Automatic veneering production equipment with mechanical arm grabbing function

Abstract

The invention discloses automatic veneering production equipment with a mechanical arm grabbing function, and relates to the technical field of automatic veneering, the automatic veneering production equipment comprises a conveying belt body, glove films are arranged on the conveying belt body in an array mode, and a mounting support is arranged at the center position of the conveying belt body; the limiting mechanism comprises two groups of limiting plates and a placement groove, the limiting plates are fixedly mounted on the mounting bracket, and the placement groove is formed in each limiting plate; a glove template is placed on the placing groove, and a clamping inclined groove is formed in the glove template. The grabbing mechanism capable of automatically grabbing the glove template and the reverse pushing mechanism used for separating the glove template are arranged, so that the glove template is automatically attached to the glove film. Compared with the mode that the glove film is manually taken and placed to attach the glove template, the design avoids the problem that the glove film is attached obliquely, the product yield is remarkably improved, and due to the fact that the glove film is formed in a cutting mode, the orientation and the distance of the glove film on the conveying belt body are fixed.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic veneering, and specifically provides an automatic veneering production device with a robotic arm grasping function. Background Art

[0002] In the existing glove production process, one production method is to manufacture gloves by pasting glove films and thumb crotch thickening pads through glove templates. This production method has a lower cost but relies on manual pasting. Especially for the pasting of glove films, due to the irregular shape of the glove films, irregularities or wrinkles may occur during manual pasting, resulting in low quality of the finished gloves. Moreover, the efficiency of manually pasting gloves is relatively low. For the method of using a robotic arm to grasp materials for pasting, the grasping method mostly uses suction cups. The suction cup assembly with an air pump has a high usage cost and is relatively troublesome to repair. In addition, the usage frequency of the air pump needs to be synchronized with the speed of the conveyor belt. However, due to the manual processing part in the subsequent processing process, the speed of the conveyor belt may change due to the arrangement of manual workers, etc., and the usage frequency of the air pump also needs to change accordingly, resulting in a high failure rate during use. Summary of the Invention

[0003] The purpose of the present invention is to provide an automatic veneering production device with a robotic arm grasping function to solve the problems raised in the above background art.

[0004] To achieve the above purpose, the present invention provides the following technical solution: An automatic veneering production device with a robotic arm grasping function, including a conveyor belt body, on which glove films are arrayed, and an installation bracket is provided at the central position of the conveyor belt body;

[0005] A limiting mechanism, including a limiting plate and a placement groove. There are two groups of limiting plates, both of which are fixedly installed on the installation bracket, and placement grooves are opened on the limiting plates;

[0006] A glove template is placed on the placement groove, and a clamping inclined groove is opened on the glove template;

[0007] A displacement mechanism, including an installation box, an installation head, and a first screw. The installation head is movably installed on the installation box, and the first screw is movably installed on the installation head;

[0008] A second installation cylinder is installed on the displacement mechanism;

[0009] A grasping mechanism, including a limiting frame and a suction cup. There are two groups of limiting frames on one side, which are fixedly installed on the left and right sides at the lower end of the second installation cylinder, and suction cups are movably installed on both groups of limiting frames;

[0010] Reverse thrust mechanism, the reverse thrust mechanism includes a movable groove and a reverse thrust block, a movable groove is provided in the second mounting cylinder, and a reverse thrust block is movably arranged in the movable groove.

[0011] Preferably, the limiting mechanism includes a limiting plate, a placement groove, a first limiting block, a guiding block, a stable ring and a conveyor belt speed induction encoder. The upper side of the limiting plate is flush with the upper side of the conveying belt of the conveyor belt body. The shape of the placement groove is adapted to the shape of the glove template, and the orientation of the placement groove is consistent with the orientation of the glove film on the conveyor belt body. A first limiting block is fixedly installed in the placement groove, and the shape of the first limiting block is adapted to the shape of the engaging inclined groove. A guiding block is fixedly installed on the upper side of the first limiting block. Three groups of stable rings are fixedly installed in the placement groove, and a conveyor belt speed induction encoder is fixedly installed on the limiting plate.

[0012] Preferably, the displacement mechanism includes a mounting box, a first telescopic motor, a movable block, a mounting head, a rotating motor, a gear, a first screw sleeve, a toothed ring, a first screw rod, a first mounting cylinder, a limiting square rod and a limiting square groove. The mounting box is fixedly installed on the mounting bracket. A first telescopic motor is fixedly installed on one side of the mounting box. A movable block is movably inserted into the mounting box. The output shaft of the first telescopic motor is fixedly installed on the movable block. One end of the movable block is fixedly installed with a mounting head, and a rotating motor is fixedly installed on the mounting head. A gear is fixedly installed on the output shaft of the rotating motor. The gear is rotatably installed in the mounting head. The end of the mounting head is rotatably installed with a first screw sleeve through a bearing. A toothed ring is fixedly installed on the first screw sleeve, and the toothed ring meshes with the gear. The first screw sleeve is threadedly sleeved on the first screw rod. A first mounting cylinder is fixedly installed on the mounting head. A limiting square rod is fixedly installed in the first mounting cylinder. A limiting square groove is opened on the first screw rod, and the limiting square rod is inserted into the limiting square groove.

[0013] Preferably, the displacement mechanism includes a flange plate, a second screw rod and a second screw sleeve. A flange plate is fixedly installed at the lower end of the first screw rod. Four groups of second screw rods are fixedly installed in an array at the upper end of the second mounting cylinder. The second screw rods are all inserted into the flange plate, and a second screw sleeve is threadedly sleeved on the second screw rod.

[0014] Preferably, the grasping mechanism includes a limiting frame, a third screw sleeve, a first threaded block, a limiting ring, a suction cup, a loading ring, a fourth screw sleeve, and a third screw. Two sets of third screw sleeves are movably installed in the limiting frames. A first threaded block is installed in the third screw sleeve by means of a thread. A limiting ring is fixedly installed on the lower side of the first threaded block. A suction cup is fixedly installed on the lower side of the limiting ring. A damping rubber ring is arranged on the upper side of the first threaded block. A loading ring is fixedly installed on the upper side of the third screw sleeve. A fourth screw sleeve is fixedly installed on one side of the loading ring. A third screw is installed in the fourth screw sleeve by means of a thread. The third screw abuts against the damping rubber ring.

[0015] Preferably, the grasping mechanism includes a slider, a guiding hole, a guiding rod, a hinged rod, a rotating ring, a fifth screw sleeve, and a thread ring. Sliders are fixedly installed on both sides of the third screw sleeve. The sliders are movable in the sliding grooves of the limiting frames. Guiding holes are opened in the sliders. Guiding rods are fixedly installed in the sliding grooves of the limiting frames. The sliders are sleeved on the guiding rods through the guiding holes. Hinged rods are hinged on two sets of third screw sleeves. Both sets of hinged rods are hinged on the rotating ring. The rotating ring is sleeved on the second installation cylinder. A fifth screw sleeve is rotatably installed on the upper side of the rotating ring. The inner side of the rotating ring does not contact the outer wall of the second installation cylinder. Anti-slip lines are arrayed on the outer side of the fifth screw sleeve. A thread ring is arranged on the second installation cylinder. The fifth screw sleeve is sleeved on the second installation cylinder through the thread ring.

[0016] Preferably, the anti-pushing mechanism includes an activity groove, an anti-pushing block, a second telescopic motor, a pressing disc, a pressure sensor, a limiting groove, a second limiting block, and a spring. A second telescopic motor is fixedly installed in the second installation cylinder. A pressing disc is fixedly installed on the output rod of the second telescopic motor. The pressing disc is movable in the activity groove. A pressure sensor is fixedly installed on the lower side of the pressing disc. Limiting grooves are opened on both sides of the activity groove. Two sets of second limiting blocks are fixedly installed on the upper end of the anti-pushing block. The second limiting blocks slide in the limiting grooves. Springs are arranged in the limiting grooves. The springs abut against the lower sides of the second limiting blocks.

[0017] Preferably, the pressing disc does not directly contact the anti-pushing block. The upper side of the limiting groove is higher than the upper side of the pressing disc. The lower end of the anti-pushing block is flush with the lower end of the suction cup.

[0018] Preferably, the reverse pushing mechanism includes an air groove, a ventilation hole, a connecting rod, a pushing air block, a connecting air pipe and an air cylinder. An air groove is formed on the lower side of the limiting groove, a ventilation hole is formed between the limiting groove and the air groove, a connecting rod is fixedly installed on the lower side of the second limiting block, the connecting rod is movably inserted into the air groove, a pushing air block is fixedly installed on the lower side of the connecting rod, the pushing air block is attached to the inner side of the air groove, two groups of connecting air pipes are fixedly installed on the second installation cylinder, the two groups of connecting air pipes are communicated with the lower sides of the two groups of air grooves, air cylinders are fixedly installed on the upper sides of the suction cups, the air cylinders are communicated with the suction cups, and one end of the connecting air pipe is communicated with the air cylinder.

[0019] Preferably, the reverse pushing mechanism includes a sealing rubber ring, a hollow threaded block, a rotating block and a threaded ring. A sealing rubber ring is fixedly installed on the lower side of the connecting air pipe, a hollow threaded block is movably sleeved on the connecting air pipe, a rotating block is fixedly installed on the upper side of the hollow threaded block, a threaded ring is fixedly installed on the upper side of the air cylinder, the threaded ring is communicated with the air cylinder, and the hollow threaded block is installed in the threaded ring through threads.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The present invention is provided with a grasping mechanism capable of automatically grasping the glove template and a reverse pushing mechanism for separating the glove template, realizing the automatic fitting of the glove template and the glove film. Compared with the method of manually picking and placing the glove film to attach to the glove template, this design avoids the problem of skewed attachment of the glove film, significantly improving the product qualification rate. Since the glove film is cut and formed, its orientation and spacing on the conveyor belt body are fixed, and the movement trajectory of the second installation cylinder can be preset to match the conveyor belt speed without dynamic adjustment, ensuring a stable and efficient fitting process.

[0021] 2. The suction cups in the present invention have the functions of quick replacement and spacing adjustment. The reverse pushing mechanism can not only separate the glove template from the suction cup, but also integrate the functions of negative pressure detection and auxiliary negative pressure generation. This design eliminates the traditional air pump, improves the functionality of the equipment through structural optimization, and at the same time overcomes the technical defect of difficult separation in the use of suction cups. Description of the Drawings

[0022] Figure 1 It is the overall structural schematic diagram provided by the embodiment of the present invention;

[0023] Figure 2 It is the structural schematic diagram at the second installation cylinder provided by the embodiment of the present invention;

[0024] Figure 3 It is the structural separation schematic diagram at the limiting mechanism provided by the embodiment of the present invention;

[0025] Figure 4 It is the structural sectional schematic diagram at the displacement mechanism provided by the embodiment of the present invention;

[0026] Figure 5 Schematic diagram of structural separation at the grasping mechanism provided by an embodiment of the present invention;

[0027] Figure 6 Schematic cross-sectional view of the structure at the air cylinder provided by an embodiment of the present invention;

[0028] Figure 7 Schematic separated cross-sectional view of the structure at the second mounting cylinder provided by an embodiment of the present invention;

[0029] Figure 8 Schematic diagram of structural separation at the connecting air pipe provided by an embodiment of the present invention;

[0030] Figure 9 Schematic diagram of structural separation at the reverse thrust mechanism provided by an embodiment of the present invention;

[0031] Figure 10 provided by an embodiment of the present invention Figure 9 Partial enlarged schematic diagram of A in

[0032] In the figure: 1, conveyor belt body; 2, glove film; 3, mounting bracket; 4, limiting mechanism; 401, limiting plate; 402, placement groove; 403, first limiting block; 404, guiding block; 405, stable ring; 406, conveyor belt speed induction encoder; 5, displacement mechanism; 501, mounting box; 502, first telescopic motor; 503, movable block; 504, mounting head; 505, rotating motor; 506, gear; 507, first screw sleeve; 508, toothed ring; 509, first screw rod; 510, first mounting cylinder; 511, limiting square rod; 512, limiting square groove; 513, flange; 514, second screw rod; 515, second screw sleeve; 6, second mounting cylinder; 7, grasping mechanism; 701, limiting frame; 702, third screw sleeve; 703, first threaded block; 704, limiting ring; 705, suction cup; 706, loading ring; 707, fourth screw sleeve; 708, third screw rod; 709, slider; 710, guiding hole; 711, guiding rod; 712, articulated rod; 713, rotating ring; 714, fifth screw sleeve; 715, threaded ring; 8, reverse thrust mechanism; 801, movable groove; 802, reverse thrust block; 803, second telescopic motor; 804, pressing disc; 805, pressure sensor; 806, limiting groove; 807, second limiting block; 808, spring; 809, air groove; 810, ventilation hole; 811, connecting rod; 812, air pushing block; 813, connecting air pipe; 814, sealing rubber ring; 815, hollow threaded block; 816, rotating block; 817, air cylinder; 818, threaded ring; 9, glove template; 10, engaging inclined groove. Detailed implementation manners

[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0034] Please refer to Figures 1-10 , the present invention provides a technical solution: an automatic veneering production device with a robotic arm grasping function, including a conveyor belt body 1, on which glove films 2 are arranged in an array, and an installation bracket 3 is provided at the central position of the conveyor belt body 1;

[0035] A limiting mechanism 4, the limiting mechanism 4 includes a limiting plate 401 and a placement groove 402. There are two groups of limiting plates 401, both of which are fixedly installed on the installation bracket 3, and a placement groove 402 is opened on the limiting plate 401;

[0036] A glove template 9 is placed in the placement groove 402, and a clamping inclined groove 10 is opened on the glove template 9;

[0037] A displacement mechanism 5, the displacement mechanism 5 includes an installation box 501, an installation head 504 and a first screw 509. The installation head 504 is movably installed on the installation box 501, and the first screw 509 is movably installed on the installation head 504;

[0038] A second installation cylinder 6 is installed on the displacement mechanism 5;

[0039] A grasping mechanism 7, the grasping mechanism 7 includes a limiting frame 701 and a suction cup 705. There are two groups of limiting frames 701 on one side, which are fixedly installed on the left and right sides at the lower end of the second installation cylinder 6, and suction cups 705 are movably installed on both groups of limiting frames 701;

[0040] A reverse pushing mechanism 8, the reverse pushing mechanism 8 includes a moving groove 801 and a reverse pushing block 802. A moving groove 801 is opened in the second installation cylinder 6, and a reverse pushing block 802 is movably arranged in the moving groove 801. This device is designed for the glove production veneering process. The traditional veneering process is as follows: the conveyor belt body 1 transports the cut glove films 2 and the tiger mouth thickening pads Figure 1 , workers stack and place glove templates 9 at the workstations on both sides of the conveyor belt body 1, manually pick up the glove films 2 and attach them to the glove templates 9, achieve vertical positioning through the clamping inclined groove 10 of the glove template 9 and the clamping block at the working position, then attach the tiger mouth thickening pads to the tiger mouth of the glove template 9, and finally put the attached glove template 9 back on the conveyor belt body 1. This process requires step-by-step operations: two steps of attachment, namely the glove film 2 and the tiger mouth thickening pad, resulting in the need to set up four workstations on both sides of the conveyor belt body 1, that is, two groups for attaching the glove film 2 and two groups for attaching the tiger mouth thickening pad.

[0041] Defects of traditional process: When attaching the glove film 2, due to the irregular shape and easy deformation of the glove film 2, manual operation is prone to generate wrinkles, resulting in low yield and poor efficiency, restricting the speed and quality of the production line.

[0042] Innovations of the present invention: Subverting the traditional logic of "manual film picking and film attaching", adopting the method of "machine film picking and film attaching" - the grasping mechanism 7 automatically picks the glove template 9 and attaches it to the glove films 2 arranged regularly on the conveyor belt body 1. Since the orientation and spacing of the glove films 2 on the conveyor belt body 1 are strictly fixed, the problem of wrinkles caused by the deformation of the glove films 2 is avoided, significantly improving the yield and attaching efficiency, thereby accelerating the production line speed and improving the product quality.

[0043] Furthermore, the limiting mechanism 4 includes a limiting plate 401, a placement groove 402, a first limiting block 403, a guiding block 404, a stable ring 405, and a conveyor belt speed induction encoder 406. The upper side of the limiting plate 401 is flush with the upper side of the conveyor belt of the conveyor belt body 1. The shape of the placement groove 402 is adapted to the shape of the glove template 9. The orientation of the placement groove 402 is the same as the orientation of the glove films 2 on the conveyor belt body 1. A first limiting block 403 is fixedly installed in the placement groove 402. The shape of the first limiting block 403 is adapted to the shape of the engaging inclined groove 10. A guiding block 404 is fixedly installed on the upper side of the first limiting block 403. Three groups of stable rings 405 are fixedly installed in the placement groove 402. A conveyor belt speed induction encoder 406 is fixedly installed on the limiting plate 401. The schematic diagram of this structure is Figure 3 , showing the positioning and placement system of the glove template 9. When the worker places the glove template 9, rapid positioning is achieved through the guiding function of the guiding block 404 to ensure that the glove template 9 is accurately inserted into the placement groove 402. The distance between the upper edge of the stable ring 405 and the upper edge of the placement groove 402 matches the width of the glove template 9, making the upper end of the glove template 9 flush with the limiting plate 401 after placement, shortening the grasping stroke of the grasping mechanism 7 and reducing the risk of the glove template 9 getting stuck due to upward movement.

[0044] Innovation in air pump - free design: The device is not equipped with an air pump for cost and maintenance considerations. When the suction cup 705 adsorbs the glove template 9, air needs to be discharged through mechanical pressure. The stable ring 405 provides support for the contact surfaces between the glove template 9, the suction cup 705, and the pushing block 802, preventing the glove template 9 made of elastic material from deforming due to excessive local pressure. The conveyor belt speed induction encoder 406 monitors the running speed of the conveyor belt body 1 in real time and dynamically adjusts the action rates of the second mounting cylinder 6 and the pushing mechanism 8 to ensure the synchronization of the entire process;

[0045] Further, the displacement mechanism 5 includes a mounting box 501, a first telescopic motor 502, a movable block 503, a mounting head 504, a rotary motor 505, a gear 506, a first screw sleeve 507, a toothed ring 508, a first screw rod 509, a first mounting cylinder 510, a limiting square rod 511 and a limiting square groove 512. The mounting box 501 is fixedly mounted on the mounting bracket 3. A first telescopic motor 502 is fixedly mounted on one side of the mounting box 501. A movable block 503 is movably inserted into the mounting box 501. The output shaft of the first telescopic motor 502 is fixedly mounted on the movable block 503. One end of the movable block 503 is fixedly mounted with a mounting head 504. A rotary motor 505 is fixedly mounted on the mounting head 504. A gear 506 is fixedly mounted on the output shaft of the rotary motor 505. The gear 506 is rotatably mounted in the mounting head 504. The end of the mounting head 504 is rotatably mounted with a first screw sleeve 507 through a bearing. A toothed ring 508 is fixedly mounted on the first screw sleeve 507. The toothed ring 508 meshes with the gear 506. The first screw sleeve 507 is threadedly sleeved on the first screw rod 509. A first mounting cylinder 510 is fixedly mounted on the mounting head 504. A limiting square rod 511 is fixedly mounted in the first mounting cylinder 510. A limiting square groove 512 is formed on the first screw rod 509. The limiting square rod 511 is inserted into the limiting square groove 512. The schematic diagram of this structure is Figure 4 , this structure has the ability to displace the second mounting cylinder 6 horizontally and vertically. Through the combination of these two displacements, the glove template 9 can be quickly attached to the glove film 2. Compared with the method of manually attaching the glove film 2 and the glove template 9, it will be more accurate and efficient. During use, the stroke of the output rod of the first telescopic motor 502 and the number of revolutions of the forward and reverse rotations of the rotary motor 505 are fixed. Only the speed needs to be adjusted according to the running speed of the conveyor belt body 1, which is beneficial to the programming operation of the equipment;

[0046] Further, the displacement mechanism 5 includes a flange plate 513, a second screw rod 514 and a second screw sleeve 515. A flange plate 513 is fixedly mounted at the lower end of the first screw rod 509. Four groups of second screw rods 514 are fixedly mounted in an array at the upper end of the second mounting cylinder 6. The second screw rods 514 are all inserted into the flange plate 513. A second screw sleeve 515 is threadedly sleeved on the second screw rod 514. The schematic diagram of this structure is shown in Figure 4 and Figure 5 , this design enables the second mounting cylinder 6 to be disassembled from the displacement mechanism 5. In this way, the grasping mechanism 7 and the anti-pushing mechanism 8 mounted on the second mounting cylinder 6 can be disassembled together. This design greatly improves the convenience during the disassembly of the equipment and makes the maintenance of the equipment easier. Moreover, this mounting method can ensure that the second mounting cylinder 6 is perpendicular to the mounting head 504 after installation, so that the grasping mechanism 7 is more stable when sucking by negative pressure;

[0047] Further, the grasping mechanism 7 includes a limit frame 701, a third screw sleeve 702, a first threaded block 703, a limit ring 704, a suction cup 705, a loading ring 706, a fourth screw sleeve 707, and a third screw rod 708. The third screw sleeve 702 is movably installed in each of the two limit frames 701. The first threaded block 703 is installed in the third screw sleeve 702 by means of a thread. The lower side of the first threaded block 703 is fixedly installed with a limit ring 704. The lower side of the limit ring 704 is fixedly installed with a suction cup 705. A damping rubber ring is arranged on the upper side of the first threaded block 703. The upper side of the third screw sleeve 702 is fixedly installed with a loading ring 706. One side of the loading ring 706 is fixedly installed with a fourth screw sleeve 707. The third screw rod 708 is installed in the fourth screw sleeve 707 by means of a thread. The third screw rod 708 abuts against the damping rubber ring. The schematic diagram of this structure is Figure 5 , showing the structure for quick disassembly and assembly of the suction cup 705. The suction cup 705 discharges air through elastic deformation to form negative pressure to adsorb the glove template 9 and drive it to move. After long-term use, problems such as suction attenuation or instability may occur. This design allows for the quick replacement of the suction cup 705 without disassembling other structures of the equipment, significantly improving the maintenance convenience.

[0048] Dual locking mechanism: The loading ring 706, the fourth screw sleeve 707, and the third screw rod 708 constitute a position locking system for the suction cup 705. The suction cup 705 is installed through the threaded fit between the first threaded block 703 and the third screw sleeve 702. However, when the equipment is running at high speed, the second mounting cylinder 6 frequently moves up and down, causing the suction cup 705 to be stressed, which may lead to loosening between the first threaded block 703 and the third screw sleeve 702. The extrusion type secondary limit design of the third screw rod 708 and the damping rubber ring effectively offsets the vibration displacement and ensures the stable installation of the suction cup 705;

[0049] Further, the grasping mechanism 7 includes a slider 709, a guide hole 710, a guide rod 711, a hinge rod 712, a rotating ring 713, a fifth screw sleeve 714, and a thread ring 715. The two sides of the third screw sleeve 702 are fixedly installed with sliders 709. The sliders 709 are movable in the chute of the limit frame 701. Guide holes 710 are provided on the sliders 709. Guide rods 711 are fixedly installed in the chute of the limit frame 701. The sliders 709 are sleeved on the guide rods 711 through the guide holes 710. Hinge rods 712 are hinged to the two third screw sleeves 702. Both of the two hinge rods 712 are hinged to the rotating ring 713. The rotating ring 713 is sleeved on the second mounting cylinder 6. The upper side of the rotating ring 713 is rotatably installed with a fifth screw sleeve 714. The inner side of the rotating ring 713 does not contact the outer wall of the second mounting cylinder 6. Anti-slip threads are arrayed on the outer side of the fifth screw sleeve 714. A thread ring 715 is provided on the second mounting cylinder 6. The fifth screw sleeve 714 is sleeved on the second mounting cylinder 6 through the thread ring 715. The schematic diagram of this structure is Figure 5 and Figure 7, this structure enables the distance between the suction cups 705 to be adjusted. During the process of the suction cups 705 sucking the glove template 9, there should be no gap between the contact surface of the suction cups 705 and the glove template 9, otherwise negative pressure cannot be formed inside the suction cups 705, and thus the glove template 9 cannot be sucked. If the specifications of the glove template 9 change, the user can adjust the distance between the suction cups 705 to adapt to the shape of the glove template 9, so that the suction cups 705 can work properly, increasing the functionality and adaptability of the equipment during use. Moreover, this adjustment method is simple and fast. When adjusting, only need to make the suction cups 705 and the glove template 9 fit tightly. The distances between the two groups of suction cups 705 on different sides do not need to be exactly the same, having a high fault tolerance ability;

[0050] Further, the reverse pushing mechanism 8 includes a movable groove 801, a reverse pushing block 802, a second telescopic motor 803, a pressing disc 804, a pressure sensor 805, a limiting groove 806, a second limiting block 807 and a spring 808. A second telescopic motor 803 is fixedly installed inside the second mounting cylinder 6. A pressing disc 804 is fixedly installed on the output rod of the second telescopic motor 803. The pressing disc 804 moves in the movable groove 801. A pressure sensor 805 is fixedly installed on the lower side of the pressing disc 804. Limiting grooves 806 are opened on both sides of the movable groove 801. Two groups of second limiting blocks 807 are fixedly installed at the upper end of the reverse pushing block 802. The second limiting blocks 807 slide in the limiting grooves 806. A spring 808 is arranged in the limiting grooves 806, and the spring 808 abuts against the lower side of the second limiting blocks 807. The schematic diagram of this structure is Figure 7 , Figure 9 and Figure 10 , showing the cooperative separation mechanism of the reverse pushing block 802 and the suction cups 705. The reverse pushing block 802 presses the glove template 9 adsorbed by the suction cups 705 onto the surface of the glove film 2 through its own downward movement, realizing the separation of the glove template 9. The specific working process is as follows:

[0051] Adsorption stage: The suction cups 705 press down to adsorb the glove template 9;

[0052] Fitting stage: The second mounting cylinder 6 drives the suction cups 705 to move above the glove film 2 and continues to press down to make the glove template 9 fit with the glove film 2;

[0053] Separation stage: When the second mounting cylinder 6 moves upward, the pressing disc 804 pushes the reverse pushing block 802 downward, forcing the glove template 9 to separate from the suction cups 705;

[0054] Reset stage: After the pressing disc 804 is released, the spring 808 drives the reverse pushing block 802 to elastically reset;

[0055] Further, the pressing plate 804 does not directly contact the reverse pushing block 802. The upper side of the limiting groove 806 is higher than the upper side of the pressing plate 804, and the lower end of the reverse pushing block 802 is flush with the lower end of the suction cup 705. The schematic diagram of this structure is Figure 2 and Figure 9 , the distance between the reverse pushing block 802 and the pressing plate 804 is designed to be less than the height difference generated by the vertical deformation of the suction cup 705, ensuring that only a slight pressure is applied when the reverse pushing block 802 contacts the glove template 9. The reverse pushing block 802 is linked with the pressure sensor 805 to detect the adsorption state, and the principle is as follows:

[0056] Adsorption success: When the suction cup 705 adsorbs the glove template 9, the reverse pushing block 802 abuts against the glove template 9, pushing the pressure sensor 805 to generate pressure data;

[0057] Adsorption failure: If the suction cup 705 does not adsorb the glove template 9, after the second mounting cylinder 6 moves upward, the reverse pushing block 802 is separated from the pressure sensor 805, and no pressure data is generated;

[0058] Further, the reverse pushing mechanism 8 includes an air groove 809, a ventilation hole 810, a connecting rod 811, a pushing air block 812, a connecting air pipe 813 and an air cylinder 817. An air groove 809 is opened on the lower side of the limiting groove 806, a ventilation hole 810 is opened between the limiting groove 806 and the air groove 809, a connecting rod 811 is fixedly installed on the lower side of the second limiting block 807, the connecting rod 811 is movably inserted into the air groove 809, a pushing air block 812 is fixedly installed on the lower side of the connecting rod 811, the pushing air block 812 fits with the inner side of the air groove 809, two groups of connecting air pipes 813 are fixedly installed on the second mounting cylinder 6, the two groups of connecting air pipes 813 communicate with the lower sides of the two groups of air grooves 809, air cylinders 817 are fixedly installed on the upper sides of the suction cups 705, the air cylinders 817 communicate with the suction cups 705, and one end of the connecting air pipe 813 communicates with the air cylinder 817. The schematic diagram of this structure is Figure 6 、 Figure 9 and Figure 10 , showing the air path linkage negative pressure control logic. The up and down movement of the reverse pushing block 802 can dynamically adjust the negative pressure intensity of the suction cup 705 to ensure the stable adsorption and detachment of the glove template 9. The negative pressure grasping of an object is realized through the elastic deformation of the suction cup 705. Compared with the traditional air pump negative pressure method, it has the following characteristics:

[0059] Negative pressure generation and release mechanism:

[0060] Adsorption stage: When the suction cup 705 presses down to adsorb the glove template 9, the reverse pushing block 802 moves upward to extract the air in the air cylinder 817, accelerating the formation of negative pressure in the suction cup 705;

[0061] Detachment stage: When the reverse push block 802 moves downward actively, the air pushing block 812 presses air into the air cylinder 817, assisting the auxiliary suction cup 705 to quickly relieve pressure, reducing the deformation of the two ends of the glove template 9 caused by residual negative pressure. In addition, the limit ring 704, the first threaded block 703 and the air cylinder 817 are rigidly fixed. The first threaded block 703 is fixedly connected to the outside of the air cylinder 817, and the damping rubber ring mentioned above is sleeved on the surface of the air cylinder 817;

[0062] Furthermore, the reverse push mechanism 8 includes a sealing rubber ring 814, a hollow threaded block 815, a rotating block 816 and a threaded ring 818. A sealing rubber ring 814 is fixedly installed on the lower side of the connecting air pipe 813. A hollow threaded block 815 is movably sleeved on the connecting air pipe 813. A rotating block 816 is fixedly installed on the upper side of the hollow threaded block 815. A threaded ring 818 is fixedly installed on the upper side of the air cylinder 817. The threaded ring 818 is communicated with the air cylinder 817. The hollow threaded block 815 is installed in the threaded ring 818 by means of threads. The schematic diagram of this structure is Figure 8 , this structure enables the connecting air pipe 813 to be detached from the air cylinder 817, so as to adapt to the disassembly of the suction cup 705. In addition, this structure can seal the connection between the threaded ring 818 and the connecting air pipe 813 through the extrusion between the hollow threaded block 815 and the sealing rubber ring 814, increasing the stability of the equipment during use.

[0063] Working principle: When the present invention is in use, the conveyor belt speed encoder 406 monitors the speed of the conveyor belt body 1 and synchronously controls the action speed of the first telescopic motor 502 and the first mounting cylinder 510. The specific operation process is as follows:

[0064] Feeding of the glove template 9:

[0065] The worker places the glove template 9 into the placement groove 402 of the limiting mechanism 4, and the guiding block 404 assists in quick positioning.

[0066] Adsorption preparation:

[0067] The rotating motor 505 drives the gear 506 to rotate, and drives the first screw sleeve 507 to rotate through the engagement with the gear ring 508;

[0068] The threaded fit between the first screw sleeve 507 and the first screw rod 509 drives the first screw rod 509 to descend, and the limiting square rod 511 slides and guides in the limiting square groove 512;

[0069] The suction cup 705 and the reverse push block 802 synchronously fit the surface of the glove template 9, and the suction cup 705 elastically deforms to discharge air to form negative pressure.

[0070] Adsorption detection:

[0071] The upward movement of the reverse push block 802 triggers the pressure sensor 805 to generate pressure data to confirm successful adsorption.

[0072] Laminating action:

[0073] The first telescopic motor 502 extends to push the mounting head 504 above the glove film 2;

[0074] The first screw 509 presses down to make the glove template 9 and the glove film 2 laminated. After the pressure sensor 805 detects a sudden change in pressure, it triggers the second telescopic motor 803;

[0075] The second telescopic motor 803 drives the pressing disc 804 to move downwards, and the anti-pushing block 802 forces the glove template 9 to separate from the suction cup 705.

[0076] Negative pressure release:

[0077] When the anti-pushing block 802 moves downwards, the air pushing block 812 discharges the air in the air groove 809 into the air cylinder 817 through the connecting air pipe 813, accelerating the pressure relief of the suction cup 705.

[0078] Reset cycle:

[0079] The spring 808 drives the anti-pushing block 802 to reset, and the system returns to the initial state.

[0080] Maintenance operation instructions:

[0081] Disassembly of the suction cup 705:

[0082] Loosen the third screw 708 to release the limit of the damping rubber ring;

[0083] Rotate the limit ring 704 to separate the first threaded block 703 from the third screw sleeve 702.

[0084] Adjustment of the distance between the suction cups 705:

[0085] Rotate the fifth screw sleeve 714 to drive the rotating ring 713 to rise and fall through the thread ring 715. The hinge rod 712 drives the third screw sleeve 702 to slide along the chute of the limit frame 701, realizing stepless adjustment of the distance between the suction cups 705.

[0086] Disassembly of the second mounting cylinder 6:

[0087] Loosen the second screw sleeve 515 to separate it from the second screw 514, and remove the second mounting cylinder 6 and its attached mechanisms as a whole.

[0088] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or apparatus comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or apparatus.

[0089] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic veneer production device with a robotic arm grasping function, including a conveyor belt body (1), on which glove films (2) are arranged in an array. It is characterized in that: An installation bracket (3) is provided at the central position of the conveyor belt body (1); A limiting mechanism (4), the limiting mechanism (4) includes a limiting plate (401) and a placement groove (402), there are two groups of the limiting plates (401) and both are fixedly installed on the installation bracket (3), and a placement groove (402) is opened on the limiting plate (401); A glove template (9) is placed in the placement groove (402), and a clamping inclined groove (10) is opened on the glove template (9); A displacement mechanism (5), the displacement mechanism (5) includes an installation box (501), an installation head (504) and a first screw rod (509), the installation head (504) is movably installed on the installation box (501), and the first screw rod (509) is movably installed on the installation head (504); A second installation cylinder (6) is installed on the displacement mechanism (5); A grasping mechanism (7), the grasping mechanism (7) includes a limiting frame (701) and a suction cup (705), there are two groups of the limiting frames (701) on one side and are fixedly installed on the left and right sides at the lower end of the second installation cylinder (6), and the suction cups (705) are movably installed on both groups of the limiting frames (701); A reverse pushing mechanism (8), the reverse pushing mechanism (8) includes a moving groove (801) and a reverse pushing block (802), the moving groove (801) is opened in the second installation cylinder (6), and the reverse pushing block (802) is movably arranged in the moving groove (801).

2. The automatic veneer production equipment with a robotic arm grasping function according to claim 1, characterized in that: The limiting mechanism (4) includes a limiting plate (401), a placement groove (402), a first limiting block (403), a guiding block (404), a stable ring (405) and a conveyor belt speed induction encoder (406), the upper side of the limiting plate (401) is flush with the upper side of the conveyor belt of the conveyor belt body (1), the shape of the placement groove (402) is adapted to the shape of the glove template (9), the orientation of the placement groove (402) is consistent with the orientation of the glove film (2) on the conveyor belt body (1), a first limiting block (403) is fixedly installed in the placement groove (402), the shape of the first limiting block (403) is adapted to the shape of the clamping inclined groove (10), a guiding block (404) is fixedly installed on the upper side of the first limiting block (403), three stable rings (405) are fixedly installed in the placement groove (402), and a conveyor belt speed induction encoder (406) is fixedly installed on the limiting plate (401).

3. The automatic veneer production equipment with a robotic arm grasping function according to claim 2, characterized in that: The displacement mechanism (5) includes a mounting box (501), a first telescopic motor (502), a movable block (503), a mounting head (504), a rotary motor (505), a gear (506), a first screw sleeve (507), a toothed ring (508), a first screw rod (509), a first mounting cylinder (510), a limiting square rod (511) and a limiting square groove (512). The mounting box (501) is fixedly mounted on the mounting bracket (3). A first telescopic motor (502) is fixedly mounted on one side of the mounting box (501). A movable block (503) is movably inserted into the mounting box (501). The output shaft of the first telescopic motor (502) is fixedly mounted on the movable block (503). One end of the movable block (503) is fixedly mounted with a mounting head (504). A rotary motor (505) is fixedly mounted on the mounting head (504). A gear (506) is fixedly mounted on the output shaft of the rotary motor (505). The gear (506) is rotatably mounted in the mounting head (504). A first screw sleeve (507) is rotatably mounted at the end of the mounting head (504) through a bearing. A toothed ring (508) is fixedly mounted on the first screw sleeve (507). The toothed ring (508) meshes with the gear (506). The first screw sleeve (507) is threadedly sleeved on the first screw rod (509). A first mounting cylinder (510) is fixedly mounted on the mounting head (504). A limiting square rod (511) is fixedly mounted in the first mounting cylinder (510). A limiting square groove (512) is formed in the first screw rod (509). The limiting square rod (511) is inserted into the limiting square groove (512).

4. The automatic veneer production equipment with a robotic arm grasping function according to claim 3, characterized in that: The displacement mechanism (5) includes a flange plate (513), a second screw rod (514) and a second screw sleeve (515). A flange plate (513) is fixedly mounted at the lower end of the first screw rod (509). Four groups of second screw rods (514) are fixedly mounted in an array at the upper end of the second mounting cylinder (6). The second screw rods (514) are all inserted into the flange plate (513). A second screw sleeve (515) is threadedly sleeved on the second screw rod (514).

5. An automatic veneer production device with a robotic arm grasping function according to claim 1, characterized in that: The grasping mechanism (7) includes a limit frame (701), a third screw sleeve (702), a first threaded block (703), a limit ring (704), a suction cup (705), a loading ring (706), a fourth screw sleeve (707) and a third screw rod (708). The third screw sleeve (702) is movably installed in each of the two limit frames (701). The first threaded block (703) is installed in the third screw sleeve (702) by means of threads. A limit ring (704) is fixedly installed on the lower side of the first threaded block (703). A suction cup (705) is fixedly installed on the lower side of the limit ring (704). A damping rubber ring is arranged on the upper side of the first threaded block (703). A loading ring (706) is fixedly installed on the upper side of the third screw sleeve (702). A fourth screw sleeve (707) is fixedly installed on one side of the loading ring (706). The third screw rod (708) is installed in the fourth screw sleeve (707) by means of threads. The third screw rod (708) abuts against the damping rubber ring.

6. The automatic veneer production equipment with a robotic arm grasping function according to claim 5, characterized in that: The grasping mechanism (7) includes a slider (709), a guide hole (710), a guide rod (711), a hinge rod (712), a rotating ring (713), a fifth screw sleeve (714) and a thread ring (715). Sliders (709) are fixedly installed on both sides of the third screw sleeve (702). The sliders (709) move in the sliding grooves of the limit frame (701). Guide holes (710) are formed in the sliders (709). Guide rods (711) are fixedly installed in the sliding grooves of the limit frame (701). The sliders (709) are sleeved on the guide rods (711) through the guide holes (710). Hinge rods (712) are hinged to the two third screw sleeves (702). The two hinge rods (712) are both hinged to the rotating ring (713). The rotating ring (713) is sleeved on the second mounting cylinder (6). A fifth screw sleeve (714) is rotatably installed on the upper side of the rotating ring (713). The inner side of the rotating ring (713) does not contact the outer wall of the second mounting cylinder (6). Anti-slip lines are arrayed on the outer side of the fifth screw sleeve (714). A thread ring (715) is arranged on the second mounting cylinder (6). The fifth screw sleeve (714) is sleeved on the second mounting cylinder (6) through the thread ring (715).

7. An automatic veneer production device with a robotic arm grasping function according to claim 1, characterized in that: The reverse thrust mechanism (8) includes a movable groove (801), a reverse thrust block (802), a second telescopic motor (803), a pressing disc (804), a pressure sensor (805), a limiting groove (806), a second limiting block (807), and a spring (808). A second telescopic motor (803) is fixedly installed in the second mounting cylinder (6). A pressing disc (804) is fixedly installed on the output rod of the second telescopic motor (803). The pressing disc (804) moves in the movable groove (801). A pressure sensor (805) is fixedly installed on the lower side of the pressing disc (804). Limiting grooves (806) are formed on both sides of the movable groove (801). Two groups of second limiting blocks (807) are fixedly installed at the upper end of the reverse thrust block (802). The second limiting blocks (807) slide in the limiting grooves (806). A spring (808) is arranged in the limiting groove (806), and the spring (808) abuts against the lower side of the second limiting block (807).

8. An automatic veneer production device with a robotic arm grasping function according to claim 7, characterized in that: The pressing disc (804) does not directly contact the reverse thrust block (802). The upper side of the limiting groove (806) is higher than the upper side of the pressing disc (804). The lower end of the reverse thrust block (802) is flush with the lower end of the suction cup (705).

9. An automatic veneer production device with a robotic arm grasping function according to claim 7, characterized in that: The reverse thrust mechanism (8) includes an air groove (809), a ventilation hole (810), a connecting rod (811), a pushing air block (812), a connecting air pipe (813), and an air cylinder (817). An air groove (809) is formed on the lower side of the limiting groove (806). A ventilation hole (810) is formed between the limiting groove (806) and the air groove (809). A connecting rod (811) is fixedly installed on the lower side of the second limiting block (807). The connecting rod (811) is movably inserted into the air groove (809). A pushing air block (812) is fixedly installed on the lower side of the connecting rod (811). The pushing air block (812) fits with the inner side of the air groove (809). Two groups of connecting air pipes (813) are fixedly installed on the second mounting cylinder (6). The two groups of connecting air pipes (813) communicate with the lower sides of the two groups of air grooves (809). Air cylinders (817) are fixedly installed on the upper sides of the suction cups (705). The air cylinders (817) communicate with the suction cups (705). One end of the connecting air pipe (813) communicates with the air cylinder (817).

10. An automatic veneering production device with a robotic arm grasping function according to claim 9, characterized in that: The reverse thrust mechanism (8) includes a sealing rubber ring (814), a hollow threaded block (815), a rotating block (816), and a threaded ring (818). A sealing rubber ring (814) is fixedly installed on the lower side of the connecting air pipe (813). A hollow threaded block (815) is movably sleeved on the connecting air pipe (813). A rotating block (816) is fixedly installed on the upper side of the hollow threaded block (815). A threaded ring (818) is fixedly installed on the upper side of the air cylinder (817). The threaded ring (818) communicates with the air cylinder (817). The hollow threaded block (815) is threadedly installed in the threaded ring (818).

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