

[0024] Figure 6 The embodiment of the present invention provides Figure 5 A schematic diagram of the structure in which the first piston block is in the second position;

[0025] Figure 7 The embodiment of the present invention provides Figure 5 A structural schematic diagram of the first piston block when it is adjusted from the second position to the first position;

[0026] Figure 8 A schematic diagram of the positional relationship between the second rod and the Z-shaped rod provided in an embodiment of the present invention.

[0027] Description of reference numerals:

[0028] 1. First conveyor; 2. Second conveyor; 3. Robotic arm; 4. Mounting frame; 41. First reversing valve; 42. Through hole; 43. First piston block; 44. Sealing sleeve; 441. Partition; 442. First chamber; 443. Second chamber; 444. First hole; 445. Second hole; 446. Third hole; 45. Second reversing valve; 5. Suction cup; 51. Back plate; 52. Adsorption cup; 521. First half ring; 522. Second half ring; 523. Z-shaped rod; 53. Telescopic tube; 54. First spring; 6. Extrusion mechanism; 61. Extrusion rod; 611. First rod; 612. Second rod; 6121. Notch; 62. Second spring; 63. Stopper; 7. Adjustment mechanism; 71. Second piston block; 72. Connecting rod; 8. Detection assembly. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0030] In the description of the present invention, unless otherwise specified, "multiple" means two or more than two; the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail" and the like indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] like Figure 1-Figure 8As shown, an automatic packaging system for gypsum board production provided by an embodiment of the present invention includes a first conveyor 1, a second conveyor 2, a robot arm 3 and a vacuum pump, a mounting frame 4 is installed at the end of the robot arm 3, a plurality of suction cups 5 are installed on the mounting frame 4, the vacuum pump is connected to the inside of the suction cup 5 through a pipeline, and a squeezing mechanism 6 is also installed on the mounting frame 4. When the suction cup 5 releases the adsorption of the gypsum board, the squeezing mechanism 6 squeezes the gypsum board to promote the separation of the gypsum board and the suction cup 5.

[0032] Specifically, the automatic packaging system includes a first conveyor 1, a second conveyor 2, a mechanical arm 3 and a driving member, wherein a mounting frame 4 is installed at the end of the mechanical arm 3, and a plurality of suction cups 5 are installed on the mounting frame 4. The mounting frame 4 is a rectangular frame, such as Figures 1 to 3 As shown in the figure, a plurality of groups, such as six groups, of suction cups 5 are arranged in a rectangular array on the lower surface of the mounting frame 4. The vacuum pump is connected to the inner cavity of each suction cup 5 through a pipeline, so that when the suction cup 5 is in close contact with the surface of the gypsum board, the vacuum pump can extract the gas in the inner cavity of the suction cup 5, so that a negative pressure is formed in the inner cavity of the suction cup 5, so that the external atmospheric pressure can press the gypsum board on the suction cup 5 to form an adsorbed state. Since the vacuum pump can only extract gas, in order to facilitate the suction cup 5 to release the adsorption of the gypsum board, an electromagnetic valve is provided on the suction cup 5 or the mounting frame 4. When the electromagnetic valve is opened, the inner cavity of the suction cup 5 is connected to the external environment; one end of the first conveyor 1 is connected to the production line of the gypsum board, and the gypsum boards that have been dried and inspected are conveyed one by one by the first conveyor 1 to the working range of the robot arm 3. The first conveyor 1 and the second conveyor 2 are respectively provided with chain conveyors, and one end of the second conveyor 2 is arranged within the working range of the mechanical arm 3, and a packaging mechanism (not shown in the figure) is arranged at the other end thereof, so that the stacked gypsum boards can be directly transported to the packaging mechanism for packaging. Preferably, the first conveyor 1 and the second conveyor 2 are both chain conveyors, so that the gypsum boards can be adequately supported, and the packaging mechanism can adopt an existing fully automatic vertical packaging machine, which is a prior art and can be directly applied without further elaboration. The present embodiment is different from the prior art in that an extrusion mechanism 6 is also provided on the mounting frame 4. Optionally, the extrusion mechanism 6 is a plurality of electric push rods arranged on the mounting frame 4, and when the mounting frame 4 is in a horizontal state, the electric push rods are all in a vertical state.

[0033] When the robot arm 3 places the gypsum board on the second conveyor 2, each electric push rod extends synchronously and contacts the gypsum board. At this time, the solenoid valve arranged on the suction cup 5 or the mounting frame 4 opens, so that the inner cavity of the suction cup 5 is connected with the external environment, and the outside air enters the inner cavity of the suction cup 5 through the solenoid valve, so that the air pressure in the inner cavity of the suction cup 5 gradually balances with the outside air pressure. At the same time, the robot arm 3 drives the mounting frame 4 and the suction cup 5 away from the gypsum board. In the process of the mounting frame 4 moving away from the gypsum board, each electric push rod extends synchronously and maintains a speed consistent with that of the mounting frame 4 moving away from the gypsum board, so as to ensure that the gypsum board is confined to the second conveyor 2.

[0034] The automatic packaging system provided by the embodiment of the present invention is provided with a squeezing mechanism 6 on the mounting frame 4. In the process of the suction cup 5 loosening the gypsum board, when the robot arm 3 drives the mounting frame 4 away from the gypsum board, the squeezing mechanism 6 can restrict the gypsum board on the second conveyor 2, promote the separation of the gypsum board and the suction cup 5, so that the gypsum board will not be lifted up again by the suction cup 5, and can ensure that the gypsum board placed later is always opposite to the gypsum board placed earlier.

[0035] Furthermore, the suction cup 5 includes a back plate 51 , on which a suction plate 52 is fixedly connected. The back plate 51 is connected to the mounting frame 4 via a telescopic tube 53 , and a first spring 54 is sleeved on the outside of the telescopic tube 53 .

[0036] Specifically, in the above embodiment, when the robot arm 3 controls the mounting frame 4 to move toward the gypsum board and makes the suction cup 5 closely contact with the gypsum board, the squeezing force of the suction cup 5 on the gypsum board directly acts on the gypsum board, which is easy to cause damage to the gypsum board; in this embodiment, the suction cup 5 includes a back plate 51, an adsorption plate 52 and a telescopic rod, wherein the back plate 51 is made of a hard material such as metal, which is an inverted cone shape, and the adsorption plate 52 is made of rubber or silicone, which is directly bonded or vulcanized on the back plate 51. In the process of adsorption of the gypsum board, the adsorption plate 52 is directly in contact with the gypsum board. In addition, telescopic tubes 53 are fixedly connected to the positions of the mounting frame 4 corresponding to the back plate 51. The telescopic tubes 53 are fixedly connected to the lower surface of the mounting frame 4. The telescopic tubes 53 are two pipes with different diameters and are movably and sealedly sleeved with each other. One end of the telescopic tube 53 away from the mounting frame 4 is fixedly connected to the back plate 51, and a first spring 54 is sleeved on the outside of the telescopic tube 53. In this arrangement, when the robot arm 3 controls the mounting frame 4 to squeeze the suction cup 5 so that the suction cup 5 is in close contact with the gypsum board, the energy is absorbed by the deformation of the first spring 54 to prevent the gypsum board from being damaged due to excessive squeezing.

[0037] Furthermore, the squeezing mechanism 6 includes a squeezing rod 61 and a second spring 62 arranged in the telescopic tube 53. The squeezing rod 61 is a telescopic structure. When the squeezing rod 61 is in a natural state, the second spring 62 drives one end of the squeezing rod 61 to extend outward from the suction cup 5.

[0038] Specifically, in the above embodiment, the gypsum board is restricted on the conveyor belt surface of the second conveyor 2 by extending the electric push rod. However, such operation makes it difficult to make the amount by which the mechanical arm 3 drives the mounting frame 4 to move upward (away from the gypsum board) consistent with the extension amount of the electric push rod, and it is impossible to ensure that the gypsum board will not be damaged by the squeezing of the electric push rod. In this embodiment, the squeezing mechanism 6 includes a retractable squeezing rod 61, and the outer part of the squeezing rod 61 is sheathed with a second spring 62. Both the squeezing rod 61 and the second spring 62 are arranged inside the telescopic tube 53, which can be Optionally, the extrusion rod 61 includes a first rod 611 and a second rod 612 that are sleeved with each other. The first rod 611 is a hollow structure and is sleeved on the outer wall of the second rod 612. In this embodiment, one end of the first rod 611 can be fixed to the lower surface of the mounting frame 4, and the second rod 612 is sleeved with a stopper 63. The second spring 62 is sleeved on the outside of the first rod 611, and the two ends of the second spring 62 are in contact with the mounting frame 4 and the stopper 63 respectively. When the second spring 62 is at its original length, the second rod 612 extends to the outside of the above-mentioned adsorption disk 52, that is, Figures 5 to 7 The suction cup 5 is located below the suction cup 52 in the view; with such arrangement, during the process of the suction cup 5 adsorbing the gypsum board, the second rod 612 is blocked by the gypsum board and will shrink to the inside of the suction cup 52, and will deform and accumulate force by squeezing the second spring 62 through the stopper 63; and when the suction cup 5 is in the process of releasing the gypsum board, the second rod 612 will squeeze the gypsum board under the elastic force of the second spring 62, thereby causing the gypsum board to separate from the suction cup 52, so as to prevent the air pressure in the suction cup 5 from being balanced with the external air pressure, causing the remaining suction force of the suction cup 5 on the gypsum board to suck up the gypsum board again; obviously, in this embodiment, in order to prevent the setting of the stopper 63 from affecting the vacuum pump's extraction of gas in the suction cup 5, the diameter of the stopper 63 is smaller than the inner diameter of the capillary in the telescopic tube 53.

[0039] In another embodiment of the present invention, an adjustment mechanism 7 is provided at the position of the mounting frame 4 corresponding to the extrusion rod 61. The extrusion rod 61 is movably mounted on the mounting frame 4. The adjustment mechanism 7 adjusts the position of the extrusion rod 61 relative to the suction cup 5 so that the second spring 62 can return to its original length after the suction cup 5 absorbs the gypsum board.

[0040] Furthermore, through holes 42 are opened at positions corresponding to the extrusion rod 61 on the mounting frame 4, and a first piston block 43 is dynamically sealed and installed in the through hole 42. The extrusion rod 61 is fixedly connected to the first piston block 43, and sealing sleeves 44 are fixedly connected to positions corresponding to the through holes 42 on the mounting frame 4. The adjustment mechanism 7 is arranged inside the sealing sleeve 44, and the vacuum pump drives the first piston block 43 to reciprocate along the through hole 42 through the adjustment mechanism 7.

[0041] Optionally, a partition 441 is provided in the sealing sleeve 44, and the partition 441 divides the inner cavity of the sealing sleeve 44 into a first chamber 442 and a second chamber 443. The first chamber 442 is connected to the through hole 42. The adjustment mechanism 7 includes a second piston block 71 installed in the second chamber 443 with a dynamic seal. The first piston block 43 is connected to the second piston block 71 through a connecting rod 72. A first hole 444 and a second hole 445 that connect the first chamber 442 and the second chamber 443 are opened in the middle of the partition 441. A first reversing valve 41 is provided in the middle of the first hole 444, and the first reversing valve 41 is connected to the vacuum pump through a pipeline. A second reversing valve 45 is provided in the middle of the second hole 445, and the air inlet end of the second reversing valve 45 is connected to the outside world. The sealing sleeve 44 is also provided with a third hole 446 that connects the second chamber 443 with the outside world.

[0042] Specifically, in the above embodiment, since the second rod 612 of the squeezing rod 61 is extended from the bottom of the suction cup 52 in the natural state, after the suction cup 5 sucks the gypsum board, the robot arm 3 drives the mounting frame 4 to move as a whole to carry the gypsum board, and the second spring 62 is always in a state of storing force. The squeezing force applied by the second spring 62 to the gypsum board through the second rod 612 will affect the suction effect of the suction cup 5 on the gypsum board, and even cause the gypsum board to loosen from the suction cup 5. In this embodiment, different from the above embodiment, the squeezing rod 61 can be moved along the telescopic tube 53 The mounting frame 4 is provided with a through hole 42, which is provided along the axial direction of the extrusion rod 61, and the through hole 42 penetrates the upper and lower surfaces of the mounting frame 4, and a first piston block 43 is installed in the through hole 42 in a dynamic seal, and the first rod 611 of the extrusion rod 61 is fixedly connected to the first piston block 43, and a sealing sleeve 44 is fixedly connected to the upper surface of the mounting frame 4, and the sealing sleeve 44 is a cylindrical structure with an opening at one end, and a partition 441 is fixedly connected to the inner wall of the sealing sleeve 44, and the partition 441 divides the internal space of the sealing sleeve 44 into a first chamber 44 2 and a second chamber 443, wherein the first chamber 442 is communicated with the through hole 42; in addition, an adjusting mechanism 7 is further provided in the sealing sleeve 44, the adjusting mechanism 7 comprises a second piston block 71 which is dynamically sealed and installed in the second chamber 443, a connecting rod 72 is provided in the middle of the partition 441 along the axial direction of the sealing sleeve 44, the connecting rod 72 is dynamically sealed and connected with the partition 441, and the two ends of the connecting rod 72 are respectively connected with the first piston block 43 and the second piston block 71, so that the vacuum pump can drive the first piston block 43 in the through hole 42 (because the through hole 42 is connected to the first chamber 442 The first piston block 43 can move directly from the through hole 42 to the position of the first chamber 442 near the partition 441 and move up and down. The inner diameter of the through hole 42 near the first chamber 442 and the inner diameter of the first chamber 442 are equal to the diameter of the first piston block 43. The middle part of the partition 441 is also provided with a first hole 444 and a second hole 445 along the axial direction of the sealing sleeve 44. The two ends of the first hole 444 are respectively connected to the first chamber 442 and the second chamber 443, and the two ends of the second hole 445 are respectively connected to the first chamber 442 and the second chamber 443. Figures 5 to 7As shown, a first reversing valve 41 is installed in the middle of the first hole 444, and a second reversing valve 45 is installed in the middle of the second hole 445, wherein the first reversing valve 41 is connected to the vacuum pump through a pipeline, and the air inlet of the second reversing valve 45 is directly connected to the external environment, and the pipeline can be connected to the first chamber 442 or the second chamber 443 through the first reversing valve 41, and the first chamber 442 or the second chamber 443 can be connected to the external environment through the second reversing valve 45; in addition, a third hole 446 is provided on the sealing sleeve 44 to connect the second chamber 443 with the external environment, and the third hole 446 is provided at one end of the second chamber 443 away from the partition 441; such a configuration enables the vacuum pump to extract the gas in the first chamber 442 or the second chamber 443 when it is started, so as to adjust the position of the first piston block 43 in the through hole 42, and the first piston block 43 has a first position and a second position in the moving stroke:

[0043] When in the first position, the vacuum pump is in the off state, and the suction plate 52 is not in contact with the gypsum board. At this time, the distance between the first piston block 43 and the partition 441 is the largest. In this state, the second spring 62 is in its original length (not squeezed by the stopper 63), and the two ends of the second spring 62 are just in contact with the first piston block 43 and the stopper 63 respectively. Figure 5 As shown, at this time, the second rod 612 of the extrusion rod 61 extends from the bottom of the adsorption plate 52 under the action of gravity, and the length of the second rod 612 extending from the bottom of the adsorption plate 52 is L1;

[0044] When in the second position, the suction plate 52 contacts the gypsum board and absorbs the gypsum board, and the first piston block 43 contacts the partition plate 441. Figure 6 As shown, the inner cavity of the suction cup 5 is in a negative pressure state. Assuming that the contraction amount of the telescopic tube 53 is L2 during the process of the suction cup 5 adsorbing the gypsum board (the contraction amount of the telescopic tube 53 is achieved by the mechanical arm 3 pressing the mounting frame 4 toward the gypsum board, and the displacement amount of the mechanical arm 3 can be controlled so that the contraction amount of the telescopic tube 53 is L2 each time the gypsum board is adsorbed), and the distance between the second position and the first position is L3, then L3>L1+L2.

[0045] In the process of stacking gypsum boards: when the gypsum boards need to be adsorbed, first, the mounting frame 4 is controlled by the mechanical arm 3 to maintain a horizontal state and move toward the gypsum boards. During this process, one end of the second rod 612 extending out of the adsorption plate 52 contacts the gypsum board and is blocked by the gypsum board and gradually shrinks to the inside of the adsorption plate 52. At this time, the second rod 612 squeezes the second spring 62 through the stopper 63 to initially deform. After the suction cup 5 contacts the gypsum board, the mounting frame 4 is continued to be controlled to move toward the gypsum board, so that the telescopic tube 53 is forced to shrink to provide sufficient extrusion force to ensure that the adsorption plate 52 of the suction cup 5 is in close contact with the surface of the gypsum board. Then, the first reversing valve 41 connects the pipeline with the first chamber 442, the second reversing valve 45 connects the second chamber 443 with the external environment, and starts the vacuum pump. The vacuum pump extracts the air in the first chamber 442. As the first chamber 442 approaches one side of the partition 441 (the first piston block 43 separates the first chamber 442 into two parts), the vacuum pump 41 is used to control the second spring 62 to be deformed. ) As the air pressure decreases, the first piston block 43 moves along the through hole 42 to the side of the first chamber 442 close to the partition 441 until the first piston block 43 contacts the partition 441. At this time, the first piston block 43 is in the second position. During this process, the volume of the portion of the first chamber 442 communicating with the through hole 42 gradually increases, while the amount of air originally distributed in the side of the first chamber 442 close to the through hole 42, inside the through hole 42, inside the telescopic tube 53 and the inner cavity of the suction cup 5 is constant, resulting in a gradual decrease in the air pressure on the side of the first chamber 442 communicating with the through hole 42, the through hole 42 and the suction cup 5, so that the suction cup 5 sucks the gypsum board. Since L3>L1+L2, after the first piston block 43 is adjusted from the first position to the second position, even if the suction cup 5 pulls the telescopic tube 53 to extend a certain distance under the gravity of the gypsum board, the second spring 62 is still at its original length and will not apply an extrusion force to the gypsum board that has been sucked by the suction cup 5 through the second rod 612.

[0046] When the gypsum board needs to be loosened, the robot arm 3 controls the mounting frame 4 to place the sucked gypsum board onto the second conveyor 2, and the first reversing valve 41 connects the pipeline with the second chamber 443, the second reversing valve 45 connects the first chamber 442, and starts the vacuum pump, which extracts the air in the second chamber 443. At this time, the outside air enters the side of the second chamber 443 away from the partition 441 through the third hole 446. As the second chamber 443 approaches the side of the partition 441 (the second piston block 71 also divides the second chamber 443 into two parts), the air pressure decreases. Under the action of the outside air pressure, the second piston block 71 slides along the axial direction of the sealing sleeve 44 toward the position of the partition 441, and the second piston block 71 pushes the first piston block 43 from the second position to the first position through the connecting rod 72. At this time, the outside air enters from the second reversing valve 45 to The first chamber 442 is close to the side of the partition 441. Since the suction plate 52 is not in contact with the gypsum board, and the second rod 612 is naturally extended from the bottom of the suction plate 52, the two ends of the second spring 62 are just in contact with the first piston block 43 and the stopper 63 respectively. At this time, the second rod 612 is blocked by the gypsum board and shrinks to the inner side of the suction plate 52. Therefore, the second spring 62 is squeezed by the first piston block 43 and the stopper 63 and is in a force storage state. As the robot arm 3 slowly moves the mounting frame 4 upward, the second rod 612 gradually extends outward from the suction plate 52 under the push of the second spring 62. In the process of the first piston block 43 moving from the second position to the first position, the volume of the part of the first chamber 442 connected to the through hole 42 gradually decreases, so that the inner cavity of the suction cup 5 returns to normal air pressure, and cooperates with the thrust of the second rod 612 on the gypsum board to separate the suction cup 5 from the gypsum board.

[0047] Obviously, in order to make the pressure change in the suction cup 5 sufficient to make the gypsum board tightly sucked by the suction cup 5 during the process of adjusting the first piston block 43 from the first position to the second position, the inner diameter of the first chamber 442 is larger than the inner diameter of the through hole 42 near the suction cup 5, and the inner diameter of the part of the first piston block 43 in the through hole 42 within the sliding stroke is larger than the inner diameter of the through hole 42 near the suction cup 5. Figures 5 to 7 shown.

[0048] In another embodiment of the present invention, a detection component 8 is disposed in the telescopic tube 53 , and the detection component 8 is used to detect the elongation of the extrusion rod 61 .

[0049] Specifically, in the above embodiment, since the adsorption disk 52 itself has a certain deformation ability, when the vacuum pump extracts the air in the inner cavity of the adsorption disk 52, the adsorption disk 52 will gradually deform and fully contact with the surface of the gypsum board. At this time, the suction cup 5 tightly sucks the gypsum board. It is assumed that in this state, the size of the adsorption disk 52 along its own axis is Y1. When the adsorption disk 52 has insufficient suction force on the gypsum board (for example, the adsorption disk 52 leaks or the edge is deformed, resulting in reduced sealing, after the first piston block 43 moves from the first position to the second position, the air pressure in the inner cavity of the suction cup 5 is not low enough to tightly suck the gypsum board), it may appear that it is not completely close to the gypsum board. It is assumed that in this state, the size of the adsorption disk 52 along its own axis is Y2, then Y2>Y1. In this embodiment, a detection component 8 is provided on the inner wall of the telescopic tube 53. Optionally, the detection component 8 is a distance sensor, which is fixed to the inner wall of the telescopic tube 53. Figures 5 to 7 As shown, the distance sensor is used to measure the distance between itself and the stopper 63. When the robot arm 3 lifts the gypsum board through the mounting bracket 4 and the suction cup 5, if the suction cup 5 sucks the gypsum board tightly, the distance between the distance sensor and the stopper 63 is a constant value Y3. When the suction cup 5 fails to suck the gypsum board or the suction force is insufficient, the distance between the distance sensor and the stopper 63 will be greater than the constant value Y3. With such a setting, it is possible to determine whether the suction cup 5 firmly sucks the gypsum board by measuring the extension and contraction amount of the extrusion rod 61 (the longer the second rod 612 is extended, the greater the distance between the distance sensor and the stopper 63), and to issue a warning when the suction force of the suction cup 5 is insufficient.

[0050] In another embodiment of the present invention, a first half ring 521 and a second half ring 522 are fixedly connected to the inner wall of the suction cup 52. The first half ring 521 and the second half ring 522 are hinged to each other. Connectors are provided on the first half ring 521 and the second half ring 522. The connecting parts cooperate with the extrusion rod 61. When the extrusion rod 61 extends from under the suction cup 5, the extrusion rod 61 drives the first half ring 521 and the second half ring 522 to tilt up through the connecting parts.

[0051] Furthermore, the connecting member includes a Z-shaped rod 523 fixed to the inner wall of the first half ring 521 or the second half ring 522, and the two Z-shaped rods 523 are hinged to each other at one end away from the first half ring 521 and the second half ring 522, and a torsion spring is provided at the hinge position of the two Z-shaped rods 523, and the torsion spring maintains the two Z-shaped rods 523 in a horizontal state. The lower part of the second rod 612 is provided with a slot 6121 with a width greater than the width of the Z-shaped rod 523 along its own radial direction, and the slot 6121 extends to the lower end of the second rod 612.

[0052] Specifically, in order to make the suction cup 5 release the adsorption of the gypsum board more quickly, in this embodiment, the inner wall of the adsorption cup 52 is fixedly connected with a first half ring 521 and a second half ring 522, such as Figure 8As shown, the inner diameter and outer diameter of the first half ring 521 and the second half ring 522 are equal, and the first half ring 521 and the second half ring 522 are hinged to each other, and the first half ring 521 and the second half ring 522 are both provided with connecting members, and optionally, the connecting member includes a Z-shaped rod 523 fixed to the inner wall of the first half ring 521 (the second half ring 522), and the two Z-shaped rods 523 are hinged to each other. Preferably, a torsion spring is provided on the hinge axis of the two Z-shaped rods 523, and the torsion spring maintains the Z-shaped rod 523 in a horizontal state, that is, Figure 8 In the state shown, the lower surfaces of the first half ring 521 and the second half ring 522 are in the same plane. In addition, a slot 6121 is provided on the second rod 612 at a position corresponding to the Z-shaped rod 523. The slot 6121 is provided at the lower part of the second rod 612, and the slot 6121 is provided along the radial direction of the second rod 612, and the slot 6121 is extended to the lower end of the second rod 612. In this way, when the vacuum pump extracts the gas in the second chamber 443 during the process of loosening the gypsum board, so that the first piston block 43 moves from the second position to the first position, the force of the second spring 62 on the stopper 63 drives the second rod 612 to squeeze the hinge of the two Z-shaped rods 523. position, thereby driving the hinge points of the two Z-shaped rods 523 to move downward, and prying the first half ring 521 and the second half ring 522 through the Z-shaped rod 523. When the first half ring 521 and the second half ring 522 are tilted, the suction plate 52 is separated from the gypsum board to prevent the edge position of the suction plate 52 from still having a certain suction force on the gypsum board, and the outside air can quickly enter the inner cavity of the suction cup 5 through the tilted position of the first half ring 521 and the second half ring 522, so that the suction cup 5 can quickly release the adsorption of the gypsum board, and because the first half ring 521 and the second half ring 522 are both flat and have a high hardness, the edge position of the suction plate 52 can be effectively prevented from being deformed.

[0053] Furthermore, the suction plate 52 is connected to the upper surface, outer wall, lower surface and inner wall of the first half ring 521 and the second half ring 522 in sequence, so as to ensure that the overall lower surface formed by the suction plate 52, the first half ring 521 and the second half ring 522 is in a horizontal state, so as to fully contact the gypsum board and facilitate the connection of the Z-shaped rod 523 with the first half ring 521 and the second half ring 522.

[0054] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. An automatic packaging system for gypsum board production, comprising a mechanical arm and a vacuum pump, wherein a mounting frame is mounted on the end of the mechanical arm, a plurality of suction cups are mounted on the mounting frame, and the vacuum pump is connected to the inside of the suction cups through a pipeline, characterized in that: The mounting frame is also provided with a squeezing mechanism, and when the suction cup releases the adsorption of the gypsum board, the squeezing mechanism squeezes the gypsum board to promote the separation of the gypsum board from the suction cup.

2. The automatic packaging system for gypsum board production according to claim 1, characterized in that: The suction cup comprises a back plate, on which a suction cup is fixedly connected, the back plate is connected to a mounting frame through a telescopic tube, and a first spring is sleeved on the outside of the telescopic tube.

3. The automatic packaging system for gypsum board production according to claim 2, characterized in that: The squeezing mechanism comprises a squeezing rod and a second spring arranged in the telescopic tube. The squeezing rod is a telescopic structure. When the squeezing rod is in a natural state, the second spring drives one end of the squeezing rod to extend outward from the suction cup.

4. The automatic packaging system for gypsum board production according to claim 3, characterized in that: The mounting frame is provided with an adjustment mechanism at the position of the extrusion rod corresponding to the mounting frame. The extrusion rod is movably mounted on the mounting frame. The adjustment mechanism adjusts the position of the extrusion rod relative to the suction cup so that the second spring can return to its original length after the suction cup absorbs the gypsum board.

5. The automatic packaging system for gypsum board production according to claim 4, characterized in that: Through holes are provided on the mounting frame at positions corresponding to the extrusion rods, a first piston block is dynamically sealed in the through holes, the extrusion rod is fixedly connected to the first piston block, a sealing sleeve is fixedly connected to positions corresponding to the through holes on the mounting frame, an adjusting mechanism is arranged inside the sealing sleeve, and the vacuum pump drives the first piston block to reciprocate along the through holes through the adjusting mechanism.

6. The automatic packaging system for gypsum board production according to claim 5, characterized in that: A partition is arranged in the sealing sleeve, and the partition divides the inner cavity of the sealing sleeve into a first chamber and a second chamber. The first chamber is connected to the through hole. The regulating mechanism includes a second piston block installed in the second chamber with a dynamic seal. The first piston block is connected to the second piston block through a connecting rod. A first hole and a second hole connecting the first chamber and the second chamber are opened in the middle of the partition. A first reversing valve is arranged in the middle of the first hole, and the first reversing valve is connected to the vacuum pump through a pipeline. A second reversing valve is arranged in the middle of the second hole, and the air inlet end of the second reversing valve is connected to the outside world. The sealing sleeve is also provided with a third hole connecting the second chamber with the outside world.

7. The automatic packaging system for gypsum board production according to claim 6, characterized in that: The inner diameter of the first chamber is larger than the inner diameter of the through hole near the suction cup, and the inner diameter of the part within the sliding stroke of the first piston block in the through hole is larger than the inner diameter of the through hole near the suction cup.

8. The automatic packaging system for gypsum board production according to claim 5, characterized in that: A detection component is arranged in the telescopic tube, and the detection component is used to detect the elongation of the extrusion rod.

9. An automatic packaging system for gypsum board production according to any one of claims 3 to 8, characterized in that: The inner wall of the suction cup is fixedly connected with a first half ring and a second half ring, which are hinged to each other. Connecting parts are arranged on the first half ring and the second half ring, and the connecting parts cooperate with the extrusion rod. When the extrusion rod extends from the bottom of the suction cup, the extrusion rod drives the first half ring and the second half ring to tilt up through the connecting parts.

10. An automatic packaging system for gypsum board production according to claim 9, characterized in that: The adsorption disk is connected to the upper surface, the outer side wall, the lower surface and the inner side wall of the first half ring and the second half ring in sequence.

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