Wood skirting line heating and edge folding mechanical arm and precise glue filling method thereof

Abstract

The invention discloses a wood skirting line heating and edge folding mechanical arm, and relates to the technical field of wood skirting line machining, the wood skirting line heating and edge folding mechanical arm comprises a beveling machine and a first assembly installed on the beveling machine, a wood skirting line board to be machined is arranged on the beveling machine in a transmission mode, a gluing groove is formed in the wood skirting line board, and a mechanical arm for machining treatment is arranged on one side of the beveling machine; the first assembly comprises a fixed folded plate fixedly connected to the working end of the mechanical arm, a through pipe body is fixedly connected to the upper end of the fixed folded plate, and rotating grooves are formed in the two sides of the end, away from the fixed folded plate, of the through pipe body. The first assembly precisely limits the bending angle of the glue injection pipe through the synergistic effect of a limiting block and a clamping block, and the situation that due to excessive bending of the glue injection pipe, an internal channel is deformed and blocked, and then the smoothness of glue conveying is affected is effectively avoided; the uniformity and stability of the glue output amount in the glue injection process are guaranteed, the problems of glue shortage and glue overflowing caused by fluctuation of the glue output amount are prevented, and the consistency of the quality of products machined by the mechanical arm is further improved.

Description

Technical Field

[0001] This invention relates to the field of wood skirting board processing technology, specifically to a robotic arm for heating and folding wood skirting boards and its precise glue-filling method. Background Technology

[0002] In the production and processing of wooden skirting boards, heating and folding, as well as gluing, are core processes to ensure product molding quality and installation stability. With increasing market demand for thinner, more precise, and multi-specification wooden skirting boards, traditional heating and folding equipment and processes have gradually revealed numerous technical shortcomings, making it difficult to meet the precision and efficiency requirements of modern production.

[0003] In the traditional process of heating and folding wooden skirting boards, the distance between the glue injection tube and the glue application tank is mostly adjusted using simple mechanical positioning. Due to the lack of a precise distance adjustment mechanism, it is impossible to accurately adapt to the actual thickness of the wooden skirting board, resulting in significant deviations in the glue injection distance: too close a distance easily causes glue overflow, increasing subsequent cleaning costs and contaminating the product surface; too far a distance leads to problems such as glue misalignment and insufficient glue, directly affecting the bonding strength. While some equipment attempts to incorporate adjustment structures, the adjustment precision is low, making quantitative control impossible and difficult to adapt to the processing needs of different skirting board specifications. The equipment has poor versatility, requiring frequent tooling changes when switching between multiple product specifications, resulting in low production efficiency.

[0004] Meanwhile, traditional equipment lacks a dedicated cleaning mechanism for the glue coating tank. Dust, grooving debris, and other impurities remaining in the tank before glue application cannot be removed promptly. These impurities easily become trapped in the glue layer, leading to weak adhesion and quality problems such as edge cracking and detachment during later use, severely impacting product lifespan. Furthermore, existing equipment lacks an effective bending angle limiting structure for the glue injection tube. During edge bending operations, the tube is prone to excessive bending due to improper robotic arm movements, causing deformation and blockage of the internal glue delivery channel. This results in unstable glue output, further exacerbating glue shortages or overflows and reducing the consistency of product processing quality.

[0005] Therefore, this invention proposes a robotic arm for heating and folding wooden skirting boards to solve the above problems. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a robotic arm for heating and folding wooden skirting boards, thereby solving the problems mentioned in the background section.

[0007] To achieve the above objectives, in a first aspect, the present invention provides the following technical solution: a wooden skirting board heating and folding robotic arm, comprising: a folding machine and a first component mounted thereon, wherein a wooden skirting board to be processed is driven on the folding machine, and an adhesive groove is formed on the wooden skirting board; a processing robotic arm is provided on one side of the folding machine; the first component comprises: a fixed folding plate fixedly connected to the working end of the robotic arm, a through pipe fixedly connected to the upper end of the fixed folding plate, and rotating grooves formed on both sides of the through pipe at the end away from the fixed folding plate, wherein limit blocks are symmetrically fixedly connected in the rotating grooves with the central axis as the center;

[0008] The first component also includes a ball body rotatably connected to the tube body. Rotating columns are fixedly connected to both sides of the ball body. A locking block is symmetrically fixedly connected to the outer ring of the rotating column with the central axis as the center. The two locking blocks are on the same straight line. The limiting block and the locking block are perpendicular to each other. A through groove is opened in the middle of the ball body. An injection tube is slidably connected to the ball body. The injection tube is synchronously connected through the tube body. The end of the injection tube away from the ball body extends to the robotic arm.

[0009] It also includes a second component for air-blowing cleaning of the adhesive coating tank.

[0010] Preferably, the bottom edge of the glue-applying groove is reserved at 0.1-0.8mm between the bottom of the glue-applying groove and the wooden skirting board, and a groove is opened between the groove and the wooden skirting board. The cross-section of the fixed folding plate is L-shaped, the rotating groove is cylindrical, and the two limiting blocks are on the same straight line.

[0011] Preferably, the outer ring of the robotic arm is fixedly connected to a fixing ring by bolts, the middle section of the glue injection tube is snapped into the fixing ring, and the initial end of the glue injection tube is provided with a heating glue dispensing device.

[0012] Preferably, the second component includes a positioning housing fixedly connected to a fixed folding plate. A dual-valve pipe is fixedly connected to the upper end of the positioning housing. An external air supply device is connected to the dual-valve pipe. An air pipe is fixedly connected to one end of the dual-valve pipe. A limit ring is provided on one side of the positioning housing. The limit ring is fixedly connected to the fixed folding plate by bolts. The air pipe extends and is fixedly connected to the fixed folding plate through the limit ring. An air nozzle is fixedly connected to the end of the limit ring away from the dual-valve pipe.

[0013] It also includes a third component for precisely adjusting the distance between the glue outlet and the glue application groove according to the different thicknesses of the wooden skirting board.

[0014] Preferably, the positioning housing is set perpendicular to the ground, the dual-valve pipe is a Y-shaped pipe with two valves, and the air nozzle is in a curved state and faces the glue coating tank.

[0015] Preferably, the third component includes an air chamber located at the top of the inner cavity of the positioning housing. The air chamber is connected to another pipe in the dual-valve pipe. A push plate is slidably connected inside the air chamber. A return spring is fixedly connected to both sides of the upper end of the push plate. The end of the return spring away from the push plate is fixedly connected to the top of the inner cavity of the positioning housing. A buffer assembly is fixedly connected to both sides of the lower end of the push plate. The buffer assembly consists of a buffer spring and a sleeve rod.

[0016] Preferably, the third component further includes a wedge block A fixedly connected to the lower center of the push plate; a roller shaft is laterally rolled in the middle of the inner cavity of the positioning housing; an outer annular shaft is fixedly connected to the middle of the outer ring of the roller shaft, the diameter of the outer annular shaft being larger than that of the roller shaft; a wedge block B is provided at the lower end of the roller shaft; a groove is formed on the wedge-shaped surface of the wedge block B near the roller shaft; the wedge blocks B on both sides of the groove are slidably connected to the roller shaft; the wedge-shaped surface of the wedge block A is slidably connected to the outer annular shaft; the wedge block B is slidably connected inside the positioning housing; a support body is fixedly connected to the middle of the side surface of the wedge block B; the side of the support body away from the wedge block B is arc-shaped; a sliding groove is formed on the side surface of the positioning housing; the support body is slidably connected inside the sliding groove; a synchronization ring is fixedly connected to the surface of the sliding groove; a limiting buffer body is fixedly connected to the middle of the plane at the end of the wedge block B away from the roller shaft; the limiting buffer body is slidably inserted into the positioning housing.

[0017] Preferably, the wedge angle of the end of the wedge block A away from the push plate is 30 degrees, the wedge angle of the end of the wedge block B near the roller shaft is 60 degrees, the end of the glue injection tube is fixedly connected through the middle space between the synchronization ring and the support body, and the outer ring of the end of the limiting buffer body located inside the positioning housing is equipped with an auxiliary spring, and both ends are fixedly connected to the wedge block B and the positioning housing respectively.

[0018] Secondly, the present invention provides the following solution: a robotic arm for heating and folding wooden skirting boards and its precise glue-filling method, comprising the following steps:

[0019] Step 1: Select PUR adhesive, heat the glue gun to 100 degrees Celsius to a fluid state, and deliver it to the dispensing end through the glue tube, adapting to the process and material requirements;

[0020] Step 2: Adjust the glue amount according to the specifications of the wooden skirting board and glue tank. Under the control of the first component, avoid bending of the glue injection tube to avoid affecting the glue output. The initial glue injection amount is half the height of the glue tank. Ensure that the glue injection height h = 1 / 2-3 / 5H, where H is the total height of the grooved area. Simultaneously stabilize the glue gun temperature.

[0021] Step 3: Adjust the approximate position of the robotic arm's working end through program settings so that its working end is above the glue application tank. Use the corner bending machine to fix the posture of the wooden skirting board to prevent glue injection deviation. Use the third component to adjust the distance between the glue outlet of the glue injection tube and the glue application tank according to the different thicknesses of the wooden skirting board to adapt to different specifications and thickness requirements of wooden skirting boards.

[0022] Step 4: Use an external air supply device connected by a double valve pipe to supply gas into the air pipe and perform preliminary cleaning of the coating tank through the limiting ring.

[0023] Step 5: After the wooden board is grooved, it is first placed in a steam box and left for a set time. The steam increases the internal humidity of the grooved wooden skirting board, thus achieving the initial softening of the wooden skirting board as a whole.

[0024] After being treated in the steam box, the wooden skirting board is conveyed to a continuously heated iron plate. The heat from the iron plate acts directly on the bottom joint of the grooved wooden skirting board, specifically softening the critical part of the folded edge.

[0025] A groove is provided at the position where the heating iron plate and the wooden skirting board are bent opposite each other. This groove can spray high-temperature steam to continuously replenish the temperature and humidity to the thin skin area at the bend during the bending process of the wooden skirting board, keeping the area in a softened state.

[0026] Before the wooden skirting board is heated and softened by the heating iron plate with steam jet groove and bent by the corner bending machine, the glue is injected to ensure that the glue evenly covers the groove and the glue storage gap.

[0027] Step 6: Utilize the pre-reserved groove at the bottom of the glue application tank to store glue. Monitor the glue visually or by weight, and apply additional glue if necessary.

[0028] Step 7: After applying the adhesive, slowly bend the surface to allow the adhesive to adhere to the bonding surface under pressure, ensuring a good bonding effect.

[0029] Compared with the prior art, the present invention provides a robotic arm for heating and folding wooden skirting boards, which has the following beneficial effects:

[0030] The first component, through the synergistic action of the limiting block and the snap-fit ​​block, precisely limits the bending angle of the dispensing tube, effectively preventing the internal channel from deforming and becoming blocked due to excessive bending, which would affect the smoothness of the glue delivery; ensuring the uniformity and stability of the glue output during the dispensing process, preventing glue shortage and overflow problems caused by fluctuations in the glue output, and further improving the consistency of the quality of products processed by the robotic arm.

[0031] By using a dual-valve pipe with valve switching and a fixed air nozzle, the glue application tank can be cleaned with targeted air blowing before glue application. The airflow can quickly remove dust, debris, and other impurities from the glue application tank, preventing impurities from being trapped in the glue layer and affecting the bonding strength. At the same time, it ensures the cleanliness and volume stability of the glue application space within the glue application tank, providing a good foundation for subsequent glue application and significantly improving the bonding reliability and structural stability of the wooden skirting board after folding.

[0032] The third component can adaptively adjust the glue injection distance based on the actual thickness of the wooden skirting board by using airflow to drive the coordinated action of components such as the push plate, wedge block, and roller. This allows for processing of wooden skirting boards of different thicknesses and specifications without the need to change specialized tooling or adjust core equipment parameters. This significantly improves the equipment's versatility and production flexibility, reduces the time and equipment investment costs associated with switching between multiple product specifications, and enhances the flexibility and convenience of using the robotic arm.

[0033] The third component, through the wedge angle cooperation of wedge block A and wedge block B, converts the three-fold movement distance of wedge block A into a single-fold movement distance of wedge block B, enabling precise adjustment of the distance between the glue dispensing tube outlet and the glue coating tank. This adjustment method can accurately control the relative position of the glue dispensing tube and the glue coating tank, ensuring that the glue can be accurately injected into the glue coating tank, avoiding glue displacement, insufficient glue, or overflow caused by distance deviation, significantly improving glue filling accuracy, and ensuring bonding effect.

[0034] A pre-drilled groove at the bottom of the glue applicator serves as a buffer storage space for the glue. When there are slight fluctuations in the glue application amount or when the edge is squeezed, excess glue will flow into this groove, preventing glue from overflowing onto the surface of the wooden skirting board or the flooring installation contact surface. This eliminates the need for subsequent cleaning of excess glue. Combined with the thin and lightweight nature of the wooden skirting board, the bottom groove reduces stress concentration during edge folding, preventing excessive resistance caused by glue filling the groove and thus preventing cracking of the thin material. At the same time, the groove provides buffer space for slight deformation of the wood during edge folding, which is compatible with the softening characteristics of the material after steam humidification and iron plate heating, ensuring the edge forming rate. Furthermore, the control of the glue application amount and its coordination with the groove ensure that the glue maintains an appropriate thickness and distribution from the time of application until the edge is cured. This avoids the problems of insufficient filling of the bonding surface and insufficient bonding strength caused by insufficient glue, while also preventing the risk of overflow caused by excessive glue. This fully utilizes the bonding performance of PUR glue and ensures the structural stability of the edge. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0036] Figure 2 This is a schematic diagram of the structure of the present invention from another angle;

[0037] Figure 3 This is a partial side view of the structure of the present invention;

[0038] Figure 4 This is a disassembled structural diagram of the first component of the present invention;

[0039] Figure 5 This is a cross-sectional view of the first component of the present invention;

[0040] Figure 6 This is a structural diagram of the second and third components of the present invention;

[0041] Figure 7 For the present invention Figure 6 Enlarged structural diagram at point A in the middle;

[0042] Figure 8 This is a disassembled structural diagram of the third component of the present invention;

[0043] Figure 9 This is a disassembled structural diagram of the third component of the present invention;

[0044] Figure 10 Left view structural diagram of wooden skirting board;

[0045] Figure 11 This is a diagram showing the folding structure of a wooden skirting board.

[0046] In the picture:

[0047] 11. Corner bending machine; 12. Wooden skirting board; 13. Glue application tank; 14. Robotic arm;

[0048] 21. Fixed folding plate; 22. Through pipe body; 23. Rotating groove; 24. Limiting block; 25. Through ball; 26. Rotating column; 27. Snap-fit ​​block; 28. Injection tube; 29. ​​Fixing ring;

[0049] 31. Positioning housing; 32. Dual valve pipe; 33. Air pipe; 34. Limiting ring; 35. Air nozzle;

[0050] 41. Air chamber; 42. Push plate; 43. Return spring; 44. Buffer assembly; 45. Wedge block A; 46. Roller shaft; 47. Outer annular shaft; 48. Wedge block B; 49. Slot; 410. Support body; 411. Synchronization ring; 412. Limiting buffer body. Detailed Implementation

[0051] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0052] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0053] Example

[0054] Please refer to Figures 1 to 5 As shown:

[0055] To address the problems mentioned in the technical solutions, this application provides a heating and folding robotic arm for wooden skirting boards, comprising: a folding machine 11 and a first component mounted thereon. The folding machine 11 is equipped with a wooden skirting board 12 to be processed, and the wooden skirting board 12 has an adhesive groove 13. A processing robotic arm 14 is provided on one side of the folding machine 11. The first component includes: a fixed folding plate 21 fixedly connected to the working end of the robotic arm 14, a through pipe 22 fixedly connected to the upper end of the fixed folding plate 21, and rotating grooves 23 on both sides of the through pipe 22 away from the fixed folding plate 21. Limiting blocks 24 are symmetrically fixedly connected in the rotating grooves 23 with the central axis as the center.

[0056] The first component also includes a ball 25 rotatably connected to the tube body 22. Rotating columns 26 are fixedly connected to both sides of the ball 25. A locking block 27 is symmetrically fixedly connected to the outer ring of the rotating column 26 with the central axis as the center. The two locking blocks 27 are on the same straight line. The limiting block 24 and the locking block 27 are set perpendicular to each other. The limiting block 24 and the locking block 27 work together to limit the deflection angle of the ball 25 in the tube body 22 and limit the bending angle of the ball 25 and the glue injection tube 28 passing through the tube body 22 through the cooperation of the rotating column 26 and the locking block 27. This prevents the glue injection tube 28 from being bent too much, which would affect the glue output and thus affect the glue filling accuracy and the edge forming rate. A through groove is opened in the middle of the ball 25. The glue injection tube 28 is slidably connected in the ball 25. The glue injection tube 28 is synchronously connected to the tube body 22 through the tube body. The end of the glue injection tube 28 away from the ball 25 extends to the robotic arm 14.

[0057] It also includes a second component for air cleaning of the adhesive coating tank 13.

[0058] The bottom edge of the glue-applying groove 13 is reserved at 0.1-0.8mm between itself and the wooden skirting board 12, and a groove is provided between them to facilitate bending, making the wooden skirting board 12 less prone to cracking. When bending, it can accommodate some glue without overflowing. The cross-section of the fixed folding plate 21 is L-shaped, the rotating groove 23 is a cylindrical groove, and the two limiting blocks 24 are on the same straight line.

[0059] The outer ring of the robotic arm 14 is fixedly connected to a fixing ring 29 by bolts. The middle section of the glue injection tube 28 is snapped into the fixing ring 29. The initial end of the glue injection tube 28 is equipped with a heating glue dispensing device.

[0060] A further embodiment: Please refer to Figures 6 to 11 As shown:

[0061] The second component includes a positioning housing 31 fixedly connected to the fixed folding plate 21. A double valve pipe 32 is fixedly connected to the upper end of the positioning housing 31. The double valve pipe 32 is connected to an external air supply device. An air pipe 33 is fixedly connected to one end of the double valve pipe 32. When the valve at the connection between the air pipe 33 and the double valve pipe 32 is open, the valve at the connection between the double valve pipe 32 and the air chamber 41 is closed. The airflow is delivered to the limiting ring 34 through the air pipe 33. After the limiting ring 34 outputs, it removes dust and other impurities in the glue coating tank 13, improves the stability of the glue injection amount in the glue coating tank 13, and avoids impurities affecting the edge bonding efficiency of the wooden skirting board 12. A limiting ring 34 is provided on one side of the positioning housing 31. The limiting ring 34 is fixedly connected to the fixed folding plate 21 by bolts. The air pipe 33 extends and is fixedly connected to the fixed folding plate 21 through the limiting ring 34. An air nozzle 35 is fixedly connected to the end of the limiting ring 34 away from the double valve pipe 32.

[0062] It also includes a third component for precisely adjusting the distance between the glue outlet and the glue application groove 13 according to the different thicknesses of the wooden skirting board 12.

[0063] The positioning housing 31 is set perpendicular to the ground, the double valve pipe 32 is a Y-shaped pipe with two valves, and the air nozzle 35 is in a bent state and faces the glue coating tank 13.

[0064] The third component includes an air chamber 41 located at the top of the inner cavity of the positioning housing 31. The air chamber 41 is connected to another pipe in the dual valve pipe 32. A push plate 42 is slidably connected inside the air chamber 41. A return spring 43 is fixedly connected to both sides of the upper end of the push plate 42. The end of the return spring 43 away from the push plate 42 is fixedly connected to the top of the inner cavity of the positioning housing 31. A buffer assembly 44 is fixedly connected to both sides of the lower end of the push plate 42. The buffer assembly 44 consists of a buffer spring and a sleeve rod.

[0065] The third component also includes a wedge block A45 fixedly connected to the lower middle part of the push plate 42. A roller 46 is laterally rolled in the middle of the inner cavity of the positioning housing 31. An outer annular shaft 47 is fixedly connected to the middle of the outer ring of the roller 46. The diameter of the outer annular shaft 47 is larger than that of the roller 46. A wedge block B48 is provided at the lower end of the roller 46. A groove 49 is opened on the wedge-shaped surface of the wedge block B48 near the roller 46. The wedge blocks B48 on both sides of the groove 49 are slidably connected to the roller 46. The wedge-shaped surface of the wedge block A45 is connected to the outer annular shaft 46. 7. Sliding connection: Wedge block B48 is slidably connected to the positioning housing 31. A support body 410 is fixedly connected to the middle of the side of wedge block B48. The side of the support body 410 away from wedge block B48 is arc-shaped. A sliding groove is opened on the side of the positioning housing 31. The support body 410 is slidably connected to the sliding groove. A synchronization ring 411 is fixedly connected to the surface of the sliding groove. A limiting buffer body 412 is fixedly connected to the middle of the plane of the end of wedge block B48 away from roller shaft 46. The limiting buffer body 412 is slidably inserted into the positioning housing 31.

[0066] The wedge angle of the end of wedge block A45 away from the push plate 42 is 30 degrees, and the wedge angle of the end of wedge block B48 near the roller shaft 46 is 60 degrees. The end of the glue injection tube 28 is fixedly connected through the middle space between the synchronous ring 411 and the support body 410. The outer ring of the limiting buffer body 412 located inside the positioning housing 31 is equipped with an auxiliary spring, and both ends are fixedly connected to the wedge block B48 and the positioning housing 31 respectively.

[0067] When adjusting the dispensing height of the glue injection tube 28, the valve of the connecting pipe between the double valve tube 32 and the air chamber 41 is opened, injecting gas into the air chamber 41. The air pressure in the air chamber 41 increases, applying vertical pressure to the push plate 42. The return spring 43 is stretched and moved by H1. The push plate 42 pushes the wedge block A45 to move vertically downward. Under the vertical movement of the wedge block A45, it cooperates with the outer annular shaft 47 to make it roll, and applies axial force to the wedge block B48 through the outer annular shaft 47. The wedge block B48 moves vertically downward by a distance H2 under the restriction of the positioning housing 31. Since the wedge angle of the wedge block A45 is 30 degrees and the wedge angle of the wedge block B48 is 60 degrees, H2 = F1 / 3. The vertical downward distance of the wedge block B48 is one-third of the distance of the wedge block A45.

[0068] The robotic arm for heating and folding wooden skirting boards and its precise glue-filling method include the following steps:

[0069] Step 1: Select PUR glue, heat the glue gun to 100 degrees Celsius to a fluid state, and deliver it to the glue outlet through the glue dispensing tube 28, adapting to the process and material requirements;

[0070] Step 2: Adjust the glue amount according to the specifications of the wooden skirting board 12 and glue tank 13. Under the control of the first component, avoid bending of the glue injection tube 28 to avoid affecting the glue output. The initial glue injection amount is half the height of the glue tank 13. Ensure that the glue injection height h = 1 / 2-3 / 5H, where H is the total height of the grooved area. Simultaneously stabilize the glue gun temperature.

[0071] Step 3: Adjust the approximate position of the working end of the robotic arm 14 through program settings so that its working end is above the glue application tank 13. Fix the posture of the wooden skirting board 12 with the corner bending machine 11 to prevent glue injection deviation. And through the third component, adjust the distance between the glue outlet of the glue injection tube 28 and the glue application tank 13 according to the different thicknesses of the wooden skirting board 12 to adapt to the different specifications and thickness requirements of the wooden skirting board 12.

[0072] Step 4: The external air supply device connected by the double valve pipe 32 connects the air valve to the air pipe 33, and the air is injected into the air pipe 33. The adhesive coating tank 13 is initially cleaned by the limiting ring 34.

[0073] Step 5: After the wooden board is grooved, it is first sent into a steam box and left for a set time. The steam increases the internal humidity of the grooved wooden skirting board 12, thus achieving the initial softening of the wooden skirting board 12 as a whole.

[0074] After being treated in the steam box, the wooden skirting board 12 is conveyed to a continuously heated iron plate. The heat of the iron plate directly acts on the bottom connection of the groove in the wooden skirting board 12, which softens the key part of the folded edge in a targeted manner.

[0075] A groove is provided at the position where the heating iron plate and the wooden skirting board 12 are bent opposite each other. The groove can spray high-temperature steam to continuously replenish the temperature and humidity to the thin skin area at the bend during the bending process of the wooden skirting board 12, keeping the area in a softened state.

[0076] Before the wooden skirting board 12 is heated and softened by the heating iron plate with steam jet groove and bent by the corner bending machine 11, the glue is injected to ensure that the glue evenly covers the groove and the glue storage gap.

[0077] Step 6: Use the pre-reserved groove at the bottom of the glue application tank 13 to store glue, and add glue again if necessary by visual or weight monitoring;

[0078] Step 7: After applying the adhesive, slowly bend the surface to allow the adhesive to adhere to the bonding surface under pressure, ensuring a good bonding effect.

[0079] The working principle of all the content in the above embodiments is as follows:

[0080] Initial state: The wooden skirting board 12, which has been shaped and grooved to form the glue application groove 13, is conveyed to the transmission mechanism of the corner bending machine 11. The robotic arm 14 moves to the working area above the glue application groove 13 on the corner bending machine 11, so that the robotic arm 14 is aligned with the working end of the glue application groove 13 to complete the workpiece positioning. The robotic arm 14, in coordination with multiple components, makes a rough adjustment of the glue injection position.

[0081] Furthermore, based on the actual thickness of the wooden skirting board 12, the distance between the glue outlet of the glue injection tube 28 and the glue application groove 13 is adaptively adjusted:

[0082] Switch the valve status of the dual valve pipe 32, close the valve connected to the air pipe 33, open the valve connected to the air chamber 41, the external air supply device inputs airflow into the air chamber 41, pushes the push plate 42 to move downward, and the return spring 43 is compressed.

[0083] The push plate 42 drives the wedge block A45 to move down synchronously. The wedge-shaped surface of the wedge block A45 slides in contact with the outer annular shaft 47 of the outer ring of the roller 46, driving the roller 46 to rotate laterally and apply pressure to the wedge block B48. Under the squeezing action of the roller 46 on the wedge block B48, the positioning housing 31 restricts the movement direction of the wedge block B48, causing the wedge block B48 to move vertically downward. The auxiliary spring of the limiting buffer body 412 is squeezed under the downward pressure of the wedge block B48.

[0084] The wedge block B48 drives the support body 410 to slide along the groove of the positioning housing 31. The support body 410 and the synchronous ring 411 work together to drive the glue injection tube 28 to move until the distance between the glue outlet of the glue injection tube 28 and the glue application groove 13 is adapted to the thickness of the wooden skirting board 12.

[0085] The buffer component 44 acts as a buffer during the downward movement of the push plate 42, preventing damage to the components due to excessive adjustment force.

[0086] Cleaning process of glue application tank 13:

[0087] Start the external air supply device, open the valve at the connection between the double valve pipe 32 and the air pipe 33, and close the valve at the connection between the double valve pipe 32 and the air chamber 41; the airflow is delivered to the air nozzle 35 through the double valve pipe 32 and the air pipe 33, and the air nozzle 35 sprays airflow toward the glue coating tank 13 to blow away dust, debris and other impurities in the glue coating tank 13 before glue injection, so as to avoid impurities affecting the subsequent glue injection and bonding effect and ensure stable glue injection volume.

[0088] The first component, through the synergistic action of the limiting block 24 and the snap-fit ​​block 27, precisely limits the bending angle of the dispensing tube 28, effectively preventing the internal channel of the dispensing tube 28 from deforming or becoming blocked due to excessive bending, thereby affecting the smoothness of the glue delivery; ensuring the uniformity and stability of the glue output during the dispensing process, preventing glue shortage and overflow problems caused by fluctuations in the glue output, and further improving the consistency of the product quality processed by the robotic arm 14.

[0089] By switching the valves on the dual-valve pipe 32 and cooperating with the air nozzle 35 fixed by the limiting ring 34, the glue application tank 13 can be cleaned by targeted air blowing before glue application. The airflow can quickly remove dust, debris and other impurities from the glue application tank 13, preventing impurities from being trapped in the glue layer and affecting the bonding strength. At the same time, it ensures the cleanliness and volume stability of the glue application space in the glue application tank 13, providing a good foundation for subsequent glue application and significantly improving the bonding reliability and structural stability of the wooden skirting board after folding.

[0090] The third component can adaptively adjust the glue injection distance based on the actual thickness of the wooden skirting board 12, through the coordinated action of components such as the push plate 42, wedge block, and roller 46 driven by airflow. This allows for processing of wooden skirting boards of different thicknesses and specifications without the need to change specialized tooling or adjust core equipment parameters, significantly improving the equipment's versatility and production flexibility, reducing the time and equipment investment costs of switching between multiple product specifications, and enhancing the flexibility and convenience of using the robotic arm 14.

[0091] The third component, through the wedge angle cooperation between wedge block A45 and wedge block B48, converts the three-fold movement distance of wedge block A45 into a single-fold movement distance of wedge block B48, thereby achieving precise adjustment of the distance between the glue outlet of the glue injection tube 28 and the glue coating tank 13. This adjustment method can accurately control the relative position of the glue injection tube 28 and the glue coating tank 13, ensuring that the glue can be accurately injected into the glue coating tank 13, avoiding glue displacement, insufficient glue, or overflow caused by distance deviation, significantly improving glue filling accuracy, and ensuring bonding effect.

[0092] Please refer to the above work process. Figures 1 to 11 .

[0093] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0094] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A wooden skirting heating hemming robot arm comprising: A corner bending machine (11) and a first component mounted thereon, wherein a wooden skirting board (12) to be processed is driven on the corner bending machine (11), and an adhesive groove (13) is provided on the wooden skirting board (12), and a processing robotic arm (14) is provided on one side of the corner bending machine (11), characterized in that the first component includes: a fixed bending plate (21) fixedly connected to the working end of the robotic arm (14), a through pipe (22) fixedly connected to the upper end of the fixed bending plate (21), and rotating grooves (23) are provided on both sides of the through pipe (22) away from the fixed bending plate (21), and limit blocks (24) are symmetrically fixedly connected in the rotating grooves (23) with the central axis as the center. The first component also includes a ball (25) rotatably connected to the tube body (22). Rotating columns (26) are fixedly connected to both sides of the ball (25). A snap-fit ​​block (27) is symmetrically fixedly connected to the outer ring of the rotating column (26) with the central axis as the center. The two snap-fit ​​blocks (27) are on the same straight line. The limiting block (24) and the snap-fit ​​block (27) are perpendicular to each other. A through groove is opened in the middle of the ball (25). An injection tube (28) is slidably connected inside the ball (25). The injection tube (28) is synchronously connected through the tube body (22). The end of the injection tube (28) away from the ball (25) extends to the robotic arm (14). It also includes a second component for air cleaning of the glue coating tank (13).

2. The wooden baseboard heating hemming robotic arm of claim 1, wherein: The bottom edge of the glue-applying groove (13) is reserved between the bottom and the wooden skirting board (12) by 0.1-0.8mm, and a groove is opened between it and the wooden skirting board (12). The cross-section of the fixed folding plate (21) is L-shaped, the rotating groove (23) is cylindrical, and the two limiting blocks (24) are on the same straight line.

3. The wooden baseboard heating hemming robotic arm of claim 1, wherein: The outer ring of the robotic arm (14) is fixedly connected to a fixing ring (29) by bolts. The middle section of the glue injection tube (28) is snapped into the fixing ring (29). The initial end of the glue injection tube (28) is provided with a heating glue dispensing device.

4. The wooden baseboard heating hemming robotic arm of claim 1, wherein: The second component includes a positioning housing (31) fixedly connected to a fixed folding plate (21). A double valve pipe (32) is fixedly connected to the upper end of the positioning housing (31). An external air supply device is connected to the double valve pipe (32). An air pipe (33) is fixedly connected to one end of the double valve pipe (32). A limit ring (34) is provided on one side of the positioning housing (31). The limit ring (34) is fixedly connected to the fixed folding plate (21) by bolts. The air pipe (33) extends and is fixedly connected to the fixed folding plate (21) through the limit ring (34). An air nozzle (35) is fixedly connected to the end of the limit ring (34) away from the double valve pipe (32). It also includes a third component for precisely adjusting the distance between the glue outlet and the glue application groove (13) according to the different thicknesses of the wooden skirting board (12).

5. The wooden baseboard heating hemming robotic arm of claim 4, wherein: The positioning housing (31) is set perpendicular to the ground, the double valve pipe (32) is a Y-shaped pipe with two valves, and the air nozzle (35) is bent and faces the glue coating tank (13).

6. The wooden baseboard heating hemming robotic arm of claim 4, wherein: The third component includes an air chamber (41) located at the top of the inner cavity of the positioning housing (31). The air chamber (41) is connected to another pipe in the double valve pipe (32). A push plate (42) is slidably connected inside the air chamber (41). A return spring (43) is fixedly connected to both sides of the upper end of the push plate (42). The end of the return spring (43) away from the push plate (42) is fixedly connected to the top of the inner cavity of the positioning housing (31). A buffer assembly (44) is fixedly connected to both sides of the lower end of the push plate (42). The buffer assembly (44) consists of a buffer spring and a sleeve rod.

7. The wooden baseboard heating hemming robotic arm of claim 6, wherein: The third component also includes a wedge block A (45) fixedly connected to the middle of the lower end of the push plate (42). A roller shaft (46) is laterally rolled in the middle of the inner cavity of the positioning housing (31). An outer annular shaft (47) is fixedly connected to the middle of the outer ring of the roller shaft (46). The diameter of the outer annular shaft (47) is larger than that of the roller shaft (46). A wedge block B (48) is provided at the lower end of the roller shaft (46). A slot (49) is opened on the wedge surface of the wedge block B (48) near the roller shaft (46). The wedge blocks B (48) on both sides of the slot (49) are slidably connected to the roller shaft (46). The wedge surface of the wedge block A (45) is connected to the outer annular shaft (46). 47) Sliding connection, the wedge block B (48) is slidably connected to the positioning housing (31), a support body (410) is fixedly connected to the middle of the side of the wedge block B (48), the side of the support body (410) away from the wedge block B (48) is arc-shaped, a sliding groove is provided on the side of the positioning housing (31), the support body (410) is slidably connected to the sliding groove, a synchronous ring (411) is fixedly connected to the sliding groove surface, a limiting buffer body (412) is fixedly connected to the middle of the plane of the end of the wedge block B (48) away from the roller shaft (46), and the limiting buffer body (412) is slidably inserted into the positioning housing (31).

8. The wooden baseboard heating hemming robotic arm of claim 7, wherein: The wedge angle of the end of the wedge block A (45) away from the push plate (42) is 30 degrees, and the wedge angle of the end of the wedge block B (48) near the roller shaft (46) is 60 degrees. The end of the glue injection tube (28) is fixedly connected to the middle space between the synchronous ring (411) and the support body (410). The outer ring of the limiting buffer body (412) located inside the positioning housing (31) is equipped with an auxiliary spring, and both ends are fixedly connected to the wedge block B (48) and the positioning housing (31) respectively.

9. A method for precise glue filling during heating and folding of wooden skirting boards, applied to the robotic arm for heating and folding wooden skirting boards as described in any one of claims 1-8, characterized in that: Includes the following steps: Step 1: Select PUR glue, heat the glue gun to 100 degrees Celsius to a fluid state, and deliver it to the glue outlet through the glue dispensing tube (28) to meet the process and material requirements; Step 2: Adjust the amount of glue according to the specifications of the wooden skirting board (12) and glue tank (13), and under the control of the first component, avoid bending of the glue injection tube (28) to affect the amount of glue. The initial amount of glue injected is half the height of the glue tank (13), and ensure that the glue injection height h = 1 / 2-3 / 5H, where: H is the total height of the grooved area, and simultaneously stabilize the temperature of the glue gun; Step 3: Adjust the approximate position of the working end of the robotic arm (14) through program settings so that its working end is above the glue coating tank (13). Fix the posture of the wooden skirting board (12) with the corner bending machine (11) to avoid glue displacement. And adjust the distance between the glue outlet of the glue injection tube (28) and the glue coating tank (13) according to the different thicknesses of the wooden skirting board (12) to adapt to the different specifications and thickness requirements of the wooden skirting board (12). Step 4: The external air supply device is connected through the double valve pipe (32), the air valve is connected to the air pipe (33), the gas is injected into the air pipe (33), and the glue coating tank (13) is initially cleaned through the limiting ring (34); Step 5: After the wooden board is grooved, it is first sent into the steam box and left for a set time. The steam increases the internal humidity of the grooved wooden skirting board (12), thus achieving the initial softening of the wooden skirting board (12) as a whole. After being treated in a steam box, the wooden skirting board (12) is transported to a continuously heated iron plate. The heat of the iron plate directly acts on the bottom connection of the groove of the wooden skirting board (12), which softens the key part of the folded edge. A groove is provided at the position where the heating iron plate and the wooden skirting board (12) are bent opposite each other. The groove can spray high-temperature steam to continuously replenish the temperature and humidity of the thin skin at the bending point during the bending process of the wooden skirting board (12), keeping the part in a softened state. Before the wooden skirting board (12) is heated and softened by the heating iron plate with steam jet groove and bent by the corner bending machine (11), the glue is injected to ensure that the glue evenly covers the groove and the glue storage gap. Step 6: Use the pre-reserved groove at the bottom of the glue application tank (13) to store glue, and add glue again if necessary by visual or weight monitoring; Step 7: After applying the adhesive, slowly bend the surface to allow the adhesive to adhere to the bonding surface under pressure, ensuring a good bonding effect.

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