Pressing machine for taking and turning over materials through mechanical arm and inspection and stacking production line

Abstract

The invention relates to the technical field of plate processing, and particularly discloses a pressing machine and inspection and stacking production line utilizing a manipulator to take and turn over materials, which comprises a feeding mechanism, a hot pressing mechanism, a manipulator transfer mechanism, a detection mechanism and a screening mechanism, the feeding mechanism drives a sliding block to move in the x direction through a sliding rail, and then a three-layer structure of bottom face facing paper, a plate and top face facing paper is accurately fed into the surface of a lower die plate of the hot pressing mechanism through a belt conveying device. The hot-pressing mechanism forms a double-sided veneer through mold closing and hot-pressing of an upper mold plate and a lower mold plate; the manipulator transfer mechanism adopts a multi-axis mechanical arm to drive a suction cup frame to adsorb a plate, realizes 180-degree automatic turnover by utilizing a turnover device, and is matched with a transfer frame and a detection device of the detection mechanism to complete double-sided visual detection and identify surface defects; and the screening mechanism transfers the veneers to the adjustable good product stacking frame or the defective product stacking frame in a classified mode through the flexible mechanical arm according to the detection result, and full-process automatic sorting, data tracing and flexible production management and control are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of sheet processing, and particularly relates to a press, inspection and palletizing production line that uses a manipulator to pick up and turn over materials. Background Art

[0002] The manufacturing process of melamine board (fully named melamine impregnated film faced wood-based panel) is as follows: Immerse the paper with color or texture into melamine resin adhesive. After it dries and cures, lay it on the surface of substrates such as particle board, medium density fiberboard, plywood, etc., and form a surface decorative layer through hot pressing. During the hot pressing process, it is necessary to ensure that the embossing of the substrate completely coincides with the printed pattern of the paper.

[0003] For related technologies, reference can be made to "A non-manipulator synchronous pattern alignment automatic paper laying device" disclosed in Chinese Patent Publication No. CN119370613A. After the device completes paper laying, it sends the board and the decorative paper into a hot press for processing to obtain a double-sided decorative board, and then uses a material transfer device with translation and lifting functions to transfer the double-sided decorative board out of the machine.

[0004] However, the existing translation and lifting type material transfer device has the following problems:

[0005] ① It can only adapt to the transfer of some specifications of decorative boards, and the equipment has poor versatility;

[0006] ② The structure has too strong rigidity and lacks flexible adjustment ability;

[0007] ③ It cannot perform automatic turning over operation, resulting in the inability to automatically detect the front and back sides of the double-sided decorative board, affecting the quality inspection efficiency and the qualified rate of finished products.

[0008] Therefore, the existing technology still needs to be improved and developed. Summary of the Invention

[0009] In view of the above deficiencies of the existing technology, the purpose of the present invention is to provide a press, inspection and palletizing production line that uses a manipulator to pick up and turn over materials to solve the above problems.

[0010] A press, inspection and palletizing production line that uses a manipulator to pick up and turn over materials, comprising:

[0011] A loading mechanism, the loading mechanism includes a loading rack, two slide rails arranged on the loading rack and extending along the x direction, sliders respectively slidably connected to the two slide rails, and a belt conveyor device erected between the two sliders;

[0012] Hot pressing mechanism, the hot pressing mechanism includes a frame, a lower template fixed inside the frame, and an upper template arranged above the lower template in a liftable manner. A hot pressing gap is formed between the lower template and the upper template, and the x-direction ends of the two sliders extend to one side in the y-direction of the hot pressing gap;

[0013] Robot transfer mechanism, the robot transfer mechanism includes a robot device arranged at the discharging end of the hot pressing mechanism, a flipping device connected to the end of the robot device, a suction cup holder fixed to the flipping device, and a suction cup structure arranged on the suction cup holder;

[0014] Detection mechanism, the detection mechanism includes a transfer rack arranged on the side of the robot device and a detection device installed above the transfer rack. The transfer rack is provided with an avoidance hole for the suction cup holder to pass through after flipping. The robot device drives the suction cup holder to extend into the hot pressing gap to suck the decorative panel and transfer it to the transfer rack, and the detection device detects the front or back of the decorative panel;

[0015] Screening mechanism, the screening mechanism includes a good product stacking rack and a defective product stacking rack arranged on the side of the robot device. The robot transfer mechanism classifies and transfers the decorative panels to the good product stacking rack or the defective product stacking rack for stacking according to the detection results.

[0016] Specifically, the loading mechanism further includes a translation driving device. The translation driving device includes a first support and a second support fixed to the loading rack, a first motor fixed to the first support, a driving wheel connected to the output shaft of the first motor, a driven wheel rotatably arranged on the second support, a transmission belt for connecting the driving wheel and the driven wheel. A cross beam is connected between the two sliders, and one part of the transmission belt is fixedly connected to the cross beam.

[0017] Specifically, the loading mechanism further includes a limiting device. The limiting device includes a third support and a fourth support respectively arranged on the two sliders, a first swing arm rotatably arranged on the third support, a second swing arm rotatably arranged on the fourth support, a second motor fixed to the third support and used to drive the first swing arm to swing, and a pressure rod connected between the first swing arm and the second swing arm. The gap between the pressure rod and the belt conveyor is adjustable, and several rollers are arranged on the pressure rod.

[0018] Specifically, the loading mechanism further includes a dust blowing device. The dust blowing device includes a first mounting plate fixed to the third support, a second mounting plate fixed to the fourth support, and an air duct arranged between the first mounting plate and the second mounting plate. The air duct is provided with several air outlets inclined towards the belt conveyor, and the air outlets are of flat structure.

[0019] Specifically, the hot pressing mechanism further includes a heat conduction device and a hydraulic device;

[0020] The heat conduction device includes a heat conduction oil furnace and heat conduction oil pipes connected to the oil outlet and the oil return port of the heat conduction oil furnace. The heat conduction oil pipes are used to transfer heat to the lower template and the upper template.

[0021] The hydraulic device includes a hydraulic pump and a hydraulic cylinder connected to the hydraulic pump through a oil pipe. The hydraulic cylinder is fixed to the frame and its driving end is connected to the upper template.

[0022] Specifically, the manipulator transfer mechanism further includes a pressing plate mechanism. The pressing plate mechanism includes a telescopic driving cylinder, a swing frame and a pressing wheel. The middle of the swing frame is hinged to the suction cup frame through a first rotating shaft. The cylinder body of the telescopic driving cylinder is hinged to the suction cup frame through a second rotating shaft. The telescopic rod of the telescopic driving cylinder is hinged to one end of the swing frame through a third rotating shaft. The pressing wheel is rotatably arranged at the other end of the swing frame.

[0023] Specifically, the suction cup structure includes a plurality of first suction cups arranged in the middle of the suction cup frame and a plurality of second suction cups arranged on both sides of the suction cup frame along the y direction. The first suction cups are flat suction cups, and the second suction cups are multi-fold corrugated suction cups. The bottom surface of the first suction cups is higher than the bottom surface of the second suction cups.

[0024] Specifically, a feeding area is provided on the transfer rack. First pushing devices are arranged on both sides of the feeding area along the x direction. The first pushing devices include first electric cylinders fixed to the transfer rack and first push plates connected to the output ends of the first electric cylinders. A second pushing device is arranged on one side of the feeding area along the y direction. The second pushing devices include second electric cylinders fixed to the transfer rack and second push plates connected to the output ends of the second electric cylinders.

[0025] Specifically, a plurality of casters are provided at the lower end of the transfer rack.

[0026] Advantages of the present invention:

[0027] A press, inspection and palletizing production line using a manipulator to pick up and turn over materials, comprising a feeding mechanism, a hot pressing mechanism, a manipulator transfer mechanism, a detection mechanism and a screening mechanism; the feeding mechanism drives a slider to move along the x direction through a slide rail, and then a belt conveying device accurately feeds a three-layer structure of a bottom decorative paper - a board - a top decorative paper onto the surface of the lower template of the hot pressing mechanism; the hot pressing mechanism forms a double-sided decorative board by closing the upper template and the lower template for hot pressing; the manipulator transfer mechanism uses a multi-axis robotic arm to drive a suction cup frame to adsorb the board, and uses a flipping device to achieve 180° automatic turning over, and cooperates with the transfer rack and the detection device of the detection mechanism to complete double-sided visual inspection and identify surface defects; the screening mechanism, according to the detection results, transfers the decorative boards to an adjustable good product palletizing rack or a defective product palletizing rack through a flexible manipulator, realizing full-process automatic sorting, data traceability and flexible production control. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a three-dimensional view of the press device of the present application Figure 1 ;

[0029] Figure 2 is Figure 1 an enlarged view of part A in

[0030] Figure 3 is a three-dimensional view of the press device of the present application Figure 2 ;

[0031] Figure 4 is a three-dimensional view of the feeding mechanism of the present application Figure 1 ;

[0032] Figure 5 is Figure 4 an enlarged view of part B in

[0033] Figure 6 is a three-dimensional view of the feeding mechanism of the present application Figure 2 ;

[0034] Figure 7 is a three-dimensional view of the manipulator transfer mechanism of the present application Figure 1 ;

[0035] Figure 8 is a three-dimensional view of the suction cup frame, the suction cup structure and the pressing plate mechanism of the present application;

[0036] Figure 9 is a three-dimensional view of the detection mechanism of the present application.

[0037] The reference numerals are: loading mechanism 10, loading rack 11, slide rail 12, slider 13, belt conveyor 14, hot pressing mechanism 20, frame 21, lower template 22, upper template 23, manipulator transfer mechanism 30, manipulator device 31, flipping device 32, suction cup rack 33, suction cup structure 34, detection mechanism 40, transfer rack 41, detection device 42, avoidance hole 411, screening mechanism 50, good product stacking rack 51, defective product stacking rack 52, translation drive device 15, first support 151, second support 152, first motor 153, driving wheel 154, driven wheel 155, transmission belt 156, cross beam 157, limiting device 16, third support 161, fourth support 162, first swing arm 163, second swing arm 164, second motor 165, pressure bar 166, roller 167, dust blowing device 17, first mounting plate 171, second mounting plate 172, air duct 173, air outlet 174, heat conduction device 24, hydraulic device 25, heat conduction oil furnace 241, heat conduction oil pipe 242, hydraulic pump 251, hydraulic cylinder 252, pressing plate mechanism 35, telescopic drive cylinder 351, swing frame 352, pressing wheel 353, first suction cup 341, second suction cup 342, first pushing device 43, first electric cylinder 431, first push plate 432, second pushing device 44, second electric cylinder 441, second push plate 442, caster 45. Detailed implementation manners

[0038] The present invention provides a press, inspection and palletizing production line that uses a manipulator to pick up and turn over materials. To make the purpose, technical solutions and effects of the present invention clearer and more definite, the following will refer to the attached drawings and give examples to further elaborate on the present invention in detail. It should be understood that the specific examples described herein are only used to explain the present invention and are not used to limit the present invention.

[0039] In the description of the present invention, it should be understood that for the orientation description, such as the orientation or positional relationship indicated by up, down, front, back, left, right, etc., is based on the orientation or positional relationship shown in the attached drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0040] Please refer to Figures 1 to 3, this embodiment discloses a press, inspection and palletizing production line for picking and turning materials using a manipulator, including a feeding mechanism 10, a hot pressing mechanism 20, a manipulator transfer mechanism 30, a detection mechanism 40 and a screening mechanism 50. Among them, the manipulator transfer mechanism 30 can adopt a multi-axis flexible robotic arm design, which can adaptively grasp, turn over and transfer double-sided decorative panels of different specifications. After cooperating with the hot pressing mechanism 20 to complete the synchronous pattern pressing of the double-sided decorative panel, the double-sided decorative panel is transferred to the detection mechanism 40 for automatic double-sided appearance quality inspection through the turning function. Finally, the screening mechanism 50 sorts qualified products and defective products according to the detection results, realizing full-process flexible production and quality control.

[0041] Among them, as Figures 4 to 6 shown, the feeding mechanism 10 includes a feeding rack 11, two slide rails 12 arranged on the feeding rack 11 and extending along the x direction, sliders 13 respectively slidably connected to the two slide rails 12, and a belt conveyor device 14 erected between the two sliders 13. Before hot pressing, the bottom decorative paper, the board and the top decorative paper can be sequentially laid on the belt conveyor device 14. After the paper laying is completed, the two sliders 13 move synchronously along the two slide rails 12, driving the belt conveyor device 14 to move integrally to the hot pressing gap position of the hot pressing mechanism 20. After ensuring the precise positioning of the three-layer structure of the bottom decorative paper - board - top decorative paper, it is sent to the surface of the lower template 22 by the belt conveyor device 14.

[0042] As Figures 1 to 2 shown, the hot pressing mechanism 20 includes a frame 21, a lower template 22 fixed inside the frame 21, and an upper template 23 arranged above the lower template 22 in a liftable manner. A hot pressing gap is formed between the lower template 22 and the upper template 23. The x-direction ends of the two sliders 13 extend to one side of the y direction of the hot pressing gap, so that the belt conveyor device 14 can completely lay the three-layer structure on the lower template 22. Subsequently, the upper template 23 presses down to close the mold with the lower template 22, and the decorative paper and the board are bonded and cured through high temperature and high pressure to form a double-sided decorative panel.

[0043] As Figure 7 shown, the manipulator transfer mechanism 30 includes a manipulator device 31 arranged at the discharge end of the hot pressing mechanism 20, a flipping device 32 connected to the end of the manipulator device 31, a suction cup holder 33 fixed to the flipping device 32, and a suction cup structure 34 arranged on the suction cup holder 33. The manipulator device 31 adopts a multi-axis linkage structure and can move and adjust its posture along the XYZ three axes, driving the suction cup holder 33 to extend into the hot pressing gap, and adsorbing the double-sided decorative panel that has completed hot pressing through the suction cup structure 34; the flipping device 32 drives the suction cup holder 33 to rotate 180° around the horizontal axis, realizing the automatic flipping and direction change of the front and back sides of the decorative panel, meeting the double-sided detection requirements. At the same time, the suction cup structure 34 is equipped with a flexible adsorption unit, which can adapt to the surface curvature and size changes of the decorative panel.

[0044] As Figure 9As shown in the figure, the inspection mechanism 40 includes a transfer rack 41 arranged on the side of the manipulator device 31 and an inspection device 42 installed above the transfer rack 41. The transfer rack 41 is provided with an avoidance hole 411 through which the suction cup rack 33 can pass after flipping. When the manipulator device 31 transfers the double-sided decorative panel to the transfer rack 41, the suction cup rack 33 passes through the avoidance hole 411 and releases the double-sided decorative panel, making it flat on the surface of the transfer rack 41. Then, the front side of the decorative panel is subjected to the first appearance inspection by the inspection device 42, and the inspection device 42 can adopt a CCD camera. Subsequently, the manipulator transfer mechanism 30 grabs the decorative panel again and places it on the transfer rack 41 for the second time after changing the surface through the flipping device 32. The reverse side is reinspected by the inspection device 42 to ensure that all double-sided defects are identified, and the inspection data is uploaded to the control system in real time.

[0045] As Figure 3 As shown in the figure, the screening mechanism 50 includes a good product stacking rack 51 and a defective product stacking rack 52 arranged on the side of the manipulator device 31. The manipulator transfer mechanism 30 classifies and transfers the double-sided decorative panels to the good product stacking rack 51 or the defective product stacking rack 52 for stacking according to the inspection results, realizing partitioned storage.

[0046] The press device disclosed in this embodiment includes a loading mechanism 10, a hot pressing mechanism 20, a manipulator transfer mechanism 30, an inspection mechanism 40, and a screening mechanism 50. The loading mechanism 10 drives the slider 13 to move along the x direction through the slide rail 12, and then the bottom decorative paper - board - top decorative paper three-layer structure is accurately fed onto the surface of the lower template 22 of the hot pressing mechanism 20 by the belt conveyor 14. The hot pressing mechanism 20 forms a double-sided decorative panel by closing the upper template 23 and the lower template 22 for hot pressing. The manipulator transfer mechanism 30 uses a multi-axis robotic arm to drive the suction cup rack 33 to adsorb the board, and uses the flipping device 32 to achieve 180° automatic flipping, and cooperates with the transfer rack 41 and the inspection device 42 of the inspection mechanism 40 to complete the double-sided CCD visual inspection and identify surface defects. The screening mechanism 50 classifies and transfers the decorative panels to the adjustable good product stacking rack 51 or the defective product stacking rack 52 according to the inspection results through a flexible manipulator, realizing full-process automated sorting, data traceability, and flexible production control.

[0047] As Figures 4 to 6As shown in the figure, the feeding mechanism 10 further includes a translation driving device 15. The translation driving device 15 includes a first support 151 and a second support 152 fixed to the feeding rack 11, a first motor 153 fixed to the first support 151, a driving wheel 154 connected to the output shaft of the first motor 153, a driven wheel 155 rotatably arranged on the second support 152, and a transmission belt 156 for connecting the driving wheel 154 and the driven wheel 155. A cross beam 157 is connected between the two sliders 13, and one part of the transmission belt 156 is fixedly connected to the cross beam 157. When the first motor 153 is started, the transmission belt 156 is driven by the driving wheel 154 to rotate in a cycle. The transmission belt 156 pulls the cross beam 157 to translate along the x direction through the fixed point, and then drives the two sliders 13 to slide synchronously on the slide rail 12, realizing the overall position adjustment of the belt conveying device 14. The rigid connection between the cross beam 157 and the two sliders 13 ensures the synchronism of their movements, avoiding conveying misalignment caused by unilateral offset. At the same time, the flexible transmission characteristic of the transmission belt 156 can absorb part of the vibration, ensuring the smoothness of the sheet conveying process. By adjusting the x-direction stroke of the slider 13, the translation driving device 15 can not only accurately move the belt conveying device 14 directly below the hot pressing gap, but also adapt to the conveying requirements of different width specifications of sheets, improving the compatibility and positioning accuracy of the feeding mechanism.

[0048] Further, the feeding mechanism 10 further includes a limiting device 16. The limiting device 16 includes a third support 161 and a fourth support 162 respectively arranged on the two sliders 13, a first swing arm 163 rotatably arranged on the third support 161, a second swing arm 164 rotatably arranged on the fourth support 162, a second motor 165 fixed to the third support 161 and used to drive the first swing arm 163 to swing, and a pressure rod 166 connected between the first swing arm 163 and the second swing arm 164. The gap between the pressure rod 166 and the belt conveying device 14 is adjustable, and a plurality of rollers 167 are arranged on the pressure rod 166. The second motor 165 drives the first swing arm 163 to swing around the axis of the third support 161 through a reducer, driving the pressure rod 166 to adjust the height synchronously. At the same time, the second swing arm 164 rotates followingly, ensuring that the pressure rod 166 always remains parallel to the conveying plane of the belt conveying device 14. The gap adjustment range of the pressure rod 166 covers the limiting requirements of different thickness sheets. When the sheet is conveyed by the belt conveying device 14, the pressure rod 166 contacts the surface of the sheet through the rollers 167, and uses the rolling friction characteristic of the rollers 167 to apply a flexible pressure in the vertical direction to the sheet, suppressing the offset caused by inertia or vibration during the conveying process, and at the same time avoiding scratching the surface of the decorative paper. The rollers 167 on the pressure rod 166 are made of elastic silica gel and are arranged in an equidistant array, which can adapt to the slight warping of the sheet edge or the unevenness of the surface, further ensuring the centering positioning of the sheet and the smooth conveying to the hot pressing gap. The limiting device 16 and the translation driving device 15 work together to accurately fix the positions of the three-layer structure before hot pressing, ensuring that the alignment accuracy of the bottom decorative paper, the sheet and the top decorative paper meets the requirements of the synchronous pattern hot pressing process.

[0049] Further, the feeding mechanism 10 further includes a dust blowing device 17. The dust blowing device 17 includes a first mounting plate 171 fixed to the third support 161, a second mounting plate 172 fixed to the fourth support 162, and an air duct 173 disposed between the first mounting plate 171 and the second mounting plate 172. The air duct 173 is provided with a plurality of air outlets 174 inclined towards the belt conveyor 14, and the air outlets 174 are flat structures. The air duct 173 is disposed between the first mounting plate 171 and the second mounting plate 172 and moves synchronously with the belt conveyor 14. Its interior is connected to an external air source, and a high-speed fan-shaped air flow is formed through the flat air outlets 174, covering the entire conveying width of the belt conveyor 14; the inclination angle is designed such that the air flow direction forms an acute angle with the sheet conveying path, which can not only blow off the floating dust and debris on the surfaces of the bottom facing paper, the sheet, and the top facing paper, but also avoid the displacement or wrinkling of the facing paper caused by the vertical impact of the air flow. The dust blowing device 17 is started before the sheet enters the hot pressing gap. By controlling the air flow intensity of the air outlets 174 in different regions, dynamic adjustment is performed according to the different cleaning requirements at the edges and the center of the sheet, ensuring that there is no impurity residue at the bonding surface of the three-layer structure, improving the bonding strength and surface smoothness of the facing paper and the sheet after hot pressing, and reducing the generation of defects such as bulges and pockmarks. The flat flow channel design of the flat air outlets 174 can reduce air flow turbulence and enhance the dust blowing concentration. At the same time, the air duct 173 is made of lightweight aluminum alloy material to reduce the moving load of the slider 13.

[0050] As Figure 3 shown, the hot pressing mechanism 20 further includes a heat conduction device 24. The heat conduction device 24 includes a heat-conducting oil furnace 241 and a heat-conducting oil pipe 242 connected to the oil outlet and the oil return port of the heat-conducting oil furnace 241. The heat-conducting oil pipe 242 is used to transfer heat to the lower template 22 and the upper template 23; the heat-conducting oil furnace 241 transports high-temperature heat-conducting oil to the spiral flow channels inside the lower template 22 and the upper template 23 through a circulation pump via the heat-conducting oil pipe 242, and uniformly heats the templates by means of oil circuit circulation, ensuring that the temperature distribution in the hot pressing gap is consistent; the heat-conducting oil pipe 242 is divided into upper and lower template oil circuit branches that are independently controlled, and the temperature can be adjusted separately according to the process requirements, avoiding discoloration of the facing paper due to local overheating or premature curing of the adhesive layer.

[0051] As Figure 1As shown, the hot pressing mechanism 20 further includes a hydraulic device 25. The hydraulic device 25 includes a hydraulic pump 251 and a hydraulic cylinder 252 connected to the hydraulic pump 251 through an oil pipe. The hydraulic cylinder 252 is fixed to the frame 21 and its driving end is connected to the upper template 23. The hydraulic device 25 supplies oil to the hydraulic cylinder 252 through the hydraulic pump 251, driving the upper template 23 to smoothly lift and lower in the vertical direction. Its oil circuit system integrates a proportional valve and a pressure sensor, which can provide real-time feedback and closed-loop control of the hot pressing pressure to ensure that the decorative paper and the board are closely attached under the set pressure. The hydraulic cylinder 252 can adopt a double-acting cylinder structure, which cooperates with the guide columns of the frame 21 to achieve high-precision alignment and mold closing of the upper template 23. At the same time, it has an overload protection function to prevent equipment damage caused by foreign object interference or overly thick boards. The heat conduction device 24 and the hydraulic device 25 are linked through a central control system to apply temperature and pressure synchronously during the hot pressing process, optimizing the curing efficiency of the resin adhesive of the decorative paper and improving the interface bonding strength and surface flatness of the double-sided decorative board.

[0052] As Figure 8 shown, the manipulator transfer mechanism 30 further includes a pressing plate mechanism 35. The pressing plate mechanism 35 includes a telescopic driving cylinder 351, a swing frame 352 and a pressing wheel 353. The middle of the swing frame 352 is hinged to the suction cup frame 33 through a first rotating shaft. The cylinder body of the telescopic driving cylinder 351 is hinged to the suction cup frame 33 through a second rotating shaft. The telescopic rod of the telescopic driving cylinder 351 is hinged to one end of the swing frame 352 through a third rotating shaft. The pressing wheel 353 is rotatably arranged at the other end of the swing frame 352. The telescopic driving cylinder 351 can adopt a pneumatic cylinder or an electric cylinder. The telescopic driving cylinder 351 drives the swing frame 352 to rotate around the first rotating shaft through the linear motion of the telescopic rod, driving the pressing wheel 353 to apply a controllable pressure to the surface of the decorative board adsorbed by the suction cup structure 34. The pressing wheel 353 is made of elastic rubber material covering a bearing structure, which fits the surface through rolling friction when contacting the decorative board, avoiding scratching the decorative layer. At the same time, it uses elastic deformation to compensate for the slight warping or unevenness of the decorative board. When the manipulator device 31 grabs the decorative board for flipping or transferring, the pressing plate mechanism 35 is started synchronously. The pressing wheel 353 and the suction cup structure 34 form a clamping force to prevent the decorative board from shifting or falling off due to inertia or gravity during high-speed movement or turning over. The swing frame 352 of the pressing plate mechanism 35 realizes adaptive angle adjustment in three-dimensional space through a multi-rotating shaft hinge design, ensuring that the pressing wheel 353 always acts vertically on the surface of the decorative board, and the pressure value can be dynamically adjusted through the stroke and output force of the telescopic driving cylinder 351 to adapt to the stable transfer requirements of decorative boards with different thicknesses and weights, further improving the grasping reliability and process compatibility of the manipulator transfer mechanism 30.

[0053] As Figure 7 and Figure 8As shown, the suction cup structure 34 includes a plurality of first suction cups 341 provided in the middle of the suction cup holder 33 and a plurality of second suction cups 342 provided on both sides of the suction cup holder 33 along the y direction. The first suction cups 341 are flat suction cups, and the second suction cups 342 are multi-fold corrugated suction cups. The bottom surface of the first suction cups 341 is higher than the bottom surface of the second suction cups 342. The first suction cups 341 adopt rigid flat bodies and are fixedly connected to the suction cup holder 33. The design of the height difference of their bottom surfaces enables the second suction cups 342 to contact the edge area of the board first when adsorbing the decorative panel. The bellows structure of the second suction cups 342 can be axially telescoped and deformed to adapt to the slight warping or thickness fluctuation of the board edge caused by hot pressing. When the suction cup holder 33 presses down to adsorb the decorative panel, the second suction cups 342 first contact both sides of the board in the y direction, and the bellows are compressed and contracted to generate deformation, ensuring a tight fit in the edge area. Subsequently, the first suction cups 341 contact the middle plane area of the board, and the main adsorption force is provided through the flat bodies, forming a composite adsorption mode of "flexible edge wrapping + rigid middle support". Moreover, the bellows deformation of the second suction cups 342 is linked to the vacuum negative pressure value. When a decrease in the unilateral adsorption force is detected, the system automatically compensates the vacuum degree of the suction cups on that side to prevent the decorative panel from falling off due to the center of gravity shift during the turnover or transfer process. The partition design of the suction cup structure 34 can be adapted to decorative panels with a thickness of 5 - 50 mm, and each suction cup is independently controlled to open and close through a vacuum pipeline, meeting the differentiated grasping requirements of special-shaped boards or locally defective boards, and further ensuring the stability and finished product qualification rate during the transfer process of double-sided decorative panels.

[0054] As Figure 9As shown, a material discharge area is provided on the intermediate rotating frame 41, and first material pushing devices 43 are provided on both sides of the material discharge area along the x direction, and the first material pushing device 43 includes a first electric cylinder 431 fixed to the intermediate rotating frame 41, and a first pushing plate 432 connected to the output end of the first electric cylinder 431; a second material pushing device 44 is provided on one side of the material discharge area along the y direction, and the second material pushing device 44 includes a second electric cylinder 441 fixed to the intermediate rotating frame 41, and a second pushing plate 442 connected to the output end of the second electric cylinder 441. When the manipulator transfer mechanism 30 places the decorative panel on the intermediate rotating frame 41, the first electric cylinders 431 on both sides synchronously drive the first pushing plate 432 to move along the x direction, and the first pushing plate 432 at the front end applies a flexible thrust to both sides of the decorative panel, so that it is centered and adjusted to the visual inspection reference line of the detection device 42, and a limit sensor is provided at the end of the stroke of the first pushing plate 432 to prevent the decorative panel from being deformed due to over-pushing. Subsequently, the second electric cylinder 441 located at the end of the discharge area in the y direction drives the second push plate 442 with a hollow design to advance in the y direction, pushing the decorative panel to the preset coordinate point that precisely fits the positioning block, ensuring the reference position for the subsequent grabbing or flipping over for re-inspection by the manipulator. The first push device 43 and the second push device 44 are controlled by PLC linkage, automatically matching the push stroke and force according to the size of the decorative panel. After pushing is completed, the detection device 42 is triggered to start scanning; if an offset or tilt is detected, the system feeds back the error data and triggers a secondary fine-tuning to make the double-sided detection positioning accuracy ≤0.5mm. The pneumatic circuit of the push device is equipped with a pressure compensation valve, which combines the polyurethane buffer layer and the hollow structure design to achieve flexible positioning and surface protection of the decorative panel to avoid scratching the decorative layer.

[0055] Furthermore, a plurality of casters 45 are provided at the lower end of the transfer rack 41 to facilitate the transfer rack 41 to move to a predetermined position.

[0056] The preferred embodiments of the present invention are described in detail above, but the present invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A press, inspection and palletizing production line using a manipulator to take materials and turn them over, characterized in that: include: A feeding mechanism (10), the feeding mechanism (10) comprising a feeding frame (11), two slide rails (12) arranged on the feeding frame (11) and extending along the x-direction, sliders (13) respectively slidably connected to the two slide rails (12), and a belt conveyor (14) mounted between the two sliders (13); A hot pressing mechanism (20), the hot pressing mechanism (20) comprising a frame (21), a lower template (22) fixed to the inner side of the frame (21), and an upper template (23) arranged above the lower template (22) in a liftable manner, a hot pressing gap being formed between the lower template (22) and the upper template (23), and ends of the two sliders (13) in the x direction extending to one side of the hot pressing gap in the y direction; A manipulator transfer mechanism (30), the manipulator transfer mechanism (30) comprising a manipulator device (31) arranged at the discharge end of the hot pressing mechanism (20), a turning device (32) connected to the end of the manipulator device (31), a suction cup frame (33) fixedly connected to the turning device (32), and a suction cup structure (34) arranged on the suction cup frame (33); A detection mechanism (40), the detection mechanism (40) comprising a transfer frame (41) arranged on the side of the manipulator device (31), and a detection device (42) installed above the transfer frame (41), the transfer frame (41) being provided with an avoidance hole (411) for the suction cup frame (33) to pass through after turning over, the manipulator device (31) driving the suction cup frame (33) to extend into the hot pressing gap to absorb the veneer panel and transfer it to the transfer frame (41), and the detection device (42) performs detection on the front or back side of the veneer panel; The screening mechanism (50) comprises a good product stacking rack (51) and a defective product stacking rack (52) arranged on the side of the manipulator device (31); the manipulator transfer mechanism (30) classifies and transfers the decorative panels to the good product stacking rack (51) or the defective product stacking rack (52) for stacking according to the detection results.

2. A press, inspection and palletizing production line utilizing a manipulator to take materials and flip over as claimed in claim 1, characterized in that: The feeding mechanism (10) further comprises a translation driving device (15), the translation driving device (15) comprising a first support (151) and a second support (152) fixed to the feeding frame (11), a first motor (153) fixed to the first support (151), a driving wheel (154) connected to the output shaft of the first motor (153), a driven wheel (155) rotatably arranged on the second support (152), and a transmission belt (156) for connecting the driving wheel (154) and the driven wheel (155), a crossbeam (157) is connected between the two sliders (13), and one of the transmission belts (156) is fixedly connected to the crossbeam (157).

3. A press, inspection and palletizing production line utilizing a manipulator to take materials and flip over as claimed in claim 1, characterized in that: The feeding mechanism (10) also includes a limiting device (16), the limiting device (16) including a third support (161) and a fourth support (162) respectively arranged on the two sliders (13), a first swing arm (163) rotatably arranged on the third support (161), a second swing arm (164) rotatably arranged on the fourth support (162), a second motor (165) fixed to the third support (161) and used for driving the first swing arm (163) to swing, and a pressure rod (166) connected between the first swing arm (163) and the second swing arm (164), the gap between the pressure rod (166) and the belt conveyor (14) being adjustable, and a plurality of rollers (167) being arranged on the pressure rod (166).

4. A press, inspection and palletizing production line utilizing a manipulator to take materials and flip over as claimed in claim 3, characterized in that: The feeding mechanism (10) also includes a dust blowing device (17), the dust blowing device (17) includes a first mounting plate (171) fixed to the third support (161), a second mounting plate (172) fixed to the fourth support (162), and an air duct (173) arranged between the first mounting plate (171) and the second mounting plate (172), the air duct (173) being provided with a plurality of air outlets (174) inclined toward the belt conveyor (14), and the air outlets (174) being flat structures.

5. The press, inspection and palletizing production line using a manipulator to take materials and turn them over according to claim 1 is characterized in that: The hot pressing mechanism (20) further comprises a heat conducting device (24) and a hydraulic device (25); The heat conduction device (24) comprises a heat conduction oil furnace (241), and a heat conduction oil pipe (242) connected to an oil outlet and an oil return port of the heat conduction oil furnace (241), wherein the heat conduction oil pipe (242) is used to conduct heat to the lower mold plate (22) and the upper mold plate (23); The hydraulic device (25) comprises a hydraulic pump (251) and a hydraulic cylinder (252) connected to the hydraulic pump (251) via an oil pipe; the hydraulic cylinder (252) is fixed to the frame (21) and a driving end thereof is connected to the upper template (23).

6. A press, inspection and palletizing production line utilizing a manipulator to take materials and flip over as claimed in claim 1, characterized in that: The manipulator transfer mechanism (30) further comprises a pressure plate mechanism (35), wherein the pressure plate mechanism (35) comprises a telescopic drive cylinder (351), a swing frame (352) and a pressure wheel (353), wherein the middle portion of the swing frame (352) is hinged to the suction cup frame (33) via a first rotating shaft, the cylinder body of the telescopic drive cylinder (351) is hinged to the suction cup frame (33) via a second rotating shaft, the telescopic rod of the telescopic drive cylinder (351) is hinged to one end of the swing frame (352) via a third rotating shaft, and the pressure wheel (353) is rotatably arranged at the other end of the swing frame (352).

7. A press, inspection and palletizing production line utilizing a manipulator to take materials and flip over as claimed in claim 6, characterized in that: The suction cup structure (34) comprises a plurality of first suction cups (341) arranged in the middle of the suction cup frame (33) and a plurality of second suction cups (342) arranged on both sides of the suction cup frame (33) along the y direction, wherein the first suction cup (341) is a flat suction cup, and the second suction cup (342) is a multi-fold corrugated suction cup, and the bottom surface of the first suction cup (341) is higher than the bottom surface of the second suction cup (342).

8. The press, inspection and palletizing production line using a manipulator to take materials and turn them over according to claim 1, characterized in that: The intermediate transfer frame (41) is provided with a material discharge area, and the material discharge area is provided with a first pushing device (43) on both sides along the x direction, and the first pushing device (43) includes a first electric cylinder (431) fixed to the intermediate transfer frame (41) and a first pushing plate (432) connected to the output end of the first electric cylinder (431); the material discharge area is provided with a second pushing device (44) on one side along the y direction, and the second pushing device (44) includes a second electric cylinder (441) fixed to the intermediate transfer frame (41) and a second pushing plate (442) connected to the output end of the second electric cylinder (441).

9. A press, inspection and palletizing production line utilizing a manipulator to take materials and turn them over according to claim 1, characterized in that: The lower end of the transfer frame (41) is provided with a plurality of casters (45).

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