An automatic packaging system for gypsum board production

Abstract

This invention discloses an automatic packaging system for gypsum board production, belonging to the technical field of gypsum board packaging equipment. It includes a first conveyor, a second conveyor, a robotic arm, and a vacuum pump. An installation frame is mounted at the end of the robotic arm, and several suction cups are mounted on the installation frame. The vacuum pump is connected to the inside of the suction cups via pipes. A squeezing mechanism is also mounted on the installation frame. When the suction cups release their grip on the gypsum board, the squeezing mechanism squeezes the gypsum board to promote separation from the suction cups. The automatic packaging system provided by this invention, by setting a squeezing mechanism on the installation frame, ensures that during the process of the suction cups releasing the gypsum board, when the robotic arm moves the installation frame away from the gypsum board, the squeezing mechanism can restrain the gypsum board on the second conveyor, promoting separation from the suction cups. This prevents the gypsum board from being lifted again by the suction cups and ensures that subsequently placed gypsum boards are always directly opposite previously placed gypsum boards.

Description

Technical Field

[0001] This invention relates to the field of gypsum board packaging equipment technology, and specifically discloses an automatic packaging system for gypsum board production. Background Technology

[0002] Gypsum board is a common building material, mainly made of natural gypsum (hydrated calcium sulfate). It has advantages such as being lightweight, fireproof, heat-insulating, and sound-absorbing, and is widely used in interior partitions, ceilings, and other building decoration projects. Stacking and packaging in the production process of gypsum board are important steps to ensure product quality, safe transportation, and efficient storage. Stacking is usually done manually, which leads to low packaging efficiency. Therefore, some companies have begun to adopt automated packaging systems, which use robotic arms and suction cups to automate stacking.

[0003] For example, patent CN113460710B, published on January 13, 2023, discloses an automatic gypsum board palletizing production line. This production line includes a palletizing robot, a first conveyor, a cover plate storage device, a leg pad storage device, and a second conveyor. The first conveyor, cover plate storage device, leg pad storage device, and second conveyor are respectively positioned around the palletizing robot. The palletizing robot places the legs from the leg pad storage device, the cover plates from the cover plate storage device, and the gypsum boards from the first conveyor onto the second conveyor in the following order from bottom to top: leg pad, cover plate, gypsum board, cover plate, gypsum board. A roller shutter mechanism is used to grip the gypsum boards, and the roller shutter mechanism and gripping mechanism work together to grip the legs. A suction device is used to suction the cover plates. The palletizing robot can perform multiple functions, automatically palletizing the gypsum boards in the process. This invention has a high degree of automation, good consistency, high palletizing efficiency, and frees up labor.

[0004] The shortcomings of existing palletizing production lines, including the aforementioned patents, lie in the fact that during the process of using suction cups to grip gypsum boards, when the gypsum board is released, the vacuum pump depressurizes, that is, the inner cavity of the suction cup is connected to the outside. However, this depressurization process is gradual. During this process, the suction cup needs to be moved upward by the robotic arm to enter the next cycle. Since the air pressure inside the suction cup cannot immediately return to atmospheric pressure during this process, that is, the suction cup still has a certain suction force on the gypsum board, causing the gypsum board to be sucked up again after being placed, and then fall onto the gypsum board below under the action of gravity. Such impact can easily damage the gypsum board and is also not conducive to the alignment and stacking of the upper and lower gypsum boards. Summary of the Invention

[0005] The purpose of this invention is to provide an automated packaging system for gypsum board production.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] An automated packaging system for gypsum board production includes a robotic arm and a vacuum pump. The end of the robotic arm is equipped with a mounting frame, on which several suction cups are mounted. The vacuum pump is connected to the inside of the suction cups through a pipe. The mounting frame is also equipped with a squeezing mechanism. When the suction cups release their adsorption of the gypsum board, the squeezing mechanism squeezes the gypsum board to promote the separation of the gypsum board from the suction cups.

[0008] In the aforementioned automatic packaging system, the suction cup includes a back plate, on which an suction cup is fixedly attached. The back plate is connected to the mounting frame via a telescopic tube, and a first spring is fitted onto the outside of the telescopic tube.

[0009] The aforementioned automatic packaging system includes a squeezing mechanism comprising a squeezing rod and a second spring housed within a telescopic tube. The squeezing rod is telescopic, and when in its natural state, the second spring drives one end of the squeezing rod to extend outward from the suction cup.

[0010] In the aforementioned automatic packaging system, the mounting frame is equipped with an adjustment mechanism corresponding to the position of the extrusion rod. The extrusion rod is movably mounted on the mounting frame, and the adjustment mechanism adjusts the position of the extrusion rod relative to the suction cup so that the second spring can return to its original length after the suction cup picks up the plasterboard.

[0011] The aforementioned automatic packaging system has through holes on the mounting frame corresponding to the extrusion rod positions. A first piston block is dynamically sealed inside the through hole, and the extrusion rod is fixedly connected to the first piston block. A sealing sleeve is fixedly connected to the mounting frame corresponding to the through hole positions. An adjustment mechanism is located inside the sealing sleeve. The vacuum pump drives the first piston block to reciprocate along the through hole through the adjustment mechanism.

[0012] The aforementioned automatic packaging system includes a partition inside the sealing sleeve, which divides the inner cavity of the sealing sleeve into a first chamber and a second chamber. The first chamber is connected to a through hole. The adjusting mechanism includes a second piston block dynamically sealed and installed in the second chamber. The first piston block is connected to the second piston block via a connecting rod. The partition has a first hole and a second hole in the middle that connect the first chamber and the second chamber. A first reversing valve is installed in the middle of the first hole and is connected to a vacuum pump via a pipe. A second reversing valve is installed in the middle of the second hole and its inlet is connected to the outside. The sealing sleeve also has a third hole that connects the second chamber to the outside.

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

[0014] The aforementioned automatic packaging system has a detection component installed inside the telescopic tube, which is used to detect the elongation of the extrusion rod.

[0015] In the aforementioned automatic packaging system, a first half-ring and a second half-ring are fixedly connected to the inner wall of the suction cup. The first half-ring and the second half-ring are hinged to each other. Both the first half-ring and the second half-ring are provided with connectors. The connectors cooperate with the extrusion rod. When the extrusion rod extends from below the suction cup, the extrusion rod drives the first half-ring and the second half-ring to tilt up through the connectors.

[0016] In the aforementioned automatic packaging system, the adsorption plate is sequentially connected to the upper surface, outer side wall, lower surface, and inner side wall of both the first and second half-rings.

[0017] In the above technical solution, the automatic packaging system provided by the present invention, by setting a squeezing mechanism on the mounting frame, when the mechanical arm moves the mounting frame away from the gypsum board during the process of the suction cup releasing the gypsum board, the squeezing mechanism can restrict the gypsum board on the second conveyor, promote the separation of the gypsum board from the suction cup, so that the gypsum board will not be lifted up by the suction cup again, and can ensure that the gypsum board placed later is always directly opposite the gypsum board placed earlier. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

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

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

[0021] Figure 3 This is a schematic diagram of the mounting bracket provided in an embodiment of the present invention;

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

[0023] Figure 5 Provided for embodiments of the present invention Figure 4 A magnified view of a portion of the image;

[0024] Figure 6 Provided for embodiments of the present invention Figure 5 A schematic diagram of the structure in which the first piston block is in the second position;

[0025] Figure 7 Provided for embodiments of the present invention Figure 5 A schematic diagram of the structure when the first piston block is adjusted from the second position to the first position;

[0026] Figure 8 This is a schematic diagram showing the positional relationship between the second rod and the Z-shaped rod, provided for an embodiment of the present invention.

[0027] Explanation of reference numerals in the attached figures:

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

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

[0030] In the description of this invention, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," and "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed or operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0031] like Figures 1-8As shown in the figure, an automatic packaging system for gypsum board production provided by an embodiment of the present invention includes a first conveyor 1, a second conveyor 2, a robotic arm 3, and a vacuum pump. The end of the robotic arm 3 is equipped with a mounting frame 4, and a plurality of suction cups 5 are mounted on the mounting frame 4. The vacuum pump is connected to the inside of the suction cups 5 through a pipe. The mounting frame 4 is also equipped with a squeezing mechanism 6. When the suction cups 5 release their adsorption on the gypsum board, the squeezing mechanism 6 squeezes the gypsum board to promote the separation of the gypsum board from the suction cups 5.

[0032] Specifically, the automated packaging system includes a first conveyor 1, a second conveyor 2, a robotic arm 3, and a drive unit. The end of the robotic arm 3 is equipped with a mounting frame 4, which has several suction cups 5 mounted on it. The mounting frame 4 is a rectangular frame, such as... Figures 1 to 3 As shown, the lower surface of the mounting frame 4 is arranged in a rectangular array with multiple sets, such as six sets, of suction cups 5. A vacuum pump is connected to the inner cavity of each suction cup 5 through a pipe, so that when the suction cup 5 is in close contact with the surface of the gypsum board, the vacuum pump can extract the gas from the inner cavity of the suction cup 5, creating a negative pressure inside the suction cup 5. This allows the external atmospheric pressure to press the gypsum board onto the suction cup 5 to form an adsorption state. Since the vacuum pump can only extract gas, a solenoid valve is installed on the suction cup 5 or the mounting frame 4 to facilitate the suction cup 5 releasing its adsorption of the gypsum board. When the solenoid valve is open, it connects the inner cavity of the suction cup 5 to the external environment. One end of the first conveyor 1 is connected to the gypsum board production line. The dried and inspected gypsum boards are conveyed one by one by the first conveyor 1 to the working range of the robotic arm 3. The first conveyor 1 and the second conveyor 2 are arranged at one end within the working range of the robotic arm 3, and a packaging mechanism (not shown in the figure) is set at the other end of the first conveyor 1. This allows the stacked gypsum boards to be directly transported to the packaging mechanism for packaging. Preferably, both the first conveyor 1 and the second conveyor 2 are chain plate conveyors to provide sufficient support for the gypsum boards. The packaging mechanism can be an existing fully automatic vertical packaging machine, which is existing technology and can be directly applied without further explanation. The difference between this embodiment and the existing technology is that the mounting frame 4 is also provided with a pressing mechanism 6. Optionally, the pressing mechanism 6 is a number of electric push rods set on the mounting frame 4. When the mounting frame 4 is in a horizontal state, the electric push rods are all in a vertical state.

[0033] After the robotic arm 3 places the plasterboard onto the second conveyor 2, each electric push rod extends synchronously and comes into contact with the plasterboard. At this time, the solenoid valve set on the suction cup 5 or the mounting bracket 4 opens, allowing the inner cavity of the suction cup 5 to communicate with the external environment. Outside air enters the inner cavity of the suction cup 5 through the solenoid valve, causing the air pressure in the inner cavity of the suction cup 5 to gradually balance with the outside air pressure. At the same time, the robotic arm 3 moves the mounting bracket 4 and the suction cup 5 away from the plasterboard. As the mounting bracket 4 moves away from the plasterboard, each electric push rod extends synchronously and maintains the same speed as the mounting bracket 4 moving away from the plasterboard, to ensure that the plasterboard is confined on the second conveyor 2.

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

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

[0036] Specifically, in the above embodiments, when the robotic arm 3 controls the mounting frame 4 to move towards the gypsum board and make the suction cup 5 come into close contact with the gypsum board, the squeezing force of the suction cup 5 on the gypsum board acts directly on the gypsum board, which can easily damage the gypsum board. In this embodiment, the suction cup 5 includes a back plate 51, an adsorption plate 52, and a telescopic rod. The back plate 51 is made of a rigid material such as metal and is in the shape of an inverted frustum. The adsorption plate 52 is made of rubber or silicone and is directly bonded or vulcanized to the back plate 51. During the adsorption process of the gypsum board, the adsorption plate 52 is in direct contact with the gypsum board. In addition, telescopic tubes 53 are fixedly connected to the mounting frame 4 at the positions corresponding to the back plate 51. The telescopic tubes 53 are fixedly connected to the lower surface of the mounting frame 4. The telescopic tubes 53 are two pipes with different diameters that are movably and sealingly connected to each other. The end of the telescopic tube 53 away from the mounting frame 4 is fixedly connected to the back plate 51, and a first spring 54 is fitted on the outside of the telescopic tube 53. With this arrangement, when the robotic arm 3 controls the mounting frame 4 to squeeze the suction cup 5 so that the suction cup 5 is in close contact with the plasterboard, the energy is absorbed by the deformation of the first spring 54 to prevent the plasterboard from being damaged due to excessive squeezing.

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

[0038] Specifically, in the above embodiments, the plasterboard is confined to the conveyor belt surface of the second conveyor 2 by extending the electric push rod. However, this operation makes it difficult to ensure that the amount by which the robotic arm 3 moves the mounting frame 4 upward (away from the plasterboard) is consistent with the extension of the electric push rod, thus failing to guarantee that the plasterboard will not be damaged by the pressure of the electric push rod. In this embodiment, the pressing mechanism 6 includes a retractable pressing rod 61, and a second spring 62 is fitted outside the pressing rod 61. Both the pressing rod 61 and the second spring 62 are disposed inside the telescopic tube 53. The compression rod 61 includes a first rod 611 and a second rod 612 that are nested together. The first rod 611 is hollow and is fitted onto the outer wall of the second rod 612. In this embodiment, one end of the first rod 611 can be fixed to the lower surface of the mounting bracket 4. A stop block 63 is fitted onto the second rod 612. A second spring 62 is fitted onto the outside of the first rod 611, and both ends of the second spring 62 are in contact with the mounting bracket 4 and the stop block 63, respectively. When the second spring 62 is at its original length, the second rod 612 extends beyond the outside of the aforementioned adsorption plate 52. Figures 5 to 7 Below the suction cup 52 in the view; with this configuration, during the process of suction cup 5 adsorbing the plasterboard, the second rod 612, blocked by the plasterboard, will retract into the interior of the suction cup 52, and deform and store force by squeezing the second spring 62 through the stop block 63. When suction cup 5 releases the plasterboard, the second rod 612, under the elastic force of the second spring 62, will squeeze the plasterboard, thereby causing the plasterboard to separate from the suction cup 52, to prevent the air pressure inside suction cup 5 from not being balanced with the external air pressure, which would cause the remaining suction force of suction cup 5 to pick up the plasterboard again; obviously, in this embodiment, in order to avoid the setting of the stop block 63 affecting the vacuum pump's extraction of gas from the suction cup 5, the diameter of the stop block 63 is smaller than the inner diameter of the thin tube in the telescopic tube 53.

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

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

[0041] Optionally, a partition 441 is provided inside the sealing sleeve 44, which divides the inner cavity of the sealing sleeve 44 into a first chamber 442 and a second chamber 443. The first chamber 442 is connected to the through hole 42. The adjusting mechanism 7 includes a second piston block 71 dynamically sealed and installed in the second chamber 443. The first piston block 43 is connected to the second piston block 71 through a connecting rod 72. A first hole 444 and a second hole 445 are provided in the middle of the partition 441 to connect the first chamber 442 and the second chamber 443. A first reversing valve 41 is provided in the middle of the first hole 444 and is connected to the vacuum pump through a pipe. A second reversing valve 45 is provided in the middle of the second hole 445 and its inlet is connected to the outside. A third hole 446 is also provided on the sealing sleeve 44 to connect the second chamber 443 to the outside.

[0042] Specifically, in the above embodiment, since the second rod 612 of the extrusion rod 61 extends from below the suction cup 52 in its natural state, during the process of the robotic arm 3 moving the mounting frame 4 to transport the plasterboard after the suction cup 5 has gripped it, the second spring 62 is always in a charged state. The extrusion force applied to the plasterboard by the second spring 62 through the second rod 612 will affect the adsorption effect of the suction cup 5 on the plasterboard, and may even cause the plasterboard to detach from the suction cup 5. In this embodiment, unlike the above embodiment, the extrusion rod 61 can extend along the telescopic tube 53. The axial position is adjusted. The mounting bracket 4 has a through hole 42, which runs along the axial direction of the extrusion rod 61 and connects the upper and lower surfaces of the mounting bracket 4. A first piston block 43 is dynamically sealed within the through hole 42. The first rod 611 of the extrusion rod 61 is fixedly connected to the first piston block 43. A sealing sleeve 44 is fixedly attached to the upper surface of the mounting bracket 4. The sealing sleeve 44 is a cylindrical structure with an opening at one end, and a partition 441 is fixedly attached to the inner wall of the sealing sleeve 44, dividing the internal space of the sealing sleeve 44 into a first chamber 44. 2. A second chamber 443, wherein the first chamber 442 communicates with the through hole 42; in addition, an adjustment mechanism 7 is provided inside the sealing sleeve 44, the adjustment mechanism 7 includes a second piston block 71 dynamically sealed and installed in the second chamber 443, a connecting rod 72 is provided through the middle of the partition plate 441 along the axial direction of the sealing sleeve 44, the connecting rod 72 is dynamically sealed and connected to the partition plate 441, and the two ends of the connecting rod 72 are respectively connected to the first piston block 43 and the second piston block 71, so that the vacuum pump can drive the first piston block 43 in the through hole 42 (because the through hole 42 is connected to the first chamber 443). The first piston block 43 can move directly through the through hole 42 to the position of the first chamber 442 near the partition 441 and move up and down. The inner diameter of the side of the through hole 42 near the first chamber 442 and the inner diameter of the first chamber 442 are both equal to the diameter of the first piston block 43. The middle part of the partition 441 is also provided with a first hole 444 and a second hole 445 along the axial direction of the sealing sleeve 44. The two ends of the first hole 444 are connected to the first chamber 442 and the second chamber 443 respectively, and the two ends of the second hole 445 are connected to the first chamber 442 and the second chamber 443 respectively. Figures 5 to 7As shown, a first reversing valve 41 is installed in the middle of the first hole 444, and a second reversing valve 45 is installed in the middle of the second hole 445. The first reversing valve 41 is connected to the vacuum pump through a pipe, while the inlet of the second reversing valve 45 is directly connected to the external environment. The pipe can be connected to the first chamber 442 or the second chamber 443 through the first reversing valve 41, and the first chamber 442 or the second chamber 443 can be connected to the external environment through the second reversing valve 45. In addition, a third hole 446 is provided on the sealing sleeve 44 to connect the second chamber 443 to the external environment. The third hole 446 is located at the end of the second chamber 443 away from the partition 441. This arrangement allows the vacuum pump to extract the gas from the first chamber 442 or the second chamber 443 when it starts, so as to adjust the position of the first piston block 43 in the through hole 42. During the movement stroke of the first piston block 43, it has a first position and a second position.

[0043] In the first position, the vacuum pump is off, and the suction plate 52 is not in contact with the plasterboard. At this time, the distance between the first piston block 43 and the partition plate 441 is at its maximum. In this state, the second spring 62 is at its original length (not compressed by the stop block 63), and both ends of the second spring 62 are in contact with the first piston block 43 and the stop block 63, respectively. Figure 5 As shown, at this time, the second rod 612 of the extrusion rod 61 extends out from below the adsorption disk 52 under the action of gravity. Let the length of the second rod 612 extending out from below the adsorption disk 52 at this time be L1.

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

[0045] During the stacking of gypsum boards: When gypsum boards need to be adsorbed, firstly, the mechanical arm 3 controls the mounting frame 4 to move horizontally towards the gypsum board. During this process, the end of the second rod 612 extending from the adsorption plate 52, after contacting the gypsum board, is blocked by the gypsum board and gradually retracts into the interior of the adsorption plate 52. At this time, the second rod 612 is initially deformed by the second spring 62 squeezed by the stop block 63. After the suction cup 5 contacts the gypsum board, the mounting frame 4 continues to move towards the gypsum board, causing the telescopic tube 53 to contract under force to provide sufficient extrusion force to ensure that the adsorption plate 52 of the suction cup 5 is in close contact with the surface of the gypsum board. Then, the first reversing valve 41 connects the pipeline to the first chamber 442, and the second reversing valve 45 connects the second chamber 443 to the external environment and starts the vacuum pump. The vacuum pump extracts the air in the first chamber 442. As the first chamber 442 approaches the side of the partition 441 (the first piston block 43 divides the first chamber 442 into two parts)... As the air pressure decreases, the first piston block 43 moves along the through hole 42 toward the side of the first chamber 442 closer to the partition 441 until the first piston block 43 contacts the partition 441. At this time, the first piston block 43 is in the second position. During this process, as the volume of the part of the first chamber 442 connected to the through hole 42 gradually increases, while the amount of air originally distributed in the side of the first chamber 442 close to the through hole 42, inside the through hole 42, inside the telescopic tube 53, and inside the suction cup 5 remains constant, the air pressure in the side of the first chamber 442 connected to the through hole 42, the through hole 42, and the suction cup 5 gradually decreases, causing the suction cup 5 to hold the plasterboard. Since L3 > L1 + L2, when the first piston block 43 is adjusted from the first position to the second position, even if the suction cup 5 pulls the telescopic tube 53 to extend a certain distance under the gravity of the plasterboard, the second spring 62 remains at its original length and will not apply a squeezing force to the plasterboard that has been held by the suction cup 5 through the second rod 612.

[0046] When the plasterboard needs to be released, the robotic arm 3 controls the mounting frame 4 to place the suctioned plasterboard onto the second conveyor 2. The first reversing valve 41 connects the pipe to the second chamber 443, and the second reversing valve 45 connects the first chamber 442. A vacuum pump is then activated, drawing air from the second chamber 443. At this time, outside air enters the side of the second chamber 443 away from the partition 441 through the third hole 446. As the air pressure decreases on the side of the second chamber 443 closer to the partition 441 (where the second piston block 71 also divides the second chamber 443 into two parts), the second piston block 71, under the influence of the outside air pressure, slides along the axial direction of the sealing sleeve 44 towards the location of the partition 441. Furthermore, the second piston block 71 pushes the first piston block 43 from the second position to the first position via the connecting rod 72. At this time, outside air enters through the second reversing valve 45. On the side of the first chamber 442 closest to the partition 441, since the suction cup 52 is not in contact with the plasterboard, and when the second rod 612 extends naturally from below the suction cup 52, the two ends of the second spring 62 just come into contact with the first piston block 43 and the stop block 63 respectively. At this time, the second rod 612 is blocked by the plasterboard and retracts into the inside of the suction cup 52. Therefore, the second spring 62 is in a state of stored force due to the compression of the first piston block 43 and the stop block 63. As the robotic arm 3 slowly moves the mounting bracket 4 upward, the second rod 612 gradually extends outward from inside the suction cup 52 under the push of the second spring 62. During the process of the first piston block 43 moving from the second position to the first position, the volume of the part of the first chamber 442 connected to the through hole 42 gradually decreases, so that the inner cavity of the suction cup 5 returns to normal air pressure. Combined with the pushing force of the second rod 612 on the plasterboard, the suction cup 5 separates from the plasterboard.

[0047] Obviously, in order to ensure that the air pressure change inside the suction cup 5 is sufficient to firmly hold the plasterboard in place during the adjustment of the first piston block 43 from the first position to the second position, the inner diameter of the first chamber 442 is larger than the inner diameter of the through hole 42 near the suction cup 5, and the inner diameter of the sliding stroke portion of the first piston block 43 within the through hole 42 is larger than the inner diameter of the through hole 42 near the suction cup 5. Figures 5 to 7 As shown.

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

[0049] Specifically, in the above embodiment, since the adsorption disk 52 itself has a certain deformation capability, when the vacuum pump extracts air from the inner cavity of the adsorption disk 52, the adsorption disk 52 will gradually deform and fully contact the surface of the gypsum board. At this time, the adsorption disk 52 tightly adheres to the gypsum board. Let the dimension of the adsorption disk 52 along its own axis be Y1 when it is in this state. However, when the adsorption force of the adsorption disk 52 on the gypsum board is insufficient (such as air leakage or edge deformation of the adsorption disk 52 leading to reduced sealing, or insufficient air pressure in the inner cavity of the adsorption disk 5 after the first piston block 43 moves from the first position to the second position, which is insufficient to tightly adhere to the gypsum board), it may not be completely tightly attached to the gypsum board. Let the dimension of the adsorption disk 52 along its own axis be Y2 when it is in this state, then Y2 > Y1. In this embodiment, a detection component 8 is provided on the inner wall of the telescopic tube 53. Optionally, the detection component 8 is a distance sensor, which is fixed to the inner wall of the telescopic tube 53. Figures 5 to 7 As shown, the distance sensor is used to measure the distance between itself and the stop 63. When the robotic arm 3 lifts the plasterboard through the mounting bracket 4 and the suction cup 5, if the suction cup 5 firmly holds the plasterboard, the distance between the distance sensor and the stop 63 is a constant value Y3. However, if the suction cup 5 fails to hold the plasterboard or the suction force is insufficient, the distance between the distance sensor and the stop 63 will be greater than this constant value Y3. With this setting, the extension and retraction of the compression rod 61 (the longer the second rod 612 extends, the greater the distance between the distance sensor and the stop 63) can be measured to determine whether the suction cup 5 firmly holds the plasterboard, and a warning can be issued when the suction force of the suction cup 5 is insufficient.

[0050] In another embodiment of the present invention, a first half-ring 521 and a second half-ring 522 are fixedly connected to the inner wall of the adsorption disk 52. The first half-ring 521 and the second half-ring 522 are hinged to each other. Both the first half-ring 521 and the second half-ring 522 are provided with connecting members. The connecting members cooperate with the extrusion rod 61. When the extrusion rod 61 extends from below the adsorption disk 5, the extrusion rod 61 drives the first half-ring 521 and the second half-ring 522 to tilt up through the connecting members.

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

[0052] Specifically, to allow the suction cup 5 to release its adhesion to the plasterboard more quickly, in this embodiment, a first half-ring 521 and a second half-ring 522 are fixedly connected to the inner wall of the suction cup 52, such as... Figure 8As shown, the inner and outer diameters of the first half-ring 521 and the second half-ring 522 are equal, and the first half-ring 521 and the second half-ring 522 are hinged to each other. Both the first half-ring 521 and the second half-ring 522 are provided with connecting members. Optionally, the connecting member includes a Z-shaped rod 523 fixed to the inner wall of the first half-ring 521 (second half-ring 522), and the two Z-shaped rods 523 are hinged to each other. Preferably, a torsion spring is provided on the hinge axis of the two Z-shaped rods 523, and the torsion spring maintains the Z-shaped rods 523 in a horizontal state. Figure 8 The arrangement is such that the lower surfaces of the first half-ring 521 and the second half-ring 522 are in the same plane. Furthermore, a slot 6121 is provided on the second rod 612 corresponding to the position of the Z-shaped rod 523. The slot 6121 is located at the lower part of the second rod 612 and extends radially through the second rod 612, reaching the lower end of the second rod 612. With this configuration, during the process of loosening the plasterboard, when the vacuum pump extracts gas from the second chamber 443, causing the first piston block 43 to move from the second position to the first position, the force of the second spring 62 on the stop block 63 will drive the second rod 612 to press the hinge of the two Z-shaped rods 523. The position drives the hinge points of the two Z-shaped rods 523 downward, and the Z-shaped rods 523 pry the first half-ring 521 and the second half-ring 522. When the first half-ring 521 and the second half-ring 522 are lifted, the suction cup 52 is separated from the gypsum board, so as to avoid the edge of the suction cup 52 still having a certain suction force on the gypsum board. And the outside air can quickly enter the inner cavity of the suction cup 5 through the lifted position of the first half-ring 521 and the second half-ring 522, so that the suction cup 5 can quickly release the suction of the gypsum board. And since the first half-ring 521 and the second half-ring 522 are both flat and have high hardness, they can effectively prevent the edge of the suction cup 52 from deforming.

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

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

Claims

1. An automated packaging system for gypsum board production, comprising a robotic arm and a vacuum pump, wherein a mounting frame is mounted at the end of the robotic arm, and a plurality of suction cups are mounted on the mounting frame, and the vacuum pump is connected to the inside of the suction cups via a pipe, characterized in that, The mounting frame is also equipped with a pressing mechanism. When the suction cup releases its grip on the plasterboard, the pressing mechanism presses the plasterboard to promote separation from the suction cup. The suction cup includes a back plate with a suction disk fixed to it. The back plate is connected to the mounting frame via a telescopic tube, and a first spring is fitted outside the telescopic tube. The pressing mechanism includes a pressing rod and a second spring located inside the telescopic tube. The mounting frame is equipped with an adjustment mechanism at the corresponding positions of the pressing rod. The pressing rod is movably mounted on the mounting frame. The adjustment mechanism adjusts the position of the pressing rod relative to the suction cup so that the second spring can return to its original length after the suction cup picks up the plasterboard. The mounting frame has through holes at the corresponding positions of the pressing rod, and a first piston block is dynamically sealed inside the through hole. The pressing rod is fixedly connected to the first piston block. A sealing sleeve is fixed at the corresponding positions of the through holes on the mounting frame. The adjustment mechanism is located inside the sealing sleeve. The vacuum pump drives the first piston block to reciprocate along the through hole through the adjustment mechanism. The sealing sleeve has a partition that divides the inner cavity of the sealing sleeve into a first chamber and a second chamber. The first chamber is connected to a through hole. The adjusting mechanism includes a second piston block installed in the second chamber. The first piston block is connected to the second piston block via a connecting rod. The partition has a first hole and a second hole in the middle that connect the first chamber and the second chamber. A first reversing valve is installed in the middle of the first hole and is connected to a vacuum pump via a pipe. A second reversing valve is installed in the middle of the second hole and its inlet is connected to the outside. The sealing sleeve also has a third hole that connects the second chamber to the outside. A first half-ring and a second half-ring are fixed to the inner wall of the suction cup and are hinged to each other. Both the first half-ring and the second half-ring are provided with connecting parts that cooperate with the extrusion rod. When the extrusion rod extends from below the suction cup, the extrusion rod drives the first half-ring and the second half-ring to tilt up via the connecting parts.

2. The automatic packaging system for gypsum board production according to claim 1, characterized in that, The extrusion rod is a telescopic structure. When the extrusion rod is in its natural state, the second spring drives one end of the extrusion rod to extend outward from inside the suction cup.

3. The automatic packaging system for gypsum board production according to claim 1, characterized in that, The inner diameter of the first chamber is larger than the inner diameter of the through hole near the suction cup end, and the inner diameter of the sliding stroke portion of the first piston block inside the through hole is larger than the inner diameter of the through hole near the suction cup end.

4. The automatic packaging system for gypsum board production according to claim 1, characterized in that, The telescopic tube is equipped with a detection component, which is used to detect the elongation of the extrusion rod.

5. The automatic packaging system for gypsum board production according to claim 1, characterized in that, The adsorption disk is connected in sequence to the upper surface, outer sidewall, lower surface and inner sidewall of both the first half-ring and the second half-ring.

Images