Automatic bonding process between surface material and substrate of PHC products

Abstract

The present invention provides an automatic bonding process for the surface layer material of a PHC product and a substrate. The process is continuous and efficient, capable of streamlined production, and labor-saving. The process comprises the following steps: a first fabric gripper grabs a piece of fabric placed on the upper material position and places it on the fabric glue spraying position; glue is sprayed on the fabric; a second fabric gripper grabs the glued fabric and places it on the fabric cutting position; a laser cutting machine cuts waste material that needs to be removed from the fabric; a third fabric gripper grabs the cut fabric and places it on the waste separation position, removes the waste material, and then places the fabric on the skeleton wrapping position; the fabric is heated to activate the glue on the fabric; a skeleton handling robot grabs a skeleton placed on the upper material position and places it on the fabric; an upper mold above the fabric presses down to press the fabric and the skeleton into the mold cavity of the lower mold. After maintaining pressure for a period of time, the upper mold rises and removes the PHC product with the skeleton attached to the fabric from the mold cavity of the lower mold.

Description

Technical Field

[0001] The invention relates to an automatic bonding process between a surface layer material and a base plate of a trunk cover of an automobile. Background Art

[0002] Car trunk lids are PHC products made by bonding a surface layer to a base material. Traditionally, trunk lid production involves separate workstations, such as fabric gluing, fabric cutting, waste separation, and frame wrapping. This requires manual transfer of semi-finished products between stations, which is time-consuming and labor-intensive. Furthermore, the production speeds of different semi-finished products vary, requiring waiting between stations and reducing production efficiency. Summary of the Invention

[0003] The purpose of the present invention is to provide a process for automatically bonding the surface layer material of a PHC product to a substrate, which has continuous and efficient operation, can be streamlined, and saves labor.

[0004] The automatic bonding process between the surface layer material and the substrate of the PHC product of the present invention comprises the following steps:

[0005] a. The fabric grabber grabs a piece of fabric placed on the fabric upper position and places it on the fabric glue spraying position;

[0006] b. The glue spraying robot sprays glue on the fabric at the glue spraying position;

[0007] c. Fabric gripper 2 grabs the fabric after spraying glue and places it on the fabric cutting position;

[0008] d. The laser cutting machine cuts the waste material that needs to be removed from the fabric cutting position;

[0009] e. Fabric gripper three grabs the cut fabric and places it in the waste separation position; after removing the waste from the cut fabric, fabric gripper three grabs the fabric after the waste is removed and places it in the skeleton wrapping position; if necessary, manual assistance is used to accurately position the fabric after the waste is removed according to the tooling position;

[0010] f. The infrared heating frame with infrared heating tubes moves horizontally to the top of the fabric on the frame covering position. After activating the glue on the fabric, the infrared heating frame moves in the opposite direction and returns to its original position.

[0011] g. The skeleton handling robot grabs a skeleton placed on the upper material position and places it on the fabric with activated glue, with the front of the skeleton facing the upper surface of the fabric. The skeleton handling robot fits the skeleton and the fabric into position according to the programmed trajectory, and then the skeleton handling robot withdraws.

[0012] h. Press down the upper mold above the fabric with activated glue to press the fabric and the frame into the cavity of the lower mold. After maintaining the pressure for a period of time, the upper mold rises and removes the PHC product with the frame attached to the fabric from the cavity of the lower mold.

[0013] In the automatic bonding process between the surface material and the substrate of the above-mentioned PHC product, the fabric is larger than the skeleton. When the skeleton is placed on the fabric with activated glue, the edge of the fabric exceeds the periphery of the skeleton; in step h, when the upper mold is pressed down to press the fabric and the skeleton into the mold cavity of the lower mold, the edge of the fabric exceeding the periphery of the skeleton passes between the periphery of the skeleton and the inner surface of the mold cavity and extends upward; after the upper mold is pressed down, the edge block at the mold cavity port of the lower mold moves horizontally toward the center of the skeleton, pressing the upward extending fabric onto the back of the skeleton, performing automatic edge wrapping and maintaining pressure. After maintaining pressure for a period of time, the edge block moves in the opposite direction and returns to its original position, and then the upper mold rises, and the skeleton handling robot enters the tooling to pick up the product, and takes out the PHC product with the skeleton wrapped in fabric from the mold cavity of the lower mold.

[0014] In the above-mentioned automatic bonding process between the surface layer material of the PHC product and the substrate, after the upper mold rises, the PHC product is ejected from the lower mold cavity by the action of the lifting cylinder below the lower mold cavity; after step h, there is step i: the skeleton handling robot grabs the PHC product and places it on the finished product conveyor belt used to transport the PHC product.

[0015] In the automatic bonding process of the surface layer material and the substrate of the above-mentioned PHC product, the fabric loading position, fabric spraying position, fabric cutting position, waste separation position and skeleton covering position are all located on the same straight line, and a slide rail parallel to the straight line is provided above the straight line. The three fabric grabbers, namely fabric grabber 1, fabric grabber 2 and fabric grabber 3, all include a walking part, a walking drive device, a lifting frame, a lifting drive device, multiple pressure plates and multiple needling parts; the walking part is slidably arranged on the slide rail under the drive of the walking drive device, and the lifting frame is arranged on the walking part to be lifted up and down under the drive of the lifting drive device; the pressure plate is fixed on the lifting At the lower part of the lower frame, the bottom surfaces of the pressure plates for contacting the fabric are coplanar, and there is an inner concave hole in the middle of the bottom surface of the pressure plate; the needling part includes a needle and a needle driving device that drives a needle to move linearly along the needle axis; the two needles in an inner concave hole driven by at least two needle driving devices are at angles of 30-60° and 120-150° to the bottom surface of the pressure plate respectively; when the needle driving device is activated, the needle moves linearly out of the inner concave hole, and the needle head extends downward beyond the bottom surface of the pressure plate; when the needle driving device acts in the opposite direction, the needle moves linearly and retracts into the inner concave hole, and the needle head is located above the bottom surface of the pressure plate.

[0016] In the automatic bonding process between the surface material and the substrate of the above-mentioned PHC product, the fabric gripper three also includes a plurality of waste press heads and a press head driving device arranged at the bottom of the lifting frame for driving the waste press heads to extend and retract up and down; when each waste press head is in normal state, the lower end surface of each waste press head is not lower than the bottom surface of the pressure plate; when the press head driving device is activated, the waste press head moves downward, and the lower end surface of each waste press head can move below the bottom surface of the pressure plate; when the fabric gripper three grabs the cut fabric, the waste press head is opposite to the waste of the fabric up and down, and the pressure plate is opposite to the fabric to be retained up and down.

[0017] The automatic bonding process of the surface layer material and the substrate of the above-mentioned PHC product, the specific process of step e: the fabric gripper three moves along the slide rail to above the fabric cutting position, and the lifting frame of the fabric gripper three moves downward until the bottom surface of the pressure plate of the fabric gripper three presses the fabric located on the fabric cutting position, and then the needle driving device of the fabric gripper three is activated, and the needle head extends downward beyond the bottom surface of the pressure plate and pierces into the fabric, at this time the fabric gripper three grabs the fabric; then, the lifting frame of the fabric gripper three rises, driving the waste pressure head, the pressure plate, the needle-punching part, and the pierced fabric to rise synchronously; after the fabric gripper three moves along the slide rail to above the waste separation position, the lifting frame of the fabric gripper three moves downward until the fabric contacts the waste separation position and the pressure plate of the fabric gripper three presses the fabric on the waste separation position; the pressure head driving device drives the waste pressure head to extend downward, and the waste pressure head presses the waste on the waste separation position, and then the pressure head driving device drives the waste pressure head to continue to extend downward and keep pressing the waste At the same time as the waste separation station, the lifting frame of fabric gripper three rises, driving the fabric to be retained, which is connected to the needling section, to rise, tearing and separating the waste from the fabric to be retained, and leaving the waste in the waste separation station. Next, the pressure head drive device reverses, the waste pressure head returns to normal and rises with the lifting frame. The scraper, which can move horizontally reciprocatingly at the waste separation station, moves forward to push the waste from the waste separation station, and the waste falls into the waste basket below the front of the waste separation station. The scraper then returns to its starting position. Fabric gripper three moves along the slide rail, carrying the fabric with the waste removed, to the top of the skeleton wrapping station. The lifting frame of fabric gripper three moves downward until the fabric contacts or is about to contact the skeleton wrapping station, and the lifting frame stops moving downward. The needle drive device of fabric gripper three reverses, and the needle moves linearly and retracts into the inner concave hole. The fabric cannot move upward due to the obstruction of the bottom surface of the pressure plate. The needle head is pulled out of the fabric, and the fabric falls into the skeleton wrapping station.

[0018] In the automatic bonding process of the surface layer material and the substrate of the above-mentioned PHC product, the fabric loading position is a fabric trolley with multiple pieces of fabric stacked on top and bottom.

[0019] In the automatic bonding process between the surface layer material and the substrate of the above-mentioned PHC product, the skeleton loading position is a skeleton trolley with multiple skeletons stacked on top and bottom.

[0020] The automatic bonding process of the surface layer material and the substrate of the PHC product has a step g0 before step g: the skeleton gripper grabs a skeleton placed on the upper material position of the skeleton and places it on the skeleton positioning mold for positioning the skeleton.

[0021] The step g is as follows: the skeleton handling robot grabs a skeleton placed on the skeleton positioning mold and places it on the fabric with activated glue; the front side of the skeleton faces the upper surface of the fabric.

[0022] The beneficial effects of the present invention are as follows: the three fabric grippers are arranged on a linear slide rail above the fabric loading position, fabric spraying position, fabric cutting position, waste separation position, skeleton wrapping position and other workstations; the three fabric grippers can move along the slide rail to above the corresponding workstations, and the positioning accuracy of the three fabric grippers in placing the fabric on the corresponding workstations is improved.

[0023] The fabric is gripped securely by needles piercing the fabric. A pressure plate presses against the fabric, allowing the needles to penetrate the fabric, preventing movement during penetration. The axes of the two needles within a recessed hole are oriented at angles of 30-60° and 120-150° to the bottom of the pressure plate, respectively. This means the needles penetrate the fabric in opposing directions, further preventing fabric movement. Ideally, the axes of the two needles within a recessed hole are oriented at angles of 45° and 135° to the bottom of the pressure plate, respectively (in other words, both needles are oriented at 45° to the bottom of the pressure plate, and the needles are perpendicular to each other). To release the fabric, the needle drive mechanism reverses, retracting the needles into the recessed holes. The fabric, blocked by the pressure plate, moves upward, releasing the needles from the fabric and causing it to fall. This method for gripping and releasing the fabric is simple, effective, and reliable, without affecting the precise positioning of the fabric at each workstation.

[0024] The waste press, which extends upward and downward relative to the lifting frame and pressure plate, works in conjunction with the lifting frame, needling unit, and other components that move upward and downward to automatically separate waste material from the fabric to be retained, further enhancing the level of automation. Specifically, the waste material separation process involves the following: after the waste press compresses the waste material against the waste separation point (at this point, the needles in the needling unit penetrate the portion of the fabric to be retained), the lifting frame (with its associated pressure plate, needling unit, and the fabric to be retained, which has been pierced by the needles) begins to rise. Simultaneously, the press drive mechanism drives the waste press downward relative to the lifting frame, with the speed of the waste press downward movement relative to the lifting frame being no less than the lifting frame's upward speed. This ensures that the waste material remains compressed against the waste separation point and cannot move, while the fabric to be retained, which has been pierced by the needles, rises with the lifting frame, thereby completely separating the waste material from the fabric to be retained. The press drive then reverses its motion (until the waste press returns to its normal position, with its lower end no lower than the bottom of the pressure plate) and rises with the lifting frame away from the waste separation station. Next, the scraper, which pushes the waste material from the waste separation station, moves forward, pushing it off the station and into the waste basket at the front and bottom of the station. The scraper then returns to its starting position, preparing the waste separation station for the next piece of fabric to be placed and the waste to be separated.

[0025] Because the skeleton is a hard material, the skeleton gripper grasps the skeleton, or the skeleton handling robot grasps the skeleton, or the skeleton handling robot grasps the PHC product. Existing devices and methods such as vacuum suction cups adsorbing the upper surface of the skeleton (the back of the skeleton) can be used for grasping, and will not be described further.

[0026] Regarding the contents of pressing the upper mold downward in step h, pressing the fabric and the frame into the mold cavity of the lower mold, etc., which belong to the existing technology, please refer to application number 2014100682532, named "Automobile spare tire cover fabric covering double-station heating and laminating machine", application number 2021108493825, named "Truck cover automatic heating and laminating equipment", etc.

[0027] This process enables automated loading and unloading, automatic flow, and labor savings. The interconnected steps allow for streamlined operations and high production efficiency. The skeleton positioning module allows for accurate positioning of the skeleton, allowing the skeleton handling robot to grasp it with greater accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is the process flow chart for the automatic bonding of the surface material and substrate of PHC products. DETAILED DESCRIPTION

[0029] The fully automatic glue spraying and hot pressing lamination flexible production line for automobile trunk covers is used to realize automatic loading and unloading, automatic flow, and save labor. The process technology includes automatic feeding and handling of fabrics, automatic glue spraying, automatic cutting, automatic separation of waste materials, automatic heating, automatic feeding and handling of skeletons, and automatic covering.

[0030] The main equipment components of this assembly line are: PLC control system; HMI human-machine interface operating system; pneumatic control system; fabric and skeleton pallet assembly; truss and handling gripper mechanism; glue spraying system; laser cutting system; waste separation mechanism; coating and pressing tooling; heating system; skeleton positioning mechanism; robot handling mechanism; output assembly line; and safety protection system.

[0031] The device workflow is as follows.

[0032] Fabric loading position:

[0033] 1. When the station is in the non-automatic state, push the fabric trolley with multiple pieces of fabric stacked on top into the loading position, insert the limit latch, and the equipment will sense the presence of the trolley and fabric;

[0034] 2. In the automatic state of this station, press the start button so that the button light remains on and the tower light (green) flashes, indicating that the fabric gripper 1 is in the activated automatic operation state. The fabric gripper 1 will automatically execute the procedure of grabbing the fabric at the fabric loading position to the fabric spraying position: the fabric gripper 1 moves along the slide rail to the top of the fabric loading position, the lifting frame of the fabric gripper 1 moves downward until the bottom surface of the pressure plate of the fabric gripper 1 presses the fabric at the fabric loading position, and then the needle drive device of the fabric gripper 1 is activated, and the needle head extends downward. The needle extends beyond the bottom surface of the pressure plate and pierces the fabric. Then, the lifting frame of the fabric gripper 1 rises, driving the pressure plate, the needling part, and the pierced fabric to rise synchronously. After the fabric gripper 1 moves along the slide rail to above the fabric glue spraying position, the lifting frame of the fabric gripper 1 moves downward until the fabric contacts or is about to contact the fabric glue spraying position. Then, the needle drive device reverses and the needle moves straightly and retracts into the inner concave hole. The fabric cannot move upward due to the obstruction of the bottom surface of the pressure plate in the fabric gripper 1. The needle head is pulled out of the fabric and the fabric falls on the fabric glue spraying position.

[0035] 3. Once the fabric grabber is activated and in automatic operation, no manual supervision is required until the fabric is used up. It is forbidden to cross the light barrier during operation of the workstation.

[0036] Fabric spraying position:

[0037] 1. In the automatic state of the station, press the start button so that the button light remains on and the tower light (green) flashes, indicating that the glue spraying robot is in the activated automatic operation state;

[0038] When the fabric is glued to the surface of the fabric, the lifting frame of the fabric gripper moves downward until the bottom surface of the pressure plate of the fabric gripper presses the fabric on the fabric glueing position, and then the needle driving device of the fabric gripper is activated, and the head of the needle extends downward beyond the bottom surface of the pressure plate and penetrates into the fabric, and then the lifting frame of the fabric gripper rises, driving the pressure plate, the needle-punching part and the punctured fabric to rise synchronously; after the fabric gripper moves along the slide rail to the surface of the fabric cutting position, the lifting frame of the fabric gripper moves downward until the fabric contacts or is about to contact the fabric cutting position, and then the needle driving device reverses its action, and the needle moves straightly and retracts into the inner concave hole. The fabric cannot move upward due to the obstruction of the bottom surface of the pressure plate in the fabric gripper, and the head of the needle is pulled out of the fabric, and the fabric falls on the fabric cutting position;

[0039] Fabric cutting position:

[0040] 1. In the automatic state of this station, the fabric gripper 2 is in the activated automatic operation state, and the fabric gripper 2 will automatically execute the procedure of grabbing the fabric from the fabric spraying position to the fabric cutting position;

[0041] 2. In the automatic state of the workstation, press the start button so that the button light remains on and the tower light (green) flashes, indicating that the laser cutting machine is in the activated automatic operation state;

[0042] 3. When the workstation is in automatic operation, as long as the fabric is loaded at the fabric cutting position, the laser cutting machine will automatically execute the fabric cutting program, cutting off or basically cutting off the waste materials including the waste materials at the edge of the fabric from the main body of the fabric. The cut fabric will be grabbed by the fabric gripper 3 and taken to the next workstation - the waste separation position. The specific process is as follows: the fabric gripper 3 moves along the slide rail to the top of the fabric cutting position, and the lifting frame of the fabric gripper 3 moves downward until the bottom surface of the pressure plate of the fabric gripper 3 presses the part of the fabric to be retained on the fabric cutting position. Then, the needle driving device of the fabric gripper 3 is activated, and the needle head extends downward beyond the bottom surface of the pressure plate and pierces the fabric (the part to be retained). Then, the lifting frame of the fabric gripper 3 rises, driving the waste pressure head, pressure plate, needling part, and the pierced fabric to rise synchronously; after the fabric gripper 3 moves along the slide rail to the top of the waste separation position, the lifting frame of the fabric gripper 3 moves downward until the fabric contacts the waste separation position and the pressure plate of the fabric gripper 3 presses the fabric tightly on the waste separation position.

[0043] Waste separation position:

[0044] 1. In the automatic state of the station, press the start button so that the button light remains on and the tower light (green) flashes, indicating that the waste separation station is in the activated automatic operation state;

[0045] 2. When the station is in automatic operation, the waste pressing head is used to press the waste around the main fabric and other waste (if any) to the waste separation position, and the fabric gripper three grabs the main fabric and moves it away, so that the waste is torn and separated from the main fabric, and the waste is left in the waste separation position. Then the waste pressing head leaves, and then the scraper moving on the waste separation position scrapes the waste from the waste separation position and drops it into the waste frame on the side of the waste separation position. The detailed process is as follows: the pressure head driving device drives the waste pressure head to extend downward, and the waste pressure head presses the waste on the waste separation position. Then, the pressure head driving device drives the waste pressure head to continue to extend downward and keep pressing the waste on the waste separation position. At the same time, the lifting frame of the fabric gripper three rises, driving the main fabric to be retained connected to the puncture part (pierced by the needle) to rise, so that the waste is torn and separated from the main fabric to be retained, and the waste is retained in the waste separation position; then, the pressure head driving device reverses and the waste pressure head returns to normal and rises with the lifting frame; the scraper that can move horizontally back and forth on the waste separation position moves forward to push the waste off the waste separation position, and the waste falls into the waste frame at the front and bottom of the waste separation position, and then the scraper retreats to the starting position.

[0046] Skeleton covering position:

[0047] 1. In the automatic state of the station, press the start button so that the button light remains on, indicating that the grating has been reset;

[0048] 2. Wait for fabric gripper 3 to deliver the fabric to the workstation. The specific process is as follows: fabric gripper 3 moves along the slide rail with the fabric that has been freed of waste to the top of the skeleton wrapping position; the lifting frame of fabric gripper 3 moves downward until the fabric is about to contact the skeleton wrapping position, and the lifting frame stops moving downward. The needle drive device of fabric gripper 3 reverses, and the needle moves linearly and retracts into the inner concave hole. The fabric cannot move upward due to the obstruction of the bottom surface of the pressure plate. The needle head is pulled out of the fabric and the fabric falls on the skeleton wrapping position. Manually adjust the fabric position and press the start button so that the button light remains on and the tower light (green) flashes, indicating that the wrapping position is in the activated automatic operation state.

[0049] 3. When the workstation is in automatic operation, the infrared heating rack with infrared heating tubes extends and moves above the fabric to heat the fabric and activate the fabric glue (that is, heat the fabric after spraying to make the glue adhesive). Then the infrared heating rack retracts, and then the skeleton handling robot grabs the skeleton positioned on the skeleton positioning mold and places it on the fabric, with the front of the skeleton facing the upper surface of the fabric; the fabric is larger than the skeleton, and the edge of the fabric exceeds the periphery of the skeleton; the upper mold presses down to press the fabric and the skeleton into the mold cavity of the lower mold, and the edge of the fabric exceeding the periphery of the skeleton passes between the periphery of the skeleton and the inner surface of the mold cavity and extends upward; the hemming block at the mold cavity port of the lower mold moves horizontally toward the center of the skeleton, pressing the upwardly extending fabric onto the back of the skeleton. After maintaining pressure for a period of time, the hemming block moves in the opposite direction and returns to its original position, and then the upper mold rises, and the PHC product is ejected from the lower mold cavity by the action of the lifting cylinder below the lower mold cavity; the skeleton handling robot grabs the PHC product and places it on the finished product conveyor belt used to transport PHC products.

[0050] Skeleton loading position:

[0051] 1. When the station is in the non-automatic state, push the skeleton trolley with multiple skeletons stacked on top and bottom into the loading position, insert the limit latch, and the equipment will sense the presence of the trolley and skeletons;

[0052] 2. When the station is in automatic mode, press the start button so that the button light remains on and the tower light (green) flashes, indicating that the station is in the activated automatic operation state;

[0053] 3. The skeleton gripper grabs a skeleton on the skeleton trolley and places it on the skeleton positioning mold. After the skeleton is positioned, the skeleton handling robot grabs the positioned skeleton and transports it to the fabric at the skeleton covering position.

Claims

1. The automatic bonding process of PHC product surface material and substrate is characterized by: The following steps are involved: a. The fabric grabber grabs a piece of fabric placed on the fabric upper position and places it on the fabric glue spraying position; b. The glue spraying robot sprays glue on the fabric at the glue spraying position; c. Fabric gripper 2 grabs the fabric after spraying glue and places it on the fabric cutting position; d. The laser cutting machine cuts the waste material that needs to be removed from the fabric cutting position; e. Fabric gripper three grabs the cut fabric and places it in the waste separation position; after removing the waste from the cut fabric, fabric gripper three grabs the fabric after the waste is removed and places it in the skeleton wrapping position; f. The infrared heating frame with infrared heating tubes moves horizontally to the top of the fabric on the frame covering position. After activating the glue on the fabric, the infrared heating frame moves in the opposite direction and returns to its original position. g. The skeleton handling robot grabs a skeleton placed on the upper material position and places it on the fabric with activated glue; the front of the skeleton faces the upper surface of the fabric; h. Press down the upper mold on the fabric where the glue has been activated, pressing the fabric and the frame into the cavity of the lower mold. After maintaining the pressure for a period of time, the upper mold rises and removes the PHC product with the frame attached to the fabric from the cavity of the lower mold; The fabric loading position, fabric spraying position, fabric cutting position, waste separation position and skeleton covering position are all located on the same straight line. Above the straight line, there is a slide rail parallel to the straight line. The three fabric grabbers, namely fabric grabber 1, fabric grabber 2 and fabric grabber 3, all include a walking part, a walking drive device, a lifting frame, a lifting drive device, multiple pressure plates and multiple needling parts. The walking part is slidably arranged on the slide rail under the drive of the walking drive, and the lifting frame is lifted up and down on the walking part under the drive of the lifting drive. The pressure plate is fixed at the lower part of the lifting frame, and each pressure plate is used to contact with the fabric. The bottom surface of the pressure plate in contact with the material is coplanar, and the middle portion of the bottom surface of the pressure plate has an inner concave hole. The needling section includes a needle and a needle driving device that drives one needle to move linearly along the needle axis. The two needles in the inner concave hole, driven by at least two needle driving devices, are respectively positioned at angles of 30°-60° and 120°-150° to the bottom surface of the pressure plate. When the needle driving device is activated, the needle moves linearly out of the inner concave hole, and the needle head extends downwardly beyond the bottom surface of the pressure plate. When the needle driving device is reversed, the needle moves linearly into the inner concave hole, and the needle head is located above the bottom surface of the pressure plate. The fabric gripper three also includes a plurality of waste pressing heads and a pressing head driving device provided at the lower part of the lifting frame for driving the waste pressing heads to extend and retract upward and downward; when the waste pressing heads are in normal state, the lower end surface of each waste pressing head is not lower than the bottom surface of the pressing plate; when the pressing head driving device is activated, the waste pressing heads move downward, and the lower end surfaces of each waste pressing heads can move below the bottom surface of the pressing plate; when the fabric gripper three grabs the cut fabric, the waste pressing heads are opposite to the waste of the fabric, and the pressing plate is opposite to the fabric to be retained; The specific process of step e: the fabric grabber three moves along the slide rail to above the fabric cutting position, and the lifting frame of the fabric grabber three moves downward until the bottom surface of the pressure plate of the fabric grabber three presses the fabric on the fabric cutting position, and then the needle driving device of the fabric grabber three is activated, and the needle head extends downward beyond the bottom surface of the pressure plate and pierces the fabric, at this time the fabric grabber three grabs the fabric; then, the lifting frame of the fabric grabber three rises, driving the waste pressure head, pressure plate, needle piercing part, and pierced fabric to rise synchronously; after the fabric grabber three moves along the slide rail to above the waste separation position, the lifting frame of the fabric grabber three moves downward until the fabric contacts the waste separation position and the pressure plate of the fabric grabber three presses the fabric on the waste separation position; the pressure head driving device drives the waste pressure head to extend downward, and the waste pressure head presses the waste on the waste separation position, and then, the pressure head driving device drives the waste pressure head to continue to extend downward, keeping the waste pressed on the waste At the same time as the waste separation position, the lifting frame of the fabric gripper three rises, driving the fabric to be retained connected to the needling part to rise, so that the waste material is torn and separated from the fabric to be retained, and the waste material is retained in the waste separation position; then, the pressure head driving device reverses, the waste pressure head returns to normal and rises with the lifting frame; the scraper that can move horizontally back and forth at the waste separation position moves forward to push the waste off the waste separation position, and then the scraper returns to the starting position; the fabric gripper three moves along the slide rail with the fabric from which the waste material has been removed to the top of the skeleton covering position; the lifting frame of the fabric gripper three moves downward until the fabric contacts or is about to contact the skeleton covering position, the lifting frame stops moving downward, the needle driving device of the fabric gripper three reverses, the needle moves straightly and retracts into the inner concave hole, the fabric cannot move upward due to the obstruction of the bottom surface of the pressure plate, the needle head is pulled out of the fabric, and the fabric falls on the skeleton covering position.

2. The automatic bonding process for the surface layer material and substrate of a PHC product according to claim 1, characterized in that: The fabric is larger than the skeleton. When the skeleton is placed on the fabric with activated glue, the edge of the fabric exceeds the periphery of the skeleton. In step h, when the upper mold is pressed downward to press the fabric and the skeleton into the mold cavity of the lower mold, the edge of the fabric exceeding the periphery of the skeleton passes between the periphery of the skeleton and the inner surface of the mold cavity and extends upward. After the upper mold is pressed downward, the edge block at the mold cavity port of the lower mold moves horizontally toward the center of the skeleton, pressing the upward-extending fabric onto the back of the skeleton. After maintaining pressure for a period of time, the edge block moves in the opposite direction and returns to its original position. Then the upper mold rises to take out the PHC product with the skeleton wrapped in fabric from the mold cavity of the lower mold.

3. The automatic bonding process for the surface layer material and substrate of a PHC product according to claim 1 or 2, characterized in that: After the upper mold rises, the PHC product is ejected from the lower mold cavity by the action of the lifting cylinder below the lower mold cavity; after step h, there is step i: the skeleton handling robot grabs the PHC product and places it on the finished product conveyor belt used to transport the PHC product.

4. The automatic bonding process for the surface layer material and substrate of a PHC product according to claim 1, characterized in that: The angles between the axis directions of the two needles in one concave hole and the bottom surface of the pressure plate are 45 degrees and 135 degrees respectively.

5. The automatic bonding process for the surface layer material and substrate of a PHC product according to claim 1, characterized in that: The fabric loading position is a fabric trolley with multiple pieces of fabric stacked on top and bottom.

6. The automatic bonding process for the surface layer material and substrate of a PHC product according to claim 1, characterized in that: The skeleton loading position is a skeleton trolley with multiple skeletons stacked on top and bottom.

7. The automatic bonding process for the surface layer material and the substrate of the PHC product according to claim 1 is characterized in that: Before step g, there is step g0: the skeleton gripper grabs a skeleton placed on the upper material position of the skeleton and places it on the skeleton positioning mold for positioning the skeleton; The step g is as follows: the skeleton handling robot grabs a skeleton placed on the skeleton positioning mold and places it on the fabric with activated glue; the front side of the skeleton faces the upper surface of the fabric.

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