Packaging machine for PVC plastic floor production

Abstract

The embodiment of the invention relates to the technical field of packaging equipment, and provides a packaging machine for PVC plastic floor production, comprising: a carton table top for placing stacked cartons; the packaging table top is arranged on one side of the carton table top; the first suction cup mechanical arm is arranged between the carton table top and the packaging table top and used for transferring cartons to the packaging table top. The floor table top is located on one side of the packaging table top and used for placing stacked floors; the second mechanical arm is arranged between the floor table top and the packaging table top and comprises a material pushing part, a first material lifting part and a second material lifting part, and the carton folding mechanical arm is arranged above the packaging table top and used for folding cartons where floors are placed into cartons. By means of the technical scheme, the technical problem that in the prior art, the packaging efficiency of large-area soft floor blocks is low is solved. The packaging machine can achieve automatic packaging, manual operation links are reduced, and the labor intensity of workers is reduced.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the technical field of packaging equipment, and in particular, to a packaging machine for producing PVC plastic flooring. Background Art

[0002] In the flooring production industry, with the continuous development of automation technology, the requirements for efficiency and quality in the packaging process are becoming increasingly stringent. Currently, there are many types of flooring packaging machines on the market, such as sheet box packaging machines. These machines achieve a certain degree of automation through the operation of support mechanisms, guide folding mechanisms, and compression mechanisms, which can reduce worker labor intensity and improve packaging efficiency.

[0003] PVC plastic flooring, made primarily of polyvinyl chloride, is typically large and soft. Packaging for this type of large, soft flooring presents several challenges. These large, soft sheets are prone to sagging during transport, requiring only single, large-scale transfers. Transferring multiple sheets to the packaging table at once is difficult, and handling and placing them piece by piece is inefficient. Furthermore, existing automated packaging equipment is mostly designed for hard or smaller flooring. Its conveying and positioning mechanisms are ill-suited to the characteristics of large, soft flooring sheets. This results in low packaging efficiency for these large-area soft flooring sheets in automated packaging processes, necessitating a new packaging machine design to address this issue. Summary of the Invention

[0004] To overcome the above-mentioned defects, the embodiments of the present disclosure provide a packaging machine for PVC plastic floor production, which solves the technical problem of low packaging efficiency of large-area soft flooring materials in the prior art.

[0005] According to one aspect, at least one embodiment of the present disclosure provides a packaging machine for producing PVC plastic flooring, comprising: A carton table, the carton table being used for placing stacked cartons; A packaging table, which is arranged on one side of the carton table; a first suction cup manipulator, which is arranged between the carton table and the packaging table and is used to transfer the carton to the packaging table; A floor table, located on one side of the packaging table and used for placing stacked floor panels; a second manipulator, the second manipulator being arranged between the floor table and the packaging table, comprising a pushing member, a first lifting member, and a second lifting member, the pushing member being capable of horizontal movement to push the plurality of floor panels horizontally so that one end of the plurality of floor panels extends relative to the remaining floor panels below, the first lifting member being capable of horizontal and vertical movement to lift the exposed end of the plurality of floor panels, and the second lifting member being capable of horizontal and vertical movement to lift the other end or the middle of the plurality of floor panels; A box folding robot is arranged above the packaging table and is used to fold the cartons placed on the floor into boxes.

[0006] For example, in at least one embodiment of the present disclosure, a packaging machine for producing PVC plastic flooring is provided, wherein the second manipulator further includes: a robotic arm capable of three-dimensional motion; The mobile platform is arranged on the robotic arm and can realize horizontal and vertical movement under the drive of the robotic arm. The first lifting member is arranged on the mobile platform for horizontal and transverse movement, and the second lifting member is arranged on the mobile platform for horizontal and transverse movement.

[0007] For example, at least one embodiment of the present disclosure provides a packaging machine for the production of PVC plastic flooring, wherein the bottom of the first lifting member is a long strip-shaped first supporting portion, both ends of which extend upward and have a first sliding portion that slides relative to the movable table; the bottom of the second lifting member is a long plate-shaped second supporting portion, both ends of which extend upward and have a second sliding portion that slides relative to the movable table, wherein the moving path of the second supporting portion is lower than the moving path of the first supporting portion.

[0008] For example, in at least one embodiment of the present disclosure, a packaging machine for producing PVC plastic flooring is provided, wherein the second supporting portion has a triangular pushing portion on one side close to the pushing member, and the upper and lower surfaces of the second supporting portion have a plurality of guide wheels arranged at intervals.

[0009] For example, in at least one embodiment of the present disclosure, a packaging machine for producing PVC plastic flooring is provided, wherein the second manipulator further includes: A plurality of guide rods are arranged in sequence, wherein the guide rods are rotatably arranged and are located at one end of the second supporting portion away from the triangular pushing portion.

[0010] For example, in at least one embodiment of the present disclosure, a packaging machine for producing PVC plastic flooring is provided, wherein the pusher is horizontally slidably disposed on the movable platform and has a first inclined surface, and the second manipulator further includes: An upper pressing member, the upper pressing member is arranged to be lifted and slid relative to the movable platform, and has a pressing portion at the bottom, the pressing portion being used to be pushed upward by the topmost floor board stacked on the floor table; A lifting push piece is provided on the movable platform for lifting and sliding, and has a second inclined surface, which abuts against the first inclined surface. After the lifting push piece is lifted and slid, it is used to push the material pushing piece so that the material pushing piece slides horizontally, and pushes several pieces of floor to move horizontally so that one end of several pieces of floor extends relative to the rest of the floor below, wherein the upper pressure piece is used to transmit the power so that the lifting push piece can be lifted and lowered.

[0011] For example, in at least one embodiment of the present disclosure, a packaging machine for producing PVC plastic flooring is provided, wherein the second manipulator further includes: a lever member, the lever member being rotatably disposed on the movable platform, with one end abutting against the upper portion of the upper pressing member and the other end abutting against the upper end of the lifting push member, and being used for pushing the lifting push member down when the upper pressing member rises; An elastic member, one end of which acts on the lever member and the other end of which acts on the movable platform, is used to provide a force for pressing down the upper pressing member.

[0012] For example, in at least one embodiment of the present disclosure, a packaging machine for producing PVC plastic flooring is provided, wherein the second manipulator further includes: The sliding member is horizontally slidably arranged on the movable platform, and the upper pressing member is lifted and slidably arranged on the sliding member, so as to prevent the pressing part from sliding relative to the floor and scratching the floor surface.

[0013] For example, in at least one embodiment of the present disclosure, a packaging machine for producing PVC plastic flooring is provided, wherein the second manipulator further includes: A positioning push plate is provided on the movable platform and is located on a side of the pushing member close to the floor, and is used to abut against an upper side of the stacked floor panels.

[0014] For example, at least one embodiment of the present disclosure provides a packaging machine for producing PVC plastic flooring, wherein the positioning push plate has a strip-shaped clearance opening, and the pusher moves through the strip-shaped clearance opening to push several pieces of flooring to move horizontally so that one end of the several pieces of flooring extends relative to the rest of the flooring below.

[0015] The beneficial effects of the embodiments of the present disclosure are: In this disclosure, the control and positioning of each manipulator, along with the positioning groove design of the packaging table, ensure the accurate positioning of the cartons and flooring during the packaging process, improving packaging quality and reducing packaging defects caused by positioning deviations. This packaging machine achieves automated packaging, reduces manual operation steps, reduces worker labor intensity, and improves the working environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly describes the drawings required for use in describing the embodiments of the present disclosure. Obviously, the drawings described below are merely some exemplary embodiments of the present disclosure. Those skilled in the art can, without inventive effort, derive other drawings based on the content of the exemplary embodiments of the present disclosure and these drawings.

[0017] Figure 1 This is a structural diagram of a packaging machine in one embodiment of the present disclosure; Figure 2 for Figure 1 A schematic structural diagram of the second manipulator in the embodiment of FIG. Figure 3 for Figure 2 Middle A is a schematic diagram of a partially enlarged structure; Figure 4 for Figure 2 Middle B is a schematic diagram of a partially enlarged structure; Figure 5 for Figure 1 A schematic top view of the second manipulator in the embodiment of FIG. Figure 6 for Figure 5 Schematic diagram of the cross-sectional structure of the CC; Figure: Carton table - 100, packaging table - 200, first suction cup manipulator - 300, floor table - 400, second manipulator - 500, pusher - 501, first inclined surface - 5011, first lifting member - 502, first supporting part - 5021, first sliding part - 5022, second lifting member - 503, second supporting part - 5031, second sliding part - 5032, triangular pushing part - 5033, guide wheel - 5034, moving table - 504, guide rod - 505, upper pressing part - 506, pressing part - 5061, lifting pushing member - 507, second inclined surface - 5071, lever member - 508, elastic member - 509, sliding member - 510, positioning push plate - 511, strip-shaped clearance opening - 512. Box folding robot - 600. DETAILED DESCRIPTION

[0018] The present disclosure will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present disclosure, rather than to limit the present disclosure.

[0019] To simplify the drawings, only the parts relevant to the disclosure are schematically shown in each figure; they do not represent the actual structure of the product. Furthermore, to simplify the drawings and facilitate understanding, in some figures, only one of the components with the same structure or function is schematically shown or labeled. In this document, "one" not only means "only one" but also "more than one," and "several" includes "two" and "more than two."

[0020] It should be noted that, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they can refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in this disclosure based on the specific circumstances.

[0021] In the present disclosure, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0022] In the description of this embodiment, the terms "up", "down", "left", "right", etc., and the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present disclosure.

[0023] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0024] like Figures 1 to 6As shown, a packaging machine for producing PVC plastic flooring in one embodiment of the present disclosure is shown, which includes a carton table 100 for placing stacked cartons, a packaging table 200 arranged on one side of the carton table 100; a first suction cup manipulator 300 arranged between the carton table 100 and the packaging table 200 for transferring cartons to the packaging table 200, a floor table 400 located on one side of the packaging table 200 for placing stacked floorings, a second manipulator 500 arranged between the floor table 400 and the packaging table 200, and including a pushing member 500. 1. The first lifting member 502 and the second lifting member 503, the pushing member 501 can be arranged to move horizontally, and is used to push several pieces of floorboards to move horizontally so that one end of several pieces of floorboards extends relative to the rest of the floorboards below. The first lifting member 502 can move horizontally and up and down to lift the exposed end of several pieces of floorboards, and the second lifting member 503 can move horizontally and up and down to lift the other end or the middle of several pieces of floorboards. The folding robot 600 is set above the packaging table 200, and is used to fold the cartons with the floorboards placed on them into boxes.

[0025] The carton table 100 has a flat surface, ensuring stability for stacked cartons. Adjustable feet are located at each corner of the table, allowing you to adjust the table to the flatness of different workspaces and maintain a constant level position.

[0026] The packaging table 200 is set adjacent to the carton table 100 on one side. The surface of the packaging table 200 is provided with positioning grooves that adapt to the bottom contour of common cartons, which can position the cartons transferred in, providing convenience for subsequent floor placement and carton folding.

[0027] The first suction cup manipulator 300 consists of a robotic arm, a suction cup assembly, and a drive system. The robotic arm possesses multiple degrees of freedom, enabling flexible movement in three dimensions, enabling precise positioning and grasping. The suction cup assembly, mounted at the end of the robotic arm, consists of multiple vacuum cups. The drive system controls the arm's movement speed and position, enabling the first suction cup manipulator 300 to accurately grasp cartons from the carton table 100 and smoothly transfer them to the positioning grooves on the packaging table 200.

[0028] The floor table 400 is covered with non-slip material to prevent slipping during placement and handling. A shock-absorbing device is installed at the bottom of the table to effectively reduce the impact of vibration generated by the floor placement on other equipment components. The floor table 400 can be designed to rotate in a circular motion, making loading and unloading, packaging, and unloading more convenient.

[0029] The main body of the pushing member 501 is a pushing plate with a smooth surface, which is not likely to scratch the floor when in contact with the floor. After moving, it can push several pieces of floor so that one end of some of the floor extends out.

[0030] The first lifting member 502 includes a lifting plate and a horizontal movement mechanism. The horizontal movement mechanism allows the lifting plate to move horizontally. Lifting and lowering are achieved by the movement of the second manipulator 500. The first lifting member 502 can quickly move and lift the exposed end of the floorboard according to the position of the pusher 501.

[0031] The second lifting member 503 is similar in structure to the first lifting member 502 and also includes a lifting plate and a horizontal movement mechanism. It can be controlled to work in conjunction with the first lifting member 502 to steadily lift multiple pieces of flooring and transfer them to cartons on the packaging table 200.

[0032] The box folding robot 600 is mounted on a frame above the packaging table 200 and consists of a robotic arm, a folding claw, and a drive system. The robotic arm has multiple degrees of freedom, allowing for flexible movement. The folding claw is mounted at the end of the robotic arm and is pneumatically actuated to open and close. The drive system precisely controls the movement of the robotic arm and folding claw, enabling the box folding robot 600 to quickly and accurately fold cartons placed on the floor.

[0033] The first suction cup manipulator 300 uses a vacuum suction cup to generate suction to absorb the carton. The robotic arm moves along a preset path to transfer the carton from the carton table 100 to the positioning groove of the packaging table 200, and uses the flexibility of the robotic arm and the suction force of the suction cup to achieve efficient and accurate transfer.

[0034] The pushing member 501 of the second manipulator 500 first pushes several pieces of flooring so that one end of some of the flooring extends out. The first lifting member 502 moves and lifts one end according to the extended position. The second lifting member 503 moves to the other end or the middle of the flooring to lift the flooring, collaboratively realizing the lifting and transportation of multiple pieces of flooring, effectively solving the problem of transporting multiple pieces of PVC plastic flooring.

[0035] The robotic arm of the box folding robot 600 drives the box folding claw to move to the carton folding edge position. The box folding claw is pneumatically driven to open and grasp the folded edge. Then, through the movement of the robotic arm and the closing of the box folding claw, the carton folding edges are folded in turn to realize the automation of carton folding.

[0036] When transferring the carton, start the first suction cup manipulator 300, move the manipulator arm to the top of the carton table 100, and the suction cup assembly descends to adsorb the top corner of the carton. Then the manipulator arm transfers the carton to the positioning groove of the packaging table 200 according to the preset path. The suction cup assembly releases the carton, and the carton transfer is completed.

[0037] To transport the flooring, the pusher 501 of the second robot 500 is activated, causing the push plate to move horizontally, pushing several flooring pieces so that one end of some of the pieces extends. The first lifter 502 then moves horizontally to the extended end position, lifting the flooring using the lifting mechanism. Simultaneously, the second lifter 503 moves to the other end or center of the flooring, lifting it. Together, the two lifters lift the multiple flooring pieces and transfer them to cartons on the packaging table 200, completing the flooring transport.

[0038] When folding a carton, after the floor is placed inside the carton, the robotic arm of the folding robot 600 moves to the top of the carton, and the folding claws open to grab the folded edges of the carton. Through the movement of the robotic arm and the closing of the folding claws, the folded edges are folded in sequence, and finally the carton is folded into a box, completing the entire packaging process.

[0039] The first suction cup robot 300 quickly transfers cartons, the second robot 500 enables multiple pieces of PVC plastic flooring to be transferred together, and the box folding robot 600 quickly folds cartons. The entire packaging process is highly automated, which improves packaging efficiency and solves the problem of low packaging efficiency of PVC plastic flooring.

[0040] The design of the second manipulator 500, the pusher 501, the first lifting member 502 and the second lifting member 503 working together, effectively solves the problem that PVC plastic flooring is large in area, soft and easy to sag and difficult to transport in multiple pieces, and can well adapt to the characteristics of soft floors.

[0041] The control and positioning of each manipulator, along with the positioning grooves on the packaging table 200, ensure the accurate positioning of the cartons and flooring during the packaging process, improving packaging quality and reducing packaging defects caused by positioning deviations. This packaging machine automates packaging, reduces manual operation, reduces worker labor intensity, and improves the working environment.

[0042] In some examples, the second manipulator 500 also includes a robotic arm that can move in three dimensions; the movable platform 504 is set on the robotic arm and can realize horizontal and lifting movements; the first lifting member 502 is set on the movable platform 504 for horizontal and transverse movement; the second lifting member 503 is set on the movable platform 504 for horizontal and transverse movement.

[0043] The robotic arm is capable of three-dimensional motion, allowing for flexible movement within space. It is composed of multiple joints, each equipped with a servo motor and transmission. The servo motor controls the joint's rotation angle, while the transmission efficiently transmits the motor's power, ensuring coordinated movement among all parts of the robotic arm. These components work together to enable the robotic arm to move along the X, Y, and Z axes, meeting the needs of handling flooring at various locations. For example, when handling flooring located at different locations on a 400-degree surface, the robotic arm can quickly move to the designated location, ready for subsequent operations.

[0044] The movable platform 504 is firmly set on the robotic arm, and can realize the required smooth horizontal movement and the required lifting movement under the drive of the robotic arm. This design enables the movable platform 504 to flexibly adjust its position according to actual conditions, providing a more flexible working basis for the first lifting piece 502 and the second lifting piece 503.

[0045] The first lifting member 502 and the second lifting member 503 are both arranged on the movable table 504 for horizontal and transverse movement. On the table top of the movable table 504, transverse guide rails adapted to the first lifting member 502 and the second lifting member 503 are installed. Sliders that cooperate with the guide rails are provided on the tops of the first lifting member 502 and the second lifting member 503. Driven by a motor, the slides can move transversely on the guide rails, thereby achieving horizontal and transverse position adjustment of the first lifting member 502 and the second lifting member 503 on the movable table 504. This arrangement enables the first lifting member 502 and the second lifting member 503 to move from one side of the template to the required lifting position according to the specific position and size of the floor, thereby better coordinating the lifting of floors of different specifications.

[0046] The robotic arm's three-dimensional motion is based on precise control of the servo motors at each joint. By combining control over the rotation angles of the motors at different joints, the robotic arm can trace various trajectories within space. For example, when lifting a floorboard from a corner of the floor surface 400, the robotic arm controls the rotation of each joint to first horizontally move above the corner, then vertically descend to the desired height to position the floorboard. This three-dimensional motion control provides a flexible operational foundation for the entire packaging process, adapting to handling floorboards from various placements.

[0047] The movable platform 504 can be brought to a desired position by the robotic arm and can work at different heights and horizontal positions, thereby enhancing the working adaptability of the first material lifting member 502 and the second material lifting member 503 .

[0048] When the packaging machine is ready to move a floor, the robotic arm first moves three-dimensionally to a suitable position above the floor surface 400 according to a pre-set program or operator instructions. Simultaneously, the movable platform 504 uses a lifting mechanism to adjust its height according to the floor height, so that the first lifting member 502 and the second lifting member 503 are close to the floor.

[0049] When the position of the lifting member is adjusted, the pushing member 501 pushes a plurality of floorboards so that one end of the floorboards extends out, thereby preparing for the first lifting member 502 to lift this portion.

[0050] When the floor is lifted and transported, the robotic arm drives the first lifting member 502 to move under the floor with one end extended. The robotic arm raises so that the first lifting member 502 lifts one end of the floor and keeps the first lifting member 502 stationary. Because the second lifting member 503 is located below the first lifting member 502, it is also located under the extended end of the floor. Then, the second lifting member 503 moves horizontally to the middle or the other end of the floor. The first and second lifting members 502, 503 are located at two positions under the floor. The robotic arm continues to lift and transport the floor into the carton on the packaging table 200. During the transportation process, the robotic arm, the moving platform 504, and the first and second lifting members 502, 503 continue to work together to ensure the stability and accuracy of the floor transportation.

[0051] The robotic arm's three-dimensional motion capabilities, along with the horizontal and vertical movement capabilities of the mobile platform 504, allow the second robot 500 to more flexibly adapt to floor handling requirements at varying locations and heights. Stacked floors can be efficiently handled without the need for manual intervention or other material handling mechanisms, significantly enhancing the packaging machine's adaptability to diverse work scenarios.

[0052] The first lifting member 502 and the second lifting member 503 can move horizontally on the movable platform 504, and can quickly adjust their relative positions according to the actual size and position of the floor, achieving more accurate and efficient collaborative work. This not only improves the efficiency of lifting and transporting the floor, but also because the first lifting member 502 and the second lifting member 503 lift the floor by lifting it, rather than using the common suction cups, so that even large floors can be stably lifted. A predetermined number of large soft floorings can be lifted at a time and directly placed in a packaging box for packaging. The stability during transportation is also reduced, reducing the risk of damage to the floor due to improper lifting methods.

[0053] In some examples, the first lifting member 502 has a first elongated support portion 5021 at its bottom, with both ends extending upward and having a first sliding portion 5022 that slides relative to the movable platform 504; the second lifting member 503 has a second elongated support portion 5031 at its bottom, with both ends extending upward and having a second sliding portion 5032 that slides relative to the movable platform 504, wherein the moving path of the second support portion 5031 is lower than the moving path of the first support portion 5021.

[0054] The first support portion 5021 can be designed as an elongated strip. This shape provides relatively uniform support for the floor, ensuring that the floor is not easily bent or damaged due to uneven force when it is lifted. The first support portion 5021 is made of a high-strength yet lightweight material, such as aluminum alloy. This ensures strength while reducing the weight of the entire first lifting member 502, facilitating rapid lifting and movement. Its length is designed based on the width of common PVC plastic flooring, slightly longer than the floor width to ensure full support of the floor.

[0055] Extending upward from both ends of the first support portion 5021 are first sliding portions 5022. The first sliding portions 5022 cooperate with vertical guide rails pre-installed on the movable platform 504 to achieve sliding movement relative to the movable platform 504. Sliders are mounted within the first sliding portions 5022. The sliders cooperate with the guide rails to enable the first lifting member 502 to achieve smooth horizontal sliding movement on the movable platform 504.

[0056] The second support portion 5031 is an elongated plate-like structure. Compared to the first support portion 5021, it is wider to provide more stable support. It is also made of high-strength yet lightweight materials, such as carbon fiber composite materials, to ensure support strength while reducing weight. Its length can be designed based on actual needs, meeting the requirements of lifting the other end or the middle of the floor.

[0057] Both ends of the second supporting portion 5031 extend upward to form a second sliding portion 5032, which cooperates with the corresponding guide rails on the movable platform 504 to ensure smooth horizontal sliding.

[0058] The position of the movable platform 504 is designed so that the moving path of the second supporting portion 5031 is lower than the moving path of the first supporting portion 5021. Specifically, in actual operation, when the first supporting portion 5021 of the first lifting member 502 lifts one end of the plurality of floor panels, the second supporting portion 5031 of the second lifting member 503 can still move past the first supporting portion 5021 and continue to move to the middle or end of the plurality of floor panels, thereby achieving flexible operation and stable lifting action.

[0059] The first support portion 5021 of the first lifting member 502 and the second support portion 5031 of the second lifting member 503 respectively provide support for the floor. The first sliding portion 5022 and the second sliding portion 5032 cooperate with the guide rails on the movable platform 504, allowing the lifting members to flexibly move on the movable platform 504, thereby simply and effectively lifting the floor.

[0060] By cooperating with the guide rails of the movable platform 504, the first and second lifting members 502 and 503 can flexibly adjust their heights to accommodate packaging of flooring of varying thicknesses. This design enhances the packaging machine's adaptability to various PVC flooring specifications and improves its versatility.

[0061] In some examples, a side of the second supporting portion 5031 close to the pushing member 501 has a triangular pushing portion 5033 , and upper and lower surfaces of the second supporting portion 5031 both have a plurality of guide wheels 5034 arranged at intervals.

[0062] The triangular pusher 5033 is located on the side of the second support 5031 near the pusher 501. Made of high-strength engineering plastic, it offers sufficient strength while being relatively lightweight, without significantly increasing the overall weight of the second lifting member 503. The triangular shape provides excellent guidance, with its top corner positioned below the floor, making it easier to insert under the floor after being pushed by the pusher 501 and then lifted by the first support 5021 of the first lifting member 502.

[0063] The upper and lower surfaces of the second support portion 5031 are both provided with a plurality of spaced guide wheels 5034. The guide wheels 5034 are made of a wear-resistant polyurethane material. The spacing of the guide wheels 5034 on the upper surface of the second support portion 5031 is optimized based on the width and weight distribution of the floor, so that the floor is evenly supported when placed on the second support portion 5031 and can move smoothly during transportation as the guide wheels 5034 rotate. The guide wheels 5034 are also spaced on the lower surface of the second support portion 5031. Their function is to reduce the friction between the second support portion 5031 and the underlying floor and the carton when the second lifting member 503 slides along the guide rails of the movable platform 504, thereby facilitating smoother movement of the second lifting member 503.

[0064] The design of the triangular pushing part 5033 improves the smoothness of the movement of the second lifting piece 503 along the lower surface of the lifted floor. The rolling movement of the guide wheel 5034 enables the second lifting piece 503 to move better along the lower and upper surfaces of the floor, making it easier to insert between the two floors, reducing the risk of damage to the floor, and further improving the stability of floor transportation, thereby improving packaging quality.

[0065] The setting of the guide wheels 5034 on the upper and lower surfaces of the second support part 5031 can reduce the friction between the upper floor and the support part and between the support part and the lower floor, enable it to be better inserted between the two layers of floor, and also enable the second support part 5031 to be better moved out from between the floor and the carton, thereby improving production fluency.

[0066] In some examples, the second robot 500 further includes a plurality of guide rods 505 arranged in sequence. The guide rods 505 are rotatably arranged and are located at an end of the second supporting portion 5031 away from the triangular pushing portion 5033 .

[0067] A plurality of guide rods 505 are sequentially arranged at one end of the second supporting portion 5031 away from the triangular pusher portion 5033. The number of the guide rods 505 is determined according to the length of the second supporting portion 5031 and actual needs.

[0068] When the second lifting member 503 moves under the floor, the guide rod 505 first contacts the floor. Since the guide rod 505 is rotatable, the second support portion 5031 can rotate when it moves under the floor and when it moves out from under the floor. The guide rod 505 rolls along the floor, thereby reducing friction with the floor and preventing damage to the floor. In addition, the guide rod 505 cooperates with the side baffles to play a certain role in correcting deviation.

[0069] In some examples, the pusher 501 is horizontally slidably set on the movable platform 504 and has a first inclined surface 5011. The second manipulator 500 also includes an upper pressure member 506, which is raised and lowered and slidably set relative to the movable platform 504 and has a pressing portion 5061 at the bottom. The pressing portion 5061 is used to be pushed upward by the topmost floor stacked on the floor table; the lifting pusher 507 is raised and lowered and slidably set on the movable platform 504 and has a second inclined surface 5071. The second inclined surface 5071 abuts against the first inclined surface 5011. After the lifting pusher 507 is raised and lowered and slid, it is used to push the pusher 501 so that the pusher 501 slides horizontally and pushes several pieces of floor to move horizontally so that one end of several pieces of floor extends relative to the rest of the floors below, wherein the upper pressure member 506 is used to transmit so that the lifting pusher 507 is raised and lowered.

[0070] The pusher 501 is adapted to slide horizontally by means of a slider mounted on the bottom thereof and a horizontal guide rail provided on the movable platform 504. The first inclined surface 5011 is located on a side of the pusher 501 close to the lifting pusher 507.

[0071] The upper pressing member 506, through vertical sliders mounted on either side, cooperates with corresponding vertical guide rails on the movable platform 504, enabling it to rise and fall relative to the movable platform 504. The pressing portion 5061, located at the bottom of the upper pressing member 506, is designed to be flat and conform to the floor surface, maximizing the contact area with the floor and ensuring uniform force when pushed by the floor. The pressing portion 5061 is made of rubber, a material with a certain degree of elasticity that effectively transmits force while preventing damage to the floor surface.

[0072] The lifting member 507 is lifted and slidable by cooperating with another set of vertical guide rails on the movable platform 504 through its own vertical slider. The second inclined surface 5071 is located on the side of the lifting member 507 close to the material pusher 501, and its inclination angle matches that of the first inclined surface 5011 to ensure that the two can effectively transmit force when they abut.

[0073] When the robotic arm of the second manipulator (500) carries the upper pressing piece 506 and rises close to the topmost floorboard stacked on the floor table, the floor will push the pressing portion 5061 of the upper pressing piece 506 and make the upper pressing piece 506 rise, and the rise of the upper pressing piece 506 will drive the lifting push piece 507 to descend synchronously.

[0074] As the lifting member 507 descends, its second inclined surface 5071 contacts the first inclined surface 5011 of the material pusher 501. Because the two inclined surfaces have the same inclination angle, the vertical force generated by the descending lifting member 507 is converted by the inclined surfaces into a force that pushes the material pusher 501 horizontally. Under the action of this horizontal force, the material pusher 501 slides horizontally along the horizontal guide rails of the movable platform 504 via its bottom slider, thereby pushing several floorboards horizontally, causing one end of some floorboards to extend relative to the remaining floorboards below, preparing for subsequent lifting operations.

[0075] Through the ingenious transmission design between the upper pressing member 506, the lifting pushing member 507 and the pushing member 501, the pushing action is triggered by the rising force of the floor itself, thereby realizing the automation of the pushing process, reducing the use of additional driving devices, simplifying the structure and reducing costs.

[0076] The bottom pressing portion 5061 of the upper pressing member 506 is made of rubber, which can effectively avoid scratching the floor surface during force transmission. It is particularly suitable for protecting PVC plastic floors, which have a relatively soft and easily damaged surface, thereby improving packaging quality.

[0077] In some examples, the second manipulator 500 also includes a lever member 508, which is rotatably set on the movable platform 504, and one end of the lever member 508 abuts against the upper part of the upper pressure member 506, and the other end abuts against the upper end of the lifting push member 507, and is used to push the lifting push member 507 down when the upper pressure member 506 rises; one end of the elastic member 509 acts on the lever member 508, and the other end acts on the movable platform 504, and is used to provide a force to press the upper pressure member 506 downward.

[0078] Lever member 508 is rotatably mounted on movable platform 504 via a rotating shaft. One end of lever member 508 is designed as a curved abutment that mates with the upper portion of upper pressure member 506. The curvature of this abutment matches the contour of the upper portion of upper pressure member 506 to increase the contact area and ensure uniform force transmission. The other end is similarly designed as an abutment structure that mates with the upper end of lift member 507. For example, this abutment is a flat surface that tightly contacts the upper surface of lift member 507.

[0079] The elastic member 509 is a torsion spring, one end of the spring is sleeved on the movable platform 504, and the other end of the spring abuts against the lever member 508 and contacts the lever member 508 through a spring abutment block.

[0080] Lever 508 utilizes the principle of leverage to achieve force transmission and direction conversion. When the upper pressure member 506 is pushed upward by the floor, its upper portion contacts one end of the lever 508, causing the lever 508 to rotate about its axis. Due to the mechanical properties of the lever, the other end of the lever 508 moves downward, thereby pushing the lifting push member 507 downward. This design cleverly utilizes the effect of leverage, achieving the conversion between the upward movement of the upper pressure member 506 and the downward movement of the lifting push member 507 through a simple mechanical structure, providing the power transmission foundation for the subsequent movement of the push member 501.

[0081] The elastic member 509 provides a continuous elastic force acting on the lever member 508. When the lever member 508 rotates due to the rise of the upper pressure member 506, the elastic member 509 is further compressed, storing elastic potential energy. When the external force causing the upper pressure member 506 to rise disappears, such as when the floor drops or stops rising, the elastic member 509 releases its elastic potential energy, pushing the lever member 508 to rotate in the opposite direction, thereby pressing the upper pressure member 506 downward, causing it to return to its initial position. At the same time, the lifting push member 507 also returns to its initial position under the action of the lever member 508, preparing for the next material pushing operation. This design of the elastic member ensures that the upper pressure member 506 and the lifting push member 507 can automatically reset, realizing the cyclic operation of the relevant components of the packaging machine.

[0082] The addition of lever 508 further optimizes the packaging machine's transmission structure, achieving efficient force transmission and motion direction conversion through the simple principle of leverage. The provision of elastic member 509 enables the upper pressing member 506 and the lifting and pushing member 507 to automatically reset, eliminating the need for an additional drive device. This not only simplifies the equipment's control system but also improves the packaging machine's operating efficiency, enabling faster execution of the next pushing operation and enhancing the continuity of the packaging process.

[0083] The second manipulator 500 further includes a sliding member 510 , which is horizontally slidably arranged on the movable platform 504 , and the upper pressing member 506 is vertically slidably arranged on the sliding member 510 to prevent the pressing portion 5061 from sliding relative to the floor and scratching the floor surface.

[0084] In some examples, the sliding member 510 achieves horizontal sliding by cooperating with a preset horizontal guide rail on the moving platform 504 through a high-precision linear slider installed at the bottom.

[0085] The top of the sliding member 510 is provided with a vertical guide rail, and the upper pressing member 506 cooperates with the guide rail through vertical sliders installed on both sides to achieve lifting and sliding. This dual sliding structure design allows the upper pressing member 506 to move horizontally with the sliding member 510 and also to move vertically, increasing the flexibility and adaptability of the upper pressing member 506's movement.

[0086] The combination of the horizontal sliding of the slider 510 and the lifting and sliding movement of the upper pressing member 506 allows the upper pressing member 506 to adjust its position more flexibly in three dimensions. When the pusher 501 pushes the floorboards, the slider 510 can slide horizontally according to the changes in the floorboards' position, ensuring that the upper pressing member 506 always presses against a fixed position on the topmost floorboard stacked on the floor surface, thus preventing relative sliding between the upper pressing member 506 and the floorboards from damaging them. Simultaneously, the upper pressing member 506 can lift and slide according to the rise and fall of the floorboards, ensuring that the pressing portion 5061 always maintains contact with the floor surface, thus firmly pressing the floorboards.

[0087] The coordinated movement of the sliding member 510 and the upper pressing member 506 enhances the protection of the PVC plastic floor surface. This effectively prevents scratches caused by the pressing member 5061 sliding relative to the floor during the pushing process, ensures the integrity of the floor surface, and improves packaging quality.

[0088] The combination of the horizontal sliding motion of the slider 510 and the vertical sliding motion of the upper pressure member 506 allows the upper pressure member 506 to more flexibly adapt to changes in the position and height of the floor. Whether the floor moves horizontally or changes vertically due to different stacking heights, the upper pressure member 506 can adjust its position in a timely manner to ensure good contact with the floor, thereby improving the adaptability and reliability of the entire pusher mechanism.

[0089] It should be noted that the upper pressing member 506 and the lifting push member 507 transmit force and push each other via the lever member 508. During the upward and downward movement of the upper pressing member 506, the pushing portion 5061 cannot maintain a fixed position relative to the floor being pushed and will move horizontally with the movement of the floor. Although the length of the lever member 508 is fixed, the contact between the end of the lever member 508 and the upper pressing member 506 is capable of sliding relative to each other for a certain distance. Even if the upper pressing member 506 moves horizontally, the end of the lever member 508 is still able to contact the upper end of the upper pressing member 506 at all times, thereby ensuring the transmission of motion.

[0090] In some examples, the second robot 500 further includes a positioning push plate 511 , which is disposed on the movable platform 504 and located on a side of the pushing member 501 close to the floor, for abutting against the upper portion of the stacked floor panels.

[0091] Positioning push plate 511 is located on the side of pusher 501 closest to the floor. When pusher 501 is about to push a floor, positioning push plate 511 first rests against the top of the stacked floorboards. This restricts movement of the floorboards perpendicular to the pushing direction, providing a positioning reference for pusher 501's pushing action. This ensures that the floorboards move horizontally in the predetermined direction when pushed by pusher 501, preventing deviation and ensuring accurate and stable pushing.

[0092] During the pushing process, the positioning push plate 511 works in conjunction with the pusher 501. The positioning push plate 511 rests against the upper portion of the floor, increasing overall floor stability. This helps the pusher 501 maintain relative positioning of the floorboards as they push, preventing them from misaligning or falling apart. The auxiliary role of the positioning push plate 511 is particularly important for larger, softer PVC plastic floors, helping to improve the success rate and efficiency of pushing.

[0093] The positioning push plate 511 provides an accurate positioning reference for the pushing action of the pusher 501, effectively preventing the floorboard from shifting during the pushing process and improving the pushing accuracy. This is crucial for subsequent lifting and packaging operations, ensuring that the floorboard is accurately placed in the carton on the packaging table 200, thereby improving packaging quality.

[0094] By resting against the top of the stacked floorboards, the positioning push plate 511 increases overall floorboard stability, allowing the pusher 501 to push multiple floorboards more smoothly and reducing the possibility of misalignment or scattering. This assistive effect of the positioning push plate 511 significantly improves the stability and success rate of pushing, particularly for easily deformable materials like PVC plastic flooring, thereby enhancing the packaging machine's operating efficiency.

[0095] In some examples, the positioning push plate 511 has a strip-shaped clearance opening 512. After the pusher 501 moves, it passes through the strip-shaped clearance opening 512 to push the plurality of floorboards to move horizontally so that one end of the plurality of floorboards extends relative to the rest of the floorboards below.

[0096] The strip-shaped clearance opening 512 provides a passage for the pusher 501. When the pushing action begins, the pusher 501 passes through the strip-shaped clearance opening 512, smoothly pushing the several floorboards positioned below the positioning push plate 511. During the pushing process, the positioning push plate 511 always rests on the upper portion of the stacked floorboards, providing positioning and stabilization. The pusher 501 pushes the floorboards through the strip-shaped clearance opening 512. These two functions work together to ensure both accurate pushing and floor stability during the pushing process.

[0097] The dimensions of the strip-shaped opening 512 and the structure of the mating portion of the pusher 501 and the strip-shaped opening 512 allow for precise control of the pusher 501's trajectory and pushing force. As the pusher 501 passes through the strip-shaped opening 512, it is constrained by the edges of the opening 512 and can only move in a predetermined direction, thus ensuring precise pushing. This precise fit also helps improve pushing stability and reduces floor misalignment or damage caused by deviations in pushing direction.

[0098] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure and are not limiting. Although the present disclosure has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present disclosure may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present disclosure, and all of these should be included in the scope of the claims of the present disclosure.

Claims

1. A packaging machine for PVC plastic floor production, characterized in that: include: A carton table (100), the carton table (100) being used to place stacked cartons; A packaging table (200), the packaging table (200) being arranged on one side of the carton table (100); a first suction cup manipulator (300), the first suction cup manipulator (300) being arranged between the carton table (100) and the packaging table (200) and being used for transferring the carton to the packaging table (200); A floor table (400), the floor table (400) being located on one side of the packaging table (200) and being used for placing stacked floorboards; A second manipulator (500), the second manipulator (500) is arranged between the floor table (400) and the packaging table (200), and includes a pusher (501), a first lifting member (502) and a second lifting member (503), the pusher (501) being capable of being horizontally moved and used to push a plurality of floorboards to move horizontally so that one end of the plurality of floorboards extends relative to the remaining floorboards below, the first lifting member (502) being capable of being horizontally and vertically moved and used to lift the exposed end of the plurality of floorboards, and the second lifting member (503) being capable of being horizontally and vertically moved and used to lift the other end or the middle of the plurality of floorboards; A box folding robot (600) is provided above the packaging table (200) and is used to fold cartons placed on the floor into boxes.

2. The packaging machine for PVC plastic floor production according to claim 1, characterized in that: The second manipulator (500) further comprises: a robotic arm capable of three-dimensional motion; A movable platform (504) is provided on the robotic arm and can realize horizontal and vertical movement under the drive of the robotic arm; the first lifting member (502) is provided on the movable platform (504) for horizontal and transverse movement; and the second lifting member (503) is provided on the movable platform (504) for horizontal and transverse movement.

3. The packaging machine for PVC plastic floor production according to claim 2, characterized in that: The bottom of the first lifting member (502) is a long strip-shaped first support portion (5021), both ends of which extend upward and have a first sliding portion (5022) that slides relative to the moving platform (504); the bottom of the second lifting member (503) is a long plate-shaped second support portion (5031), both ends of which extend upward and have a second sliding portion (5032) that slides relative to the moving platform (504), wherein the moving path of the second support portion (5031) is lower than the moving path of the first support portion (5021).

4. The packaging machine for PVC plastic floor production according to claim 3, characterized in that: The second supporting portion (5031) has a triangular pushing portion (5033) on one side close to the pushing piece (501), and the upper and lower surfaces of the second supporting portion (5031) both have a plurality of guide wheels (5034) arranged at intervals.

5. The packaging machine for PVC plastic floor production according to claim 4, characterized in that: The second manipulator (500) further comprises: A plurality of guide rods (505) are arranged in sequence, wherein the guide rods (505) are rotatably arranged and are located at an end of the second supporting portion (5031) away from the triangular pushing portion (5033).

6. The packaging machine for PVC plastic floor production according to claim 2, characterized in that: The pusher (501) is horizontally slidably arranged on the movable platform (504) and has a first inclined surface (5011). The second manipulator (500) further comprises: An upper pressing member (506), the upper pressing member (506) is arranged to be lifted and slid relative to the movable platform (504), and has a pressing portion (5061) at the bottom, the pressing portion (5061) being used to be pushed upward by the topmost floor board stacked on the floor table; A lifting push piece (507) is provided on the movable platform (504) in a lifting and sliding manner, and has a second inclined surface (5071), wherein the second inclined surface (5071) abuts against the first inclined surface (5011). After the lifting and sliding, the lifting push piece (507) is used to push the material pushing piece (501) so that the material pushing piece (501) slides horizontally, and pushes a plurality of floorboards to move horizontally so that one end of the plurality of floorboards extends relative to the rest of the floorboards below, wherein the upper pressing piece (506) is used to transmit the lifting and lowering of the lifting push piece (507).

7. The packaging machine for PVC plastic floor production according to claim 6, characterized in that: The second manipulator (500) further comprises: a lever member (508), the lever member (508) being rotatably disposed on the movable platform (504), with one end abutting against the upper portion of the upper pressing member (506), and the other end abutting against the upper end of the lifting push member (507), for pushing the lifting push member (507) downward when the upper pressing member (506) rises; An elastic member (509), one end of the elastic member (509) acts on the lever member (508), and the other end acts on the movable platform (504), and is used to provide a force for pressing down the upper pressing member (506).

8. The packaging machine for PVC plastic floor production according to claim 6, characterized in that: The second manipulator (500) further comprises: The sliding member (510) is horizontally slidably arranged on the movable platform (504), and the upper pressing member (506) is vertically slidably arranged on the sliding member (510), so as to prevent the pressing portion (5061) from sliding relative to the floor and scratching the floor surface.

9. The packaging machine for PVC plastic floor production according to claim 6, characterized in that: The second manipulator (500) further comprises: A positioning push plate (511) is provided on the movable platform (504), located on a side of the pushing member (501) close to the floor, and is used to abut against an upper side of the stacked floor.

10. The packaging machine for PVC plastic floor production according to claim 9, characterized in that: The positioning push plate (511) has a strip-shaped clearance opening (512), and the push piece (501) moves through the strip-shaped clearance opening (512), thereby pushing the plurality of floorboards to move horizontally so that one end of the plurality of floorboards extends relative to the remaining floorboards below.

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