Multi-axis mechanical hand flexible feeding and discharging mechanism of PVC decorative plate

Abstract

The utility model belongs to PVC decorative plate processing technical field especially relates to a kind of PVC decorative plate multi-axis mechanical hand flexible feeding and discharging mechanism.The utility model, including frame, the top of frame is provided with installation mesa, the center of installation mesa is equipped with the operating platform for receiving last process, the operating platform is used to carry the PVC decorative plate to be processed, the side of operating platform is equipped with placing table, the both sides of operating platform are symmetrically equipped with multi-axis mechanical arm, flexible end effector is installed on the multi-axis mechanical arm, the multi-axis mechanical arm includes first mechanical arm and second mechanical arm, the multi-axis mechanical arm is fixedly installed on frame top, the free end of the multi-axis mechanical arm is detachably connected with flexible end effector.The utility model has realized the adaptive gripping and placement of different specifications PVC decorative plate, effectively solved the limitation that traditional mechanical arm can only adapt single specification product, significantly improved the flexibility and compatibility of production line.

Description

Technical Field

[0001] This utility model belongs to the field of PVC decorative panel processing technology, and relates to a flexible loading and unloading mechanism for a multi-axis robotic arm for PVC decorative panels. Background Technology

[0002] The production and processing of PVC decorative panels involves multiple steps, including cutting, grinding, and printing. The loading and unloading of PVC decorative panels between these steps is a crucial part of the production process. Currently, there are two main methods for loading and unloading PVC decorative panels in the industry: one is manual loading and unloading, which requires significant labor costs, is inefficient, and is difficult to adapt to the pace of automated production lines. Furthermore, improper handling during manual handling can easily lead to scratches and chipped edges on the PVC decorative panels, affecting product quality. The other method uses traditional robotic arms for loading and unloading. Traditional robotic arms typically have fixed end effectors, which can only accommodate PVC decorative panels of a single size. When producing PVC decorative panels of different sizes, the end effectors need to be disassembled and replaced, resulting in long adjustment cycles, poor flexibility, and an inability to meet the flexible production needs of multiple varieties and small batches. Summary of the Invention

[0003] The purpose of this invention is to address the above-mentioned problems by providing a flexible loading and unloading mechanism for a multi-axis robotic arm for PVC decorative panels.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: A multi-axis robotic flexible loading and unloading mechanism for PVC decorative panels includes a frame, a mounting platform at the top of the frame, an operating table for receiving the previous process at the center of the mounting platform, the operating table for supporting the PVC decorative panels to be processed, a placement platform on one side of the operating table, and multi-axis robotic arms symmetrically mounted on both sides of the operating table. Each multi-axis robotic arm is equipped with a flexible end effector. The multi-axis robotic arm includes a first robotic arm and a second robotic arm. The multi-axis robotic arms are fixedly mounted on the top of the frame, and their free ends are detachably connected to the flexible end effectors. The first and second robotic arms drive the flexible end effectors to flip the PVC decorative panels on the operating platform and place them on the placement platform.

[0005] In the aforementioned PVC decorative panel multi-axis robotic flexible loading and unloading mechanism, a connection structure is provided between the flexible end effector and the free end of the multi-axis robotic arm. The connection structure includes a connecting seat and a connecting plate. The connecting seat is fixedly installed on the flexible end effector, and the connecting plate is fixedly installed at the end of the multi-axis robotic arm. A positioning post is fixedly installed on the connecting seat. The connecting plate is provided with a positioning hole that cooperates with the positioning post. The positioning post is provided with an external thread. The connecting plate is fixedly installed on the positioning post by a lock nut.

[0006] In the above-mentioned PVC decorative panel multi-axis manipulator flexible loading and unloading mechanism, the flexible end effector includes an extension frame, a vacuum suction cup, and a drive mechanism for driving the extension frame to extend and retract. The vacuum suction cup is mounted on the extension frame.

[0007] In the above-mentioned PVC decorative panel multi-axis robotic flexible loading and unloading mechanism, the extension frame includes a first bracket and a second bracket. The first bracket has a sliding groove installed inside, one end of the second bracket is movably installed in the first bracket, and the second bracket is slidably connected in the sliding groove.

[0008] In the above-mentioned PVC decorative panel multi-axis robotic flexible loading and unloading mechanism, the driving mechanism includes a drive motor, a movable block and a drive screw. The drive motor is fixedly installed on one side of the first bracket, the movable block is fixedly installed on the bottom of the second bracket, one end of the drive screw is connected to the output end of the drive motor, and the other end of the drive screw is installed on the movable block and threadedly connected to the movable block.

[0009] In the above-mentioned PVC decorative panel multi-axis robotic flexible loading and unloading mechanism, a slide rod is fixedly installed on the top of the vacuum suction cup, and the slide rod is movably installed on the first bracket and the second bracket.

[0010] In the above-mentioned flexible loading and unloading mechanism of the multi-axis manipulator for PVC decorative panels, a buffer spring is sleeved on the slide rod, and the two ends of the buffer spring abut against the bottom of the first bracket, the bottom of the second bracket, and the top of the vacuum suction cup, respectively.

[0011] In the aforementioned PVC decorative panel multi-axis robotic flexible loading and unloading mechanism, a control system is also provided on the frame, which includes a PLC controller and a touch screen display.

[0012] In the above-mentioned PVC decorative panel multi-axis robotic flexible loading and unloading mechanism, the vacuum suction cup is made of silicone material, and its bottom is provided with a wavy adsorption surface. The vacuum suction cup is connected to the vacuum pump through a vacuum pipeline.

[0013] In the aforementioned PVC decorative panel multi-axis robotic flexible loading and unloading mechanism, an electromagnetic control valve is installed on the vacuum pipeline, and the electromagnetic control valve is electrically connected to the control system.

[0014] Compared with existing technologies, the advantages of this utility model are: 1. This utility model combines a multi-axis robotic arm with a flexible end effector to achieve adaptive gripping and placement of PVC decorative panels of different specifications, effectively solving the limitation of traditional robotic arms that can only adapt to a single specification of product, and significantly improving the flexibility and compatibility of the production line.

[0015] 2. The flexible end effector of this utility model can adjust the gripping range according to the actual size of the PVC decorative board through the coordinated work of the extension frame and the vacuum suction cup, so as to ensure that it can closely adhere to the surface of the board during the gripping process, providing a stable and uniform adsorption force, thereby effectively avoiding the problem of board slippage or surface damage caused by unstable gripping.

[0016] Other advantages, objectives and features of this invention will be partly apparent from the following description, and partly understood by those skilled in the art through study and practice of this invention. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0018] Figure 2 This is a schematic diagram of the flexible end effector of this utility model.

[0019] Figure 3 This is a side view of the flexible end effector of this utility model.

[0020] Figure 4 This is a utility model Figure 3 Enlarged structural diagram at point A in the middle.

[0021] In the diagram: 1. Frame; 2. Mounting platform; 3. Operating table; 4. Placement platform; 5. Multi-axis robotic arm; 6. First robotic arm; 7. Second robotic arm; 8. Flexible end effector; 9. Connecting seat; 10. Connecting plate; 11. Positioning column; 12. Extension frame; 13. Vacuum suction cup; 14. First bracket; 15. Second bracket; 16. Slide; 17. Drive motor; 18. Movable block; 19. Drive screw; 20. Slide rod; 21. Buffer spring; 22. Control system. Detailed Implementation

[0022] The present invention will be further described below with reference to the accompanying drawings.

[0023] like Figure 1-4As shown, a multi-axis robotic flexible loading and unloading mechanism for PVC decorative panels includes a frame 1. A mounting platform 2 is provided on the top of the frame 1. An operating table 3 for receiving the previous process is installed at the center of the mounting platform 2. The operating table 3 is used to support the PVC decorative panels to be processed. A placement platform 4 is installed on one side of the operating table 3. Multi-axis robotic arms 5 are symmetrically installed on both sides of the operating table 3. Flexible end effectors 8 are installed on the multi-axis robotic arms 5. The multi-axis robotic arms 5 include a first robotic arm 6 and a second robotic arm 7. The multi-axis robotic arms 5 are fixedly installed on the top of the frame 1. The free end of the multi-axis robotic arms 5 is detachably connected to the flexible end effector 8. The first robotic arm 6 and the second robotic arm 7 are used to drive the flexible end effector 8 to flip the PVC decorative panels on the operating table 3 and place them on the placement platform 4.

[0024] Furthermore, a connection structure is provided between the flexible end effector 8 and the free end of the multi-axis robotic arm 5. The connection structure includes a connecting seat 9 and a connecting plate 10. The connecting seat 9 is fixedly installed on the flexible end effector 8, and the connecting plate 10 is fixedly installed at the end of the multi-axis robotic arm 5. A positioning post 11 is fixedly installed on the connecting seat 9. The connecting plate 10 is provided with a positioning hole that cooperates with the positioning post 11. The positioning post 11 is provided with an external thread. The connecting plate 10 is fixedly installed on the positioning post 11 by a lock nut.

[0025] In this embodiment, not only is a stable connection between the flexible end effector 8 and the free end of the multi-axis robotic arm 5 ensured, but it also facilitates quick disassembly and replacement to adapt to the processing needs of PVC decorative panels of different specifications or types. The precise fit between the positioning post 11 and the positioning hole effectively prevents possible offset or shaking during processing, improving processing accuracy and efficiency.

[0026] Furthermore, the flexible end effector 8 includes an extension frame 12, a vacuum suction cup 13, and a drive mechanism for driving the extension frame 12 to extend and retract. The vacuum suction cup 13 is mounted on the extension frame 12. The extension frame 12 includes a first bracket 14 and a second bracket 15. A sliding groove 16 is installed inside the first bracket 14. One end of the second bracket 15 is movably mounted inside the first bracket 14, and the second bracket 15 is slidably connected within the sliding groove 16.

[0027] In this embodiment, the telescopic function of the extension frame 12 is achieved by setting a groove 16 in the first bracket 14 and sliding the second bracket 15 within the groove 16. This design allows the flexible end effector 8 to adaptively adjust to PVC decorative panels of different sizes, greatly improving the versatility and flexibility of the equipment.

[0028] Furthermore, the driving mechanism includes a drive motor 17, a movable block 18, and a drive screw 19. The drive motor 17 is fixedly installed on one side of the first bracket 14, the movable block 18 is fixedly installed on the bottom of the second bracket 15, one end of the drive screw 19 is connected to the output end of the drive motor 17, and the other end of the drive screw 19 is installed on the movable block 18 and threadedly connected to the movable block 18.

[0029] In this embodiment, when the drive motor 17 operates, it drives the drive screw 19 to rotate. Since the drive screw 19 is threadedly connected to the movable block 18, and the movable block 18 is fixed to the bottom of the second bracket 15, the second bracket 15 can achieve stable telescopic movement within the slide groove 16 of the first bracket 14. This design not only ensures the smoothness of the extension frame 12's telescopic movement, but also allows for flexible adjustment of the vacuum suction cup 13's position according to different sizes of PVC decorative panels.

[0030] Furthermore, a slide rod 20 is fixedly installed on the top of the vacuum suction cup 13. The slide rod 20 is movably installed on the first bracket 14 and the second bracket 15. A buffer spring 21 is sleeved on the slide rod 20. The two ends of the buffer spring 21 abut against the bottom of the first bracket 14, the second bracket 15 and the top of the vacuum suction cup 13, respectively.

[0031] In this embodiment, when the vacuum suction cup 13 adsorbs the PVC decorative panel for loading and unloading operations, the buffer spring 21 acts as a buffer and shock absorber at the moment of contact between the vacuum suction cup 13 and the PVC decorative panel. This effectively avoids damage to the PVC decorative panel or the vacuum suction cup 13 itself caused by hard contact between the vacuum suction cup 13 and the PVC decorative panel. Simultaneously, during the movement of the robotic arm, if slight vibrations or positional deviations are encountered, the buffer spring 21 can adjust to a certain extent through its elastic deformation, ensuring that the vacuum suction cup 13 can stably adsorb the PVC decorative panel, thus ensuring the stability and reliability of the entire flexible loading and unloading process.

[0032] Furthermore, the rack 1 is also equipped with a control system 22, which includes a PLC controller and a touch screen display.

[0033] In this embodiment, the PLC controller of the control system 22 can precisely control the operation of the entire robot, including parameters such as the robot's movement trajectory, speed, and suction force. Through pre-programming settings, the robot can complete the flexible loading and unloading operation of PVC decorative panels according to predetermined processes and requirements.

[0034] Furthermore, the vacuum suction cup 13 is made of silicone material, and its bottom is provided with a wavy adsorption surface. The vacuum suction cup 13 is connected to the vacuum pump through a vacuum pipeline, and an electromagnetic control valve is provided on the vacuum pipeline. The electromagnetic control valve is electrically connected to the control system 22.

[0035] In this embodiment, the silicone vacuum suction cup 13 possesses excellent flexibility and wear resistance, enabling it to better adhere to the surface of the PVC decorative panel when adsorbing it, thus improving the stability of the adsorption. Connected to a vacuum pump via a vacuum pipeline, the vacuum environment can be quickly established and de-vacuumed, allowing the vacuum suction cup 13 to adsorb and release the PVC decorative panel. The electromagnetic control valve allows for precise control of the vacuum pipeline's on / off state based on instructions from the control system 22, thereby achieving precise control over the adsorption and release of the vacuum suction cup 13.

[0036] The working principle of this utility model is as follows: In use, this invention is pre-programmed using the PLC controller in the control system 22, which plans the key parameters such as the robot's movement trajectory, speed, and suction force. When the equipment is started, the multi-axis robotic arm 5 begins to move under the precise command of the PLC controller. The first robotic arm 6 moves the flexible end effector 8 above the operating table 3, aligning the vacuum suction cup 13 with the PVC decorative panel to be processed on the operating table 3. The control system 22 issues a command, the electromagnetic control valve opens, and the vacuum pump creates a vacuum environment inside the vacuum suction cup 13 through the vacuum pipeline, firmly adsorbing the panel. During the adsorption process, the buffer spring 21 fitted on the top slide rod 20 of the vacuum suction cup 13 effectively buffers the impact force at the moment of contact between the vacuum suction cup 13 and the PVC decorative panel, preventing damage to the PVC decorative panel or the vacuum suction cup 13 itself. After adsorption is complete, the first robotic arm 6 transfers the PVC decorative panel to the second robotic arm 7. The second robotic arm 7 flips the PVC decorative panel and moves it above the placement table 4 according to the preset trajectory. Then, the electromagnetic control valve closes, the vacuum environment is released, and the PVC decorative panel is placed steadily on the placement table 4, completing one loading and unloading operation.

[0037] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to replace them, without departing from the spirit of this utility model.

[0038] Although this document frequently uses terms such as 1. frame; 2. mounting platform; 3. operating table; 4. placement platform; 5. multi-axis robotic arm; 6. first robotic arm; 7. second robotic arm; 8. flexible end effector; 9. connecting seat; 10. connecting plate; 11. positioning column; 12. extension frame; 13. vacuum suction cup; 14. first bracket; 15. second bracket; 16. slide; 17. drive motor; 18. movable block; 19. drive screw; 20. slide rod; 21. buffer spring; 22. control system, the possibility of using other terms is not excluded. The use of these terms is merely for the convenience of describing and explaining the essence of this utility model; interpreting them as any additional limitation would contradict the spirit of this utility model.

Claims

1. A flexible loading and unloading mechanism for a multi-axis robotic arm of PVC decorative panels, comprising a frame (1), characterized in that, The top of the frame (1) is provided with a mounting platform (2). The center of the mounting platform (2) is provided with an operating table (3) for receiving the previous process. The operating table (3) is used to carry the PVC decorative board to be processed. A placement table (4) is installed on one side of the operating table (3). Multi-axis robotic arms (5) are symmetrically installed on both sides of the operating table (3). A flexible end effector (8) is installed on the multi-axis robotic arm (5). The multi-axis robotic arm (5) includes a first robotic arm (6) and a second robotic arm (7). The multi-axis robotic arm (5) is fixedly installed on the top of the frame (1). The free end of the multi-axis robotic arm (5) is detachably connected to the flexible end effector (8). The first robotic arm (6) and the second robotic arm (7) are used to drive the flexible end effector (8) to flip the PVC decorative board on the operating table (3) and place it on the placement table (4).

2. The PVC decorative panel multi-axis robotic flexible loading and unloading mechanism according to claim 1, characterized in that, A connection structure is provided between the flexible end effector (8) and the free end of the multi-axis robotic arm (5). The connection structure includes a connecting seat (9) and a connecting plate (10). The connecting seat (9) is fixedly installed on the flexible end effector (8), and the connecting plate (10) is fixedly installed at the end of the multi-axis robotic arm (5). A positioning post (11) is fixedly installed on the connecting seat (9). The connecting plate (10) is provided with a positioning hole that cooperates with the positioning post (11). The positioning post (11) is provided with an external thread. The connecting plate (10) is fixedly installed on the positioning post (11) by a locking nut.

3. The PVC decorative panel multi-axis robotic flexible loading and unloading mechanism according to claim 2, characterized in that, The flexible end effector (8) includes an extension frame (12), a vacuum suction cup (13), and a drive mechanism for driving the extension frame (12) to extend and retract, wherein the vacuum suction cup (13) is mounted on the extension frame (12).

4. The PVC decorative panel multi-axis robotic flexible loading and unloading mechanism according to claim 3, characterized in that, The extension frame (12) includes a first bracket (14) and a second bracket (15). The first bracket (14) has a sliding groove (16) installed inside. One end of the second bracket (15) is movably installed in the first bracket (14), and the second bracket (15) is slidably connected in the sliding groove (16).

5. The PVC decorative panel multi-axis robotic flexible loading and unloading mechanism according to claim 4, characterized in that, The driving mechanism includes a drive motor (17), a movable block (18), and a drive screw (19). The drive motor (17) is fixedly installed on one side of the first bracket (14), the movable block (18) is fixedly installed on the bottom of the second bracket (15), one end of the drive screw (19) is connected to the output end of the drive motor (17), and the other end of the drive screw (19) is installed on the movable block (18) and threadedly connected to the movable block (18).

6. The PVC decorative panel multi-axis robotic flexible loading and unloading mechanism according to claim 5, characterized in that, A slide rod (20) is fixedly installed on the top of the vacuum suction cup (13), and the slide rod (20) is movably installed on the first bracket (14) and the second bracket (15).

7. The PVC decorative panel multi-axis robotic flexible loading and unloading mechanism according to claim 6, characterized in that, A buffer spring (21) is fitted on the slide rod (20), and the two ends of the buffer spring (21) abut against the bottom of the first bracket (14), the second bracket (15) and the top of the vacuum suction cup (13), respectively.

8. The PVC decorative panel multi-axis robotic flexible loading and unloading mechanism according to claim 7, characterized in that, The frame (1) is also equipped with a control system (22), which includes a PLC controller and a touch screen display.

9. The PVC decorative panel multi-axis robotic flexible loading and unloading mechanism according to claim 8, characterized in that, The vacuum suction cup (13) is made of silicone material and has a wavy adsorption surface at the bottom. The vacuum suction cup (13) is connected to the vacuum pump through a vacuum pipeline.

10. The PVC decorative panel multi-axis robotic flexible loading and unloading mechanism according to claim 9, characterized in that, An electromagnetic control valve is installed on the vacuum pipeline, and the electromagnetic control valve is electrically connected to the control system (22).

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