Full-automatic multi-station forming processing production line for hand dryer shell

Abstract

The application discloses a kind of dry hand ware shell full-automatic multi-station forming processing production line, including cutting forming section and laser cutting and online detection section.Cutting forming section includes cutting device, stamping forming device, cutting handling device, forming handling device and positioning and separating device, positioning and separating device are used to position, multiple piece separation and surface defect detection to stainless steel plate.Laser cutting and online detection section includes mounting seat, rotating platform, adsorption fixing assembly, transfer mechanical arm, cutting mechanical arm and self-cleaning and online detection collaborative device.Self-cleaning and online detection collaborative device includes directional moving seat along the fixed track of mounting seat, and detection stylus and cleaning brush mounted thereon, the collaborative device is synchronously moved with cutting mechanical arm, and the deformation detection and debris cleaning of inner wall of shell are synchronously completed in the process of laser cutting, and emergency stop is triggered when shell offset exceeds threshold value is detected.

Description

Technical Field

[0001] This invention relates to the field of automated processing technology for stainless steel shells, specifically to a fully automated multi-station forming and processing production line for hand dryer shells. Background Technology

[0002] The manufacturing of the stainless steel casing for hand dryers involves multiple processes, including sheet metal cutting, stamping, and laser cutting. Currently, most of these processes are completed step-by-step using independent equipment, with manual handling and positioning between processes, resulting in low automation and limited production efficiency.

[0003] In the field of sheet metal cutting and stamping, existing technologies have disclosed some automated production line solutions. For example, CN105710615B discloses a fully automated production line for sheet metal cutting, punching, and bending, realizing continuous processing of sheet metal; CN111545619A discloses a sheet metal stamping equipment that completes sheet metal forming through a multi-directional stamping mechanism. However, none of the above solutions address the issues of multi-piece separation and surface defect detection during sheet metal handling. Stainless steel sheets tend to adhere tightly after being stacked for a long time, resulting in multiple sheets being gripped simultaneously during material handling, affecting subsequent processing accuracy and product quality.

[0004] In the field of laser cutting, CN106583943A discloses a laser micro-connection cutting process. This process prevents workpiece tilting due to gravity and thermal stress by setting micro-connection points along the cutting trajectory. However, this solution is a passive protection method and cannot monitor the actual workpiece offset during the cutting process in real time. For stamped shell-type parts, when laser cutting the bottom scrap, the stress state of the shell continuously changes as the cutting line extends. The released stress may exceed the constraint force of the positioning fixture, causing the shell to shift. Existing technologies lack methods for synchronous real-time deformation monitoring of the shell during the cutting process. If the shell offset is not detected in time, it will lead to cutting trajectory deviation, causing workpiece scrap or even equipment damage. Furthermore, the debris generated during cutting adheres to the inner wall of the shell, affecting subsequent processing quality and interfering with detection accuracy. Existing solutions also fail to achieve synchronous coordination between cutting and cleaning. Summary of the Invention

[0005] The purpose of this invention is to provide a fully automated multi-station forming and processing production line for hand dryer shells, so as to realize the fully automated processing from stainless steel sheet raw materials to finished shells, and solve the technical problems in the prior art such as the shell forming and laser cutting processes being independent of each other, the shell displacement caused by stress release during the cutting process not being detected in time, and the impact of cutting debris on product quality.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A fully automated multi-station forming production line for hand dryer housings includes a cutting and forming section and a laser cutting and online inspection section.

[0007] The cutting and forming section includes a cutting device, a stamping and forming device, a cutting and conveying device, a forming and conveying device, and a positioning and separation device. The positioning and separation device is used to position the stainless steel plate, separate multiple pieces, and detect surface defects.

[0008] The laser cutting and online inspection section includes a mounting base, a rotating platform for switching between the transfer station and the cutting station, an adsorption and fixing assembly for fixing the stainless steel shell, a transfer robotic arm, a cutting robotic arm, and a self-cleaning and online inspection coordination device. The self-cleaning and online inspection coordination device includes a directional moving seat that moves along a fixed track on the mounting base, and detection styluses and cleaning brushes mounted on the directional moving seat. The self-cleaning and online inspection coordination device moves synchronously with the cutting robotic arm, simultaneously detecting deformation of the inner wall of the shell and cleaning debris during the laser cutting process, and triggering an emergency stop when the shell offset exceeds a threshold.

[0009] Furthermore, the positioning and separation device includes an adjustment base, multiple sets of edge limiting plates disposed on the adjustment base, and a fixed suction cup, wherein at least two sets of the edge limiting plates are movably installed and connected to pneumatic components for pushing the stainless steel plate to the defined area to achieve positioning; the fixed suction cup and the gripping suction cup work together to adsorb, thereby achieving longitudinal fixation of the stainless steel plate and separation of multiple pieces.

[0010] Furthermore, the positioning and separation device is equipped with a defect detection mechanism, which includes a spiral involute groove on the upper surface of the adjustment seat and a detection probe inserted therein. The detection probe runs along the trajectory of the spiral involute groove and contacts the reverse side of the stainless steel plate. The displacement change of the defect position is converted into an electrical signal output through an internal sensing element.

[0011] Furthermore, a single-piece judgment and separation mechanism is also set up. By using pressure sensors in the vacuum tubes of the fixed suction cup and the gripping suction cup, the negative pressure peak value and holding pressure value of the gripping suction cup are collected in real time to determine whether the stainless steel plate is a single piece or multiple pieces.

[0012] Furthermore, the cutting and handling device is equipped with an anti-overlap separation mechanism, including a weight sensor installed at the end of the robotic arm to detect the adhesion of multiple sheets and to shake the robotic arm to separate the excess stainless steel sheet; the shaking function is equipped with an adaptive adjustment mechanism, which automatically adjusts the shaking amplitude and number of shakes according to the cumulative record of the adhesion tendency of the same batch of sheets in a stepped manner.

[0013] Furthermore, the cutting and forming section also includes a double-layer pallet circulating conveyor system, including an upper conveyor line, a lower return line, a loading elevator, an unloading elevator, and multiple pallets. The pallets circulate between the upper conveyor line and the lower return line to carry the stainless steel plates and automatically convey them between the workstations.

[0014] Furthermore, the probe of the detection stylus is enclosed within the cleaning brush and its end extends out of the cleaning brush. The probe follows the laser cutting head closely in the cutting direction and is located at the cutting edge of the housing body.

[0015] Furthermore, the lower end of the directional moving seat is equipped with a guide stabilizing wheel that rotates on its own. The guide stabilizing wheel is I-shaped, and its concave outer circumference portion rolls and fits into the inner circumferential wall of the clearance hole of the mounting seat, which is used to improve the motion guidance accuracy and maintain constant pressure contact between the detection stylus and the inner wall of the housing.

[0016] Furthermore, the adsorption and fixing assembly includes a central suction cup and multiple edge suction cups. The upper end of the mounting base is also provided with a support top block for forming a height-equal support limit for the shell. The support top block is slightly higher than the upper end of the edge suction cups, and a gap is reserved between the central suction cup and the inner wall of the shell.

[0017] Furthermore, two mounting seats are provided and symmetrically distributed on both sides of the rotating platform. When one mounting seat is located at the cutting station, the other mounting seat is located at the transfer station.

[0018] Furthermore, the end of the transfer robotic arm is equipped with two sets of independently pneumatically controlled gripping suction cups, which are used to adsorb the main body of the shell and the waste material at the bottom, respectively, so as to realize the step-by-step release and sorting of the two.

[0019] Compared with the prior art, the present invention has the following beneficial effects: This invention organically integrates the cutting and forming section with the laser cutting and online inspection section, realizing fully automated processing from stainless steel sheet to finished shell, requiring no manual intervention and significantly improving production efficiency. By setting up positioning and separation devices, precise positioning of stainless steel sheets, multi-piece separation, and surface defect detection are achieved, ensuring the quality of incoming materials. By incorporating a self-cleaning and online inspection collaborative device that moves synchronously with the cutting robotic arm, the device monitors the deformation of the inner wall of the shell in real time during laser cutting and simultaneously cleans debris. When shell displacement due to stress release is detected, an emergency stop is triggered immediately, effectively avoiding cutting trajectory deviation and workpiece scrap, improving cutting accuracy and product qualification rate. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the rectangular stainless steel sheet structure in this invention; Figure 2This is a schematic diagram of the box-shaped structure of the hand dryer housing in this invention; Figure 3 This is a schematic diagram of the workstation layout for the cutting and forming section of the present invention; Figure 4 This is a schematic diagram of the cutting and forming section of the present invention; Figure 5 This is a schematic diagram of the positioning and separation device of the present invention in conjunction with the gripping suction cup; Figure 6 This is a schematic diagram of the positioning and separation device and defect detection mechanism of the present invention; Figure 7 This is a schematic diagram of the alternative structure for the visual optical detection structure of the present invention; Figure 8 This is a physical scene diagram of the cutting and forming section of the present invention; Figure 9 This is a schematic diagram of the workflow of the cutting and forming section of the present invention; Figure 10 This is a schematic diagram of the layout of the double-layer pallet circulating conveying system of the present invention; Figure 11 This is a schematic diagram of the tray cyclic transfer process of the present invention; Figure 12 This is a physical scene diagram of the transfer robotic arm in this invention; Figure 13 This is a schematic diagram of the structure of the present invention, showing the separation of the shell body from the bottom waste material after cutting. Figure 14 This is a schematic diagram of the structure of the laser cutting and online inspection section and the linear conveying mechanism of the present invention. Figure 15 This is a schematic diagram of the laser cutting and online inspection section of the present invention; Figure 16 This is a partial cross-sectional view of the installation structure of the housing and the self-cleaning and online detection collaborative device of the present invention; Figure 17 for Figure 16 A magnified view of a section at point I; Figure 18 This is a schematic diagram of the workflow of the laser cutting and online inspection section of the present invention; Figure 19 This is a detailed schematic diagram of the laser cutting and online inspection process of the present invention.

[0021] Figure label: 01 Stainless steel sheet; 011 Stacking station; 02 Box structure; 022 Stacking station; 03 Retrieving station; 03A Shell body; 04 Transfer station; 04A Bottom scrap; 05 Cutting station; 10 Cutting device; 10A Conveyor seat; 20 Stamping forming device; 20A Mounting seat; 21A Shaping track; 22A Clearance hole; 30 Cutting and handling device; 30A Rotary platform; 40 Forming and handling device; 40A Adsorption and fixing component; 41A Center suction cup; 42A Edge suction cup; 43A Support top block; 50 Positioning and separation device; 50A Transfer robotic arm; 51 Adjustment seat; 51A Gripping suction cup; 52 Edge limiting plate; 53 Pneumatic Components; 54 Fixed suction cup; 55 Ball bearing; 60 Gripping suction cup; 60A Cutting robotic arm; 61A Laser cutting head; 70 Defect detection mechanism; 70A Self-cleaning and online detection collaborative device; 71 Spiral involute; 71A Directional moving seat; 72 Vision optical inspection structure; 72A Inspection stylus; 721A Stylus probe; 73A Cleaning brush; 74A Telescopic component; 75A Guide stabilizing wheel; 80 Double-layer pallet circulating conveyor system; 80A Linear conveyor mechanism; 81 Upper conveyor line; 82 Lower return line; 83 Loading elevator; 84 Unloading elevator; 85 Pallet; 101 Cutting station; 201 Forming station; 501 Adjustment station. Detailed Implementation

[0022] Example: This embodiment provides an automated cutting, forming, and laser-cutting online inspection production line for stainless steel shells of hand dryers, used to process rectangular stainless steel sheets 01 (such as...). Figure 1 (As shown) The box-shaped structure 02, which is automatically cut and stamped into the shell of the hand dryer, is shown. Figure 2 As shown in the diagram, after forming, excess material at the bottom of the shell is laser-cut. Simultaneously, during the cutting process, defects that might cause deformation of the inner wall of the shell due to stress release are detected, and cutting debris is self-cleaned. This production line integrates the sheet metal cutting and forming section with the shell laser cutting online inspection section, achieving fully automated processing from raw material sheet metal to finished shell.

[0023] Specifically, refer to Figure 3 , Figure 4The cutting and forming section includes: a cutting device 10 for cutting stainless steel plates to meet the structural shape required for subsequent stamping and forming; a stamping and forming device 20 for stamping the stainless steel plates into a box-shaped structure; a cutting and conveying device 30 for conveying the stainless steel plates to the cutting device 10; a forming and conveying device 40 for conveying the cut stainless steel plates to the stamping and forming device 20; and a positioning and separation device 50 for accurately positioning the stainless steel plates and separating multiple pieces, ensuring that the two conveying devices can accurately grasp the stainless steel plates at fixed points, and placing the stainless steel plates with high precision at the designated positions in the workstation in accordance with the planned movement route, reducing the operational errors of cutting and stamping and forming, and avoiding the situation of multiple plates adhering to each other.

[0024] Among them, such as Figure 3 As shown, the cutting device 10, positioning and separating device 50, and stamping forming device 20 are respectively arranged at the three corners of the rectangle; the cutting and conveying device 30 can move between the stainless steel plate stacking station 011, the positioning and separating device 50's adjustment station 501, and the cutting device 10's cutting station 101; the forming and conveying device 40 can move between the adjustment station 501, the stamping forming device 20's forming station 201, and the box-shaped finished product stacking station 022. The cutting and conveying device 30 and the forming and conveying device 40 preferably adopt a multi-degree-of-freedom robotic arm structure, and both robotic arms have gripping suction cups 60 installed at their end effectors (e.g., ...). Figure 5 As shown in the figure, it is used to grasp stainless steel plates by negative pressure adsorption.

[0025] During prolonged stacking, multiple stainless steel sheets can become tightly adhered and difficult to separate. Therefore, during the handling phase, it is necessary to ensure that only a single stainless steel sheet is retrieved each time. In this embodiment, the positioning and separation device 50 achieves precise positioning of the stainless steel sheet through its own structure; combined with the gripping suction cups 60 of the cutting and handling device 30 and the forming and handling device 40, it enables the separation of multiple stainless steel sheets and further limits and fixes them, thereby facilitating defect detection at this stage.

[0026] Specifically, refer to Figure 5 , Figure 6The positioning and separation device 50 includes: an adjustment base 51, the upper end of which has a defined area that defines the position of the stainless steel plate, the defined area matching the rectangular shape of the stainless steel plate; four sets of edge limiting plates 52, of which two adjacent sets are movably installed and each is equipped with a pneumatic component 53, preferably a linear cylinder, which is equipped with a position sensor to limit its extension length (the position sensor is not shown in the figure). The pneumatic component 53 is used to push the edge limiting plate 52 and the stainless steel plate connected to it to move, so as to form a defined defined area with the other two fixed edge limiting plates, and to limit the stainless steel plate within the defined area, so as to facilitate the precise gripping of the cutting and handling device 30 and the forming and handling device 40; and a fixed suction cup 54, which is set on the upper end of the adjustment base 51 and connected to an air pump (the air pump is not shown in the figure) to adsorb the lower end of the stainless steel plate by negative pressure. At the same time, it works in conjunction with the gripping suction cup 60 to further realize the reliable fixation of the stainless steel plate to facilitate defect detection, and to realize the reliable separation and single-piece gripping of the upper stainless steel plate by fixing the lower stainless steel plate.

[0027] Multiple fixed suction cups 54 and gripping suction cups 60 are provided. When the stainless steel plate is positioned in the defined area, the fixed suction cups 54 and gripping suction cups 60 are positioned in the same location. In this embodiment, four fixed suction cups are provided and distributed in a rectangular shape.

[0028] Preferably, refer to Figure 5 , Figure 6 The upper end of the adjustment seat 51 is evenly provided with a plurality of smooth balls 55. When the pneumatic component 53 pushes the edge limiting plate 52 connected to it to move, the two edge limiting plates 52 push the stainless steel plate to roll along the surface of the balls 55 to avoid scratches on the surface of the stainless steel plate.

[0029] Furthermore, since the front side of the stainless steel plate (i.e., the side that is gripped by the suction cup) is usually covered with a protective film, while the back side is not, it is easily damaged. Therefore, the positioning and separation device 50 is also equipped with a defect detection mechanism 70 (such as...). Figure 6 As shown, the defect detection mechanism 70 is used to inspect the reverse side of a stainless steel plate for surface defects such as scratches. The defect detection mechanism 70 is activated after the stainless steel plate is fixed. The stainless steel plate is reliably fixed with zero degrees of freedom through the coordinated action of the aforementioned edge limiting plate 52, fixing suction cup 54, and gripping suction cup 60.

[0030] Among them, reference Figure 6The defect detection mechanism 70 includes a spiral involute 71 and a detection probe (not shown in the figure). The spiral involute 71 is located on the upper surface of the adjusting seat 51, avoiding the positions of the ball bearing 55 and the fixed suction cup 54. The detection probe passes through the spiral involute 71 and contacts the reverse side of the stainless steel. By running around the spiral involute 71, it scans the reverse side of the stainless steel within a set radial pitch and involute coverage area, thus accurately reflecting whether defects exist on the plate surface. (The spiral involute 71 is shown in the figure.) Figure 6 As shown, its radial pitch can be adjusted according to actual conditions. When the detection probe passes through areas with defects such as scratches or dents, the probe's movement will cause a displacement change. The sensing element inside the probe can convert the displacement change into an electrical signal output, thereby realizing the detection of surface defects. In addition, to avoid missing the corresponding parts of the ball bearing 55 and the fixed suction cup 54, after the first inspection is completed, the robotic arm can be rotated 90 degrees and then placed in a limited area for a second defect inspection. The placement positions of the ball bearing 55 and the fixed suction cup 54 are pre-planned so that after the board is rotated 90 degrees, the previously obscured areas all fall within the effective detection path of the spiral involute 71, thereby achieving full coverage. In actual production, based on the board defect rate statistics, a second inspection can be performed only on sampled batches or high-risk batches to balance inspection coverage and production efficiency.

[0031] After passing the aforementioned defect detection, it is necessary to ensure that there is only one stainless steel plate at this point, and no multiple stainless steel plates are adsorbed. To this end, a single-plate judgment and separation mechanism is set up to determine whether the stainless steel plate itself is adsorbed. This is achieved through the coordinated operation of the fixed suction cup 54, the gripping suction cup 60, and the pressure sensor within its vacuum pipeline (the pressure sensor is not shown in the figure). The judgment is made by real-time acquisition of the instantaneous negative pressure peak and holding pressure value of the gripping suction cup 60. The specific principle is as follows: When it is a single stainless steel plate, both its upper and lower ends are subjected to negative pressure adsorption. Therefore, the upper gripping suction cup 60 will encounter significant resistance during suction and transfer, and the negative pressure in its internal pipeline will rise abnormally and be maintained for a long time. At this time, the pressure sensor is triggered to generate a signal indicating that it is a single piece of stainless steel. Therefore, the subsequent standard operating procedure can be executed, namely, releasing the negative pressure of the fixed suction cup 54, maintaining the negative pressure of the gripping suction cup 60, and allowing the cutting and transporting device 30 to transport the stainless steel plate to the cutting station 101 along the original route. When there are two or more pieces of stainless steel, the gripping suction cup 60 only needs to overcome the adsorption force between the two attached stainless steel plates. The two adsorbed stainless steel plates are very easy to separate, which causes the vacuum pipeline to depressurize quickly. However, the negative pressure then falls back to the normal value calibration range. At this time, the pressure sensor is triggered to generate a signal that it is a multiple piece of stainless steel. Therefore, it is necessary to perform a stainless steel plate separation operation, that is, to use the cutting and conveying device 30 to pick up the upper stainless steel plate and transport it to the stacking station 011. Then, the adsorption situation is judged by the above principle until the signal that it is a single piece of stainless steel is triggered.

[0032] Furthermore, if multiple stainless steel plates are adsorbed, they need to be separated one by one, which significantly impacts work efficiency. Therefore, the cutting and handling device 30 is equipped with an anti-overlap separation mechanism, which includes a weight sensor (not shown in the figure) installed at the end of the robotic arm. This sensor accurately detects whether multiple stainless steel plates are adsorbed by sensing the significant difference between the total weight of the multiple stainless steel plates and the weight of a single plate. Then, the robotic arm is shaken to throw the excess stainless steel plates into a specific area with a protective pad to avoid damage during the fall. It should be noted that the aforementioned weight sensor can accurately detect three or more stainless steel plates adsorbing and overlapping. However, when only two plates overlap, the adsorption force of the gripping suction cup 60 and the weight of the stainless steel plates themselves are superimposed and mixed, making it difficult for the weight sensor to accurately distinguish the weight difference between a single plate and two plates. In this case, the positioning and separation device 50 can be used to determine and separate whether the stainless steel plates are adsorbed.

[0033] Furthermore, the robotic arm's shaking function is equipped with an adaptive adjustment mechanism. Specifically, when two stainless steel plates are detected at adjustment station 501, the system automatically records that this batch of plates has an "adhesion tendency." For the same batch of stainless steel plates, the shaking amplitude and frequency are automatically increased in steps based on the cumulative number of "adhesion tendency" records (but with range limitations to avoid excessive impact from falling plates causing damage). If multiple consecutive records show only a single plate, the shaking amplitude is automatically decreased in steps to improve work efficiency. It should be noted that the shaking action involves the robotic arm lifting one end of the stainless steel plate above stacking station 011 and swinging it back and forth, while the other end of the plate remains within the stacking area.

[0034] In this embodiment, both the cutting device 10 and the stamping forming device 20 are existing products, so only their structures are briefly described. The cutting device 10 can be a laser or plasma cutting machine, which performs cutting processing on the four corners of the stainless steel plate (e.g., Figure 1 As shown in the figure, this ensures that the dimensional requirements of the subsequent forming process are met. The stamping forming device 20 adopts a punch press structure, including an upper die and a lower die. The stainless steel plate is placed on the lower die, and then the upper die is pressed down to form the product.

[0035] To improve the automation level and cycle efficiency of the production line, this embodiment adds a double-layer pallet circulating conveyor system 80 between each workstation to carry stainless steel plates and automatically transfer them between workstations. The robotic arm is only responsible for picking up and placing the plates from the pallet to the working area of ​​each device. The double-layer pallet circulating conveyor system 80 includes: an upper conveyor line 81, horizontally arranged along the direction of stacking station 011 → adjusting station 501 → cutting station 101 → forming station 201, used to carry pallets containing stainless steel plates forward sequentially along the processing direction; a lower return line 82, arranged directly below the upper conveyor line 81, with the conveying direction opposite to the upper layer, used to return empty pallets after unloading from the end to the beginning; a loading elevator 83, located at the beginning of the conveyor system (on the side of stacking station 011), used to lift the empty pallets returned from the lower return line 82 to the starting position of the upper conveyor line 81 for reloading; and a unloading elevator 84, located at the end of the conveyor system (on the side of forming station 201), used to lower the empty pallets after unloading from the upper conveyor line 81 to the starting position of the lower return line 82 for return.

[0036] Multiple trays 85 are provided, circulating between the upper conveyor line 81 and the lower return line 82. The upper surface of each tray 85 has positioning grooves adapted to the shape of the stainless steel sheet, used for initial positioning of the sheet during conveying to prevent displacement. A flexible protective pad (such as a silicone pad) is laid at the bottom of the positioning groove to avoid scratching the reverse side of the stainless steel sheet during conveying. Both the upper conveyor line 81 and the lower return line 82 adopt roller conveyor structures or belt conveyor structures. Each station is equipped with a stop positioning mechanism, including a liftable stop block and a photoelectric sensor, to accurately stop the tray at the preset position of each station, allowing the robotic arm to accurately pick up and place the sheet.

[0037] The double-layer pallet circulating conveyor system 80 works in conjunction with the cutting and handling device 30, the forming and handling device 40, and the positioning and separating device 50. Specifically: at the stacking station 011, the cutting and handling device 30 picks up a stainless steel sheet from the sheet stack and places it on the pallet 85 of the upper conveyor line 81; after the pallet 85 moves with the upper conveyor line 81 to the corresponding position of the adjustment station 501, it is precisely positioned and stopped by the stop positioning mechanism. The cutting and handling device 30 then takes the sheet from the pallet 85 and places it on the adjustment seat 51 of the positioning and separating device 50 to perform limit adjustment, defect detection, and single-piece judgment operations; after completion, the sheet is put back on the pallet 85 and continues to move along the upper conveyor line 81 to the cutting station 101 and the forming station 201. At the forming station 201, the forming and handling device 40 takes the sheet material from the pallet 85 and puts it into the stamping and forming device 20. After forming, the finished product is stacked to the stacking station 022. At this time, the empty pallet 85 is lowered by the unloading elevator 84 to the lower return line 82, returns to the beginning along the return direction, and is then lifted by the loading elevator 83 to the upper conveyor line 81 to complete one cycle.

[0038] refer to Figure 8 , Figure 9 The working method of the cutting and forming section includes the following steps: S1: Empty tray lifting: The loading elevator 83 lifts the empty tray 85 at the end of the lower return line 82 to the starting position of the upper conveyor line 81.

[0039] S2: Material picking and palletizing: The cutting and handling device 30 picks up the stainless steel plate from the upper left corner of the stacking station 011 through the gripping suction cup 60 at the end of the robotic arm. The weight sensor determines the weight of the stainless steel plate. When the weight of the picked-up plate is greater than or equal to the weight of three stainless steel plates, the robotic arm is shaken while the stainless steel plate is lifted to throw off the excess picked-up plate. At the same time, the picked-up plate is placed in the positioning groove of the pallet 85. The upper conveyor line 81 is started to convey the material pallet to the adjustment station 501.

[0040] S3: Positioning and docking: When the pallet 85 reaches the corresponding position of the adjustment station 501, the photoelectric sensor of the stop positioning mechanism detects the pallet's arrival signal, and the stop block rises to make the pallet stop precisely.

[0041] S4: Material picking and limit adjustment: The cutting and handling device 30 takes the sheet material from the pallet 85 and places it on the upper end of the adjustment seat 51 of the positioning and separation device 50; the pneumatic component 53 is activated, which drives the edge limiting plate 52 to push the stainless steel plate along the ball 55 to the limited area. At this time, the four sides of the stainless steel plate are blocked by four sets of edge limiting plates, realizing the movement restriction in the horizontal plane.

[0042] S5: Longitudinal Fixation: Activate the fixing suction cup 54 and the gripping suction cup 60, so that the fixing suction cup 54 adsorbs the lower end of the stainless steel plate with negative pressure, and the gripping suction cup 60 presses the upper end with negative pressure, thereby restricting its longitudinal movement and achieving complete fixation of the stainless steel plate.

[0043] S6: Surface Defect Detection: It should be noted that defect detection is performed before single-piece judgment because the fixed suction cup 54 and the gripping suction cup 60 have already clamped and fixed the sheet metal during the defect detection stage. Even if there is double-piece adsorption, the detection probe only contacts the exposed reverse side of the bottom sheet metal, and its detection result is not affected by the upper sheet metal. At the same time, if separation is performed before detection, an additional fixing-to-release cycle is required, reducing cycle efficiency. After fixing the stainless steel sheet, the detection probe of the defect detection mechanism 70 is activated, causing it to run around along the trajectory of the spiral involute 71 to achieve detection and scanning of the entire reverse area of ​​the stainless steel sheet. When the detection probe passes through the defect location such as scratches or dents, the movement of the probe changes displacement. The sensor element inside the probe converts this displacement change into an electrical signal output, thereby realizing the detection of surface defects. If the detection is qualified, the subsequent standard operating procedure is executed. If the detection is unqualified, the fixed suction cup 54 is released, and the gripping suction cup 60 and the robotic arm are used to transfer the stainless steel sheet to the waste recycling area for recycling.

[0044] S7: Single Piece Judgment: After the surface defect detection is qualified, the fixed suction cup 54 and the gripping suction cup 60 are kept in a negative pressure adsorption state. Then, using the single piece judgment and separation mechanism, the pressure sensor in the connecting pipe of the gripping suction cup 60 is used to determine whether the stainless steel on the adjustment station 501 is a single piece or a double piece. If it is determined to be a single piece, the subsequent standard operation process is executed. If it is determined to be a double piece, the gripping suction cup 60 and the robotic arm are used to directly transfer the stainless steel plate to the stacking station 011 for temporary placement. Then, the gripping suction cup 60 is moved to make it adsorb the stainless steel plate left on the adjustment station 501 under negative pressure, and the aforementioned principle is used to make a second judgment until it is determined to be a single piece.

[0045] S8: Return the tray and convey it to the cutting station: After determining that it is a single piece, release the fixing suction cup 54, and use the gripping suction cup 60 and the robotic arm to put the stainless steel plate back into the tray 85. The upper conveyor line 81 conveys the tray 85 to the cutting station 101. After the stop positioning mechanism accurately stops, the cutting and handling device 30 takes the plate out of the tray 85 and puts it into the cutting device 10. Through the rotating seat on the cutting device 10, the four corners of the stainless steel plate are sent into the working area of ​​the cutting device 10 in sequence to complete the cutting of the four corners.

[0046] S9: Repositioning before stamping: After cutting, the stainless steel plate is placed back on the pallet 85 using the robotic arm of the cutting and handling device 30 and the gripping suction cup 60. The upper conveyor line 81 then transports the pallet 85 back to the adjustment station 501. The positioning and separation device 50 is used again to position the stainless steel plate within the defined area to achieve repositioning and meet the position accuracy requirements.

[0047] S10: Transfer to forming station and stamping: After repositioning, the stainless steel plate is placed back on the tray 85. The upper conveyor line 81 transfers the tray 85 to the forming station 201. After the stop positioning mechanism accurately stops, the robotic arm and gripping suction cup 60 of the forming and handling device 40 take the positioned and cut stainless steel plate out of the tray 85 and transfer it to the forming station 201 of the stamping forming device 20, that is, the lower mold of the forming device. Then the upper mold is pressed down to apply pressure to the stainless steel plate, so that it undergoes plastic deformation according to the shape of the mold, thus completing the forming operation of the hand dryer shell.

[0048] S11: Unloading and Descending: After the molding is completed, the finished product is stacked to the stacking station 022. At this time, the empty pallet 85 is lowered by the unloading elevator 84 to the lower return line 82.

[0049] S12: Empty tray return: The lower return line 82 reverses the empty tray 85 back to the starting end, waiting for the loading elevator 83 to lift it again and enter the next cycle.

[0050] S13: Cyclic Operation: Repeat steps S1 to S12, with multiple pallets 85 circulating simultaneously in the system to form a continuous flow operation, realizing continuous automated cutting and forming of stainless steel plates.

[0051] The entire process described above requires no manual intervention. The double-layer pallet circulation conveyor system 80 achieves closed-loop circulation of pallets through the spatial stacking of the upper and lower conveyor lines and the connection of the lifting mechanisms at both ends, avoiding the manual handling of pallets. The cutting and handling device 30 and the forming and handling device 40 are only responsible for picking up and placing the boards from the pallets to the working areas of each device. The positioning and separation device 50 plays a key role in transfer positioning, board separation and surface defect detection, ensuring processing accuracy and production efficiency, and improving the overall automation level and production cycle of the hand dryer shell production line.

[0052] In this embodiment, the defect detection mechanism can also be replaced by a visual optical detection structure, as shown in the reference. Figure 7 The visual optical inspection structure 72 is preferably installed at the center of the defined area. This structure uses a high-definition camera with its own light source and image algorithms to capture differences in reflectivity and light / dark distortion on the reverse side of the stainless steel plate, thereby identifying surface defects such as scratches, dents, bulges, color differences, and indentations. Although this method offers faster detection speed, its relatively high rate of missed detections and false positives is due to factors such as variations in lighting and limitations in computing power (due to the wide variety of surface defects).

[0053] After the stainless steel shell is stamped and formed in the above-mentioned cutting and forming section, there is still excess material at the bottom of the shell, which needs to be further processed by laser cutting. This section is used to laser cut the excess material at the bottom of the formed stainless steel shell, and simultaneously completes the defect detection of the inner wall of the shell that may be deformed due to stress release during cutting, as well as the self-cleaning of cutting debris.

[0054] refer to Figure 14 , Figure 15 This section includes: a conveyor seat 10A, used to hold the formed stainless steel shell, which is mounted on the linear conveyor mechanism 80A of this section to accurately transport the stainless steel shell formed in the previous cutting and forming section to the material picking station 03 of this section. It also receives the finished product after cutting in this section and transports it to the next station; and a mounting seat 20A, which serves as the base for supporting the stainless steel shell for easy cutting. It is set on the rotating platform 30A and can drive the mounting seat 20A to rotate to realize mutual transfer between the transfer station 04 and the cutting station 05. Replacement; Adsorption fixing component 40A, set on mounting base 20A, uses negative pressure adsorption to fix the stainless steel shell on mounting base 20A; Transfer robotic arm 50A, used to realize the mutual transfer of stainless steel shell between transfer station 04 and material picking station 03 and other finished product receiving areas; Cutting robotic arm 60A, used to move along the outer periphery of stainless steel shell, and use its end laser cutting head 61A to perform precise laser cutting on the waste material 04A at the bottom of the shell, realizing the cutting and separation of the shell body 03A and the bottom waste material 04A (e.g. Figure 13 (As shown); the self-cleaning and online detection coordination device 70A moves synchronously with the cutting robot arm 60A to simultaneously detect deformation of the inner wall of the shell that may be caused by stress release during cutting and to self-clean the cutting debris.

[0055] The self-cleaning and online detection collaborative device 70A is a core innovative design of this section. It performs real-time deformation detection of the inner wall of the housing simultaneously with cutting to prevent the housing installation position from shifting when the released stress due to plate surface damage exceeds the positioning force provided by the adsorption and fixing component 40A. This avoids cutting trajectory deviations, housing scrap, or even equipment damage caused by continuing cutting without timely detection of the shift. Simultaneously, the device's self-cleaning function removes debris generated during cutting, improving the cleanliness of the inner wall and ensuring the accuracy and reliability of inner wall deformation detection. Timely cleaning also facilitates subsequent reprocessing of qualified cut products.

[0056] Specifically, refer to Figure 17 The self-cleaning and online detection collaborative device 70A includes: a directional moving base 71A, which is the basic mounting base of this device, slidably connected to the shaping track 21A at the upper end of the mounting base 20A. The shaping track 21A corresponds to the inner cavity of the inverted housing, and its shape is the same as the inner contour shape of the inner wall of the housing but the size is different; a directional drive assembly, connected below the directional moving base 71A and passing through the clearance hole 22A of the mounting base 20A, for driving the directional moving base 71A to move along the trajectory of the shaping track 21A to complete the cleaning of the inner wall of the housing. Full-circle detection and cleaning (directional drive component not shown in the figure); detection stylus 72A, mounted on directional moving seat 71A via telescopic component 74A, can be separably contacted with the inner wall of the housing, used to sense minute displacement changes of the inner wall of the housing in its normal direction in real time during the cutting process; cleaning brush 73A, connected to telescopic component 74A, used to clean up debris generated during cutting; telescopic component 74A is used to drive detection stylus 72A and cleaning brush 73A to make reciprocating linear motion between the initial retracted position and the position in contact with the inner wall of the housing.

[0057] This device utilizes the telescopic component 74A to extend the detection stylus 72A and cleaning brush 73A to a precise distance, thereby contacting the inner wall of the housing. Furthermore, by controlling the installation length of both components, the contact pressure between them and the inner wall of the housing can be controlled, enabling them to perform cleaning and deformation detection functions while avoiding excessive pressure that could damage the inner wall surface. Then, the directional drive component drives the directional moving seat 71A to move along the contour of the inner wall of the housing, thereby driving the detection stylus 72A and cleaning brush 73A to complete the cleaning and deformation detection around the inner wall.

[0058] Further, refer to Figure 17 The probe 721A of the detection probe 72A is covered in the middle of the cleaning brush 73A and its end extends slightly beyond the end of the cleaning brush 73A. The probe 721A follows the laser cutting head 61A in the cutting direction and its end is located at the cutting edge of the housing body 03A. Figure 17In the image, the cleaning brush structure is in a cut-out state, so the stylus probe encased within the brush is not visually apparent. The stylus probe 721A incorporates a highly sensitive contact displacement sensor capable of sensing minute displacement changes in the normal direction of the housing's inner wall in real time. The advantages of this setup are as follows: First, the stylus probe 721A remains in contact with the inner wall of the housing throughout the entire cutting process, thus enabling continuous real-time monitoring of the housing's deformation state without any blind spots. Second, the stylus probe 721A follows closely behind the laser cutting head 61A, allowing it to instantly and in real-time perceive the latest state of the cutting edge, triggering a cutting stop signal immediately in case of an anomaly, effectively reducing the accumulation of cutting errors. Third, the cutting edge of the housing body 03A is a concentration point of stress release, where the deformation is relatively greatest compared to other parts; therefore, placing the stylus probe 721A here further improves detection accuracy. Fourth, the brush bristles provide flexible protection for the stylus probe 721A, preventing damage or false triggering signals due to rigid collisions during movement. Fifth, while cleaning the inner wall of the housing, the brush ensures the surface of the contact area of ​​the stylus probe 721A remains clean, ensuring that the stylus probe 721A always operates on a clean surface, thereby improving the sensitivity and reliability of deformation detection.

[0059] The working process of the detection stylus 72A is as follows: During the laser cutting process, as the bottom material of the shell is cut off segment by segment, the stress state of the shell continues to change; if the thermal stress and release stress generated by the cutting are always less than the positioning force of the adsorption and fixing component 40A, the shell remains stable, the signal of the detection stylus 72A is maintained within the reference range, and the cutting continues normally. When the cutting is completed, the system comprehensively detects the data detected by the detection stylus 72A throughout the cutting process and makes a qualified judgment on the quality of the inner wall surface.

[0060] However, if at a certain moment the remaining connection area at the bottom of the housing becomes too small due to the extension of the cutting line, or if stress concentration occurs due to local material defects, causing the stress generated by the cutting to suddenly exceed the positioning force of the adsorption and fixing component 40A, the housing will begin to shift slightly on the mounting base 20A. At this time, the position of the inner wall of the housing relative to the detection stylus 72A changes, and the detection stylus 72A immediately senses this sudden change in normal displacement, and its output signal deviates from the reference value. The system immediately sends an emergency stop signal to the cutting robot arm 60A at the first moment (millisecond-level response) when the signal deviation of the detection stylus 72A reaches the preset threshold, and the laser cutting head is immediately shut off, and the laser cutting operation is stopped.

[0061] After an emergency stop, the system issues an alarm signal. Operators can determine the cause of the housing offset based on the alarm information and take appropriate action. Since the detection probe 72A can detect and trigger a stop at the initial stage of housing offset, the actual offset of the housing is extremely small. Therefore, in most cases, the remaining cutting can be completed by re-fixing the housing, without scrapping the workpiece.

[0062] Preferably, refer to Figure 17 The directional moving seat 71A is suspended above the lower end of the clearance hole 22A and is also equipped with a self-rotating guide stabilizing wheel 75A. The guide stabilizing wheel 75A is coaxially driven and installed with the transmission shaft of the directional drive assembly. It is I-shaped, and the concave outer peripheral part rolls and fits into the inner peripheral wall of the clearance hole 22A. The outline of the inner peripheral wall of the clearance hole 22A is the same as the outline of the shaping track 21A, but the size is different. The guide wheel 75A serves two purposes: firstly, it further enhances the guiding performance of the preset trajectory, ensuring that the movement path of the directional moving seat 71A always conforms to the path of the shaping track 21A, preventing slight deviation of the drive shaft after prolonged use that could cause instability in the contact between the stylus probe 721A and the inner wall; secondly, it provides lateral contact support with the mounting base 20A, ensuring constant pressure contact between the stylus probe 721A and the inner wall of the housing, further improving the accuracy of deformation detection; and thirdly, the contact friction with the mounting base 20A is set as rolling friction, reducing potential micro-vibrations during the movement of the device, thereby avoiding any impact on the accuracy of deformation detection.

[0063] To achieve the functions of the self-cleaning and online detection collaborative device 70A, this embodiment also makes the following structural arrangements for the remaining components of the collaborative device. The directional drive assembly can adopt a closed-loop synchronous belt drive structure, a gear and rack closed-loop drive structure, or a transmission structure combining a ring guide rail and a linear motor module. Regardless of the method used, its transmission trajectory matches the contour of the fixed track 21A, and the contour dimensions can be adjusted according to actual conditions. The telescopic assembly 74A can adopt a slide-table adjustable cylinder or a servo electric cylinder to precisely adjust its extension stroke. Simultaneously, in conjunction with the installation distance between the detection stylus 72A and the cleaning brush, after the telescopic assembly 74A drives both to extend, it can contact the inner wall of the housing with appropriate contact pressure, ensuring that the collaborative device meets the initial positioning requirements.

[0064] The initial positioning is completed at transfer station 04. Then, the mounting base 20A is rotated to cutting station 05 for simultaneous cutting, deformation detection, and self-cleaning. To improve the cutting efficiency of the stainless steel shell in this section, it is best to perform the initial positioning and laser cutting simultaneously. Therefore, it is recommended to refer to... Figure 16 The mounting base 20A has two units and is symmetrically distributed on both sides of the rotating platform 30A. When one mounting base 20A rotates to the cutting station 05, the other mounting base 20A rotates to the transfer station 04.

[0065] To ensure the precise and reliable positioning of the aforementioned collaborative device and laser cutting, it is also necessary to ensure the stable negative pressure adsorption of the stainless steel housing, and that its position is accurately fixed and not easily shifted. Therefore, the adsorption and fixing component 40A is specifically configured as follows. (Reference) Figure 16 The adsorption and fixing component 40A includes a central suction cup 41A and an edge suction cup 42A. The central suction cup 41A passes through the center of the clearance hole 22A and is positioned with its adsorption surface facing upwards, corresponding to the center of the upper inner wall of the inverted shell. There are four edge suction cups 42A, and their adsorption surfaces are positioned upwards, corresponding to the four corners of the bottom of the shell. Correspondingly, the central suction cup 41A and the edge suction cup 42A are also equipped with an air pump (the air pump is not shown in the figure).

[0066] Further, refer to Figure 16 The mounting base 20A is further provided with a support top block 43A, which is supported at the four corners of the bottom of the shell. The support positioning block is slightly higher than the top of the edge suction cup 42A, with a height difference preferably of 0.3-0.6mm. A gap of 1-2mm is reserved between the central suction cup 41A and the inner wall of the shell. The above arrangement uses four support top blocks 43A to form a height-equal support limit for the stainless steel shell, defining the placement area of ​​the stainless steel shell and ensuring that its bottom surface is horizontally attached, so as to achieve initial coarse positioning of the shell. Then, the central suction cup 41A and the edge suction cup 42A are used to generate micro-correction automatic centering while adsorbing and fixing. The edge suction cup 42A uses its small height difference with the support top block 43A to make the bottom of the shell elastically fit the suction cup and lock it. The reserved inner cavity gap of the central suction cup 41A realizes the floating auxiliary adsorption. While achieving stable adsorption, it avoids the expansion and plastic deformation of the stainless steel shell under pressure throughout the process, ensuring accurate positioning of the cutting cavity and intact appearance.

[0067] In this section, the end of the transfer robotic arm 50A is equipped with a gripping suction cup 51A (e.g., Figure 15 As shown, the suction cups 51A are used for negative pressure suction and transfer of stainless steel shells. Further, the suction cups 51A are configured with two sets: one set grips the upper part of the shell body 03A, and the other set grips the upper bottom of the shell. This allows for the simultaneous suction and transfer of the shell body 03A and the bottom waste 04A through these two sets of suction cups 51A after cutting. Furthermore, by individually controlling the air paths of the two sets of suction cups 51A, the shell body 03A and the bottom waste 04A can be sorted.

[0068] In this section, the cutting robotic arm 60A controls the laser cutting head 61A to precisely cut along the bottom edge of the shell according to a preset cutting trajectory program, thereby completely removing the bottom waste material 04A of the formed shell. The cutting robotic arm 60A and the self-cleaning and online detection coordination device 70A are synchronously linked, relying on precise system program control to ensure that the detection probe 72A can complete a full circumferential scan of the inner wall of the shell as the probe moves. The control system of the cutting robotic arm 60A and the detection probe 72A are signal-interlocked. Therefore, when the detection probe detects an offset signal from the shell, the cutting robotic arm 60A can perform an emergency stop within a response time and simultaneously issue an alarm signal so that the staff can be notified immediately.

[0069] refer to Figure 18 , Figure 19 The working method of the laser cutting and online inspection section includes the following steps: S14: Material handling and loading: Using the transfer robotic arm 50A, the stainless steel shell on the conveyor seat 10A at the material handling station 03 is transported to the mounting seat 20A at the intermediate station 04. Then, the adsorption and fixing component 40A is activated to adsorb the stainless steel shell under negative pressure, thereby achieving stable fixing of the stainless steel shell. Then, the transfer robotic arm 50A is removed, leaving the stainless steel shell fixed on the intermediate station 04.

[0070] S15: Preliminary positioning self-cleaning and online detection collaborative device 70A: After the housing is fixed, the telescopic component 74A drives the detection probe 72A and the cleaning brush 73A to extend a certain distance, so that the two contact the inner wall of the housing and reach the designated work position for subsequent deformation detection and cleaning.

[0071] S16: Rotate and switch stations: Use the rotary platform 30A to drive the mounting base 20A of the transfer station 04 to the cutting station 05 for cutting. At this time, the rotary platform 30A is locked in position to ensure that the mounting base 20A will not shake during the cutting process.

[0072] S17: Laser cutting with synchronous deformation detection and cleaning: The system precisely controls the synchronous start of the cutting robotic arm 60A and the self-cleaning and online detection coordination device 70A. During laser cutting, the directional drive component drives the directional moving seat 71A and its cleaning brush 73A and detection stylus 72A to move closely along the instantly formed cutting edge. This enables the cleaning brush 73A to synchronously clean the inner wall, removing residual dust, oxide scale and metal debris. Within milliseconds of cleaning completion, the detection stylus 72A performs real-time deformation detection on the inner wall of the housing.

[0073] S18: Self-cleaning and online inspection coordination device 70A reset and inspection result judgment: After laser cutting and inspection are completed, the telescopic component 74A is activated to retract so that it drives the detection stylus 72A and the cleaning brush 73A back to the initial position and detach from the inner wall of the housing; at the same time, the system automatically determines whether the quality of the inner wall of the housing is qualified based on the detection data of the detection stylus 72A, and comprehensively evaluates whether the cutting process is completed smoothly by integrating the monitoring data of the deformation sensing detection stylus 72A throughout the cutting process.

[0074] S19: Rotary Switching Station: Using the steps in S16, while rotating the mounting base 20A from the intermediate station 04 to the cutting station 05, the stainless steel shell that has been cut on the cutting station 05 is rotated back to the intermediate station 04.

[0075] S20: Sorting of the main body 03A and the bottom waste 04A: Release the adsorption and fixing component 40A to release its adsorption and fixing on the stainless steel shell. Then, use the transfer robotic arm 50A again to have its two sets of gripping suction cups 51A simultaneously adsorb the main body 03A and the bottom waste 04A. Then, through the separate air path control of the two sets of suction cups, the main body 03A and the bottom waste 04A are released step by step to the corresponding receiving area to achieve sorting of the two.

[0076] S21: Quality Judgment and Abnormal Handling: If the detection result in step S18 shows that the defects on the inner wall of the shell are within the error range, it is judged as a qualified product. Therefore, in step S20, the transfer robot arm 50A moves the shell body 03A to the transfer seat 10A and transports it to the next workstation. If the inner wall of the shell shows excessive defects, in step S20, the transfer robot arm 50A transfers the shell body 03A to the non-conforming product area to achieve automatic rejection of non-conforming products. If the emergency stop of cutting is triggered in step S17 due to the detection stylus 72A detecting shell offset, the system marks the shell as an abnormal part. The operator judges whether it can be processed again after re-fixing or directly judged as a non-conforming product based on the degree of offset.

[0077] S22: Cyclic processing: Repeat steps S14 to S21 above to achieve continuous automated laser cutting, online inspection and cleaning of stainless steel shells.

[0078] The entire process described above requires no manual intervention. The transfer robotic arm 50A is responsible for loading the stainless steel shell and sorting the shell body 03A and the bottom waste 04A. The mounting base 20A and the rotating platform 30A enable rapid switching between the transfer station 04 and the cutting station 05. The cutting robotic arm 60A performs laser cutting on the stainless steel shell along a preset trajectory. At the same time, the self-cleaning and online detection collaborative device 70A achieves simultaneous operation of deformation detection and brush cleaning during the laser cutting process. The stylus probe 721A monitors the positioning status of the shell in real time and triggers an emergency stop at the first moment of deviation. The three functions (detection, cleaning, and deformation monitoring) operate collaboratively in the same device.

[0079] This production line organically integrates the cutting and forming section with the laser cutting and online inspection section, achieving fully automated processing from stainless steel sheet raw materials to finished shells. The cutting and forming section completes defect detection, single-piece separation, four-corner cutting, and stamping of the stainless steel sheet, outputting box-shaped shell semi-finished products. The laser cutting and online inspection section receives the semi-finished shells, performs precise laser cutting of the bottom waste, real-time deformation detection during the cutting process, and self-cleaning of debris, ultimately outputting qualified finished products. The two sections are connected by a conveyor mechanism to achieve automatic transfer of shells, requiring no manual intervention throughout the process, significantly improving the production efficiency and product quality of stainless steel shells for hand dryers.

[0080] The above description is merely a specific example of the present invention and does not constitute any limitation on the present invention. Obviously, those skilled in the art, after understanding the content and principles of the present invention, may make various modifications and changes in form and detail without departing from the principles and structure of the present invention; however, these modifications and changes based on the spirit of the present invention are still within the scope of protection of the claims of the present invention.

Claims

1. A fully automated multi-station forming production line for hand dryer housings, characterized in that, This includes the cutting and forming section and the laser cutting and online inspection section; The cutting and forming section includes a cutting device (10), a stamping and forming device (20), a cutting and handling device (30) and a forming and handling device (40) for handling stainless steel plates, and a positioning and separation device (50). The positioning and separation device (50) is used to accurately position and separate multiple pieces of stainless steel plates, and is used in conjunction with a defect detection mechanism (70) for detecting defects on the surface of stainless steel plates. The laser cutting and online inspection section includes a mounting base (20A), a rotating platform (30A) located below the mounting base (20A), an adsorption fixing component (40A) located on the mounting base (20A) for negative pressure fixing of the stainless steel shell, a transfer robotic arm (50A), a cutting robotic arm (60A) with a laser cutting head (61A) at its end, and a self-cleaning and online inspection coordination device (70A). The rotating platform (30A) is used to drive the mounting base (20A) to switch between the transfer station (04) and the cutting station (05). The self-cleaning and online detection coordination device (70A) includes a directional moving seat (71A) that moves along a fixed track (21A) on a mounting base (20A), and a detection stylus (72A) and a cleaning brush (73A) mounted on the directional moving seat (71A) via a telescopic component (74A). The stylus probe (721A) of the detection stylus (72A) is enclosed in the cleaning brush (73A) and its end extends out of the cleaning brush (73A). The self-cleaning and online detection coordination device (70A) moves synchronously with the cutting robot arm (60A), so that the stylus probe (721A) closely follows the laser cutting head (61A) and detects deformation in real time along the cutting edge of the inner wall of the housing. When the housing is detected to be deviated, the cutting robot arm (60A) is triggered to stop urgently.

2. The production line according to claim 1, characterized in that, The positioning and separation device (50) includes an adjustment seat (51), multiple sets of edge limiting plates (52) disposed on the adjustment seat (51), and a fixed suction cup (54). At least two sets of the edge limiting plates (52) are movably installed and connected to pneumatic components (53) for pushing the stainless steel plate to the defined area to achieve positioning. The fixed suction cup (54) and the gripping suction cup (60) work together to adsorb, thereby achieving longitudinal fixation of the stainless steel plate and separation of multiple pieces.

3. The production line according to claim 2, characterized in that, The positioning and separation device (50) is equipped with a defect detection mechanism (70). The defect detection mechanism (70) includes a spiral involute groove (71) set on the upper surface of the adjustment seat (51) and a detection probe inserted therein. The detection probe runs along the trajectory of the spiral involute groove (71) and contacts the reverse side of the stainless steel plate. The displacement change of the defect position is converted into an electrical signal output through the internal sensing element.

4. The production line according to claim 2, characterized in that, It also has a single-piece judgment and separation mechanism. By using the pressure sensor in the vacuum pipeline of the fixed suction cup (54) and the gripping suction cup (60), the negative pressure peak value and holding pressure value of the gripping suction cup (60) are collected in real time to determine whether the stainless steel plate is a single piece or multiple pieces.

5. The production line according to claim 1, characterized in that, The cutting and handling device (30) is equipped with an anti-overlap separation mechanism, including a weight sensor installed at the end of the robotic arm to detect the adsorption of multiple pieces and to separate the excess stainless steel plates by shaking the robotic arm; the shaking function is equipped with an adaptive adjustment mechanism, which automatically adjusts the shaking amplitude and number of times according to the cumulative record of the adhesion tendency of the same batch of plates in a step-by-step manner.

6. The production line according to claim 1, characterized in that, The cutting and forming section also includes a double-layer pallet circulating conveyor system (80), which includes an upper conveyor line (81), a lower return line (82), a loading elevator (83), a unloading elevator (84), and multiple pallets (85). The pallets (85) circulate between the upper conveyor line (81) and the lower return line (82) to carry stainless steel plates for automatic transfer between each station.

7. The production line according to claim 1, characterized in that, The probe (721A) of the detection probe (72A) is enclosed in the cleaning brush (73A) and its end extends out of the cleaning brush (73A). The probe (721A) follows the laser cutting head (61A) in the cutting direction and is located at the cutting edge of the housing body (03A).

8. The production line according to claim 1, characterized in that, The lower end of the directional moving seat (71A) is equipped with a guide stabilizing wheel (75A) that rotates on its own. The guide stabilizing wheel (75A) is I-shaped, and its concave outer circumference is rolled and fitted into the inner circumferential wall of the clearance hole (22A) of the mounting seat (20A) to improve the motion guidance accuracy and maintain constant pressure contact between the detection stylus (72A) and the inner wall of the housing.

9. The production line according to claim 1, characterized in that, The adsorption and fixing assembly (40A) includes a central suction cup (41A) and multiple edge suction cups (42A). The upper end of the mounting base (20A) is also provided with a support top block (43A) for forming a height-equal support limit for the shell. The support top block (43A) is slightly higher than the upper end of the edge suction cups (42A). A gap is reserved between the central suction cup (41A) and the inner wall of the shell.

10. The production line according to claim 1, characterized in that, The mounting base (20A) is provided in two and symmetrically distributed on both sides of the rotating platform (30A). When one of the mounting bases (20A) is located at the cutting station (05), the other mounting base (20A) is located at the transfer station (04).

11. The production line according to claim 1, characterized in that, The transfer robotic arm (50A) is equipped with two sets of independently pneumatically controlled gripping suction cups (51A) at its end, which are used to adsorb the main body of the shell (03A) and the bottom waste (04A) respectively, so as to realize the step-by-step release and sorting of the two.

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