Full-automatic plywood thread sleeve pressing equipment

Abstract

The invention relates to the technical field of woodworking processing, and discloses full-automatic plywood thread sleeve pressing equipment which comprises a mechanical arm, a clamp is arranged on the mechanical arm, and the clamp comprises a base, an upper arm and a lower arm; a sucker and a clamping piece are arranged on the upper arm, the lower arms are arranged in pairs, and acting surfaces are arranged on the lower arms; the upper arm is arranged on the base in a lifting mode, and the lower arm is movably arranged on the base. The suction cup and the clamping piece are integrated on the rotatable rotating rod, the multi-mode movement design of the control arm and the lower arm is combined, in-situ automatic switching of the clamp between the suction state and the clamping state is achieved, and a complex overturning mechanism in the background technology does not need to be relied on. The rotating rod is driven to rotate at a small angle, so that the sucking disc or the clamping piece can be accurately aligned to the working direction, and inertial impact, vibration and positioning drift caused by 180-degree overturning of the whole material taking unit in a traditional scheme are avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of woodworking processing, in particular to a full-automatic plywood screw sleeve pressing equipment. BACKGROUND

[0002] In the production process of the stool, in order to ensure the stability of the structure and the convenience of assembly, it is usually necessary to first press the screw sleeve into the plywood, and then assemble it with other parts to finally form a complete stool product. For this purpose, a kind of automatic feeding screw sleeve pressing device for plywood with application number CN202411185869.8 greatly improves the automation level of screw sleeve pressing, effectively reduces the labor cost and equipment investment, and improves the overall operation efficiency of the production line. This innovation not only enhances the automation degree of screw sleeve pressing process in plywood production line, but also solves the problem of low automation degree and low processing efficiency of traditional plate screw sleeve pressing station. However, in the actual application process, the device also encounters some challenges:

[0003] Firstly, although the device significantly reduces the demand for manpower and improves the automation level of screw sleeve pressing process, in actual operation, the plywood needs to go through the process of taking material from the feeding station, moving to the repositioning table for accurate positioning, and finally being moved to the screw sleeve pressing machine for pressing operation. This series of steps is relatively complicated, which leads to the fact that the overall process efficiency has not reached the optimal state. The conversion between each step not only increases the complexity of the system, but also may introduce additional time cost and potential errors.

[0004] Secondly, due to the influence of the separate processing flow of taking material, positioning and pressing, the device needs to set up multiple independent workstations, including feeding area, repositioning area and pressing area, which leads to a larger overall layout of the device and higher space requirements for the production workshop. In small and medium-sized enterprises or production environments with limited space, this larger floor area may restrict the reasonable layout and expansion of the production line, reducing the applicability and flexibility of the device.

[0005] Finally, the device uses different clamps in different working stages: suction cups are used when taking material at the feeding station, and mechanical clamps are used on the repositioning table to ensure higher positioning accuracy. Although the device designs a clever turnover mechanism to realize the automatic switching between the two clamps, the clamp switching needs to be carried out once for each plywood, that is, the turnover mechanism is repeatedly switched between the suction cup and the mechanical clamp, which not only increases the processing cycle of a single workpiece, but also significantly increases the running load of the device. SUMMARY

[0006] Therefore, the present application aims to provide a full-automatic plywood screw sleeve pressing equipment to solve the problems existing in the background art.

[0007] To solve the above technical problems, the technical scheme of the present application is a full-automatic plywood screw sleeve pressing equipment, which comprises a screw sleeve pressing machine, a mechanical hand and a material table, the material table is placed with a plate; the mechanical hand is provided with a clamp, the clamp comprises a base, an upper arm and a lower arm; the upper arm is provided with a suction cup and a clamping piece, the lower arms are arranged in pairs, and the lower arms are provided with action surfaces; the upper arm is arranged on the base in a lifting manner, and the lower arm is movably arranged on the base; the clamp can be switched between a suction state and a clamping state; when the clamp is in the suction state, the action surfaces on the lower arms arranged in pairs are oppositely arranged, and the suction cup faces the lower arms; when the clamp is in the clamping state, the action surfaces on the lower arms arranged in pairs all face the upper arm, and the clamping piece faces the lower arms; before the plate is sucked, the lower arms arranged in pairs are close to each other, and the positioning of the plate is completed under the action of the base; after the plate is positioned, the upper arm is lowered to suck the plate by the suction cup; after the plate is sucked, the mechanical hand controls the plate to leave the material table; after the plate leaves the material table, the clamp is switched from the suction state to the clamping state, and the plate is fixed by the clamping piece and the action surfaces of the lower arms.

[0008] As a preferred, the lower arm comprises a control arm swing arranged on the base, an arm body is movably arranged on the control arm, a linear moving component is arranged on the control arm, and a moving end of the linear moving component faces the arm body; the lower arm of the clamp is switched between the suction state and the clamping state by rotating the control arm on the base; when the clamp is in the suction state, the arm body is slidingly arranged on the control arm, and the position of the arm body on the control arm is controlled by the linear moving component to realize that the lower arms arranged in pairs are close to or away from each other; when the clamp is in the clamping state, the arm body is swingingly arranged on the control arm, and the swing of the arm body is controlled by the linear moving component to realize that the arm body and the clamping piece cooperate to clamp the plate.

[0009] Further, the base is provided with a mounting surface and a control groove, the control arm and the mounting surface are arranged in parallel, the control arm is swingingly mounted on the mounting surface, and the control groove is arranged in an arc shape and acts on the arm body; the two ends of the control groove are respectively a suction end and a clamping end, when the arm body is located at the suction end, the clamp is in the suction state; when the arm body is located at the clamping end, the clamp is in the clamping state.

[0010] Further, a guide slope is formed on one side of the control groove away from the upper arm, and the slope of the guide slope gradually increases from the clamping end to the suction end; under the action of the guide slope, the arm body has a swing space at the clamping end; meanwhile, under the action of the guide slope, after the clamp switches from the clamping state to the suction state, the arm body can be perpendicular to the base, ensuring that the lower arm can cooperate with the base to complete the positioning of the plate.

[0011] Further, the base has a sliding groove, which is connected to the suction end of the control groove, and when the clamp is in the suction state, the arm body is controlled to move on the sliding groove by the linear moving part; a clamping block is arranged on the suction end of the control groove, the clamping block is slidingly arranged on the base and can slide between the suction end of the control groove and the sliding groove, a reset spring is arranged between the clamping block and the base, and the clamping block has a mounting groove connected with the arm body; under the action of the reset spring, the clamping block is automatically reset to the suction end of the control groove to connect with the arm body; under the action of the clamping block, when the clamp is in the suction state, the arm body can only slide on the control arm.

[0012] Further, the moving end of the linear moving part and the arm body are rotationally connected, and when the arm body moves on the control groove, the moving end of the linear moving part moves accordingly.

[0013] Further, when the moving end of the linear moving part and the arm body are independently arranged, the clamping block has a clamping groove connected with the moving end of the linear moving part, and when the moving end of the linear moving part is located in the clamping groove, the moving distance of the moving end of the linear moving part is a first stroke; before the clamp switches to the suction state, the moving end of the linear moving part moves to the first stroke so that the clamp switches to the suction state; when the clamp is in the clamping state, the arm body is pushed by the moving end of the linear moving part to realize swing control of the arm body.

[0014] As a preferred, the base has a lifting window, the upper arm includes a lifting plate and a rotating rod, the lifting plate is slidingly arranged on the base, and the rotating rod is rotationally installed on the lifting plate, the rotating rod extends out of the lifting window and is connected with the suction disc and the clamping piece; there is an included angle between the suction disc on the rotating rod and the clamping piece, and when the clamp switches between the suction state and the clamping state, the angle of rotation of the rotating rod is equal to the included angle.

[0015] Further, a plurality of rotating rods are arranged on the lifting plate, and synchronous belt transmission or gear meshing transmission is adopted between the rotating rods to ensure the rotation of the rotating rods is synchronous.

[0016] The technical effects of the present application mainly embody in the following aspects:

[0017] The present application integrates the suction cup and the clamping piece on the rotatable rotating rod, and combines the multi-mode motion design of the control arm and the lower arm, to realize the in-situ automatic switching of the clamp between the "suction state" and the "clamping state", without relying on the complex turnover mechanism in the background technology. The rotating rod only needs to rotate a small angle (such as 90°) under the drive, so as to accurately align the working direction of the suction cup or the clamping piece, avoiding the inertia impact, vibration and positioning drift caused by the 180° turnover of the whole material taking unit in the traditional scheme. The design fundamentally eliminates the mechanical complexity, high energy consumption and easy damage problems caused by the turnover mechanism, not only significantly shortens the single operation cycle, improves the production rhythm, but also greatly improves the stability and service life of the equipment, realizes the technical leap from "mechanical turnover" to "function reconstruction".

[0018] The lower arm of the present application is composed of a control arm, an arm body and a linear moving component, which constitutes a composite reconfigurable mechanism, and can automatically switch the function mode in different working stages: in the suction state, the arm body moves linearly along the sliding groove at the suction end of the control groove, and the two lower arms are close to each other to form a limiting space, realizing the automatic centering positioning of the plywood; in the clamping state, the control arm drives the arm body to move to the clamping end, and the arm body becomes a swing mode and swings upward under the pushing of the linear moving component, forming an upper and lower clamping cooperation with the clamping piece of the upper arm. The design realizes the dual functions of "positioning guide rail" and "clamping support arm" through a single mechanism, avoids the redundant layout of independent positioning table and clamping jaw in the traditional equipment, greatly simplifies the process flow, and improves the function density and operation accuracy of the clamp.

[0019] The present application sets an arc-shaped control groove on the base, and the two ends of the control groove correspond to the suction end and the clamping end respectively, guiding the arm body to move along the predetermined trajectory; a guide slope is arranged outside the control groove, and the slope gradually increases from the clamping end to the suction end. When the clamp returns to the suction state, the arm body is forced to adjust the posture through the extrusion and guidance of the guide slope, and finally is perpendicular to the base plane when reaching the suction end, ensuring that the two lower arms form an accurate vertical limiting reference. At the same time, the cooperation of the clamping block and the return spring further locks the position of the arm body, preventing misoperation. The mechanism realizes the automatic reset and repeated positioning of the arm body posture, solves the positioning deviation problem caused by mechanical looseness or control error in the traditional equipment, and significantly improves the centering accuracy of the plywood in the material taking stage, providing a reliable reference guarantee for the subsequent screw sleeve pressing operation.

[0020] The application sets a card slot on the card block, so that the moving end of the linear moving part is connected with the card block at a certain stage, forming a "first stroke" pre-action mechanism: before the clamp switches to the suction state, the linear moving part must first complete the first stroke movement, so that the moving end enters the card slot and establishes power connection. This design builds a hardware-level "action interlocking" logic, ensuring that only when the current conditions (such as arm body in place, card block reset) are met, the clamp can enter the next working state, effectively preventing function failure or mechanical interference caused by control timing disorder. This linkage mechanism not only improves the system's self-diagnosis and fault tolerance capability, but also enhances the safety and stability of the equipment operation, especially suitable for long-time continuous operation in industrial environment. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a structural diagram of the application;

[0022] Figure 2 is Figure 1 a structural diagram of the material table;

[0023] Figure 3 is Figure 1 a structural diagram of the clamp;

[0024] Figure 4 is Figure 3 a structural diagram of the base;

[0025] Figure 5 is Figure 3 a structural sectional view of the base;

[0026] Figure 6 is Figure 3 a structural diagram of the upper arm and the lower arm;

[0027] In the figure: 1, screwing sleeve machine; 2, mechanical hand; 3, material table; 31, plate; 4, clamp; 41, base; 411, mounting surface; 412, control groove; 413, suction end; 414, clamping end; 415, guide slope surface; 416, sliding groove; 417, lifting window; 42, upper arm; 421, suction cup; 422, clamping piece; 423, lifting plate; 424, rotating rod; 43, lower arm; 431, action surface; 432, control arm; 433, arm body; 434, linear moving part; 44, card block; 441, installation slot; 442, card slot. DETAILED DESCRIPTION

[0028] The specific embodiments of the present application are described in further detail below with reference to the accompanying drawings, so that the technical scheme of the present application is easier to understand and master. In the embodiments, it should be understood that the terms "intermediate", "upper", "lower", "top", "right side", "left end", "upper", "back", "middle" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, in the present embodiment, if the connection or fixing method between the components is not specifically described, the connection or fixing method can be bolted or pinned, or connected by a pin shaft, which is commonly used in the prior art. Therefore, in the present embodiment, it will not be described in detail.

[0029] The full-automatic plywood screw sleeve pressing equipment provided by the present application is aimed at overcoming the problems in the prior art, such as complicated process, large floor area, low efficiency caused by frequent switching of clamps 4, etc. during the pressing of screw sleeves of plywood. It is mainly applied in the automatic production line of panel furniture, woodworking products or customized home products, especially for the screw sleeve pre-embedding process of plywood 31 before assembly, and can be widely used in the field of wooden product manufacturing that needs to be quickly assembled through threaded connection, such as stools, tables, cabinet side panels, etc. However, it is not limited to this, but can also be used in other same or similar production processes, such as the fastener pressing operation of metal sheet, plastic sheet or composite material sheet 31, as long as it involves automatic material taking, precise positioning and pressing process of the sheet 31, the structure and control logic of the clamp 4 of the present application can be adapted and applied, which has good process extension and technical universality.

[0030] In addition, as a common knowledge in the industry, the screw sleeve pressing machine 1, the manipulator 2 and the material table 3 mentioned above are common knowledge, and therefore their principles and structures will not be described in detail.

[0031] Embodiment one

[0032] Reference Figure 1 , Figure 2The embodiment discloses a full-automatic plywood screw sleeve pressing equipment, which comprises a screw sleeve pressing machine 1, a manipulator 2 and a material table 3. The manipulator 2 is a multi-axis linkage industrial robot, has high-precision motion control capability and can realize stable operation with multiple degrees of freedom in space. The material table 3 is provided with a plate 31. The manipulator 2 is provided with a clamp 4. The clamp 4 comprises a base 41, an upper arm 42 and a lower arm 43. The base 41 is fixed to the end flange of the manipulator 2 and serves as the installation and driving core of the whole clamp 4. The upper arm 42 is provided with a suction cup 421 and a clamping piece 422. The lower arms 43 are arranged in pairs and are provided with action surfaces 431. The upper arm 42 is arranged on the base 41 in a lifting mode. The upper arm 42 is slidably arranged on the base 41 in a lifting mode through a lifting mechanism (such as a servo cylinder or a pneumatic push rod) and can realize accurate lifting action in the vertical direction. The lower arms 43 are movably arranged on the base 41. The lower arms 43 are movably connected to the two sides of the base 41 through a rotating shaft or a swing connecting rod mechanism and can rotate around the fulcrum under the action of a driving element (such as a micro motor or a pneumatic rotating cylinder), so that the posture of the lower arms 43 can be changed.

[0033] Referring to Figure 3 The clamp 4 can be switched between a suction state and a clamping state. When the clamp 4 is in the suction state, the action surfaces 431 on the lower arms 43 arranged in pairs are oppositely arranged, and the suction cup 421 faces the lower arms 43. When the clamp 4 is in the clamping state, the action surfaces 431 on the lower arms 43 arranged in pairs all face the upper arm 42, and the clamping piece 422 faces the lower arms 43. Before the plate 31 is sucked, the lower arms 43 arranged in pairs are close to each other and are positioned on the plate 31 under the action of the base 41. The adjustable limiting structure formed by the lower arms 43 can realize the preliminary centering and positioning of the plywood at the moment of taking the material, so that the two processes of "taking the material" and "repositioning" are combined into one. This not only shortens the overall processing cycle, but also saves the independent repositioning table that must be arranged in the traditional scheme and reduces the equipment area. After the plate 31 is positioned, the upper arm 42 is lowered, and the plate 31 is sucked by the suction cup 421. After the plate 31 is sucked, the manipulator 2 controls the plate 31 to leave the material table 3. After the plate 31 leaves the material table 3, the clamp 4 is switched from the suction state to the clamping state, and the plate 31 is fixed by the clamping piece 422 and the action surfaces 431 of the lower arms 43.

[0034] The seamless switching of the clamp 4 between the suction state and the clamping state is realized through structural design, without the need for an additional turnover mechanism or the replacement action of the clamp 4, so that the operation efficiency is significantly improved and the equipment complexity is reduced. The specific working process is as follows:

[0035] When the manipulator 2 is ready to take the material from the material table 3, the clamp 4 first enters the suction state. At this time, the pair of lower arms 43 rotate inward under the action of the driving mechanism, so that the inner side of the action surface 431 is relatively arranged, forming a limiting space. The size of the limiting space is slightly larger than the shape of the plywood to be processed, but smaller than the diagonal length, ensuring that the board 31 can only be placed in the predetermined direction after entering the space. When the manipulator 2 drives the clamp 4 to descend above the material table 3, the edge of the plywood naturally touches and is guided between the two lower arms 43. As the clamp 4 continues to descend, the lower arms 43 are further slightly moved inward under the extrusion of the side of the board 31, triggering the positioning feedback signal, indicating that the board 31 has entered the preliminary positioning position. Subsequently, the upper arm 42 starts the descending action, driving the suction cup 421 arranged at the front end thereof to approach the upper surface of the plywood. The suction cup 421 usually adopts a vacuum suction mode and is distributed at multiple positions of the upper arm 42 to ensure the stability of suction. When the suction cup 421 completely adheres to the surface of the board 31, the vacuum system is started to achieve firm suction of the plywood. At this time, the board 31 has completed rough centering positioning in the limiting structure formed by the lower arms 43, and is firmly sucked by the suction cup 421, avoiding deviation during movement. After completing the material taking and preliminary positioning, the manipulator 2 starts to lift and move, moving the plywood away from the material table 3. The key improvement is that the board 31 does not need to be transferred to an independent repositioning table for secondary accurate positioning during the entire transfer process. The present application can complete high-precision positioning and clamping conversion during the transfer process through the structure of the clamp 4 itself.

[0036] Before the board 31 is moved to the front of the screw sleeve machine 1, the clamp 4 automatically switches from the "suction state" to the "clamping state". The switching process is as follows: first, the lower arm 43 is controlled to rotate outward, so that the originally opposite action surface 431 is turned to face the direction of the upper arm 42; at the same time, the clamping part 422 (such as an elastic pressing block or a pneumatic pressing head) arranged on the upper arm 42 is lowered with the upper arm 42, or independently acts, and forms a clamping cooperation with the action surface 431 of the lower arm 43 in a top-to-bottom manner. When the lower arm 43 is rotated in place, the upper arm 42 is lowered again, so that the clamping part 422 and the action surface 431 of the lower arm 43 jointly act on the upper and lower surfaces of the board 31, realizing rigid clamping. In this process, the suction cup 421 can be selectively released from vacuum, or slightly adsorbed to assist the stability of clamping. Since the lower arm 43 has effectively limited and centered the board 31 during the suction stage, the position accuracy of the board 31 meets the screw sleeve process requirements when switching to the clamping state, without the need for an additional independent repositioning station. Finally, the manipulator 2 accurately sends the firmly clamped plywood into the working area of the screw sleeve machine 1 to perform the screw sleeve pressing operation. After pressing, the clamp 4 is released and returns to the initial state, preparing for the next cycle.

[0037] Referring to Figure 4 , Figure 5 , Figure 6, further improve the switching accuracy and action reliability of the lower arm 43 between the suction state and the clamping state, as follows: the lower arm 43 includes a control arm 432 swingingly arranged on the base 41, which is installed on both sides of the base 41 through a rotating shaft or bearing structure, and can reciprocating swing around the fixed fulcrum under the action of a driving mechanism (such as a servo motor with a speed reducer or a pneumatic rotary actuator). The swing action is the key power source to realize the overall state switching of the clamp 4. The control arm 432 movably has an arm body 433 arranged thereon, and a linear moving part 434 arranged on the control arm 432, which can be an electric push rod, a micro pneumatic cylinder or a screw rod slider mechanism, and the moving end of the linear moving part 434 faces the arm body 433; the control arm 432 is rotated on the base 41 to control the lower arm 43 of the clamp 4 to switch between the suction state and the clamping state; when the clamp 4 is in the suction state, the arm body 433 is slidingly arranged on the control arm 432, and the position of the arm body 433 on the control arm 432 is controlled by the linear moving part 434, so that the pair of lower arms 43 are close to or away from each other; by accurately controlling the stroke of the linear moving part 434, the pair of arm bodies 433 are synchronously moved inward until a limiting space with a size suitable for the plywood is formed between the inner sides of the action surfaces 431. The limiting space is used for automatically centering and positioning the plate 31 during the material taking process. When the manipulator 2 descends above the material table 3, the edge of the plywood enters the space, and the arm body 433 can produce a small elastic displacement or a feedback signal after contacting the side edge of the plate 31, to confirm the completion of positioning. Then the upper arm 42 descends, and the suction cup 421 adsorbs the upper surface of the plate 31. In this state, the arm body 433 mainly bears the lateral limiting function and does not participate in clamping, and only realizes rapid and accurate coarse positioning through position adjustment. The positioning of the plywood mainly relies on the lower arm 43, the base 41 and the side wall of the material table 3. When the clamp 4 is in the clamping state, the arm body 433 is swingingly arranged on the control arm 432, and the swing of the arm body 433 is controlled by the linear moving part 434. At this time, the arm body 433 acts as a lever, and the other end (i.e. the end where the action surface 431 is located) is lifted upward, ready to form a clamping cooperation with the clamping part 422 on the upper arm 42, to clamp the plate 31 through the cooperation of the arm body 433 and the clamping part 422. When the arm body 433 is swung into position, the upper arm 42 descends again, driving the clamping part 422 (such as an elastic pressure head or a pneumatic pressure block) to clamp the upper and lower surfaces of the plywood together with the action surface 431 of the arm body 433, to realize rigid fixing.

[0038] The traditional technology relies on an additional turnover mechanism to switch the suction cup 421 and the clamping jaw, while the present application completes the function reconstruction of the lower arm 43 in situ through the linkage of the rotation of the control arm 432 and the linear movement component 434, avoids complex external mechanical intervention, simplifies the overall structure, and reduces the risk of failure. The same set of lower arms 43 can realize two completely different mechanical functions of "sliding positioning" and "swinging clamping" in different stages through the cooperation of the rotation of the control arm 432 and the linear movement component 434, and truly realize "one set of mechanism, two purposes", which greatly improves the space utilization and functional density of the clamp 4.

[0039] Referring to Figure 4 、 Figure 5 、 Figure 6 , further optimize the structural design of the clamp 4 base 41, realize the automatic positioning, function locking and path guiding of the lower arm 43 between the "suction state" and the "clamping state", and significantly improve the reliability, repeatability and automation of the state switching of the clamp 4. Specifically as follows: the base 41 has a mounting surface 411 and a control groove 412, the mounting surface 411 is a flat and rigid structure for fixing the rotation fulcrum of the control arm 432 to ensure stable and no deviation of the swinging action. The control arm 432 is swing-mounted on the mounting surface 411 through a pin shaft or bearing structure and is arranged in parallel with the mounting surface 411 to ensure uniform torque transmission during movement and avoid lateral stress. The control arm 432 is swing-mounted on the mounting surface 411, and the control groove 412 is arranged in an arc shape and acts on the arm body 433; the arc is matched with the swinging track of the control arm 432. The two ends of the control groove 412 are suction end 413 and clamping end 414, when the arm body 433 is located at the suction end 413, the clamp 4 is in the suction state; when the arm body 433 is located at the clamping end 414, the clamp 4 is in the clamping state.

[0040] Referring to Figure 4The control groove 412 is provided with a guide slope surface 415 on the side away from the upper arm 42, and the slope of the guide slope surface 415 gradually increases from the clamping end 414 to the suction end 413. Under the action of the guide slope surface 415, the arm body 433 has a swing space at the clamping end 414. Meanwhile, under the action of the guide slope surface 415, after the clamp 4 is switched from the clamping state to the suction state, the arm body 433 can be perpendicular to the base 41, so that the lower arm 43 can cooperate with the base 41 to complete the positioning of the plate 31. The slope of the guide slope surface 415 gradually increases from the clamping end 414 to the suction end 413. This design has a double function: first, when the arm body 433 is located at the clamping end 414, the larger slope space provides sufficient swing freedom for the arm body 433, so that it can smoothly realize the upward swing action under the push of the linear moving part 434, thereby forming effective clamping cooperation with the clamping part 422 of the upper arm 42; second, when the clamp 4 returns from the clamping state to the suction state, the control arm 432 drives the arm body 433 to move along the control groove 412 to the suction end 413. In the approach to the end point, the slope of the guide slope surface 415 gradually becomes steep, generating an inward guiding pressure on the arm body 433, forcing the arm body 433 to automatically adjust the posture, and finally being perpendicular to the base 41 plane when reaching the suction end 413. This posture is the key to subsequent accurate positioning - only when the lower arm 43 is perpendicular to the base 41, the acting surface 431 can form a vertical limiting reference with the bottom surface of the base 41, so as to constitute a high-precision centering positioning structure with the other side lower arm 43 during material taking.

[0041] Referring to Figure 4The base 41 has a sliding groove 416, which is connected with the suction end 413 of the control groove 412 to form a straight sliding rail. The connection of the arc-shaped control groove 412 and the straight sliding groove 416 cooperates with the guide slope 415 to make the arm body 433 continuously and continuously stressed in the whole movement track, avoid impact and vibration, and prolong the mechanical life. When the clamp 4 is in the suction state, the arm body 433 is controlled to move on the sliding groove by the linear moving part 434; thereby the distance between the two lower arms 43 is adjusted to realize self-adaptive positioning of the plywood of different sizes. The suction end 413 of the control groove 412 is provided with a clamping block 44, which is slidingly arranged on the base 41 and can slide between the suction end 413 of the control groove 412 and the sliding groove 416. A reset spring is arranged between the clamping block 44 and the base 41, and the clamping block 44 is provided with a mounting groove 441 connected with the arm body 433. Under the action of the reset spring, the clamping block 44 is automatically reset to the suction end 413 of the control groove 412 to be connected with the arm body 433. Under normal circumstances, the reset spring pushes the clamping block 44 to be automatically reset to the suction end 413 of the control groove 412. The clamping block 44 is provided with a mounting groove 441 for detachable connection (such as buckle or pin groove cooperation) with the end of the arm body 433. Under the action of the clamping block 44, when the clamp 4 is in the suction state, the control arm 432 swings to the suction end 413, the clamping block 44 extends under the action of the reset spring, and the mounting groove 441 of the clamping block 44 is connected with the arm body 433 to “lock” the arm body 433 in the sliding mode. At this time, the arm body 433 can only move linearly along the sliding groove 416 and cannot swing, which ensures the stability of the structure during material taking and positioning and prevents misoperation. The arm body 433 can only slide on the control arm 432. Through the cooperation of the clamping block 44 and the reset spring, the automatic function locking of the arm body 433 in different working modes is realized. In the suction state, it is forcibly limited to slide, and in the clamping state, it is automatically unlocked to swing, which avoids the functional disorder caused by control error and improves the reliability of system operation. The cooperation of the guide slope 415 and the clamping block 44 ensures that the arm body 433 can be accurately reset to the posture perpendicular to the base 41 every time it returns to the suction state, provides a consistent reference for repeated positioning of the plywood, and greatly improves the positioning accuracy and batch consistency.

[0042] To further improve the action coordination and control accuracy of the clamp 4 in the state switching process, the connection mode and movement logic between the linear moving part 434 and the arm body 433 are deeply optimized.

[0043] In the embodiment, the moving end of the linear moving component 434 and the arm body 433 are connected by rotation, such as by a pin or a universal joint; the linear moving component 434 can adapt to the angle change of the arm body 433 due to swinging or sliding during pushing or pulling the arm body 433, avoiding stress concentration or jamming phenomenon caused by rigid connection. When the arm body 433 moves on the control groove 412, the moving end of the linear moving component 434 moves accordingly.

[0044] In another preferred embodiment, the moving end of the linear moving component 434 and the arm body 433 are independently arranged, i.e. they are not directly fixed and connected physically, but are functionally coupled through an intermediate element, a clamping block 44, forming a temporary power transmission path. The clamping block 44 has a clamping groove 442 connected with the moving end of the linear moving component 434, when the moving end of the linear moving component 434 is located in the clamping groove 442, the moving distance of the moving end of the linear moving component 434 is a first stroke; before the clamp 4 is switched to the suction state, the moving end of the linear moving component 434 moves to the first stroke, so that the clamp 4 is switched to the suction state; when the clamp 4 is in the clamping state, the arm body 433 is pushed by the moving end of the linear moving component 434, realizing the swinging control of the arm body 433.

[0045] The working process of the linkage mechanism is as follows: before the clamp 4 completes the clamping operation and prepares to return to the suction state, the system first performs a pre-travel action: the moving end of the linear moving part 434 actively moves a set distance, called the first stroke. The purpose of this stroke is not to directly drive the arm body 433, but to ensure that the moving end can accurately enter the clamping groove 442 on the clamping block 44. When the moving end of the linear moving part 434 moves to the first stroke end, its position is just aligned with the clamping groove 442 of the clamping block 44. At this time, the control arm 432 starts to drive the arm body 433 to swing back along the control groove 412 to the suction end 413. In the process of the arm body 433 approaching the suction end 413, the clamping block 44 is automatically reset under the action of the reset spring, and at the same time its clamping groove 442 captures the moving end of the linear moving part 434, completing the mechanical connection. Only when the linear moving part 434 completes the pre-positioning, the clamp 4 can smoothly enter the suction state, thereby avoiding the functional failure caused by the wrong connection position, and improving the system self-checking and fault tolerance ability. When the clamp 4 switches to the clamping state and the arm body 433 is located at the clamping end 414 of the control groove 412, the moving end of the linear moving part 434 has been separated from the clamping groove 442 of the clamping block 44 (or does not participate in clamping in this state), and instead directly acts on the driving point of the arm body 433. At this time, the linear moving part 434 starts, and its moving end pushes out, pushing one end of the arm body 433 to rotate upward around its swing pivot point. Since the arm body 433 is in "swing mode" at this time, the pushing force is converted into a lever moment, causing the acting surface 431 of the arm body 433 to lift and form a clamping cooperation with the clamping part 422 on the upper arm 42, realizing the rigid fixation of the plywood. In this process, the linear moving part 434 provides stable pushing force output, ensuring that the clamping force is controllable and adjustable, adapting to the needs of plywood of different thicknesses or materials.

[0046] Referring to Figure 4 , Figure 5 , Figure 6, further improve the coordination and operation accuracy of the clamp 4 in the state switching process; Specifically as follows: the base 41 has a lifting window 417, the upper arm 42 includes a lifting plate 423 and a rotating rod 424, the lifting plate 423 is slidingly arranged on the base 41, the rotating rod 424 is rotatably installed on the lifting plate 423, and the rotating rod 424 extends out of the lifting window 417 and is connected with the suction disc 421 and the clamping piece 422. There is an included angle between the suction disc 421 and the clamping piece 422 on the rotating rod 424, and when the clamp 4 switches between the suction state and the clamping state, the rotating angle of the rotating rod 424 is equal to the included angle. The included angle can be 75°, 90°, 105° and 180°; when the clamp 4 switches between the suction state and the clamping state, the rotating rod 424 rotates synchronously by an angle equal to the above-mentioned included angle θ, so as to ensure that the suction disc 421 and the clamping piece 422 are always directed to the correct working direction. The specific implementation is as follows: when the clamp 4 is in the suction state, the control arm 432 drives the lower arm 43 to enter the suction end 413, and the clamping block 44 locks the arm body 433 in the sliding mode; at the same time, the lifting plate 423 descends and drives the rotating rod 424 to descend. At this time, the control system drives the rotating rod 424 to rotate counterclockwise by θ angle (assuming θ = 90°), so that the suction disc 421 is downward and perpendicular to the surface of the plywood, and the clamping piece 422 is horizontally outward, avoiding the movement space of the lower arm 43. When the clamp 4 switches to the clamping state, the control arm 432 swings to the clamping end 414, and the arm body 433 enters the swing mode; at this time, the control system drives the rotating rod 424 to rotate clockwise by θ angle, so that the clamping piece 422 is downward, and the action surface 431 of the lower arm 43 forms an upward and downward clamping structure, and the suction disc 421 is turned to the horizontal direction to avoid interference. Through this angle synchronous rotation mechanism, the automatic orientation adjustment of the suction disc 421 and the clamping piece 422 in different working stages is realized, without the need for additional tool replacement or manual intervention, which greatly improves the intelligent level of function switching. Through the rotating action of the rotating rod 424, the suction disc 421 and the clamping piece 422 are automatically adjusted to the best working posture in different states, avoiding the direction misalignment problem caused by traditional fixed installation, and significantly improving the adsorption reliability and clamping stability.

[0047] Referring to Figure 6 , further, in order to ensure uniform distribution of clamping force and improve adsorption stability, a plurality of rotating rods 424 are arranged on the lifting plate 423, and are symmetrically arranged along the length or width direction of the plywood. Each rotating rod 424 is connected with an independent suction disc 421 and clamping piece 422 to adapt to the processing requirements of large-size or special-shaped plywood. Specifically as follows: a plurality of rotating rods 424 are arranged on the lifting plate 423, and synchronous belt transmission or gear meshing transmission is adopted between the rotating rods 424 to ensure the synchronous rotation of the rotating rods 424.

[0048] In the background art, in order to realize the function switching of the suction cup 421 and the mechanical clamping jaw, a separate turnover mechanism (such as a rotating shaft, a pneumatic swing cylinder or a turntable driven by a servo motor) must be provided, and the whole material taking / positioning unit needs to be physically turned over by 180° for each processing of a plywood, so as to complete the tool replacement. Through the design of the multifunctional integrated clamp 4, the turnover mechanism is completely cancelled: the suction cup 421 and the clamping piece 422 are integrated on the same rotating rod 424, and the function switching is realized through the small angle rotation (such as 90°) of the rotating rod 424 itself; the swing and sliding mode switching of the lower arm 43 guided by the control groove 412 automatically adapts to different working states; all actions are completed in situ, without the need to rotate or overturn any large parts as a whole.

[0049] Of course, the above is only a typical example of the present application, and in addition to this, the present application can have other various specific implementation manners, and any technical solution formed by equivalent replacement or equivalent transformation falls within the scope of the present application.

Claims

1. A full-automatic plywood press screw sleeve equipment, characterized in that, it comprises a press screw sleeve machine, a manipulator and a material table, the material table is placed with a plate; the manipulator is provided with a clamp, the clamp comprises a base, an upper arm and a lower arm; the upper arm is provided with a suction cup and a clamping piece, the lower arm is arranged in pairs, and the lower arm is provided with an acting surface; the upper arm is arranged in a lifting manner on the base, and the lower arm is arranged in a movable manner on the base; the clamp can be switched between a suction state and a clamping state; when the clamp is in the suction state, the acting surfaces on the lower arms arranged in pairs are oppositely arranged, and the suction cup faces the lower arms; when the clamp is in the clamping state, the acting surfaces on the lower arms arranged in pairs all face the upper arm, and the clamping piece faces the lower arms; before the plate is sucked, the lower arms arranged in pairs are close to each other, and the positioning of the plate is completed under the action of the base; after the plate is positioned, the upper arm is lowered to suck the plate by the suction cup; after the plate is sucked, the manipulator controls the plate to leave the material table; after the plate leaves the material table, the clamp is switched from the suction state to the clamping state, and the plate is fixed by the clamping piece and the acting surface of the lower arm.

2. The full-automatic plywood press screw sleeve equipment according to claim 1, characterized in that: the lower arm comprises a control arm swingingly arranged on the base, an arm body movably arranged on the control arm, and a linear moving component arranged on the control arm, and a moving end of the linear moving component faces the arm body; the rotation of the control arm on the base is used to control the switching of the lower arm of the clamp between the suction state and the clamping state; when the clamp is in the suction state, the arm body is slidingly arranged on the control arm, and the position of the arm body on the control arm is controlled by the linear moving component, so that the lower arms arranged in pairs are close to or away from each other; when the clamp is in the clamping state, the arm body is swingingly arranged on the control arm, and the swing of the arm body is controlled by the linear moving component, so that the arm body and the clamping piece cooperate to clamp the plate.

3. The full-automatic plywood press screw sleeve equipment according to claim 2, characterized in that: the base is provided with a mounting surface and a control groove, the control arm and the mounting surface are arranged in parallel, the control arm is swingingly mounted on the mounting surface, and the control groove is arranged in an arc shape and acts on the arm body; the two ends of the control groove are respectively a suction end and a clamping end, when the arm body is located at the suction end, the clamp is in the suction state, and when the arm body is located at the clamping end, the clamp is in the clamping state.

4. The full-automatic plywood press screw sleeve equipment according to claim 3, characterized in that: a guide slope surface is formed on one side of the control groove away from the upper arm, and the slope of the guide slope surface gradually increases from the clamping end to the suction end. Under the action of the guide slope, the arm body has a swing space at the clamping end; meanwhile, under the action of the guide slope, the arm body can be perpendicular to the base after the clamp is switched from the clamping state to the suction state, ensuring that the lower arm can cooperate with the base to complete the positioning of the plate.

5. The full-automatic plywood press screw sleeve device according to claim 3 or 4, characterized in that: the base is provided with a sliding groove, the sliding groove is connected with the suction end of the control groove, and the arm body is controlled to move on the sliding groove by the linear moving part when the clamp is in the suction state; the suction end of the control groove is provided with a clamping block, the clamping block is slidingly arranged on the base and can slide between the suction end of the control groove and the sliding groove, a reset spring is arranged between the clamping block and the base, and the clamping block is provided with a mounting groove connected with the arm body; under the action of the reset spring, the clamping block is automatically reset to the suction end of the control groove to be connected with the arm body; and under the action of the clamping block, the arm body can only slide on the control arm when the clamp is in the suction state.

6. The full-automatic plywood press screw sleeve device according to claim 5, characterized in that: the moving end of the linear moving part is rotationally connected with the arm body, and the moving end of the linear moving part moves along with the arm body during the movement of the arm body on the control groove.

7. The full-automatic plywood press screw sleeve device according to claim 5, characterized in that: when the moving end of the linear moving part and the arm body are independently arranged, the clamping block is provided with a clamping groove connected with the moving end of the linear moving part, the moving distance of the moving end of the linear moving part is a first stroke when the moving end of the linear moving part is located in the clamping groove, the moving end of the linear moving part moves to the first stroke before the clamp is switched to the suction state, so that the clamp is switched to the suction state; the arm body is pushed by the moving end of the linear moving part when the clamp is in the clamping state, so as to realize swing control of the arm body.

8. The full-automatic plywood press screw sleeve device according to any one of claims 1 to 4, characterized in that: the base is provided with a lifting window, the upper arm comprises a lifting plate and a rotating rod, the lifting plate is slidingly arranged on the base, the rotating rod is rotationally installed on the lifting plate, and the rotating rod is connected with the suction disc and the clamping piece after extending out of the lifting window; an included angle exists between the suction disc on the rotating rod and the clamping piece, and the rotating angle of the rotating rod is equal to the included angle when the clamp is switched between the suction state and the clamping state.

9. The full-automatic plywood press screw sleeve device according to claim 8, characterized in that: a plurality of rotating rods are arranged on the lifting plate, and the rotating rods are synchronously driven by synchronous belts or gear meshing, so as to ensure that the rotating rods are synchronously rotated.

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