Vacuum suction cup type manipulator for artificial panel assembly

Abstract

The invention relates to an artificial board blank vacuum chuck type manipulator, which relates to the related technical field of intelligent manufacturing of artificial boards, and comprises a guide rail bracket, a connecting plate, an adjusting bracket, a pump body assembly, a middle plate, a lifting frame, a socket assembly, a pushing assembly, a vacuum chuck assembly and a linkage assembly, according to the bamboo plywood, the defects of existing bamboo plywood which has the characteristics of bamboo wood and is prone to bending deformation can be overcome. On one hand, effective adsorption is difficult to realize when a position-fixed suction cup type structure is in contact with a bamboo plywood with a bent surface, and a plate surface is possibly deviated due to rigid extrusion when the position-fixed suction cup type structure descends to be in contact with the bent plate surface, and on the other hand, a gluing layer is arranged on the surface of the bamboo plywood before hot pressing, and air suction is inevitably carried out on the gluing layer when a suction cup is used for adsorption, so that the bamboo plywood cannot be damaged. And after adsorption is carried out for a period of time, even if air suction disappears, local adhesion can still exist between the plate surface and the suction cup, and the problems of inconsistent separation and the like are caused.

Description

Technical Field

[0001] The present invention relates to the technical field related to the intelligent manufacturing of artificial board materials, and in particular to a vacuum suction cup type manipulator for assembling artificial board materials. Background Art

[0002] Bamboo plywood is a type of man-made board. It is a building material that uses bamboo as the main structure and filling material and is formed into blanks under high pressure. Due to its high hardness, bending resistance and compression resistance, bamboo plywood has replaced steel formwork in many areas of use. Bamboo is easy to cultivate and grows quickly. It can be cut down in three to five years and can replace wood. Therefore, the vigorous development of man-made boards with bamboo as the main processing material has replaced the use of wood boards in many places. Common types of plywood include three-ply board and five-ply board. Plywood can improve the utilization rate of wood and is a major way to save wood.

[0003] The existing cantilever blank assembly machine, such as the Chinese patent with publication number CN209504372U, includes a conveying device, the conveying device is provided with a blank assembly station, the conveying device is matched with a horizontally movable cantilever assembly, the cantilever assembly includes a cantilever and a clamping assembly arranged on the cantilever, the clamping assembly includes a horizontally arranged limit cylinder and a clamping cylinder, and the blank assembly station is provided with a vertically movable adsorption device. The present application provides a horizontally movable cantilever, and a limit cylinder and a clamping cylinder are arranged on the cantilever, wherein the limit cylinder is responsible for positioning on one side, and after positioning is completed, the clamping cylinder and the limit cylinder jointly grab the plate, thereby avoiding the situation where the plate is too offset on the side and cannot be grabbed.

[0004] The above-mentioned prior art is mainly aimed at flat board materials. There are many defects for boards such as bamboo plywood that have bamboo characteristics and are easy to bend and deform. On the one hand, it is difficult for the fixed-position suction cup structure to achieve effective adsorption when it contacts the curved surface of the bamboo plywood, resulting in the risk of the board falling during transportation; and when it descends to contact the curved board surface, it may also cause the board surface to shift due to hard squeezing, which will cause the upper and lower layers to have position deviations during subsequent stacking and assembly. On the other hand, there is a glue layer on the surface of the bamboo plywood before hot pressing. When the suction cup is used for adsorption, the glue layer will inevitably be air-absorbed. After a period of adsorption, even if the air absorption disappears, there may still be local adhesion between the board surface and the suction cup, resulting in inconsistent separation. The board falls off in the entire area one after another, which ultimately leads to uneven stacking of single boards.

[0005] Based on this, the present application designs a vacuum suction cup manipulator for assembling artificial board materials. Summary of the invention

[0006] The purpose of the present invention is to provide a vacuum suction cup manipulator which can adaptively bend a single board, automatically level it and release it without loss, so as to improve the automation level and yield rate of bamboo plywood assembly.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] An artificial board blank vacuum suction cup type manipulator, comprising: a guide rail frame, with a connecting plate disposed in the middle thereof; an adjustment bracket mounted on the connecting plate; a pump body assembly, the upper end of which is connected to the adjustment bracket, the pump body assembly is connected to a lifting frame through an intermediate plate, and socket assemblies are symmetrically connected to the left and right ends of the pump body assembly; a pushing assembly mounted at the lower end of the intermediate plate, and the socket assemblies are controlled to move horizontally through the pushing assembly; vacuum suction cup assemblies symmetrically arranged on the left and right inside the lifting frame, and the socket assemblies moving outward are inserted into the vacuum suction cup assemblies to make the vacuum suction cup assemblies form a gas suction state; a linkage assembly connected between the adjustment bracket and the lifting frame, and the vacuum suction cup assemblies are clamped and used in cooperation with the lower end of the linkage assembly after moving to the outermost side.

[0009] Preferably, the guide rail frame includes a support frame, an electric slide rail is connected between the support frames, a movable block is slidably arranged on the electric slide rail by an electric drive, the movable block is mounted on the outer wall position of the side panel, an electric slider is longitudinally mounted on the inner wall of the side panel, and a connecting plate is connected between the left and right arranged electric sliders.

[0010] Preferably, the adjustment bracket includes an electric push rod, an electric push rod is connected between the connecting plate and the lifting plate, and a telescopic rod with a lockable length is connected between the lifting plate and the pump body assembly.

[0011] Preferably, the telescopic rod includes: a sleeve, the upper end of which is mounted on the lifting plate, a pressing block is horizontally slidably arranged in a movable groove opened on the side wall of the sleeve; a sliding rod is vertically slidably arranged inside the sleeve; a clamping block is horizontally slidably arranged in a receiving groove opened on the side wall of the sliding rod, and an elastic connection is provided between the receiving groove and the clamping block, and the clamping block at the initial position is snapped into the movable groove to temporarily lock the positions of the sliding rod and the sleeve.

[0012] Preferably, a rollable ball is arranged on the surface of one end of the clamping block close to the pressing block, a pressing groove is opened on the connecting plate, and the outer inclined surface at the upper end of the pressing groove is inclined gradually inward from top to bottom.

[0013] Preferably, the pump body assembly includes an insulating shell fixedly mounted on the intermediate plate, the upper end of the insulating shell is connected to the lower end of the sliding rod, a battery and a switch member built in the insulating shell are electrically connected to a pump mounted on the intermediate plate, and the number of the switch members is two.

[0014] Preferably, the switch member includes an insulating contact member slidably arranged up and down inside the insulating shell, a conductive member one is fixedly mounted at the upper end of the insulating contact member, and a conductive member two cooperating with the conductive member one is fixedly mounted inside the insulating shell.

[0015] Preferably, a connecting sleeve is installed at the upper end of the outer side of the lifting frame, and the upper end of the guide rod slidably arranged inside the connecting sleeve is installed on the connecting plate.

[0016] Preferably, the socket assembly includes: a busbar frame slidably arranged on the lifting frame, a telescopic tube is connected between the busbar frame and the pump body; a socket connected to the lower end of the busbar frame through a deflecting tube; a limiting plate installed in the middle of the outer wall of the socket.

[0017] Preferably, the pushing assembly includes a connecting seat installed at the lower end of the middle plate, a two-way electric push rod is installed inside the connecting seat, a pushing head is installed at the ejecting end of the two-way electric push rod, a connecting rod is connected between the pushing head and the deflecting tube, and an inner groove is opened at the upper end of the pushing head.

[0018] Preferably, the vacuum suction cup assembly includes: a contact head, connecting shafts are symmetrically and fixedly installed on the side walls of the front and rear ends of the contact head, the connecting shafts are rotatably arranged on the sliding blocks, the sliding blocks are slidably arranged in the transverse grooves opened on the lifting frame, and the sliding blocks and the transverse grooves are elastically connected; a pressing unit slidably arranged up and down in the longitudinal groove opened at the upper end of the contact head, and the position between the pressing unit and the contact head is temporarily locked; a separating member installed at the lower end of the pressing unit.

[0019] Preferably, connecting holes are uniformly opened at the lower end of the contact head, an anti-slip texture layer is laid on the lower end surface of the contact head, a butting port is opened inside the contact head, and the inner plate part of the butting port is of a flared structure, and an access hole is opened outside the upper end of the contact head.

[0020] Preferably, the pressing unit includes: a lifting rod slidably arranged up and down in the longitudinal groove, a fixing plate is installed at the lower end of the lifting rod; a pressing rod slidably arranged up and down in the inner cavity opened on the lifting rod, a hook is installed at the upper end of the pressing rod, pressing heads are symmetrically arranged at the left and right ends of the lower end of the pressing rod, and the lower end middle part of the pressing rod and the inner cavity are elastically connected; a limiting block slidably arranged horizontally in the access groove opened on the side wall of the inner cavity, a guiding groove is opened at the upper end of the limiting block, the inner inclined surface of the guiding groove is gradually inclined upward from outside to inside, the pressing head and the guiding groove are in pressing cooperation, and the limiting block and the connecting block arranged in the inner cavity are elastically connected.

[0021] Preferably, the separating member includes a connecting column, the upper end of the connecting column is installed on the fixing plate, a separating head is slidably arranged up and down at the lower end of the connecting column, and the connecting column and the separating head are elastically connected, and the lower end of the separating head is of a spherical structure.

[0022] Preferably, the linkage assembly includes a connecting frame installed on the inner side wall of the lifting frame. A movable rod is slidably arranged up and down in the connecting frame. The upper end of the movable rod is installed on the lifting plate, and the lower end of the movable rod is installed with a clamping head corresponding to the position of the hook.

[0023] In summary, the present application includes the following beneficial technical effects:

[0024] 1. By adopting the multi-degree-of-freedom vacuum suction cup assembly, the swingable contact head can automatically fit the curved plate surface, effectively improving the adsorption success rate. During the fitting process, the single board will not be forcibly squeezed, avoiding the displacement of the single board position, and solving the air leakage problem caused by the bending of bamboo materials and the displacement of the single board position in traditional suction cups. After the suction cup adsorbs, the angle of the contact head is vertically locked, the contact surface between the contact head and the single board is squeezed flat, and the flatness is further adjusted under the subsequent pulling on both sides.

[0025] 2. Aiming at the problem of the adhesion of the glue coating layer, through the coordinated cooperation among the pressing unit, the separating member, and the linkage assembly, during the separation process of the contact head and the single board, the elastically extended separating member pushes the single board downward when the contact head rises, greatly improving the instantaneous separation rate between the two. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is the first structural schematic diagram of the present invention;

[0027] Figure 2 is the second structural schematic diagram of the present invention;

[0028] Figure 3 is the structural schematic diagram among the movable block, the side panel, the electric slider, the connecting plate, the adjusting bracket, the pump body assembly, the middle plate, the lifting frame, the socket assembly, the pushing assembly, the vacuum suction cup assembly, and the linkage assembly of the present invention;

[0029] Figure 4 is the present invention Figure 3 cross-sectional view;

[0030] Figure 5 is the present invention Figure 4 partial enlarged view at X of the present invention;

[0031] Figure 6 is the present invention Figure 4 partial enlarged view at Y of the present invention;

[0032] Figure 7 is the present invention Figure 4 partial enlarged view at Z of the present invention;

[0033] Figure 8 is the present invention Figure 4 partial enlarged view at A of the present invention.

[0034] Description of the drawing reference numerals: 1, guide rail frame; 2, connecting plate; 3, adjusting bracket; 4, pump body assembly; 5, intermediate plate; 6, lifting frame; 7, socket assembly; 8, pushing assembly; 9, vacuum suction cup assembly; 10, linkage assembly; 11, support frame; 12, electric slide rail; 13, movable block; 14, side panel; 15, electric slider; 31, electric push rod; 32, lifting plate; 33, telescopic rod; 41, insulating shell; 42, switch member; 43, pump body; 61, guide rod; 71, confluence frame; 72, telescopic tube; 73, socket; 74, deflecting tube; 81, double-direction electric push rod; 82, pushing head; 83, inner groove; 91, contact head; 92, sliding block; 93, transverse groove; 94, pressing unit; 95, separating member; 96, connecting hole; 97, docking port; 98, inlet hole; 101, connecting frame; 102, movable rod; 103, clamping joint; 331, sleeve; 332, extrusion block; 333, sliding rod; 334, clamping block; 335, extrusion groove; 421, insulating contact member; 422, first conductive member; 423, second conductive member; 941, lifting rod; 942, fixing plate; 943, extrusion rod; 944, hook; 945, extrusion head; 946, limiting block; 947, guiding groove; 951, connecting column; 952, separating head. Detailed implementation manners

[0035] The following further describes the present application in detail with reference to the Figures 1 to 8 accompanying drawings.

[0036] An embodiment of the present application discloses a vacuum suction cup type manipulator for artificial board blanking. The present application adaptively fits a veneer with a certain curvature through a high-degree-of-freedom vacuum suction cup assembly 9 and then sucks it. Subsequently, it is pulled short distances to both sides to straighten the whole from the curved state to a flat state, and then stacking and blanking are carried out.

[0037] Refer to Figures 1 to 2As shown in the figure, a vacuum suction cup type manipulator for artificial board blank includes a guide rail frame 1, a connecting plate 2, an adjusting bracket 3, a pump body assembly 4, an intermediate plate 5, a lifting frame 6, a socket assembly 7, a pushing assembly 8, a vacuum suction cup assembly 9, and a linkage assembly 10. A connecting plate 2 is arranged in the middle of the guide rail frame 1. The adjusting bracket 3 is installed on the connecting plate 2. The upper end of the pump body assembly 4 is connected to the adjusting bracket 3. The pump body assembly 4 is connected to the lifting frame 6 through the intermediate plate 5. Socket assemblies 7 are symmetrically connected to the left and right ends of the pump body assembly 4. The pushing assembly 8 is installed at the lower end of the intermediate plate 5. The socket assembly 7 is controlled by the pushing assembly 8 to move horizontally. The vacuum suction cup assemblies 9 are symmetrically arranged on the left and right inside the lifting frame 6. The socket assembly 7 moving outward is inserted into the vacuum suction cup assembly 9 to make the vacuum suction cup assembly 9 form a gas suction state. The linkage assembly 10 is connected between the adjusting bracket 3 and the lifting frame 6. After the vacuum suction cup assembly 9 moves to the outermost side, it is engaged and used with the lower end of the linkage assembly 10.

[0038] During the actual operation process, the guide rail frame 1 drives the connecting plate 2 to perform multi-degree-of-freedom adjustment so that the vacuum suction cup assembly 9 moves above the single board stacked on the ground (at this time, the single board is stacked on the ground. The single board in the text can be a face board, a back board, and a board core, and the three are stacked and formed into a blank in sequence, and then processed into a bamboo glue composite board by hot pressing). The rotatable vacuum suction cup assembly 9 descends to the surface of the single board and fits at an angle according to the bending degree of the single board. Then it continues to descend. The contact surface of the single board gradually forms a flat state under the extrusion of the fitting vacuum suction cup assembly 9 (if the flat-structured suction cup directly descends and fits on the single board, there may be an angular difference between the two, which may cause cracks in the contact surface part of the single board). Then, the pushing assembly 8 drives the socket assembly 7 to move to both sides until it is inserted into the vacuum suction cup assembly 9. At this time, the degree of freedom of the vacuum suction cup assembly 9 is locked (non-rotatable), and the pump body assembly 4 is powered on. The single board is firmly sucked by the vacuum suction cup assembly 9. Then, the socket assembly 7 continues to move outward to drive the slightly bent single board as a whole to unfold to both sides until it is flat. Then, the guide rail frame 1 drives the flat single board to move above the existing conveying equipment. The adjusting bracket 3 drives the flat single board to descend vertically until it is placed flat on the conveying equipment. Then, the linkage assembly 10 separates the vacuum suction cup assembly 9 from the single board surface so that the vacuum suction cup assembly 9 rises and resets alone. Repeat the above steps to stack and form the single boards into a blank in an orderly manner according to odd numbers. Then, it is conveyed to the next step by the existing conveying equipment and waits for hot pressing and forming.

[0039] It should be noted that blanking is a key process in plywood manufacturing, which refers to the process of combining glued veneers and unglued veneers into a board blank according to specific structural requirements (the middle layer is usually the core board, and the upper and lower layers are usually the face board and the back board. The veneers described in this application can be the core board, the face board, and the back board, and can all be vacuum-sucked through the vacuum chuck assembly 9 provided in this application). Its purpose is to improve the anisotropy problem of wood and enhance the mechanical properties and stability of plywood by arranging different veneers. Plywood is one of the commonly used materials in furniture, and common types of plywood include three-ply board, five-ply board, etc.

[0040] Referring to Figure 2 As shown, the guide rail frame 1 includes a support frame 11. An electric slide rail 12 is connected between the support frames 11. An active block 13 is electrically driven and slidably arranged on the electric slide rail 12. The active block 13 is installed at the outer wall position of the side panel 14. An electric slide block 15 is longitudinally installed on the inner wall of the side panel 14. A connecting plate 2 is connected between the left and right arranged electric slide blocks 15. The electric slide rail and the electric slide block 15 in the prior art are mechanical devices that realize the sliding and precise movement of an object on the track through electric drive.

[0041] During the actual conveying process, the electric slide rail 12 drives the active block 13, the connecting plate 2, and the vacuum chuck assembly 9 to move to the rear or the front (at this time, the veneers are stacked on the ground and are located at the rear or the front position of the existing conveying equipment). Subsequently, the electric slide block 15 drives the vacuum chuck assembly 9 to descend so as to perform a fitting air suction with the surface of the veneer. After the air suction, the electric slide block 15 drives the vacuum chuck assembly 9 and the veneer to rise. Then, the electric slide rail 12 drives the sucked veneer to horizontally move to directly above the existing conveying equipment. Subsequently, the adjusting bracket 3 drives the flat veneer to vertically descend until it is placed flat on the conveying equipment.

[0042] Referring to Figure 4 As shown, the adjusting bracket 3 includes an electric push rod 31. An electric push rod 31 is connected between the connecting plate 2 and the lifting plate 32. A telescopic rod 33 with a lockable length is connected between the lifting plate 32 and the pump body assembly 4.

[0043] Referring to Figure 5 As shown, the telescopic rod 33 includes a sleeve 331, a pressing block 332, a sliding rod 333, and a clamping block 334. The upper end of the sleeve 331 is installed on the lifting plate 32. The pressing block 332 is horizontally slidably arranged in the activity groove opened on the side wall of the sleeve 331. The sliding rod 333 is vertically slidably arranged inside the sleeve 331. The clamping block 334 is horizontally slidably arranged in the receiving groove opened on the side wall of the sliding rod 333, and there is an elastic connection between the receiving groove and the clamping block 334. The clamping block 334 at the initial position is snapped into the activity groove to temporarily lock the positions of the sliding rod 333 and the sleeve 331.

[0044] Referring toFigure 5 As shown, a rollable ball is provided on the surface of one end of the clamping block 334 close to the extrusion block 332. The provision of the ball reduces the frictional force between the clamping block 334 and the extrusion block 332. An extrusion groove 335 is formed on the connecting plate 2. The outer inclined surface at the upper end of the extrusion groove 335 is structured to gradually incline inwards from top to bottom, reducing the extrusion difficulty.

[0045] During the actual operation process, after the guide rail frame 1 drives the flat single board to move above the existing conveying equipment, the electric push rod 31 drives the lifting plate 32, the height-locked telescopic rod 33, and the sucked single board to descend. When descending to the midway position, the extrusion block 332 is gradually squeezed by the extrusion groove 335 and thus gradually retracts into the movable groove until it is completely retracted. At this time, the extrusion block 332 completely squeezes the clamping block 334 out of the movable groove, and the clamping block 334 completely retracts into the storage groove. The positions of the sliding rod 333 and the sleeve 331 are unlocked. During the subsequent continuous descent of the lifting plate 32, the sucked single board stops descending, while the linkage assembly 10 continues to descend, thereby adjusting the internal structure of the vacuum suction cup assembly 9. After the single board is laid flat on the conveying equipment and the vacuum suction cup assembly 9 is driven to rise, the vacuum suction cup assembly 9 after structure adjustment separates from the single board from surface to point.

[0046] Refer to Figure 3 、 Figure 6 As shown, the pump body assembly 4 includes an insulating shell 41. The insulating shell 41 is fixedly installed on the intermediate plate 5. The upper end of the insulating shell 41 is connected to the lower end of the sliding rod 333. The battery and the switch member 42 built inside the insulating shell 41 are electrically connected to the pump body 43 installed on the intermediate plate 5, and the number of the switch members 42 is two.

[0047] Refer to Figure 6 As shown, the switch member 42 includes an insulating contact member 421. The insulating contact member 421 is slidably arranged up and down inside the insulating shell 41. A first conductive member 422 is fixedly installed at the upper end of the insulating contact member 421, and a second conductive member 423 used in cooperation with the first conductive member 422 is fixedly installed inside the insulating shell 41.

[0048] During the actual operation process, when the lower part of the insulating contact member 421 is not squeezed, the insulating contact member 421 drives the first conductive member 422 to be in the lowest position, and the first conductive member 422 and the second conductive member 423 are in a separated state, and the pump body assembly 4 is in a power-off state. When the lower part of the insulating contact member 421 is squeezed, the first conductive member 422 at a high position and the second conductive member 423 are in a contact state, and the pump body assembly 4 is in a powered-on state.

[0049] Refer to Figure 4As shown, a connecting sleeve is installed at the upper end of the outer side of the lifting frame 6. The upper end of the guide rod 61 slidably arranged inside the connecting sleeve is installed on the connecting plate 2. The arrangement of the guide rod 61 assists the lifting frame 6 in lifting and lowering.

[0050] Referring to Figure 3 , Figure 4 As shown, the socket assembly 7 includes a bus bar frame 71, a telescopic tube 72, a socket 73, a deflecting tube 74, and a limiting plate 75. The bus bar frame 71 is slidably arranged on the lifting frame 6. A telescopic tube 72 is connected between the bus bar frame 71 and the pump body 43. The socket 73 is connected to the lower end of the bus bar frame 71 through the deflecting tube 74. The limiting plate 75 is installed in the middle of the outer wall of the socket 73.

[0051] Referring to Figure 4 As shown, the pushing assembly 8 includes a connecting seat installed at the lower end of the middle plate 5. A double-acting electric push rod 81 is installed inside the connecting seat. A double-acting electric push rod is a mechanical device driven by a motor that can achieve linear motion in both directions (push and pull). It converts the rotary motion of the motor into linear motion and has the ability of two-way control. It is widely used in automated scenarios that require precise pushing and pulling actions. The ejecting end of the double-acting electric push rod 81 is installed with an ejecting head 82. A connecting rod is connected between the ejecting head 82 and the deflecting tube 74. An inner groove 83 is opened at the upper end of the ejecting head 82. The insulating contact 421 in the initial position is located in the inner groove 83. At this time, the insulating contact 421 is in a low position.

[0052] During the actual pushing process, the double-acting electric push rod 81 drives the ejecting head 82 to move synchronously (the ejecting heads 82 arranged left and right move in the opposite direction), thereby driving the socket assembly 7 to move outward until the socket 73 is inserted into the contact head 91. At this time, the insulating contact 421 moves upward after being squeezed by the upper end surface of the ejecting head 82. At this time, the pump body assembly 4 is energized to enable the vacuum suction cup assembly 9 to form a suction effect, thereby sucking the single board.

[0053] Referring to Figure 7 As shown, the vacuum suction cup assembly 9 provided in this application is in a freely angled state when fitting and in an angle-locked state when sucking. The specific structure is as follows. The vacuum suction cup assembly 9 includes a contact head 91, a sliding block 92, a transverse groove 93, a pressing unit 94, and a separating member 95. Connecting shafts 911 are symmetrically and fixedly installed on the front and rear end side walls of the contact head 91. The connecting shafts 911 are rotatably arranged on the sliding block 92. The sliding block 92 is slidably arranged in the transverse groove 93 opened in the lifting frame 6, and the sliding block 92 is elastically connected to the transverse groove 93. The pressing unit 94 is slidably arranged up and down in the longitudinal groove opened at the upper end of the contact head 91, and the position between the pressing unit 94 and the contact head 91 is temporarily locked. The separating member 95 is installed at the lower end of the pressing unit 94;

[0054] Referring toFigure 7 As shown, connection holes 96 are evenly formed at the lower end of the contact head 91. An anti-slip texture layer is laid on the lower end surface of the contact head 91. An interface 97 is formed inside the contact head 91, and the inner plate part of the interface 97 is of a flared structure. An access hole 98 is formed at the outer side of the upper end of the contact head 91.

[0055] During the actual operation process, the electric slider 15 drives the vacuum chuck assembly 9 to descend. During the descent, the lower end surface of the contact head 91 with free angle fits with the curved single-board surface. With subsequent descent, the contact head 91 attached to the single-board surface continues to press the single board until the contact surface is flat. Subsequently, the bidirectional electric push rod 81 drives the ejector head 82 to move synchronously, thereby driving the socket assembly 7 to move outward until the socket 73 is inserted into the interface 97 formed in the contact head 91 (the socket 73 performs an insertion-type angle locking on the position of the contact head 91). At this time, the pump body assembly 4 is powered on to form a suction effect inside the contact head 91, thereby sucking the single board. Subsequently, the socket assembly 7 continues to drive the angle-locked contact head 91 to move outward, thereby straightening the sucked single board to both sides to pull it from the overall curved state into a flat state. The flat single board is driven by the guide rail frame 1 to move above the existing conveying device, and the flat single board is vertically lowered by the adjusting bracket 3 until it is placed flat on the conveying device. Subsequently, the linkage assembly 10 descends alone to squeeze the pressing unit 94. After the position of the pressing unit 94 is unlocked, it descends to fill the connection hole 96 through the compressed separating member 95 (at this time, the suction effect at the lower end of the contact head 91 disappears, and the suction track of the pump body assembly 4 changes from entering through the connection hole 96 to entering through the access hole 98). When the contact head 91 rises subsequently, the lower end of the separating member 95 is not pressed by the single-board surface, so that it changes from the compressed state to the natural state, and the lower end of the separating member 95 extends out of the connection hole 96 to push open and separate the contact head 91 from the single board.

[0056] Refer to Figure 7 、 Figure 8As shown, the pressing unit 94 includes a lifting rod 941, a fixing plate 942, a pressing rod 943, a hook 944, a pressing head 945, a limiting block 946, and a guiding groove 947. The lifting rod 941 is slidably arranged up and down in the longitudinal groove. The lower end of the lifting rod 941 is provided with a fixing plate 942. The pressing rod 943 is slidably arranged up and down in the inner cavity opened in the lifting rod 941. The upper end of the pressing rod 943 is provided with a hook 944. The left and right ends of the lower end of the pressing rod 943 are symmetrically provided with pressing heads 945. The middle part of the lower end of the pressing rod 943 and the inner cavity are elastically connected. The limiting block 946 is slidably arranged horizontally in the access groove opened in the side wall of the inner cavity. The upper end of the limiting block 946 is provided with a guiding groove 947. The inner inclined surface of the guiding groove 947 is gradually inclined upward from outside to inside. The pressing head 945 and the guiding groove 947 are in pressing cooperation. The limiting block 946 and the connecting block arranged in the inner cavity are elastically connected.

[0057] Referring to Figure 7 As shown, the separating member 95 includes a connecting column 951. The upper end of the connecting column 951 is installed on the fixing plate 942. The lower end of the connecting column 951 is slidably provided with a separating head 952 up and down, and the connecting column 951 and the separating head 952 are elastically connected. The lower end of the separating head 952 is a spherical structure.

[0058] Referring to Figure 4 、 Figure 7 As shown, the linkage assembly 10 includes a connecting frame 101. The connecting frame 101 is installed on the inner side wall of the lifting frame 6. An activity rod 102 is slidably arranged up and down in the connecting frame 101. The upper end of the activity rod 102 is installed on the lifting plate 32. The lower end of the activity rod 102 is installed with a clamping joint 103 corresponding to the position of the hook 944.

[0059] During the actual ejection and separation process, the socket assembly 7 continues to drive the angle-locked contact head 91 to move outward until the sucked single board is straightened to both sides, pulling it from the overall bent state into a flat state (the contact head 91 moves to the outermost side). At this time, the clamping joint 103 and the hook 944 form a clamping connection. The lifting plate 32 and the flat single board are driven to descend by the electric push rod 31. In the middle and early stages of the descent, the flat single board and the vacuum suction cup assembly 9 are driven to descend synchronously by the telescopic rod 33 with a locked height and the movable rod 102 respectively. After the clamping block 334 in the telescopic rod 33 is squeezed by the squeezing groove 335 and its height is unlocked, the flat single board is placed and maintains the current height. At this time, the movable rod 102 continues to squeeze the hook 944, the squeezing rod 943, and the squeezing head 945 to descend. By squeezing the guiding groove 947 in the limiting block 946 by the squeezing head 945, the limiting block 946 no longer limits and fits on the upper end surface of the contact head 91. Subsequently, the lifting rod 941 drives the fixing plate 942 and the separating member 95 to descend synchronously, and thus enters the connection hole 96 (at this time, due to the extrusion on the surface of the single board and the middle part of the separating member 95 being an elastic structure, the separating member 95 does not protrude from the connection hole 96, but maintains a downward pushing trend). At the same time, under the partition of the fixing plate 942, the air suction trajectory of the pump body assembly 4 changes from entering through the connection hole 96 to entering through the entering hole 98. At this time, the air suction of the single board disappears (at this time, the bending degree of the single board itself may cause the single board to resume partial bending, but it is in a relatively accurate position with the single board below in the flat state, and the overall longitudinal direction is aligned, reducing the situation of uneven stacking). The contact head 91 can rise. During the subsequent rising process of the contact head 91, the lower end of the separating member 95 is not squeezed by the single board surface, so that it changes from the compressed state to the natural state, and the lower end of the separating member 95 protrudes from the connection hole 96, thus pushing the contact head 91 and the single board apart and separating them.

[0060] Working steps:

[0061] Step 1: Drive the connecting plate 2 through the guide rail frame 1 for multi-degree-of-freedom adjustment so that the vacuum suction cup assembly 9 moves above the single board stacked on the ground. The rotatable vacuum suction cup assembly 9 descends to the single board surface and fits at an angle according to the bending degree of the single board.

[0062] Step 2: The vacuum suction cup assembly 9 continues to descend. The contact surface of the single board gradually forms a flat state under the extrusion of the fitting vacuum suction cup assembly 9. Subsequently, the pushing assembly 8 drives the socket assembly 7 to move to both sides until it is inserted into the vacuum suction cup assembly 9. At this time, the degree of freedom of the vacuum suction cup assembly 9 is locked and the vacuum suction cup assembly 9 is in a vertical state. At this time, the pump body assembly 4 is simultaneously powered on, and the single board is firmly sucked by the vacuum suction cup assembly 9.

[0063] Step 3: The socket assembly 7 continues to move outward, thus driving the single board that is slightly bent as a whole to unfold to both sides until it is flat.

[0064] Step 4: Drive the flat single board to move above the existing conveying equipment through the guide rail frame 1, drive the flat single board to descend vertically until it is placed flat on the conveying equipment through the adjusting bracket 3, and then separate the vacuum chuck assembly 9 from the single board surface through the linkage assembly 10 so that the vacuum chuck assembly 9 returns to its original position alone;

[0065] Step 5: Repeat the above steps to stack and group the single boards in an orderly manner according to odd numbers;

[0066] Step 6: Convey it to the next step through the existing conveying equipment and wait for hot pressing and forming.

[0067] Only some exemplary embodiments of the present invention have been described by way of illustration above. Undoubtedly, for those of ordinary skill in the art, the described embodiments can be modified in various different ways without departing from the spirit and scope of the present invention. Therefore, the above 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 artificial board blank vacuum suction cup type manipulator, characterized in that, Comprising: A guide rail frame, with a connecting plate provided in the middle thereof; An adjusting bracket, which is installed on the connecting plate; A pump body assembly, the upper end of which is connected to the adjusting bracket. The pump body assembly is connected to a lifting frame through an intermediate plate, and socket assemblies are symmetrically connected to the left and right ends of the pump body assembly; A pushing assembly, which is installed at the lower end of the intermediate plate, and controls the socket assembly to move horizontally through the pushing assembly; Vacuum suction cup assemblies, which are symmetrically arranged on the left and right inside the lifting frame. The socket assemblies moving outward are inserted into the vacuum suction cup assemblies so that the vacuum suction cup assemblies form a suction state; A linkage assembly, which is connected between the adjusting bracket and the lifting frame. After the vacuum suction cup assemblies move to the outermost side, they are clamped and used in cooperation with the lower end of the linkage assembly.

2. The artificial board blank vacuum sucker type manipulator according to claim 1, characterized in that: The guide rail frame includes a support frame, an electric slide rail is connected between the support frames, a movable block is slidably arranged on the electric slide rail by an electric drive, the movable block is installed at the outer wall position of the side panel, an electric slider is longitudinally installed on the inner wall of the side panel, and a connecting plate is connected between the left and right arranged electric sliders.

3. The vacuum suction cup type manipulator for artificial board blanks according to claim 1, characterized in that: The adjusting bracket includes an electric push rod, an electric push rod is connected between the connecting plate and the lifting plate, and a telescopic rod with a lockable length is connected between the lifting plate and the pump body assembly; The telescopic rod includes: A sleeve, the upper end of which is installed on the lifting plate, and a pressing block is horizontally slidably arranged in a movable groove opened on the side wall of the sleeve; A sliding rod, which is vertically slidably arranged inside the sleeve; A clamping block, which is horizontally slidably arranged in a receiving groove opened on the side wall of the sliding rod, and the receiving groove and the clamping block are elastically connected. The clamping block at the initial position is snapped into the movable groove to temporarily lock the positions of the sliding rod and the sleeve; A rollable ball is arranged on the surface of one end of the clamping block close to the pressing block, a pressing groove is opened on the connecting plate, and the outer inclined surface at the upper end of the pressing groove is inclined gradually inward from top to bottom.

4. The artificial board blank vacuum sucker type manipulator according to claim 3, characterized in that: The pump body assembly includes an insulating shell, which is fixedly installed on the intermediate plate. The upper end of the insulating shell is connected to the lower end of the sliding rod. A battery and a switch component built in the insulating shell are electrically connected to a pump installed on the intermediate plate, and the number of switch components is two; The switch component includes an insulating contact component, which is vertically slidably arranged inside the insulating shell. A first conductive component is fixedly installed at the upper end of the insulating contact component, and a second conductive component cooperating with the first conductive component is fixedly installed inside the insulating shell.

5. The artificial board blank vacuum sucker type manipulator according to claim 1, characterized in that: A connecting sleeve is installed at the upper outer side of the lifting frame, and the upper end of a guide rod slidably arranged inside the connecting sleeve is installed on the connecting plate.

6. The artificial board blank vacuum suction cup type manipulator according to claim 4, characterized in that: The socket assembly includes: A busbar frame, which is slidably arranged on the lifting frame, and a telescopic tube is communicated between the busbar frame and the pump body; A socket, which is communicated with the lower end of the busbar frame through a deflecting tube; A limiting plate, which is installed in the middle of the outer wall of the socket.

7. The artificial board blank vacuum suction cup type manipulator according to claim 6, characterized in that: The pushing assembly includes a connecting seat, which is installed at the lower end of the intermediate plate. A bidirectional electric push rod is installed inside the connecting seat, a push head is installed at the ejecting end of the bidirectional electric push rod, a connecting rod is connected between the push head and the deflecting tube, and an inner groove is opened at the upper end of the push head.

8. The artificial board blank vacuum suction cup type manipulator according to claim 3, characterized in that: The vacuum suction cup assemblies include: Contact head, with connecting shafts symmetrically and fixedly installed on the side walls of its front and rear ends. The connecting shafts are rotatably arranged on sliding blocks, and the sliding blocks are slidably arranged in the transverse grooves opened in the lifting frame, and the sliding blocks are elastically connected to the transverse grooves; Pressing unit, which is slidably arranged up and down in the longitudinal groove opened at the upper end of the contact head, and the position between the pressing unit and the contact head is temporarily locked; Separation member, which is installed at the lower end of the pressing unit; The lower end of the contact head is evenly provided with connecting holes, the lower end surface of the contact head is provided with an anti-slip texture layer, the inner side of the contact head is provided with a docking port, and the inner plate part of the docking port is a flared structure, and an access hole is opened on the outer side of the upper end of the contact head.

9. The artificial board blank vacuum suction cup type manipulator according to claim 8, characterized in that: The pressing unit includes: Lifting rod, which is slidably arranged up and down in the longitudinal groove, and a fixing plate is installed at the lower end of the lifting rod; Extrusion rod, which is slidably arranged up and down in the inner cavity opened in the lifting rod. A hook is installed at the upper end of the extrusion rod. Extrusion heads are symmetrically arranged at the left and right ends of the lower end of the extrusion rod. The middle part of the lower end of the extrusion rod is elastically connected to the inner cavity; Limit block, which is slidably arranged horizontally in the access groove opened on the side wall of the inner cavity. A guiding groove is opened at the upper end of the limit block. The inner inclined surface of the guiding groove is gradually inclined upward from outside to inside. The extrusion head and the guiding groove are used in extrusion cooperation, and the limit block is elastically connected to the connecting block arranged in the inner cavity; The separation member includes a connecting column. The upper end of the connecting column is installed on the fixing plate. A separation head is slidably arranged up and down at the lower end of the connecting column. The connecting column and the separation head are elastically connected, and the lower end of the separation head is a spherical structure.

10. The artificial board blank vacuum suction cup type manipulator according to claim 9, characterized in that: The linkage assembly includes a connecting frame, which is installed on the inner side wall of the lifting frame. An active rod is slidably arranged up and down in the connecting frame. The upper end of the active rod is installed on the lifting plate, and the lower end of the active rod is installed with a clamping head corresponding to the position of the hook.

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