A production line for turning paper, spreading paper and spreading board by using a robot

Abstract

The utility model relates to the technical field of plate production equipment, specifically discloses a kind of production line of paper turning and paper laying and board laying using manipulator, including plate mechanism, push plate mechanism, laying mechanism, manipulator board laying mechanism and manipulator paper laying mechanism;The present application realizes the accurate conveying of plate by the collaborative work of plate mechanism, push plate mechanism and manipulator board laying mechanism;Manipulator paper laying mechanism uses clamping assembly to combine visual inspection, to ensure that veneer is wrinkle-free and is pasted;The linkage design of laying mechanism and conveying device makes paper laying, hot-pressing process seamlessly link, significantly improves the production efficiency and yield of double-faced veneer, while reducing the safety risk caused by manual intervention.

Description

Technical Field

[0001] This utility model relates to the field of board production equipment technology, and in particular to a production line that utilizes a robotic arm for paper turning, paper laying and board laying. Background Technology

[0002] Melamine decorative panels, also known as melamine-impregnated paper-faced engineered wood panels, are made by soaking paper with different colors or textures in melamine resin adhesive, drying it to a certain degree of curing, and then laying it on the surface of particleboard, moisture-resistant board, medium-density fiberboard, plywood, blockboard, multi-layer board or other hard fiberboard, and then hot-pressing it into decorative panels.

[0003] Decorative panels are divided into single-sided and double-sided decorative panels. In the production process of double-sided decorative panels, the facing paper is typically laid first in the laying area, then the board is laid on top of the decorative panel, followed by another layer of facing paper. The three-layer structure is then fed into a hot-pressing device, where it is hot-pressed to form the decorative panel. The decorative panel is then transferred to an edge-trimming device for edge trimming. Currently, the laying of the board and paper is usually done manually, resulting in low production efficiency.

[0004] Therefore, existing technologies still need to be improved and developed. Utility Model Content

[0005] In view of the shortcomings of the prior art, the purpose of this utility model is to provide a production line that utilizes a robotic arm for paper turning, paper laying and board laying to solve the above problems.

[0006] A production line utilizing robotic arms for paper turning, paper laying, and board laying includes:

[0007] The upper plate mechanism includes a first support, a first conveying device disposed on the first support, a lifting device located on one side of the discharge end of the first conveying device, and a support assembly connected to the output end of the lifting device. The first conveying device is used to convey stacked plates to the support assembly.

[0008] The pusher mechanism includes a second bracket disposed on one side of the support component, a second conveying device installed on the second bracket, and a pusher assembly fixed to the second bracket. The pusher assembly is suspended above the support component and is used to push the uppermost plate on the support component to the second conveying device.

[0009] The laying mechanism includes a third support, a finishing paper placement platform disposed on the third support, and a paper laying platform located on one side of the finishing paper placement platform, wherein the finishing paper placement platform is used to stack and place finishing paper.

[0010] The robotic arm board laying mechanism includes a first robotic arm, a suction cup frame connected to the execution end of the first robotic arm, and a plurality of first suction cups distributed on the suction cup frame. The robotic arm board laying mechanism uses the first suction cups to adsorb and grab the board material on the second conveying device and transfer it to the paper laying table.

[0011] The robotic paper-laying mechanism includes a second robotic arm, a clamping frame connected to the execution end of the second robotic arm, and a clamping component disposed on the clamping frame. The robotic paper-laying mechanism uses the clamping component to clamp the decorative paper on the decorative paper placement table and lay it on the surface of the board of the paper-laying table.

[0012] Specifically, the first conveying device includes multiple rows of first rollers, and the discharge end of the first conveying device is also provided with a first sensing component. The first sensing component includes a first mounting bracket fixed to the first support and a first photoelectric sensor fixed to the first mounting bracket. The sensing direction of the first photoelectric sensor is perpendicular to the first conveying device.

[0013] Specifically, the lifting device is a scissor lift, and the supporting assembly includes a support frame fixed to the output end of the lifting device, a plurality of second rollers rotatably mounted on the support frame and used for conveying the plate, and a limit stop bar is also provided on the side of the lifting device away from the first conveying device.

[0014] Specifically, the second conveying device includes a multi-row belt conveyor assembly, and the feed end of the second conveying device is also provided with a second sensing assembly. The second sensing assembly includes a second mounting bracket fixed to the second bracket and a second photoelectric sensor fixed to the second mounting bracket. The sensing direction of the second photoelectric sensor is perpendicular to the second conveying device.

[0015] The pusher assembly includes a slide rail suspended above the support assembly, a horizontal plate sliding along the slide rail, a telescopic drive device fixed to the slide rail and used to drive the horizontal plate, and a pusher fixed to the horizontal plate and used to push the plate.

[0016] Specifically, the top of the second bracket is also equipped with a dust collection device, which is positioned facing the second conveying device.

[0017] Specifically, the second bracket is also provided with a centering component, which includes a first limiting post, a second limiting post, and a cylinder connecting rod mechanism for driving the first limiting post and the second limiting post to move synchronously in opposite directions. The first limiting post and the second limiting post are respectively located on both sides of the vertical direction of the conveying direction of the second conveying device.

[0018] Specifically, the laying mechanism also includes an appearance inspection component, which includes a bracket and a CCD camera fixed on the bracket, with the camera end of the CCD camera facing the paper laying table.

[0019] Specifically, the paper-laying device also includes a defective product screening mechanism located on one side of the laying mechanism. The defective product screening mechanism includes a guide rail and a defective product tray that can slide along the guide rail. The robotic arm laying mechanism can also transfer the paper sheets on the paper-laying table to the upper end of the defective product tray.

[0020] Specifically, the laying mechanism also includes a third conveying device located on the third support, and the paper laying table is located at the conveying end of the third conveying device.

[0021] Specifically, the clamping assembly includes two air tubes rotatably connected to the clamping frame, a plurality of second suction cups disposed on the air tubes, and a cylinder driving device for driving the two air tubes into a clamping position.

[0022] The beneficial effects of this utility model are:

[0023] The production line of this application achieves precise conveying of boards through the coordinated work of the board loading mechanism, the board pushing mechanism and the robotic arm board laying mechanism; the robotic arm paper laying mechanism uses clamping components combined with visual inspection to ensure that the decorative paper is laid without wrinkles; the linkage design of the laying mechanism and the conveying device enables seamless connection between the paper laying and hot pressing processes, significantly improving the production efficiency and yield of double-sided decorative panels, while reducing the safety risks caused by manual intervention. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the paper-laying device of this application;

[0025] Figure 2 This is a schematic diagram of the upper plate mechanism of this application;

[0026] Figure 3 This is a schematic diagram of the push plate mechanism of this application;

[0027] Figure 4 This is a schematic diagram of the laying mechanism of this application;

[0028] Figure 5 This is a structural schematic diagram of the robotic arm paving mechanism of this application;

[0029] Figure 6 A schematic diagram of the robotic paper-laying mechanism of this application;

[0030] Figure 7 This is a schematic diagram of the defective product screening mechanism of this application.

[0031] The attached figures are labeled as follows: upper plate mechanism 10, first support 11, first conveying device 12, first roller 121, lifting device 13, support assembly 14, support frame 141, second roller 142, limit stop bar 143, first sensing assembly 15, first mounting frame 151, first photoelectric sensor 152, push plate mechanism 20, second support 21, second conveying device 22, push plate assembly 23, slide rail 231, horizontal plate 232, telescopic drive device 233, push plate 234, second sensing assembly 24, second mounting frame 241, second photoelectric sensor 242, dust collection device 25, centering assembly 2 6. First limiting post 261, second limiting post 262, cylinder connecting rod mechanism 263, laying mechanism 30, third bracket 31, decorative paper placement platform 32, paper laying platform 33, appearance inspection component 34, bracket 341, CCD camera 342, third conveying device 35, robotic arm laying mechanism 40, first robotic arm 41, suction cup frame 42, first suction cup 43, robotic arm paper laying mechanism 50, second robotic arm 51, clamping frame 52, clamping component 53, air pipe 531, second suction cup 532, cylinder drive device 533, defective product screening mechanism 60, guide rail 61, defective product tray 62. Detailed Implementation

[0032] This utility model provides a production line for paper turning, paper laying, and board laying using a robotic arm. To make the purpose, technical solution, and effects of this utility model clearer and more explicit, the following describes this utility model in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this utility model and are not intended to limit this utility model.

[0033] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0034] Please refer to Figures 1 to 7 This embodiment discloses a production line for paper turning, paper laying, and board laying using a robotic arm, comprising:

[0035] The upper plate mechanism 10 includes a first support 11, a first conveying device 12 disposed on the first support 11, a lifting device 13 located on one side of the discharge end of the first conveying device 12, and a support assembly 14 connected to the output end of the lifting device 13. The first conveying device 12 is used to convey stacked plates to the support assembly 14.

[0036] The push plate mechanism 20 includes a second bracket 21 disposed on one side of the support component 14, a second conveying device 22 installed on the second bracket 21, and a push plate assembly 23 fixed to the second bracket 21. The push plate assembly 23 is suspended above the support component 14 and is used to push the uppermost plate on the support component 14 to the second conveying device 22.

[0037] The laying mechanism 30 includes a third support 31, a finishing paper placement platform 32 disposed on the third support 31, and a paper laying platform 33 located on one side of the finishing paper placement platform 32. The finishing paper placement platform 32 is used to stack and place finishing paper.

[0038] The robotic arm board laying mechanism 40 includes a first robotic arm 41, a suction cup frame 42 connected to the execution end of the first robotic arm 41, and a plurality of first suction cups 43 distributed on the suction cup frame 42. The robotic arm board laying mechanism 40 uses the first suction cups 43 to adsorb and grab the board on the second conveying device 22 and transfer it to the paper laying table 33.

[0039] The robotic paper-laying mechanism 50 includes a second robotic arm 51, a clamping frame 52 connected to the execution end of the second robotic arm 51, and a clamping component 53 disposed on the clamping frame 52. The robotic paper-laying mechanism 50 uses the clamping component 53 to clamp the decorative paper on the decorative paper placement table 32 and lay it on the surface of the board of the paper-laying table 33.

[0040] The paper-laying action of this application is as follows: The upper board mechanism 10 conveys the stacked boards to the support component 14 through the first conveying device 12. After the lifting device 13 adjusts the support height, the pusher component 23 of the pusher mechanism 20 pushes the uppermost board to the second conveying device 22. The robotic arm paper-laying mechanism 40 adsorbs the board through the first suction cup 43 and transfers it to the paper-laying table 33. At the same time, the clamping component 53 of the robotic arm paper-laying mechanism 50 grabs the decorative paper from the decorative paper placement table 32 and the second robotic arm 51 accurately lays it on the surface of the board on the paper-laying table 33 to complete the composite of single-sided or double-sided decorative paper.

[0041] Manual paper laying can easily lead to misalignment between the veneer paper and the board, affecting the quality of hot pressing; double-sided paper laying requires repeated operations, resulting in low efficiency and high labor intensity; manual contact with high-temperature boards poses safety hazards; and the long pre-treatment cycle for trimming restricts overall production efficiency. This application's technical solution achieves continuous and precise board positioning through the coordinated conveying of the board loading mechanism 10, the board pushing mechanism 20, and the robotic arm board laying mechanism 40; the robotic arm paper laying mechanism 50 uses a clamping component 53 combined with visual inspection to ensure wrinkle-free veneer paper laying; and the linkage design between the laying mechanism 30 and the conveying device ensures seamless connection between the paper laying and hot pressing processes, significantly improving the production efficiency and yield of double-sided veneer panels while reducing the safety risks associated with manual intervention.

[0042] like Figure 2As shown, the first conveying device 12 in this embodiment includes multiple rows of first rollers 121. The discharge end of the first conveying device 12 is also provided with a first sensing component 15. The first sensing component 15 includes a first mounting frame 151 fixed to the first bracket 11 and a first photoelectric sensor 152 fixed to the first mounting frame 151. The sensing direction of the first photoelectric sensor 152 is perpendicular to the first conveying device 12. The first conveying device 12 realizes continuous conveying of the board through multiple rows of first rollers 121. When the board moves to the discharge end, the board blocks the light of the first photoelectric sensor 152. The first photoelectric sensor 152 generates a light blocking signal, thereby accurately detecting the board's arrival status and feeding the signal back to the lifting device 13, triggering the supporting component 14 to lift and receive the board synchronously, ensuring that the board stacking height matches the pushing position of the pushing mechanism 20. By setting the first sensing component 15, this application can realize real-time monitoring of the board stacking status.

[0043] Furthermore, the lifting device 13 is a scissor lift, and the supporting assembly 14 includes a support frame 141 fixed to the output end of the lifting device 13, and several second rollers 142 rotatably mounted on the support frame 141 for conveying the board. A limiting stop bar 143 is also provided on the side of the lifting device 13 away from the first conveying device 12. When the first conveying device 12 conveys the board to the support frame 141, the second rollers 142 rotate to assist the board in smoothly moving to a preset position. Multiple limiting stops 143 can be provided to prevent the board from shifting and ensure neat stacking. As the board is pushed away layer by layer, the lifting device 13 gradually rises, ensuring that the top layer of board remains flush with the pusher assembly 23.

[0044] Please refer to Figure 3 In this embodiment, the second conveying device 22 includes a multi-row belt conveyor assembly. The feeding end of the second conveying device 22 is also equipped with a second sensing assembly 24. The second sensing assembly 24 includes a second mounting bracket 241 fixed to the second support 21 and a second photoelectric sensor 242 fixed to the second mounting bracket 241. The sensing direction of the second photoelectric sensor 242 is perpendicular to the second conveying device 22. The pusher assembly 23 includes a slide rail 231 suspended above the support assembly 14, a horizontal plate 232 sliding along the slide rail 231, a telescopic drive device 233 fixed to the slide rail 231 and used to drive the horizontal plate 232, and a pusher plate 234 fixed to the horizontal plate 232 and used to push the board. The second conveying device 22 receives the board pushed by the pusher assembly 23 through the multi-row belt conveyor assembly. The second photoelectric sensor 242 detects the arrival signal of the board entering the second conveying device 22 in a vertical direction, triggering the belt conveyor assembly to start and continuously conveying the board to the gripping station of the robotic board-laying mechanism 40. The pusher assembly 23 drives the horizontal plate 232 to move horizontally along the slide rail 231 via the telescopic drive device 233, so that the pusher 234 pushes the uppermost plate on the support assembly 14 smoothly into the second conveyor device 22 with constant pressure.

[0045] The belt conveyor assembly of this application, in conjunction with the vertical detection of the second sensing assembly 24, effectively avoids jamming caused by plate offset; the slide rail guide structure of the push plate 234 and the telescopic drive work together to ensure the stability of the pushing force and trajectory of a single layer of plate, prevent multiple plates from sticking together or being pushed out of position, and improve the continuity of plate transfer and the gripping and positioning accuracy of the robot.

[0046] Furthermore, a dust collection device 25 is also provided on the top of the second support 21, facing the second conveying device 22. The dust collection device 25 is activated during the operation of the second conveying device 22, and removes debris and dust generated during the pushing and conveying of the board in real time through negative pressure adsorption, preventing impurities from adhering to the surface of the board or decorative paper. Its suction port faces the board conveying path of the second conveying device 22, ensuring that debris is collected into the dust removal channel immediately after it is generated.

[0047] Furthermore, the second support 21 is also equipped with a centering component 26, which includes a first limiting post 261, a second limiting post 262, and a cylinder linkage mechanism 263 for driving the first limiting post 261 and the second limiting post 262 to move synchronously in opposite directions. The first limiting post 261 and the second limiting post 262 are respectively located on both sides of the conveying direction of the second conveying device 22. By driving the first limiting post 261 and the second limiting post 262 to move synchronously in opposite directions through the cylinder linkage mechanism 263, when the second conveying device 22 conveys the board, the first limiting post 261 and the second limiting post 262 adaptively adjust the spacing according to the width of the board, so that the board is centered and positioned, avoiding conveying deviation. By replacing manual calibration with automated centering, it is ensured that the board accurately enters the gripping range of the robotic arm paper-laying mechanism 50, reducing paper-laying misalignment or mechanical interference caused by positional deviation, and improving the composite accuracy of double-sided decorative panels.

[0048] Please refer to Figure 4 The laying mechanism 30 in this embodiment also includes an appearance inspection component 34, which includes a bracket 341 and a CCD camera 342 fixed on the bracket 341, with the camera end of the CCD camera 342 facing the paper laying table 33. During the paper laying process, the CCD camera 342 captures real-time images of the board surface after the paper is laid, detects wrinkles, misalignments, or damage defects in the decorative paper, and feeds the results back to the control system, triggering the defective product screening mechanism 60 to automatically sort the paper.

[0049] Please refer to Figure 7The paper-laying device also includes a defective product screening mechanism 60 located on one side of the laying mechanism 30. The defective product screening mechanism 60 includes a guide rail 61 and a defective product tray 62 that can slide along the guide rail 61. The robotic arm laying mechanism 40 can also transfer the boards on the paper-laying table 33 to the upper end of the defective product tray 62. The defective product tray 62 is guided to move under the paper-laying table 33 by the guide rail 61. When the appearance inspection component 34 identifies defective boards, the robotic arm laying mechanism 40 transfers the defective products to the upper end of the tray 62 and stacks them.

[0050] Please refer to Figure 4 The laying mechanism 30 also includes a third conveying device 35 located on the third support 31, and a paper-laying table 33 located at the conveying end of the third conveying device 35. A hot press can be placed at the other end of the laying mechanism 30. After the paper is laid, the three-layer structure of the decorative paper, board, and decorative paper on the paper-laying table 33 is sent into the hot press through the third conveying device 35 to complete the hot pressing.

[0051] Please refer to Figure 6 The clamping assembly 53 includes an air pipe 531 rotatably mounted on the clamping frame 52, several second suction cups 532 connected to the air pipe 531, and a cylinder driving device 533 mounted on the clamping frame 52 for driving the two air pipes 531 into a clamping position. The second suction cups 532 are used to hold the decorative paper. When laying the paper, the clamping frame 52 is first driven to the edge of the decorative paper by the second robotic arm 51. Then, the entire row of second suction cups 532 of one of the air pipes 531 holds the upper surface of the decorative paper. The second robotic arm 51 pulls one end of the decorative paper into a raised position. Then, the cylinder driving device 533 controls the two air pipes 531 to be in a clamping position. The entire row of second suction cups 532 of the other air pipe 531 holds the lower surface of the decorative paper. The decorative paper is then transferred and laid on the paper laying table 33 or the upper part of the board by the second robotic arm 51. The structure is ingenious.

[0052] The preferred embodiments of this utility model have been described in detail above. However, this invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of this invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of this invention.

Claims

1. A production line utilizing a robotic arm for paper turning, paper laying, and board laying, characterized in that, include: The upper plate mechanism (10) includes a first support (11), a first conveying device (12) disposed on the first support (11), a lifting device (13) located on one side of the discharge end of the first conveying device (12), and a support assembly (14) connected to the output end of the lifting device (13). The first conveying device (12) is used to convey the stacked plates to the support assembly (14). The push plate mechanism (20) includes a second bracket (21) disposed on one side of the support component (14), a second conveying device (22) installed on the second bracket (21), and a push plate assembly (23) fixed to the second bracket (21). The push plate assembly (23) is suspended above the support component (14) and is used to push the uppermost plate on the support component (14) to the second conveying device (22). The laying mechanism (30) includes a third support (31), a finishing paper placement platform (32) disposed on the third support (31), and a paper laying platform (33) located on one side of the finishing paper placement platform (32). The finishing paper placement platform (32) is used to stack and place finishing paper. The robotic arm board laying mechanism (40) includes a first robotic arm (41), a suction cup frame (42) connected to the execution end of the first robotic arm (41), and a plurality of first suction cups (43) distributed on the suction cup frame (42). The robotic arm board laying mechanism (40) uses the first suction cups (43) to adsorb and grab the board material on the second conveying device (22) and transfer it to the paper laying table (33). The robotic paper-laying mechanism (50) includes a second robotic arm (51), a clamping frame (52) connected to the execution end of the second robotic arm (51), and a clamping assembly (53) disposed on the clamping frame (52). The robotic paper-laying mechanism (50) uses the clamping assembly (53) to clamp the decorative paper on the decorative paper placement table (32) and lay it on the board surface of the paper-laying table (33).

2. The production line according to claim 1, characterized in that: The first conveying device (12) includes multiple rows of first rollers (121). The discharge end of the first conveying device (12) is also provided with a first sensing component (15). The first sensing component (15) includes a first mounting bracket (151) fixed to the first bracket (11) and a first photoelectric sensor (152) fixed to the first mounting bracket (151). The sensing direction of the first photoelectric sensor (152) is perpendicular to the first conveying device (12).

3. The production line according to claim 1, characterized in that: The lifting device (13) is a scissor lift. The supporting component (14) includes a support frame (141) fixed to the output end of the lifting device (13), a plurality of second rollers (142) rotatably disposed on the support frame (141) and used for conveying the plate. The lifting device (13) is also provided with a limiting stop bar (143) on the side away from the first conveying device (12).

4. The production line according to claim 1, characterized in that: The second conveying device (22) includes a multi-row belt conveyor assembly. The feed end of the second conveying device (22) is also provided with a second sensing assembly (24). The second sensing assembly (24) includes a second mounting bracket (241) fixed to the second bracket (21) and a second photoelectric sensor (242) fixed to the second mounting bracket (241). The sensing direction of the second photoelectric sensor (242) is perpendicular to the second conveying device (22). The push plate assembly (23) includes a slide rail (231) suspended above the support assembly (14), a horizontal plate (232) sliding along the slide rail (231), a telescopic drive device (233) fixed to the slide rail (231) and used to drive the horizontal plate (232), and a push plate (234) fixed to the horizontal plate (232) and used to push the plate.

5. The production line according to claim 4, characterized in that: The second bracket (21) is also provided with a dust collection device (25) at the top, and the dust collection device (25) is positioned toward the second conveying device (22).

6. The production line according to claim 4, characterized in that: The second bracket (21) is also provided with a centering component (26), which includes a first limiting post (261), a second limiting post (262), and a cylinder connecting rod mechanism (263) for driving the first limiting post (261) and the second limiting post (262) to move synchronously in opposite directions. The first limiting post (261) and the second limiting post (262) are respectively located on both sides of the vertical direction of the conveying direction of the second conveying device (22).

7. The production line according to claim 1, characterized in that: The laying mechanism (30) also includes an appearance inspection component (34), which includes a bracket (341) and a CCD camera (342) fixed on the bracket (341), with the camera end of the CCD camera (342) facing the paper laying table (33).

8. The production line according to claim 7, characterized in that: The paper laying device also includes a defective product screening mechanism (60) located on one side of the laying mechanism (30). The defective product screening mechanism (60) includes a guide rail (61) and a defective product tray (62) that can slide along the guide rail (61). The robotic arm laying mechanism (40) can also transfer the paper on the paper laying table (33) to the upper end of the defective product tray (62).

9. The production line according to claim 1, characterized in that: The laying mechanism (30) also includes a third conveying device (35) disposed on the third support (31), and the paper laying table (33) is disposed at the conveying end of the third conveying device (35).

10. The production line according to claim 1, characterized in that: The clamping assembly (53) includes an air tube (531) rotatably disposed on the clamping frame (52), a plurality of second suction cups (532) connected to the air tube (531), and a cylinder driving device (533) disposed on the clamping frame (52) and used to drive the two air tubes (531) into a clamping position. The second suction cups (532) are used to hold the decorative paper.

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