Plate grabbing device capable of turning over automatically and plate drying process thereof

Abstract

The invention discloses an automatic turn-over plate grabbing device and a plate drying process thereof, and belongs to the technical field of solid wood plate processing. The automatic turn-over plate grabbing device comprises a plate drying mechanism and a plurality of supports arranged in an array in a drying yard; each support comprises a bearing plate with an adjustable inclination angle, and the bearing plates are used for containing plates. The plate drying mechanism comprises a movable chassis, a lifting platform and a rotating arm, a rotating platform is arranged at the tail end of the rotating arm, and the rotating platform comprises three working end faces capable of being switched in a rotating mode. Through cooperation of the bearing plate with the adjustable inclination angle and the driving device, the inclination angle can be dynamically adjusted according to requirements, and synchronous optimization of plate surface gravity drainage and stress release is achieved. Meanwhile, the rotating table integrates the three working end faces of recognition, water spraying and material taking, and the whole-process operation of state detection, water spraying humidity adjustment and precise turn-over can be completed in one-time operation.

Description

Technical Field

[0001] The present invention belongs to the technical field of solid wood board processing, and particularly relates to a board grabbing device with automatic turning and its board drying process. Background Art

[0002] Before being processed and formed, solid wood boards need to undergo a board drying treatment to evenly evaporate the internal moisture and stabilize the fiber structure, thereby improving the mechanical properties and appearance quality of the finished wood. Especially for high-value woods (such as teak), the board drying process directly affects the crack resistance, deformation resistance and service life of the boards. Traditional board drying mostly relies on natural drying or artificially controlling the temperature and humidity environment, and the boards are periodically turned over to make each side of the board evenly heated and dried, so as to avoid defects such as cracking and warping caused by the accumulation of local stress. Therefore, the accuracy and timeliness of the turning operation during the board drying process are the key links to ensure the processing quality of solid wood boards.

[0003] The existing board drying technology mainly relies on manual operation. Workers need to turn the boards regularly according to experience, and it is difficult to monitor the internal humidity gradient and stress distribution of the boards in real time, resulting in a lag in the turning time or an improper frequency. For special materials such as teak, the lateral shrinkage rate of its fibers during the drying process is significantly higher than that of other woods. If it is heated unilaterally for a long time, local stress concentration will be formed due to the fixed shrinkage direction, and then longitudinal cracks will be induced. Although the manual turning can periodically interrupt the shrinkage direction and promote the uniform release of stress, the traditional method has obvious defects: on the one hand, the manual turning requires frequent inspection of the board state, with low efficiency and high labor intensity; on the other hand, when the board is large in size and high in weight, multiple people need to cooperate in the operation, which is easy to cause scratches on the board surface or deviation in the turning angle, affecting the drying uniformity. In addition, it is difficult to dynamically adjust the turning angle and frequency according to the environmental temperature and humidity during manual turning, which is easy to cause water accumulation residue or stress release imbalance on the board, further increasing the cracking risk.

[0004] In summary, the existing manual board drying method has significant deficiencies in terms of efficiency, accuracy and applicability, and especially cannot meet the process requirements of high-shrinkage woods such as teak. Therefore, there is an urgent need to develop a fully automatic board drying system that can automatically sense the state of the board, accurately control the turning parameters, and realize the judgment of the turning time, flexible grasping and dynamic stress adjustment through intelligent means, so as to improve the board drying efficiency and the quality of the finished product, while reducing the labor cost and operation risk. Summary of the Invention

[0005] In view of the problems in the related art, the present invention proposes a board grabbing device with automatic turning and its board drying process to solve the significant deficiencies in efficiency, accuracy and applicability of the existing manual board drying method.

[0006] The technical solution of the present invention is realized as follows: A board grabbing device with automatic turning includes a board drying mechanism and a plurality of brackets arranged in an array in the drying yard;

[0007] Each bracket includes a support guide cylinder and a guide track. A column is slidably connected to the support guide cylinder. The upper end of the column is hinged with a support plate with an adjustable inclination angle for placing the plate, and the other end of the support plate slides along the guide track. A driving device is provided at the lower end of the column for driving the column to lift and lower to adjust the inclination angle of the support plate.

[0008] The plate drying mechanism includes a moving chassis, a lifting platform and a rotating arm. A rotating table is provided at the end of the rotating arm. The rotating table includes three rotatable and switchable working end faces:

[0009] An identification working end face for detecting the surface state of the plate;

[0010] A water spraying working end face for spraying water on the surface of the plate;

[0011] A material taking working end face for grasping the plate and turning it over;

[0012] When drying the plate, the plate is placed on the support plate. The rotating table of the plate drying mechanism detects the surface state of the plate through the identification working end face, and according to the surface state of the plate, rotates and switches to the water spraying working end face or the material taking working end face to spray water on the plate or turn the plate over.

[0013] Through the coordinated cooperation of the support plate with an adjustable inclination angle and the driving device, the present invention can dynamically adjust the inclination angle according to requirements, realizing the synchronous optimization of gravity drainage and stress release on the surface of the plate. At the same time, the three working end faces of identification, water spraying and material taking integrated on the rotating table can complete the full process operation of state detection, water spraying and humidity adjustment, and precise turning over in a single operation. Through the dynamic matching of the inclination angle adjustment of the support plate and the water spraying parameters, it can adapt to the plate drying operations of different materials and climates.

[0014] As a further improvement of the above solution, the driving device includes:

[0015] A convex rod fixed on the column;

[0016] A driving plate parallel to the guide track, and the driving plate is provided with obliquely strip-shaped holes for cooperating with the convex rod;

[0017] A hydraulic cylinder or a pneumatic cylinder drives the driving plate to move horizontally, and the obliquely directed force of the strip-shaped holes drives the column to lift and lower, so as to drive the support plate to change the inclination angle.

[0018] As a further improvement of the above solution, multiple brackets are arranged in a row, and the brackets are adjacent to each other. The upper ends of the columns of each bracket are respectively hinged with two support plates, and the two support plates are arranged back to back. When turning over, after the plate is taken from the support plate of a certain bracket, it is transferred to the other support plate of the adjacent bracket to complete the turning over;

[0019] Alternatively, multiple brackets are arranged in a row with intervals between them. The upper ends of the columns of each bracket are hinged with a single supporting plate, and the supporting plates on each bracket are arranged on the same side. When turning over, the sheet material is taken from the supporting plate of a certain bracket, rotated and turned over, and then placed back on the supporting plate of the same bracket.

[0020] The driving plate cooperates with the convex rods of the brackets in the same row to drive the supporting plates on the brackets in the same row to synchronously change the inclination angle. By driving the multiple supporting plates to synchronously change the inclination angle through the driving plate, it is convenient to quickly and batch adjust the inclination angle of the sheet material according to the sunlight conditions, so as to accelerate or slow down the water flow inside the sheet material, improve the efficiency of plate drying and ensure the consistency of the sheet material after drying.

[0021] As a further improvement of the above solution, a coaxial cavity is provided inside the rotating table. The cavity sequentially includes a main battery cell chamber, a main air source chamber and a main water source chamber from the inside to the outside; one end of each chamber is connected to the corresponding working end face, and the other end is connected to an external power supply, an air pump and a water tank through a rotary conversion device.

[0022] The rotary conversion device includes a secondary battery cell chamber, a secondary air source chamber and a secondary water source chamber, which respectively correspond to the main battery cell chamber, the main air source chamber and the main water source chamber one by one, and are dynamically conducted through rotary sealing rings; among them, the main battery cell chamber is electrically connected to the secondary battery cell chamber through an elastic conductive ring. The design of the three-working-end-face rotating table realizes the seamless connection of the "identification - water spraying - material taking" process through rotary switching, effectively improving the operation efficiency. The coaxial multi-chamber rotary conversion device adopts an elastic conductive ring and a rotary sealing ring to achieve 360° unrestricted rotation while ensuring the continuous supply of water, electricity and gas, ensuring the efficiency of automatic plate drying.

[0023] As a further improvement of the above solution, in the cavity of the rotating table, the radial width ratio of the main battery cell chamber, the main air source chamber and the main water source chamber is 1:1.5:2, and a fluororubber sealing isolation ring with a thickness of 1 - 3 mm is provided between adjacent chambers. By reasonably setting the radial width ratio of the cavity of the rotating table (battery cell: air source: water source = 1:1.5:2), the best ratio of power supply and medium transportation is achieved within a limited space, which not only ensures the working efficiency of each system but also maintains the structural compactness. The fluororubber sealing isolation ring with a special thickness forms multiple isolation barriers within a limited space, effectively preventing cross-contamination and pressure interference between different media, significantly improving the sealing reliability and the service life of components, and providing key support for the multi-functional integration and efficient operation of the equipment.

[0024] As a further improvement of the above solution, the material-taking working end face is provided with arrayed corrugated suction cups, and the distance between the suction cups is 10-15 cm. The corrugated structure of the corrugated suction cups can fit the tiny unevenness and water film distribution on the surface of the wet board, fill the gap between the board and the suction cups through deformation, and effectively eliminate the adsorption failure problem caused by the water film. Compared with traditional flat suction cups, the corrugated design significantly increases the adsorption contact area and friction force, and can still maintain stable adsorption in a humid environment, avoiding the grasping and dropping caused by the slippery surface of the board.

[0025] As a further improvement of the above solution, the recognition working end face integrates a camera, an infrared temperature measurement module, and a humidity sensing module; the camera is used for visual recognition of the board surface; the infrared temperature measurement module monitors the surface temperature of the board; the humidity sensing module is used to detect the humidity difference in each area of the board.

[0026] As a further improvement of the above solution, a guide rail is provided on the water-spraying working end face, a slider is slidably connected to the guide rail, and a nozzle is arranged on the slider; a driving motor is further included, and the driving motor is used to drive the slider to reciprocate along the extension direction of the guide rail. Through the sliding cooperation of the guide rail and the slider, the driving motor can accurately control the nozzle to reciprocate along a preset path, realizing the linear coverage of the water-spraying trajectory, ensuring uniform water spraying on the board surface without omission. During the movement of the nozzle, the water flow impact direction forms a constant angle with the board surface, and combined with the superimposed water pressure generated by the directional movement, the water flow permeability is enhanced, effectively flushing the residual impurities in the fiber gaps, and at the same time avoiding the surface damage caused by the concentrated impact of the high-pressure water flow.

[0027] An automatic turning board drying process is applied to an automatic turning board grasping device as described above; the board is placed on the supporting plate with the first surface facing up; the following steps are included:

[0028] S1. The recognition working end face detects the board surface to obtain temperature, humidity, and image data. When the surface temperature of the board reaches 40-42 °C and the humidity gradient difference ≥ 15%, it is determined as the water-spraying opportunity.

[0029] S2. After the water-spraying working end face sprays water on the first surface of the board with a water pressure of 3.2-3.8 MPa, the material-taking working end face adsorbs the board, rotates the board and places it on the supporting plate so that the first surface faces down, and stands for 5-30 S for drainage until there is no accumulated water remaining; the board without accumulated water remaining is continued to be placed on the supporting plate with the first surface facing up and continues to be dried.

[0030] S3. Steps S1 and S2 are repeated n times, and then switch to the second surface of the board; perform the same board drying steps as the first surface until both the first surface and the second surface of the board are golden yellow and the color is uniform.

[0031] Further, the calculation method of the humidity gradient difference is as follows: divide the surface of the board into N regions, measure the humidity value Hi of each region, calculate the standard deviation σ, and trigger water spraying if σ ≥ 15%.

[0032] Beneficial effects:

[0033] (1) Through the coordinated cooperation of the supporting plate with adjustable tilt angle and the driving device, the tilt angle can be dynamically adjusted according to requirements, achieving synchronous optimization of gravity drainage and stress release on the surface of the board. Compared with the traditional drying method with a fixed angle, this design effectively avoids local water accumulation residue or stress concentration, and significantly reduces the risks of cracking and warping.

[0034] (2) The three working end faces of identification, water spraying, and material taking integrated on the rotating table can complete the full-process operations of status detection, water spraying and humidity adjustment, and precise turning in a single operation, completely eliminating the time delay of traditional manual step-by-step operations. By automatically switching the working mode, it ensures the real-time adaptation of the water spraying and turning timing and process parameters, avoiding the problem of uneven drying caused by operation lag.

[0035] (3) The brackets arranged in an array in the drying yard and the board drying mechanism driven by the moving chassis work together, and through modular layout, parallel processing of multiple boards is achieved. The operation cycle of traditional manual handling and turning is significantly shortened. In addition, through the dynamic matching of the tilt angle adjustment of the supporting plate and the water spraying parameters, it can adapt to the drying requirements of different materials (such as teak with high shrinkage rate) and different thickness boards. Compared with the traditional fixed process, it is applicable to board drying operations under diverse climate conditions. Description of the drawings

[0036] Figure 1 It is a schematic structural diagram of the board grasping device of Embodiment 1;

[0037] Figure 2 It is a front view of the board grasping device of Embodiment 1;

[0038] Figure 3 It is a schematic structural diagram of the bracket of Embodiment 1;

[0039] Figure 4 It is a schematic structural diagram of the board drying mechanism of Embodiment 1;

[0040] Figure 5 It is a perspective view of the rotating table of Embodiment 1;

[0041] Figure 6 It is a connection schematic diagram of the rotating table and the rotation conversion device of Embodiment 1;

[0042] Figure 7 It is a working schematic diagram of the board grasping device of Embodiment 1;

[0043] Figure 8 Schematic structural diagram of the sheet material gripping device of Embodiment 2;

[0044] Figure 9 Front view of the sheet material gripping device of Embodiment 2;

[0045] Figure 10 Schematic structural diagram of the bracket of Embodiment 2;

[0046] Figure 11 Schematic working diagram of the sheet material gripping device of Embodiment 2;

[0047] Reference numerals:

[0048] D1, exposure plate mechanism; B1, sheet material; J1, avoidance space;

[0049] Z1, bracket; Z1a, first bracket; Z1b, second bracket; Z11, supporting plate; Z11a, first supporting plate; Z11b, second supporting plate;

[0050] Z12, supporting and guiding cylinder; Z13, guiding track; Z14, column; Z15, driving device; Z151, convex rod; Z152, driving plate; Z153, strip-shaped hole;

[0051] 1, moving chassis; 2, lifting platform; 3, rotating arm;

[0052] 4, rotating platform; 4a, main battery cell chamber; 4b, main air source chamber; 4c, main water source chamber;

[0053] 41, identification working end face; 411, camera; 412, infrared temperature measurement module; 413, humidity sensing module; 42, water spraying working end face; 421, nozzle; 422, guide rail; 423, slider; 424, driving motor; 43, material taking working end face; 431, suction cup;

[0054] 5, rotating conversion device; 5a, secondary battery cell chamber; 5b, secondary air source chamber; 5c, secondary water source chamber;

[0055] 61, elastic conductive ring; 62, rotating sealing ring. Detailed implementation manners

[0056] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts belong to the scope of protection of the present invention.

[0057] In the description of the present invention, it should be understood that the term "a number of" means "at least one", and the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation on the present invention.

[0058] Embodiment 1:

[0059] As Figures 1 - 7 shown, a sheet material grabbing device with automatic turning includes a board drying mechanism and a plurality of brackets Z1 arranged in an array in the drying yard;

[0060] Each bracket Z1 includes two support plates Z11 with adjustable tilt angles arranged back to back for placing sheet materials. In this embodiment, teak sheet materials are taken as an example; the bracket Z1 further includes a support guide cylinder Z12 and a guide track Z13, and a column Z14 is slidably connected to the support guide cylinder Z12; both sides of the upper end of the column Z14 are respectively hinged with the support plate Z11, and the other end of the support plate Z11 slides along the guide track Z13; in this embodiment, the support plate Z11 is set in a "rib shape", with a skeleton in the middle, and a plurality of support rods are arranged side by side on both sides of the skeleton, and there is an avoidance space between the support rods for the rotating platform of the board drying mechanism to pick up and place sheet materials.

[0061] A driving device Z15 is provided at the lower end of the column Z14 for driving the column Z14 to lift and lower to adjust the tilt angle of the support plate Z11;

[0062] The board drying mechanism includes a moving chassis 1, a lifting platform 2 and a rotating arm 3. A rotating platform 4 is provided at the end of the rotating arm 3, and the rotating platform 4 includes three rotatable and switchable working end faces:

[0063] An identification working end face 41 for detecting the surface state of the sheet material; in this embodiment, the identification working end face 41 integrates a camera 411, an infrared temperature measurement module 412 and a humidity sensing module 413; the camera 411 is used for visual identification of the surface of the sheet material; the infrared temperature measurement module 412 monitors the surface temperature of the sheet material; the humidity sensing module 413 is used for detecting the humidity difference in each area of the sheet material.

[0064] The water spraying working end face 42 is used for spraying water on the surface of the board. In this embodiment, a guide rail 422 is provided on the water spraying working end face 42, and a slider 423 is slidably connected to the guide rail 422. A spray head 421 is arranged on the slider 423. It further includes a driving motor 424, which is used to drive the slider 423 to reciprocate along the extending direction of the guide rail 422. Through the sliding fit of the guide rail 422 and the slider 423, the driving motor 424 can accurately control the spray head 421 to reciprocate along a preset path, realizing the linear coverage of the water spraying trajectory, ensuring uniform water spraying on the surface of the board without omission. During the movement of the spray head 421, the water flow impact direction forms a constant angle with the surface of the board. Combining with the superimposed water pressure generated by the directional movement, it enhances the water flow permeability, effectively flushes the residual impurities in the fiber gaps, and at the same time avoids surface damage caused by the concentrated impact of high-pressure water flow.

[0065] The material taking working end face 43 is used for grasping the board and turning it over. In this embodiment, the material taking working end face 43 is provided with an array of corrugated suction cups 431, and the distance between the suction cups 431 is 10 - 15 cm. The corrugated structure of the corrugated suction cup 431 can fit the minute unevenness and water film distribution on the surface of the wet board, and fill the gap between the board and the suction cup 431 through deformation, effectively eliminating the problem of adsorption failure caused by the water film. Compared with the traditional flat suction cup 431, the corrugated design significantly increases the adsorption contact area and friction force, and can still maintain stable adsorption in a wet environment, avoiding the grasping drop caused by the wet and slippery surface of the board. In this embodiment, a battery is carried on the moving chassis 1 as the power source, and an air pump and a water tank are also carried to provide the air source and the water source.

[0066] In this embodiment, the driving device Z15 includes: a convex rod Z151 fixed on the column Z14; a driving plate Z152 parallel to the guiding track Z13, and the driving plate Z152 is provided with an obliquely strip-shaped hole Z153 for cooperating with the convex rod Z151; a hydraulic cylinder or a pneumatic cylinder drives the driving plate Z152 to move horizontally, and drives the column Z14 to lift through the oblique force of the strip-shaped hole Z153, so as to drive the supporting plate Z11 to change the inclination angle. During specific installation, the driving plate is buried underground to avoid hindering people and vehicles.

[0067] When the supporting plate Z11 changes the inclination angle, on the one hand, the inclination angle can be dynamically changed according to the sunlight conditions. On the other hand, since the inclination angle of the board drying sometimes is relatively small, such as 15° - 20°, resulting in the board being relatively close to the ground, and the movement space of the swing arm of the board drying mechanism is limited, it is difficult to pick up and place the board. At this time, the supporting plate can be adjusted to a larger inclination angle, so that the board is far from the ground, facilitating the material taking and placing of the board drying mechanism.

[0068] In this embodiment, multiple brackets Z1 are arranged in a row, and the brackets Z1 are adjacent to each other; when turning over, after the sheet is rotated and turned over from the supporting plate Z11 of a certain bracket Z1, it is transferred to another supporting plate Z11 of the adjacent bracket Z1; the driving plate Z152 cooperates with the convex rods Z151 of the brackets Z1 in the same row to drive the supporting plates Z11 on the brackets Z1 in the same row to synchronously change the inclination angle. By driving the supporting plates Z11 to synchronously change the inclination angle through the driving plate Z152, it is convenient to quickly and batch adjust the inclination angle of the sheet according to the sunlight conditions, so as to accelerate or slow down the water flow inside the sheet, improve the efficiency of sheet drying and ensure the consistency of the sheet after drying.

[0069] In this embodiment, a coaxial cavity is provided inside the rotating table 4, and the cavity is successively a main battery chamber 4a, a main air source chamber 4b, and a main water source chamber 4c from the inside to the outside; one end of each chamber is connected to the corresponding working end face, and the other end is connected to an external power supply, an air pump, and a water tank through a rotary conversion device 5;

[0070] The rotary conversion device 5 includes a secondary battery chamber 5a, a secondary air source chamber 5b, and a secondary water source chamber 5c, which respectively correspond to the main battery chamber 4a, the main air source chamber 4b, and the main water source chamber 4c one by one, and are dynamically connected through a rotary sealing ring 62; among them, the main battery chamber 4a is electrically connected to the secondary battery chamber 5a through an elastic conductive ring 61. The three-working-end-face rotary table 4 is designed to seamlessly connect the "identification - water spraying - material taking" processes through rotary switching, effectively improving the operation efficiency. The coaxial multi-chamber rotary conversion device 5 adopts an elastic conductive ring 61 and a rotary sealing ring 62 to achieve 360° unrestricted rotation while ensuring the continuous supply of water, electricity, and gas, ensuring the efficiency of automatic sheet drying.

[0071] In the cavity of the rotary table 4 in this embodiment, the radial width ratios of the main battery chamber 4a, the main air source chamber 4b, and the main water source chamber 4c are 1:1.5:2, and a fluororubber sealing isolation ring with a thickness of 1 - 3 mm is provided between adjacent chambers. By reasonably setting the radial width ratio of the cavity of the rotary table 4 (battery: air source: water source = 1:1.5:2), the best ratio of power supply and medium transportation is achieved within a limited space, which not only ensures the working efficiency of each system but also maintains the structural compactness. The fluororubber sealing isolation ring with a special thickness forms multiple isolation barriers within a limited space, effectively preventing cross-contamination and pressure interference between different media, significantly improving the sealing reliability and the service life of components, and providing key support for the multi-functional integration and efficient operation of the equipment.

[0072] Through the above scheme of the present invention, in a specific application: an automatic flipping board drying process is applied to the above-mentioned automatic flipping board grabbing device; the board is placed on the first supporting plate Z11a of the first bracket Z1a, and the first surface faces upward; the rotating table 4 of the board drying mechanism detects the surface state of the board by identifying the working end face 41, and according to the surface state of the board, rotates and switches to the water spraying working end face 42 or the material taking working end face 43, sprays water on the board or flips the board. Specifically, the following steps are included:

[0073] S1, identifying the working end face 41 to detect the surface of the plate, obtain temperature, humidity and image data, and when the surface temperature of the plate reaches 40-42°C and the humidity gradient difference is ≥15%, it is determined to be the time to spray water;

[0074] S2, after the water spraying working end face 42 sprays water on the first surface of the plate at a water pressure of 3.2-3.8MPa, the material taking working end face 43 absorbs the plate and transfers the plate to the second supporting plate Z11b of the adjacent second bracket Z1b, with the first surface facing downward. After the rotating table places the plate, it withdraws from the avoidance space and allows the plate to stand and drain for 5-30S until no water remains; the rotating table of the drying mechanism places the plate without water residue on the first supporting plate Z11a of the first bracket Z1a with the first surface facing upward for further drying;

[0075] S3, steps S1 and S2 are repeated n times, 2-3 times in this embodiment, and the second surface of the board is switched to; the same board drying steps as the first surface are performed until the first and second surfaces of the board are both golden yellow and the color is uniform. In this embodiment, the dust on the surface of the board can be removed by flushing the first and second surfaces of the board for many times, and the flushing is performed when the temperature of the first and second surfaces of the board reaches 40-42°C. Through the principle of thermal expansion and contraction, the mud and sand inside the board can be flushed away, so that the surface of the entire board has a higher degree of cleanliness and the risk of cracking of the board surface is reduced.

[0076] Since the size of the boards to be dried is generally large and the rotation space is also large when turning over, arranging the boards to be turned back and forth between the first bracket and the second bracket can effectively reduce the motion load of the board drying mechanism, avoid safety hazards caused by excessive rotation trajectory, and improve board drying efficiency.

[0077] Furthermore, the calculation method of the humidity gradient difference is: divide the surface of the board into N areas, measure the humidity value Hi of each area, calculate the standard deviation σ, and trigger water spraying if σ≥15%. Specifically, the surface of the board can be divided into four grid areas, and the humidity value of each area is detected and the standard deviation is calculated. When the surface temperature of the material reaches 40-42°C and the humidity gradient difference is ≥15%, water spraying and turning over are performed.

[0078] In this embodiment, through the coordinated cooperation of the support plate Z11 with an adjustable tilt angle and the driving device Z15, the tilt angle can be dynamically adjusted according to requirements, realizing the synchronous optimization of gravity drainage and stress release on the surface of the plate. At the same time, the three working ends of identification, water spraying, and material taking integrated on the rotating table 4 can complete the full-process operations of status detection, water spraying and humidity adjustment, and precise turning over in a single operation. Through the dynamic matching of the tilt angle adjustment of the support plate Z11 and the water spraying parameters, it can adapt to the plate drying operations of different materials and climates.

[0079] Embodiment 2:

[0080] As Figures 8 - 11 shown, one of the implementation manners of the present invention, the main technical solutions of this embodiment are the same as those of Embodiment 1. For the features not explained in this embodiment, the explanations in Embodiment 1 are adopted and will not be elaborated here. The difference between this embodiment and Embodiment 1 lies in:

[0081] Multiple brackets are arranged in a row, with intervals between the brackets to form a passage for the plate drying mechanism to pass through. The upper ends of the columns of each bracket are hinged with a single support plate, and the support plates on each bracket are arranged on the same side; when turning over, after the plate is rotated and turned over from the support plate of a certain bracket, it is placed back on the support plate of that bracket.

[0082] In a specific application: An automatic turning-over plate drying process, where the plate is placed on the support plate with the first surface facing up, includes the following steps:

[0083] S1. The identification working end 41 detects the surface of the plate to obtain temperature, humidity, and image data. When the surface temperature of the plate reaches 40 - 42 °C and the humidity gradient difference ≥ 15%, it is determined as the water spraying timing;

[0084] S2. After the water spraying working end 42 sprays water on the first surface of the plate with a water pressure of 3.2 - 3.8 MPa, the material taking working end 43 adsorbs the plate, and the rotating table rotates around its axis to rotate and turn over the plate in place, and then places it back on the support plate of that bracket, making the first surface face down, and standing still for drainage for 5 - 30 S until there is no residual water; then place the plate with no residual water on the support plate with the first surface facing up again and continue drying;

[0085] S3. Steps S1 and S2 are repeated n times. In this embodiment, 2 - 3 times are adopted, and then switch to the second surface of the plate; perform the same plate drying steps as the first surface until both the first surface and the second surface of the plate are golden yellow and the color is uniform. Due to the limited area of the drying yard, setting the plate to rotate and turn over in place, although it requires a relatively large rotating space, the utilization rate of the brackets is greatly improved, effectively increasing the operation density of plate drying and reducing costs.

[0086] Based on the disclosure and teachings of the above specification, those skilled in the art to which the present invention pertains can also make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the invention should also fall within the protection scope of the claims of the present invention. In addition, although some specific terms are used in this specification, these terms are only for convenience of description and do not constitute any limitation to the present invention.

Claims

1. An automatic turning sheet grabbing device, characterized in that, It includes a plate-sunning mechanism and a plurality of supports arranged in an array in the sunning field; Each support includes a support guide cylinder and a guide track. A column is slidably connected to the support guide cylinder. The upper end of the column is hinged with a support plate with an adjustable inclination angle for placing the plate. The other end of the support plate slides along the guide track. A driving device is provided at the lower end of the column for driving the column to lift to adjust the inclination angle of the support plate; The plate-sunning mechanism includes a moving chassis, a lifting platform and a rotating arm. A rotating table is provided at the end of the rotating arm. The rotating table includes three rotatable and switchable working end faces: An identification working end face for detecting the surface state of the plate; A water-spraying working end face for spraying water on the surface of the plate; A material-taking working end face for grasping the plate and performing a turning operation; When sunning the plate, the plate is placed on the support plate. The rotating table of the plate-sunning mechanism detects the surface state of the plate through the identification working end face, and rotates and switches to the water-spraying working end face or the material-taking working end face according to the surface state of the plate to spray water on the plate or turn the plate over.

2. The automatic sheet turning and gripping device according to claim 1, characterized in that, The driving device includes: A convex rod fixed on the column; A driving plate parallel to the guide track. The driving plate is provided with oblique strip-shaped holes for cooperating with the convex rod; A hydraulic cylinder or a pneumatic cylinder drives the driving plate to move horizontally, and drives the column to lift through the oblique force of the strip-shaped holes to drive the support plate to change the inclination angle.

3. The automatic sheet turning and gripping device according to claim 2, characterized in that, The multiple supports are arranged in rows and are adjacent to each other. Two support plates are respectively hinged to the upper ends of the columns of each support, and the two support plates are arranged back to back. When turning over, after the plate is taken from the support plate of a certain support, it is transferred to the other support plate of the adjacent support to complete the turning over; Or, the multiple supports are arranged in rows and are spaced from each other. A single support plate is hinged to the upper end of the column of each support, and the support plates on each support are arranged on the same side. When turning over, after the plate is taken from the support plate of a certain support, it is rotated and turned over and placed back on the support plate of the support; The driving plate cooperates with the convex rods of the supports in the same row to drive the support plates on the supports in the same row to synchronously change the inclination angle.

4. An automatic turning sheet material grasping device according to claim 1, wherein, A coaxial cavity is provided inside the rotating table. The cavity is successively a main battery cell chamber, a main air source chamber and a main water source chamber from the inside to the outside. One end of each chamber is connected to the corresponding working end face, and the other end is connected to an external power supply, an air pump and a water tank through a rotary conversion device; The rotary conversion device includes a secondary battery cell chamber, a secondary air source chamber and a secondary water source chamber, which respectively correspond to the main battery cell chamber, the main air source chamber and the main water source chamber one by one, and are dynamically conducted through rotary sealing rings. Among them, the main battery cell chamber is electrically connected to the secondary battery cell chamber through an elastic conductive ring.

5. An automatic flipping sheet grabbing device according to claim 4, characterized in that, In the cavity of the rotating table, the radial widths of the main battery cell chamber, the main air source chamber and the main water source chamber are in a ratio of 1:1.5:2, and fluororubber sealing isolation rings with a thickness of 1-3 mm are provided between adjacent chambers.

6. The automatic sheet turning and gripping device according to claim 1, wherein, The material-taking working end face is provided with an array of corrugated suction cups, and the suction cup spacing is 10-15 cm.

7. An automatic turning sheet material gripping device according to claim 1, characterized in that, The recognized working end face integrates a camera, an infrared temperature measurement module, and a humidity sensing module; the camera is used for visual recognition of the surface of the board; the infrared temperature measurement module monitors the surface temperature of the board; the humidity sensing module is used to detect the humidity difference in each area of the board.

8. An automatic turning sheet grabbing device according to claim 1, characterized in that, A guide rail is provided on the water spraying working end face, a slider is slidably connected to the guide rail, and a nozzle is arranged on the slider; further included is a driving motor, and the driving motor is used to drive the slider to reciprocate along the extension direction of the guide rail.

9. An automatic turning-over sunning process is applied to an automatic turning-over sheet material gripping device as described in any one of claims 1-8; characterized in that, The board is placed on the supporting plate with the first surface facing upward; the following steps are included: S1. The recognized working end face detects the surface of the board to obtain temperature, humidity, and image data. When the surface temperature of the board reaches 40 - 42 °C and the humidity gradient difference ≥ 15%, it is determined as the water spraying opportunity. S2. After the water spraying working end face sprays water on the first surface of the board with a water pressure of 3.2 - 3.8 MPa, the picking working end face adsorbs the board, rotates the board and places it on the supporting plate so that the first surface faces downward, and stands still for drainage for 5 - 30 s until there is no accumulated water remaining; the board without accumulated water remaining is continued to be placed on the supporting plate with the first surface facing upward and continue to be dried in the sun. S3. Steps S1 and S2 are repeated n times, and then switch to the second surface of the board; perform the same board drying steps as the first surface until both the first surface and the second surface of the board are golden yellow and the color is uniform.

10. A board drying process with automatic turning over according to claim 9, characterized in that, The calculation method of the humidity gradient difference is: divide the surface of the board into N areas, measure the humidity value Hi of each area, calculate the standard deviation σ, and if σ ≥ 15%, trigger water spraying.

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