Edge sealing method for a table top

Abstract

The application provides an edge sealing method of a table board, which comprises the following steps: before starting work, a cylinder is pressurized to make the pressure in the cylinder reach a preset pressure, and table boards to be processed are stacked at a waiting station; a mechanical arm is controlled by a program to grab a table board at the waiting station, the mechanical arm drives the table board to move and places the table board on an adjusting station, so that the table board is adjusted to an initial position, then the mechanical arm moves to a preset point and grabs the table board again, and drives the table board to move towards an edge sealing device; the table board abuts against the edge sealing device and is continuously driven by the mechanical arm to push the edge sealing device to move, until the table board and the edge sealing device move to a floating balance position, at this time, a piston rod of the cylinder is in a floating state; then the mechanical arm drives the table board to move to perform edge sealing of a table edge and edge sealing of a table corner, in the process of the edge sealing of the table corner, when the table board collides with an edge sealer, the piston rod and the edge sealer float to release force; after the edge sealing of the table board is completed, the table board is placed at an ending station, and the edge sealing work is performed on the next table board.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of furniture manufacturing, in particular to a method for edge sealing of a table top. BACKGROUND

[0002] When consumers choose to buy a table, they will not only consider the function suitable for themselves, but also pay attention to the appearance of the table. A table with beautiful design and exquisite workmanship will attract more consumers to purchase. In the process of manufacturing the table, there are many details that are not paid attention to. If the details are handled properly, the table will also be more exquisite. For example, the edge of the table top is rough, and the manufacturer will use an edge sealing strip to seal the edge of the table top, so that the edge of the table top is not only beautiful but also not prickly.

[0003] The existing edge sealing method is to fix the table top to a stable arm, adjust the height of the stable arm to align the table top with the edge sealing device in height, and then push the table top on the stable arm by the worker to make the stable arm rotate and move the table top to the working position. The edge sealing device seals the edge of the table top. During the entire edge sealing process, the table top is required to be close to the edge sealing device to ensure that the edge sealing strip is attached to the edge of the table top. Since the table top has corners, in order to ensure the qualified rate of edge sealing, the manufacturer will seal the three or four edges of the table top respectively, that is, multiple edge sealing operations are required, which is complicated and time-consuming. In order to improve the production efficiency, one-time edge sealing operation without separating the table top and the edge sealing device is generally adopted, and the table top is directly rotated during the edge sealing operation to seal the corners of the table top and simultaneously start to seal the other edge of the table top. The entire process requires smooth connection, but it is difficult. The reason is that: during the rotation of the table top, the table top will hit the wheel and pop up and separate due to inertia, which is easy to delaminate, and the technical ability of the worker to hold the operation is high. SUMMARY

[0004] In order to solve the above technical problems, the present application provides a method for edge sealing of a table top. Before the work starts, the air cylinder is pressurized to make the cylinder pressure reach a preset pressure, and the table top to be processed is stacked at the waiting station. The mechanical arm is controlled by the program to grab the table top at the waiting station. The mechanical arm moves the table top and places the table top on the adjustment station to adjust the table top to the initial position. Then the mechanical arm moves to the preset point and grabs the table top again, and drives the table top to move towards the edge sealing device. The table top abuts against the edge sealing device and is continuously driven by the mechanical arm to move the edge sealing device. The piston rod of the air cylinder moves with the edge sealing device until the table top and the edge sealing device move to the floating balance position, at which time the piston rod is in a floating state. Then the mechanical arm moves the table top to perform table edge sealing and table corner sealing. During the table corner sealing process, when the table top hits the edge sealing machine, the piston rod and the edge sealing machine float to release the force, ensuring that the edge sealing work is stable. After the table top is sealed, the table top is placed at the end station, and the next table top is sealed.

[0005] The technical scheme of the present application is implemented as follows:

[0006] An edge sealing method of a table board, comprising the following steps:

[0007] S1 preparation stage: pressurize the air cylinder and make the cylinder pressure reach a preset pressure, keep the cylinder pressure of the air cylinder as the preset pressure, connect the air cylinder to the edge sealing device and act on the edge sealing device; and pile up the table boards to be processed at a taking station;

[0008] S2 grasping and adjusting the table board: the mechanical arm grasps the table board at the taking station, moves the table board with the mechanical arm and releases the table board after placing the table board at an adjusting station, the table board is automatically adjusted to an initial position at the adjusting station, the mechanical arm moves to a preset point and grasps the table board again, and moves the table board towards the edge sealing device;

[0009] S3 floating balance: after the table board abuts against the edge sealing device, the mechanical arm continues to move the table board to make the table board push the edge sealing device to move, the piston rod of the air cylinder moves with the edge sealing device, and the table board and the edge sealing device are moved to a floating balance position together, at which time the piston rod is in a floating state;

[0010] S4 table edge sealing: the mechanical arm moves the table board along the table edge of the table board in a straight line until the table corner of the table board is reached;

[0011] S5 table corner sealing: the mechanical arm rotates the table board along the table corner contour of the table board, and when the rotation is completed, the piston rod and the edge sealer are floating and the impact force generated by inertia of the table board is unloaded, so that the table board and the edge sealing device remain in close contact and the acting force between the table board and the edge sealing device remains unchanged;

[0012] S6 complete sealing: repeat steps S4 and S5 until the edge of the table board is completely sealed;

[0013] S7 cycle work: the mechanical arm releases the table board after moving the table board to an end station, and starts step S2 again.

[0014] Firstly, the mechanical arm programmed to replace the workers to seal the table board is an automatic sealing method, which controls the movement of the mechanical arm through the program: the mechanical arm grasps the table board, seals the table edge and the table corner multiple times, and repeatedly seals a large number of table boards, which has the advantages of high work efficiency, stable process, and suitability for mass production; in order to ensure the stable work of the mechanical arm and maintain the consistency during processing, the initial position of the table board needs to be adjusted in step S2.

[0015] In the edge sealing process, the reason for the delamination and other unqualified phenomena is that the force is too small when the edge sealing strip is pasted, and the edge sealing strip cannot be pressed tightly on the edge of the table board, so it cannot be well pasted on the edge of the table board. It is well understood that when the straight edge of the table board is edge sealed, the working process is very stable. After the table board reaches the floating balance position, the mechanical arm remains stationary in the front and rear directions, and no longer exerts a force in the front and rear directions on the edge sealing device. The edge sealing device will exert a force on the table board under the action of the cylinder, that is, the force that presses the edge sealing strip to the edge of the table board. The mechanical arm is stable in the front and rear directions, the table board exerts a constant force, and the edge sealing strip can be successfully pasted to the edge of the table board. The mechanical arm only needs to drive the table board to move in the left and right directions, so the table board only needs to maintain linear motion in the left and right directions and will not produce force and motion in the front and rear directions, and the working process is stable. However, the rotation of the table board is different:

[0016] The rotation of the table board is no longer a linear motion. Since the table board and the edge sealing device are in close contact, the table board will inevitably produce a front and rear directional component during rotation. Moreover, at the time point when the table board ends its rotation and the mechanical arm controls the linear motion of the table board again, the table board still has inertia to rotate towards the edge sealing device. The table board will hit the edge sealing device, exerting a force on the edge sealing device in the front and rear directions. After the impact, the table board bounces away, and the interaction between the two decreases, making it difficult for the edge sealing strip to be well pasted to the edge of the table board.

[0017] However, in the present method, the cylinder maintains the preset pressure in the cylinder unchanged, and at the same time maintains the floating state. At the floating balance position, the force F1 exerted by the edge sealing device on the table board and the force F2 exerted by the table board on the edge sealing device are balanced. When the pair of action and reaction forces F1 and F2 are not equal, the edge sealing device immediately floats, removing the excess part of F2 or compensating for the missing part of F2, and always maintains the interaction force between the two as the preset pressure. After the impact force caused by the inertia of the table board is removed, the table board will not bounce away, reducing the interaction force between the two, and the edge sealing strip will not be pasted firmly or detached. Therefore, under the premise that the cylinder maintains the preset pressure, F1 remains unchanged, and is always a force that can successfully complete the edge sealing work. That is, under the action of F1, whether it is a table edge or a table corner, the edge sealing strip can be successfully pasted to the edge of the table board.

[0018] In steps S4 and S5, the force between the table board and the edge sealing device remains unchanged and is always equal to the preset pressure, preventing the force from being too small to cause delamination of the edge sealing strip, and preventing the force from being too large to cause deformation of the edge sealing strip, thereby achieving a constant pressure edge sealing effect.

[0019] As a preferred embodiment, in step S1, the cylinder pressure in the cylinder is brought to the preset pressure by a pressure stabilizing and pressure releasing valve, and the cylinder pressure in the cylinder is maintained at the preset pressure. One end of the pressure stabilizing and pressure releasing valve is connected to the cylinder through an air inlet pipe, and the other end of the pressure stabilizing and pressure releasing valve is connected to an air source.

[0020] As preferred, the preset pressure is 250N. The preset pressure is the interaction force between the table top and the edge banding device during the edge banding work, i.e. the force for sticking the edge banding strip to the edge of the table top. The 250N is sufficient to firmly stick the edge banding strip to the edge of the table top.

[0021] As preferred, the adjusting station is inclined, and one end of the adjusting station is the lowest point, and two groups of roller sets are arranged near the lowest point, the rollers in each roller set are arranged along a straight line, and the included angle between the two groups of roller sets is 90°; after the table top is placed on the adjusting platform in step S2, the table top is automatically adjusted and rests on the two groups of roller sets under the influence of gravity, one corner of the table top is located at the lowest point and keeps the same inclination angle as the adjusting station, and the adjusting station is configured to determine the position of the table top in the front-back, left-right and height directions; the initial position is configured as the reference when the mechanical arm grasps the table top at the preset point. After the table top is placed on the adjusting station, the initial position is adjusted according to the characteristics of the adjusting station, the mechanical arm is controlled by the program, the preset point is input in the program according to the initial position, the mechanical arm moves to the preset point, and the movement track of the mechanical arm is also determined, so a starting point of the movement track, i.e. the preset point, is needed to ensure that the mechanical arm can accurately grasp the table top, drive the table top into the predetermined movement track, and smoothly make the edge banding device work as expected with high consistency.

[0022] As preferred, the initial position and the preset point are set according to the size of the table top. Different sizes of table top require different movement paths of the mechanical arm, and the grasping position of the mechanical arm when grasping the table top is also different, so different sizes of table top will affect the determination of the initial position, the preset point and the movement track of the mechanical arm. Therefore, the above parameters should be reasonably determined according to the size of the table top to perform efficient edge banding work.

[0023] As preferred, the stroke of the piston rod is 4cm, and in step S3, the piston rod moves back 2cm, and the table top and the edge banding device reach the floating balance position. Before step S3, the piston rod is located at the starting point of the stroke and can only be pushed back by the table top. In step S3, the piston rod moves to the floating balance position 2cm away from the starting point of the stroke, and has a floating space of at least 1cm in front and back, which ensures that the edge banding device can be attached to the table top in any unstable motion state of the table top during normal work, so that the edge banding work can be smoothly performed, the problem of edge banding delamination is solved, and the qualified rate is improved.

[0024] As preferred, in step S3, the mechanical arm drives the table plate to move to the front of the edge banding device, after the edge banding device extends the edge banding strip, the table plate abuts and pushes the edge banding device to move to the floating balance position, and step S4 is started. After the edge banding device extends the edge banding strip, the mechanical arm immediately drives the table plate to move, and step S4 is started immediately when the edge banding device and the table plate are in the floating balance position.

[0025] As preferred, in step S4, the table plate and the edge banding device are always in the floating balance position. In this process, the mechanical arm only drives the table plate to move in the left-right direction, and no movement or force is generated in the front-back direction, so that the table plate and the edge banding device are always in the floating balance position, and the edge banding work is stably performed.

[0026] As preferred, in step S5, the table plate rotates to change the force of the table plate on the edge banding device, the table plate and the edge banding device leave the floating balance position, and float on both sides of the floating balance position, and when step S4 is performed again, the table plate and the edge banding device return to the floating balance position. The cylinder of the present application is not used as a driving device, but as a passive compensation device. When floating occurs, the piston rod moves, the cylinder will continuously intake or exhaust air, the air pressure in the cylinder remains unchanged, the edge banding device is tightly attached to the edge of the table plate, and the edge banding strip is always subjected to the action of the preset pressure force to adhere to the edge of the table plate, so that the edge banding work can be smoothly and stably performed.

[0027] As preferred, the mechanical arm grasps the table plate through a vacuum chuck.

[0028] The design starting point, concept and beneficial effects of the present application adopting the above technical scheme are:

[0029] Firstly, the mechanical arm completed by programming is used to replace the staff to perform the edge banding work on the table plate, which is an automatic edge banding method. The mechanical arm is controlled by the program to move: the mechanical arm grasps the table plate, performs the table edge banding and the table corner banding multiple times, and performs the repeated edge banding work on a large number of table plates, which has the advantages of high work efficiency, stable process, and is suitable for mass production; in order to ensure the stable work of the mechanical arm and maintain the consistency during processing, the initial position of the table plate needs to be adjusted in step S2.

[0030] In the edge sealing process, the reason for the delamination and other unqualified phenomena is that the force is too small when the edge sealing strip is pasted, and the edge sealing strip cannot be pressed tightly on the edge of the table board, so it is difficult to paste the edge sealing strip on the edge of the table board. It is well understood that when the straight edge of the table board is edge sealed, the working process is stable, the table board reaches the floating balance position, the mechanical arm remains stationary in the front and rear directions, and no longer exerts a force in the front and rear directions on the edge sealing device. The edge sealing device will exert a force on the table board under the action of the cylinder, that is, the force of pressing the edge sealing strip to the edge of the table board. The mechanical arm is stable in the front and rear directions, the table board exerts a constant force and can smoothly paste the edge sealing strip to the edge of the table board, and the mechanical arm only needs to drive the table board to move in the left and right directions. Therefore, the table board only needs to maintain linear motion in the left and right directions, and will not produce force and motion in the front and rear directions, so the working process is stable. However, the rotation of the table board is different:

[0031] The rotation of the table board is no longer a linear motion. Since the table board and the edge sealing device are in close contact, the table board will inevitably produce a front and rear directional component during rotation. Moreover, at the time point when the table board starts to move linearly again after the rotation of the table board is completed, the table board still has inertia to rotate towards the edge sealing device. The table board will hit the edge sealing device, exerting a force in the front and rear directions on the edge sealing device. After the impact, the table board rebounds, and the interaction between the two decreases, so that the edge sealing strip cannot be well pasted to the edge of the table board.

[0032] However, in the present method, the cylinder maintains the preset pressure in the cylinder unchanged, and maintains the floating state at the same time. At the floating balance position, the force F1 exerted by the edge sealing device on the table board and the force F2 exerted by the table board on the edge sealing device are balanced with each other. When the pair of action and reaction forces F1 and F2 are not equal, the edge sealing device immediately floats to unload the excess part of F2 or compensate for the missing part of F2, and always keeps the interaction force between the two at the preset pressure. After the impact force caused by the inertia of the table board is unloaded, the table board will not rebound to reduce the interaction force between the two, and the edge sealing strip will not be pasted loosely or detached. Therefore, under the premise that the cylinder maintains the preset pressure, F1 remains unchanged, and is always a force that can successfully complete the edge sealing work. That is, under the action of F1, the edge sealing strip can be smoothly pasted to the edge of the table board whether it is a table edge or a table corner.

[0033] In steps S4 and S5, the interaction force between the table board and the edge sealing device remains unchanged and is always equal to the preset pressure, which prevents the edge sealing strip from delaminating due to too small force and prevents the edge sealing strip from being extruded and deformed due to too large force, thereby achieving a constant pressure edge sealing effect. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 It is a schematic diagram of the three-dimensional structure of the edge banding machine in the embodiment of the present application.

[0035] Figure 2A schematic view of the three-dimensional structure of the edge sealing device in the embodiment of the present application is shown in the fixed seat on the moving seat slidingly arranged;

[0036] Figure 3 A schematic view of the three-dimensional structure of the adjusting station in the embodiment of the present application is shown in the fixed seat on the moving seat slidingly arranged;

[0037] Figure 4 A schematic view of the three-dimensional structure of the supporting seat in the embodiment of the present application is shown in the fixed seat on the moving seat slidingly arranged Figure 1 ;

[0038] Figure 5 A schematic view of the three-dimensional structure of the supporting seat in the embodiment of the present application is shown in the fixed seat on the moving seat slidingly arranged Figure 2 ;

[0039] Figure 6 A schematic view of the edge sealing of the table corner in the embodiment of the present application is shown in the fixed seat on the moving seat slidingly arranged;

[0040] Figure 7 A schematic view of the principle of the edge sealing device in the embodiment of the present application in the floating balance position is shown in the fixed seat on the moving seat slidingly arranged;

[0041] Figure 8 A schematic view of the principle of the table plate, the edge sealing device, the piston rod moving backward, the air cylinder and the pressure stabilizing and pressure relief valve exhausting when the edge sealing device is pushed backward in the embodiment of the present application is shown in the fixed seat on the moving seat slidingly arranged;

[0042] Figure 9 A schematic view of the principle of the table plate, the edge sealing device, the piston rod floating, the air cylinder and the pressure stabilizing and pressure relief valve exhausting and inhaling when the table corner is edge sealed in the embodiment of the present application is shown in the fixed seat on the moving seat slidingly arranged;

[0043] Figure 10 A flow chart of the edge sealing method in the embodiment of the present application is shown in the fixed seat on the moving seat slidingly arranged.

[0044] The reference signs are as follows: edge sealing device 1; cabinet 101; rotating shaft 102; leaning wheel 103; hard rubber sleeve 104; moving seat 2; fixed seat 3; table plate 4; adjusting station 5; supporting seat 51; positioning platform 52; mechanical arm 6; waiting station 7; ending station 8; sliding rail 9; sliding block 10; air cylinder 11; piston rod 111; pressure stabilizing and pressure relief valve 12; mounting seat 13; connecting part 131; mounting part 132; roller 14; stand column 15; mounting rod 16; ball head 17; inclined connecting part 18; positioning rod 19; rolling ball 20; base 21; pressure sensor 22; air source 23. Implementation

[0045] In order to enable the above-mentioned objects, features and advantages of the present application to be more clearly understood and appreciated, the following further describes the present application with reference to the drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0046] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one skilled in the art that the present application can be practiced without the specific details set forth in this description.

[0047] In the description of the present application, the terms "first", "second", "third" and the like are used only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0048] The specific embodiments of the present application are as follows:

[0049] As shown in Figures 6-10 The present application provides an edge sealing method of a table board 4, the steps are as follows:

[0050] S1 preparation stage: the air cylinder 11 is pressurized and the in-cylinder pressure reaches the preset pressure, the in-cylinder pressure of the air cylinder 11 is maintained at the preset pressure, the air cylinder 11 is connected and acts on the edge sealing device 1; the table board 4 to be processed is stacked at the waiting work station 7;

[0051] S2 grasping and adjusting the table board 4: the mechanical arm 6 grasps the table board 4 at the waiting work station 7, the mechanical arm 6 moves and places the table board 4 to the adjusting work station 5 and then releases the table board 4, the table board 4 is automatically adjusted to the initial position on the adjusting work station 5, the mechanical arm 6 moves to the preset point and then grasps the table board 4 again and moves the table board 4 towards the edge sealing device 1;

[0052] S3 floating balance: after the table board 4 abuts against the edge sealing device 1, the mechanical arm 6 continues to move the table board 4 to make the table board 4 push the edge sealing device 1 to move, the piston rod 111 of the air cylinder 11 moves with the edge sealing device 1, until the table board 4 and the edge sealing device 1 move to the floating balance position, at this time the piston rod 111 is in the floating state;

[0053] S4 table edge sealing: the mechanical arm 6 moves the table board 4 along the table edge of the table board 4 in a straight line until reaching the table corner of the table board 4;

[0054] S5 table corner sealing: the mechanical arm 6 rotates the table board 4 along the table corner contour of the table board 4, when the rotation is completed, the piston rod 111 floats with the edge sealing machine and removes the impact force generated by the inertia of the table board 4, so that the table board 4 and the edge sealing device 1 remain in close contact and the acting force between the table board 4 and the edge sealing device 1 remains unchanged;

[0055] S6 complete sealing: repeat steps S4 and S5 until the edge of the table board 4 is completely sealed;

[0056] S7 cycle work: the mechanical arm 6 moves the table board 4 to the end station 8 and then releases the table board 4, and then starts step S2 again.

[0057] Firstly, the edge banding work of the table board 4 is carried out by the programmed mechanical arm 6 instead of the staff, which is an automatic edge banding method. The mechanical arm 6 is controlled by the program to move: the mechanical arm 6 grabs the table board 4, carries out the edge banding of the table edge and the corner of the table multiple times, and carries out the repeated edge banding work on a large number of table boards 4, which has the advantages of high work efficiency, stable process, and suitable for mass production; in order to ensure the stable work of the mechanical arm 6 and maintain the consistency during processing, the initial position of the table board 4 needs to be adjusted in step S2.

[0058] In the edge banding process, the reason why the delamination and other unqualified phenomena occur is that the force is too small when the edge banding strip is pasted, and the edge banding strip cannot be pressed tightly on the edge of the table board 4, so it is difficult to paste the edge banding strip on the edge of the table board 4. It is well understood that when the straight table edge of the table board 4 is edge banded, the working process is stable. After the table board 4 reaches the floating balance position, the mechanical arm 6 remains stationary in the front-back direction, and no longer exerts a force in the front-back direction on the edge banding device 1. The edge banding device 1 exerts a force on the table board 4 under the action of the cylinder 11, that is, the force that presses the edge banding strip to the edge of the table board 4. The mechanical arm 6 is stable in the front-back direction, the force exerted by the table board 4 remains unchanged and the edge banding strip can be pasted to the edge of the table board 4 smoothly, and the mechanical arm 6 only needs to drive the table board 4 to move in the left-right direction. Therefore, the table board 4 only needs to maintain straight-line motion in the left-right direction, and no force and motion in the front-back direction will be generated, so the working process is stable. However, the rotation process of the table board 4 is different:

[0059] The rotation of the table board 4 is no longer a straight-line motion. Since the table board 4 and the edge banding device 1 are in close contact, it is inevitable that there will be a front-back directional component force during the rotation of the table board 4. Moreover, at the time point when the mechanical arm 6 controls the straight-line motion of the table board 4 again after the rotation of the table board 4 is completed, the table board 4 still has inertia to rotate towards the edge banding device 1. The table board 4 will hit the edge banding device 1, exerting a force in the front-back direction on the edge banding device 1. After the impact, the table board 4 rebounds, the interaction force between the two decreases, and the edge banding strip cannot be well pasted to the edge of the table board 4.

[0060] But in the method, the cylinder 11 keeps the preset pressure in the cylinder unchanged, and keeps the floating state unchanged. When the floating balance position is reached, the force F1 given by the edge sealing device 1 to the table plate 4 and the force F2 given by the table plate 4 to the edge sealing are balanced. When the pair of action force and reaction force F1 and F2 are not equal, the edge sealing device 1 immediately floats to unload the excess part of F2 or compensate for the missing part of F2, and always keeps the interaction force between the two as the preset pressure. After the impact force generated by the inertia of the table plate 4 is unloaded, the table plate 4 will not bounce away to reduce the interaction force between the two, and the edge sealing strip will not be pasted firmly or separated. Therefore, under the premise that the cylinder 11 keeps the preset pressure unchanged, F1 is always a force that can successfully complete the edge sealing work, that is, the edge sealing strip can be successfully pasted to the edge of the table plate 4 under the action of F1, whether it is a table edge sealing or a table corner sealing.

[0061] In steps S4 and S5, the interaction force between the table plate 4 and the edge sealing device 1 remains unchanged and is always equal to the preset pressure, which prevents the edge sealing strip from being separated due to too small interaction force and prevents the edge sealing strip from being deformed due to too large interaction force, thereby achieving the effect of constant pressure edge sealing.

[0062] In the method, the mechanical arm 6 grasps the table plate 4 by the vacuum chuck, which is firm and reliable and ensures the smooth progress of the edge sealing work. The direction of the stroke of the piston rod 111 is defined as the front-back direction. In step S3, the table plate 4 pushes the edge sealing device 1 to move backward, and in step S4, the mechanical arm 6 drives the table plate 4 to move in the left-right direction.

[0063] In step S1, the cylinder 11 is kept at the preset pressure by the pressure stabilizing and pressure relief valve 12. One end of the pressure stabilizing and pressure relief valve 12 is connected to the cylinder 11 through an air inlet pipe, and the other end of the pressure stabilizing and pressure relief valve 12 is connected to the air source 23. The preset pressure is 250N, which is the interaction force between the table plate 4 and the edge sealing device 1 during the edge sealing work, that is, the force for pasting the edge sealing strip. 250N is sufficient to firmly paste the edge sealing strip to the edge of the table plate 4.

[0064] The adjusting station 5 is inclined, and one end of the adjusting station 5 is the lowest point, and two groups of rollers 14 are arranged near the lowest point, and the rollers 14 in each group of rollers are arranged in a straight line and are spaced apart, and the included angle between the two groups of rollers is 90°; in step S2, after the table plate 4 is placed on the adjusting platform, the table plate 4 is automatically adjusted and abuts on the two groups of rollers under the action of gravity, and one corner of the table plate 4 is located at the lowest point and maintains the same inclination angle as the adjusting station 5, and the adjusting station 5 is configured to determine the position of the table plate 4 in the front-rear, left-right and height directions; the initial position is configured as a reference when the mechanical arm 6 grasps the table plate 4 at a preset point; after the table plate 4 is placed on the adjusting station 5, the initial position is adjusted according to the characteristics of the adjusting station 5, and the mechanical arm 6 is controlled by a program, and the preset point is input in the program according to the initial position, and the mechanical arm 6 moves to the preset point, and the movement track of the mechanical arm 6 is also determined, so that the preset point is needed as an origin of the movement track to ensure that the mechanical arm 6 can accurately grasp the table plate 4 and drive the table plate 4 to enter the predetermined movement track, and the edge sealing device 1 can smoothly perform the expected work on the table plate 4 with high consistency.

[0065] The initial position and the preset point are set according to the size of the table plate 4, different sizes of the table plate 4 require different movement paths of the mechanical arm 6, and the grasping position of the mechanical arm 6 when grasping the table plate 4 is also different, so different sizes of the table plate 4 will affect the determination of the initial position, the preset point and the movement track of the mechanical arm 6, and the above parameters are reasonably determined according to the size of the table plate 4, so that efficient edge sealing work can be performed.

[0066] The stroke of the piston rod 111 is 4 cm, and in step S3, the piston rod 111 moves back 2 cm, and the table plate 4 and the edge sealing device 1 reach the floating balance position; before step S3, the piston rod 111 is located at the origin of the stroke and can only be pushed back by the table plate 4, and in step S3, the piston rod 111 moves to the floating balance position 2 cm away from the origin of the stroke, and has a floating space of at least 1 cm in front and back, so that the table plate 4 can be in contact with the edge sealing device 1 in any unstable movement state during normal work, so that the edge sealing work can be smoothly performed, the problem of edge sealing and degumming is solved, and the qualified rate is improved.

[0067] In step S3, the mechanical arm 6 drives the table plate 4 to move to the front of the edge sealing device 1, and after the edge sealing device 1 extends the edge sealing strip, the mechanical arm 6 immediately drives the table plate 4 to move, and when the edge sealing device 1 and the table plate 4 are located at the floating balance position, step S4 is immediately started.

[0068] In step S4, the table plate 4 and the edge sealing device 1 are always in a floating balance position; during the process, the mechanical arm 6 only drives the table plate 4 to move in the left-right direction, and no movement or force is generated in the front-back direction, the table plate 4 and the edge sealing device 1 are always in a floating balance position, and the edge sealing work is stably carried out.

[0069] In step S5, the table plate 4 rotates to change the force of the table plate 4 on the edge sealing device 1, the table plate 4 and the edge sealing device 1 deviate from the floating balance position and float on both sides of the floating balance position, and when step S4 is performed again, the table plate 4 and the edge sealing device 1 return to the floating balance position; the cylinder 11 of the present application is not used as a driving device, but as a passive compensation device, when floating occurs, the piston rod 111 moves, the cylinder 11 will continuously intake or exhaust, the cylinder pressure remains unchanged, the edge sealing device 1 is tightly attached to the edge of the table plate 4, and the edge sealing strip is always subjected to the action of the preset pressure force to adhere to the edge of the table plate 4, and the edge sealing work can be smoothly and stably carried out.

[0070] Specifically, as shown in Figure 1 、 2 , the method is used in a table plate 4 edge sealing machine, the edge sealing machine includes an edge sealing device 1, a moving seat 2, a fixed seat 3, a buffer device, an adjustment station 5 and a mechanical arm 6, the fixed seat 3 remains relatively fixed, the edge sealing device 1 is configured to seal the table plate 4, the edge sealing device 1 is installed on the moving seat 2, the moving seat 2 is slidingly arranged on the fixed seat 3, the buffer device is arranged on the fixed seat 3 and connected with the moving seat 2, and the buffer device acts on the moving seat 2; the adjustment station 5 is located in front of the fixed seat 3, and a waiting station 7 and an end station 8 are respectively arranged on the left and right sides of the adjustment station 5, the waiting station 7 is used for stacking the table plate 4 to be processed, and the end station 8 is used for stacking the table plate 4 after the edge sealing is completed; the mechanical arm 6 is located in front of the adjustment station 5, and the mechanical arm 6 is used for transporting the table plate 4 and grabbing the table plate 4 to carry out the edge sealing work according to the predetermined program.

[0071] As shown in Figure 2 、 7As shown in Figure 9, the movable seat 2 and the fixed seat 3 are slidably engaged by slide rails 9 and sliders 10. Two slide rails 9 are fixedly arranged at left and right intervals on the fixed seat 3. Four sliders 10 are provided at the bottom of the movable seat 2. The slide rails 9 have an I-shaped cross-section, and the sliders 10 are mounted on the slide rails 9 to allow the movable seat 2 and the fixed seat 3 to slide relative to each other. The buffer device includes the aforementioned cylinder 11 and a pressure stabilizing and pressure relief valve 12. The air source 23 connected to the pressure stabilizing and pressure relief valve 12 is an air compressor. The cylinder 11 is mounted on the fixed seat 3 via a mounting base 13. The mounting base 13 is L-shaped and includes a horizontal connecting part 131 and a vertical mounting part 132. The connecting part 131 is fixedly connected to the fixed seat 3 and... The connecting part 131 is located between the fixed base 3 and the movable base 2, and the cylinder 11 is horizontally mounted on the mounting part 132. The cylinder 11 is located in front of the movable base 2, and the piston rod 111 of the cylinder 11 passes through the mounting part 132 and connects to the movable base 2. A pressure sensor 22 is provided between the cylinder 11 and the movable base 2. The pressure sensor 22 is located between the piston rod 111 and the movable base 2 to set the preset pressure and detect the change in force between the table 4 and the edge sealing device 1. In this solution, the cylinder 11 is not an active driving device, but together with the pressure stabilizing and pressure relief valve 12, it acts as a passive compensation device, continuously working according to the force between the table 4 and the edge sealing device 1 to adjust the pressure inside the cylinder.

[0072] The edge sealing device 1 includes a housing 101 and a rotating shaft 102. The bottom of the housing 101 is fixedly connected to the movable base 2. The rotating shaft 102 is vertically mounted on the housing 101 and protrudes upward from the top surface of the housing 101. The rotating shaft 102 is driven to rotate by a motor. A guide wheel 103 is provided on the part of the rotating shaft 102 that protrudes from the housing 101. The guide wheel 103 rotates with the rotating shaft 102 around the vertical axis. During edge sealing, the table 4 rests against the guide wheel 103. Furthermore, a hard rubber sleeve 1 is provided on the outside of the guide wheel 103. 04; The roller 103 provides support for the tabletop 4 while maintaining the same linear speed as the tabletop 4, ensuring the stability of the tabletop 4 during movement and ensuring the smooth progress of the edge sealing work; During the edge sealing work, the edge sealing strip is located between the hard rubber sleeve 104 and the tabletop 4. Compared with materials such as metal or plastic, the hard rubber can ensure the friction between the edge sealing strip and the tabletop 4, and stably transport the edge sealing strip when the tabletop 4 is in close contact with the roller 103; Moreover, the hard rubber does not have too much elasticity, preventing the tabletop 4 from being bounced off after rotation and impact.

[0073] like Figure 8 , 9 As shown, when the table 4 abuts against the roller 103 and pushes the roller 103, the edge sealing device 1 moves, causing the movable seat 2 to move relative to the fixed seat 3. The movable seat 2 drives the piston rod 111 to move, causing the cylinder pressure of the cylinder 11 to change. The pressure stabilizing and pressure relief valve 12 cooperates with the air source 23 to maintain the cylinder pressure at the same level as the preset pressure and keep it unchanged.

[0074] The robotic arm 6 and the edge sealing device 1 are commonly available on the market and will not be described in detail in this embodiment.

[0075] like Figures 3-5 As shown, the adjustment station 5 is inclined, and one end of the adjustment station 5 is the lowest point. Two sets of rollers are arranged near the lowest point, with rollers 14 in each set spaced along a straight line at a 90° angle between the two sets. Specifically, the adjustment station 5 includes a support 51 and a positioning platform 52. The support 51 includes four columns 15 of different heights, with a pair of diagonally opposite columns 15 having the same height. Vertical mounting rods 16 of the same height are provided on the columns 15, and the upper end of the mounting rods 16 is a ball head 17 with an inclined connecting piece. 18. Four inclined connecting parts 18 rotate to the same angle to form an installation plane for the positioning platform. The positioning platform 52 is a plate and is bolted to the inclined connecting parts 18. Due to the different heights of the four columns 15, the four ends of the positioning platform 52 are all at different heights, with one end being the lowest point. The two roller sets are located on the two sides adjacent to the lowest point. Several positioning rods 19 are also arranged on the positioning platform 52. The positioning rods 19 are at the same height, and each positioning rod 19 has a rolling ball 20 at its upper end to facilitate the tabletop to move to the initial position. The workstation to be picked and the workstation to be finished are the bases 21 located on both sides of the adjustment workstation.

Claims

1. A method for sealing the edges of a tabletop, characterized in that, The steps are as follows: S1 Preparation Stage: Pressurize the cylinder and bring the cylinder pressure to the preset pressure, maintain the cylinder pressure at the preset pressure, connect the cylinder to and act on the edge sealing device; stack the worktables to be processed at the workstation to be picked up; S2 Grab and Adjust Tabletop: The robotic arm grabs the tabletop at the work station to be picked up. The robotic arm moves the tabletop and places it at the adjustment station. Then it releases the tabletop. The tabletop automatically adjusts to its initial position at the adjustment station. The robotic arm moves to the preset point and grabs the tabletop again, moving the tabletop toward the edge sealing device. S3 Floating Balance: After the table comes into contact with the edge banding device, the robotic arm continues to move the table so that the table pushes the edge banding device to move. The piston rod of the cylinder moves with the edge banding device until the table and the edge banding device move together to the floating balance position. At this time, the piston rod is in a floating state. S4 table edge sealing: The robotic arm drives the table to move in a straight line along the edge of the table until it reaches the corner of the table. S5 table corner edge banding: The robotic arm drives the table to rotate along the table corner contour. When the rotation is completed, the piston rod and the edge banding machine float and remove the impact force generated by the inertia of the table, so that the table and the edge banding device remain in contact and the force between the table and the edge banding device remains unchanged. S6 Complete edge sealing: Repeat steps S4 and S5 until the edge of the tabletop is sealed; S7 Cycle Work: After the robotic arm moves the table to the end position, it releases the table and restarts step S2. In step S1, the cylinder pressure is brought to a preset pressure and maintained at the preset pressure by the pressure stabilizing and pressure relief valve; one end of the pressure stabilizing and pressure relief valve is connected to the cylinder through the air inlet pipe, and the other end of the pressure stabilizing and pressure relief valve is connected to the air source. The edge sealing device includes a housing and a rotating shaft. The rotating shaft is vertically mounted on the housing and protrudes upward from the top surface of the housing. A guide wheel is provided on the part of the rotating shaft that protrudes from the housing. The guide wheel rotates around the vertical axis with the rotating shaft. A hard rubber sleeve is provided on the outside of the guide wheel. In step S3, the robotic arm moves the table to the front of the edge sealing device. After the edge sealing device extends the edge sealing strip, the table abuts against and pushes the edge sealing device to move to the floating balance position. During this period, the edge sealing strip is located between the rigid rubber sleeve and the table. In steps S4 and S5, when the table is in close contact with the roller, the edge sealing strip is stably conveyed by the friction between the rigid rubber sleeve and the edge sealing strip.

2. The edge-sealing method for a tabletop according to claim 1, characterized in that: The preset pressure is 250N.

3. The edge-sealing method for a tabletop according to claim 1, characterized in that: The adjustment station is tilted, with one end of the adjustment station being the lowest point. Two sets of rollers are set up near the lowest point, with the rollers in each set arranged at intervals along a straight line, and the included angle between the two sets of rollers is 90°. In step S2, after the table is placed on the adjustment platform, the table automatically adjusts under the influence of gravity and rests against the two sets of rollers. One corner of the table is located at the lowest point and maintains the same tilt angle as the adjustment station. The adjustment station is configured to determine the position of the table in the front-back, left-right, and height directions. The initial position is configured as the reference when the robotic arm grabs the table at the preset point.

4. The edge-sealing method for a tabletop according to claim 1, characterized in that: Set the initial position and preset points according to the tabletop size.

5. The edge-sealing method for a tabletop according to claim 1, characterized in that: The piston rod has a stroke of 4cm. In step S3, after the piston rod moves backward by 2cm, the table and the edge sealing device reach the floating balance position.

6. The edge-sealing method for a tabletop according to claim 1, characterized in that: In step S4, the table and the edge banding device are always in a floating equilibrium position.

7. The edge-sealing method for a tabletop according to claim 1, characterized in that: In step S5, the table rotates, which changes the force exerted by the table on the edge banding device. The table and the edge banding device leave the floating equilibrium position and float on both sides of the floating equilibrium position. When step S4 is performed again, the table and the edge banding device return to the floating equilibrium position.

8. The edge-sealing method for a tabletop according to claim 1, characterized in that: The robotic arm uses a vacuum suction cup to grasp the table.

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