CN110315604A

CN110315604A - Full-automatic decoration panel Double-side Synchronous is to flower Embosser and its control method

Info

Publication number: CN110315604A
Application number: CN201910600224.9A
Authority: CN
Inventors: 郭晓宁
Original assignee: Guangdong Yingdaslie Intelligent Technology Co Ltd
Current assignee: Guangdong Yingdaslie Intelligent Technology Co Ltd
Priority date: 2019-07-04
Filing date: 2019-07-04
Publication date: 2019-10-11
Anticipated expiration: 2039-07-04
Also published as: CN110315604B

Abstract

The present invention discloses a kind of full-automatic decoration panel Double-side Synchronous to flower Embosser and its control method, its device includes longitudinal hot press, industrial PC, positioned at longitudinal hot press feed end and horizontally movable feeding conveyor structure, paper hoistable platform set on feeding conveyor structure side, above paper hoistable platform and horizontally movable paving paper robot device, vision system above paper hoistable platform, set on the feeding conveyor structure other side and can horizontal vertical shift automatic centering slab feeding mechanism, corresponding detection paving paper robot device, the first of automatic centering slab feeding mechanism and feeding conveyor structure position, two and three close switches；Industrial PC spreads paper robot device, automatic centering slab feeding mechanism and feeding conveyor structure position close to the corresponding control of switch according to first and second and three, and paper is accurately located at robot device by feeding conveyor structure according to the paper position information control paving paper of vision system acquisition, realize that automatic synchronization embosses flower.

Description

Full-automatic decoration panel Double-side Synchronous is to flower Embosser and its control method

Technical field

The invention belongs to board manufacturing apparatus technical fields, and in particular to a kind of full-automatic decoration panel Double-side Synchronous presses flower Line device and its control method.

Background technique

Melamine plate (also known as double-veneer), full name are melamine-impregnated bond paper facing wood-based plate, are that will have The paper of different colours or texture, which is put into melamine resin adehsive stick, to be impregnated, and certain curing degree is then dried to, by it Mat formation in particieboard, moist-proof board, medium density fibre board (MDF), glued board, core-board, multi-layer board or other hard fibre plate surfaces, Through decorative panel made of hot pressing.

Number of patent application is that the patent of invention of 201810174886.X discloses a kind of plate feeding device, and crawler belt may be implemented Movement speed and send the movement speed size same direction of wooden handcart on the contrary, plate is not mobile with plate feeding device when ensure that discharging, It prevents substrate and finishing paper from misplacing, reduces rejection rate.

In melamine plate manufacturing process, the printing decorative pattern of some shaped articles is plane, without three-dimensional sense；With The demand of technology development and people, generate another shaped article.Its surface is pressed with the decorative pattern of stereoscopic effect, leads to during fabrication The upper die and lower die for crossing longitudinal hot press carry out hot pressing to substrate top and bottom, to extrude lines.In hot pressing, embossing and base are needed Pattern on material is corresponding (to line).It in process of production, is usually all by the way of manually paving paper, in the top and bottom of substrate It is all covered with paper, in addition, it is desirable to by paper laying corresponding with substrate, but it is more difficult to line, embossing often occurs and is spent with printing Line pairing deviation, it is seen that production difficulty is relatively large, so that production efficiency is lower.

As it can be seen that the prior art could be improved and improve.

Summary of the invention

Place in view of above-mentioned deficiencies of the prior art, it is two-sided same that the purpose of the present invention is to provide a kind of full-automatic decoration panels For step to flower Embosser, ingenious in design, stable structure is reliable and practical, and degree of intelligence is high, can be automatically performed and synchronize to flower embossing work Make.

In order to achieve the above object, this invention takes following technical schemes:

A kind of full-automatic decoration panel Double-side Synchronous is to flower Embosser, including longitudinal hot press, industrial PC, wherein further include:

Feeding conveyor structure, be located at the feed end of longitudinal hot press and can relatively longitudinal hot press move horizontally；

Paper hoistable platform is set to the side of feeding conveyor structure；

Paper robot device is spread, is set to above paper hoistable platform and horizontally moveable；

Vision system is set to the top of paper hoistable platform and the location information for acquiring paper；

Automatic centering slab feeding mechanism, be set to the other side of feeding conveyor structure and can horizontal, vertical shift,

For adsorption substrates；

First close to switch, and be used to detect the paving paper robot device moves horizontally position；

Second close to switch, and be used to detect automatic centering slab feeding mechanism moves horizontally position；

For third close to switch, be used to detect feeding conveyor structure moves horizontally position；

The industrial PC is electrically connected in paper hoistable platform, paving paper robot device, vision system, automatic centering Slab feeding mechanism, feeding conveyor structure, longitudinal direction hot press, the first close switch, second switch close to switch and third are close.

For the full-automatic decoration panel Double-side Synchronous in flower Embosser, paving paper robot device includes six axis Manipulator, bracket, absorbing mechanism；

The absorbing mechanism includes the connecting rod being fixedly connected with the free end of six axis robot, is individually fixed in connecting rod both ends And be located at connecting rod below two fixing pieces, for vacuum suction paper and can 360 ° rotation adsorption elements；

The adsorption element includes:

Rotary cylinder is fixedly connected on fixing piece；

The turntable of the rotary cylinder is fixed in vacuum tube, the end of the vacuum tube；

Uniformly it is set to multiple vacuum slots of the vacuum bottom of the tube；

The fixing end of the six axis robot is equipped with Mobile base, and the Mobile base is slidably coupled on bracket, on Mobile base Equipped with the first driving mechanism for driving it mobile relative to support level；

Described first is set on bracket close to switch, moves horizontally position for detect Mobile base.

For the full-automatic decoration panel Double-side Synchronous in flower Embosser, the six axis robot includes being installed on movement The pedestal of seat and the first joint, second joint, third joint, the 4th joint, the 5th joint and the 6th being successively sequentially connected Joint；

The one end in first joint is rotationally connected with pedestal, and one end of second joint, which can be swung up and down, is connected to the first joint The other end, the one end in third joint can swing up and down the other end for being connected to second joint, and the one end in the 4th joint can be rotated It is connected to the other end in third joint, the one end in the 5th joint can swing up and down the other end for being connected to the 4th joint, and the 6th closes One end of section is rotationally connected with the other end in the 5th joint, and the other end in the 6th joint is fixedly connected on connecting rod.

For the full-automatic decoration panel Double-side Synchronous in flower Embosser, the paper hoistable platform includes frame, can Opposing frame moves up and down and the objective table for placing paper；

The objective table includes support underframe, several row's roller groups being rotatably arranged on support underframe, is set under support underframe Side and the roller motor for being used to that roller group to be driven to work；

The roller group includes evenly distributed several rollers, and chain connects between adjacent roller；

The roller electrical connection of motor is in industrial PC.

For the full-automatic decoration panel Double-side Synchronous in flower Embosser, the base of frame rotation is equipped with two shafts, The both ends of shaft are respectively equipped with idler wheel, and frame is fixed with driving motor, and driving motor is connect with any rotating shaft transmission, under frame Side is equipped with the guide rail that connection is rolled with idler wheel；Be equipped with the shift position for detection framework in one end of the guide rail the 4th connects Nearly switch, the driving motor, the 4th are electrically connected close to switch in industrial PC.

For the full-automatic decoration panel Double-side Synchronous in flower Embosser, the automatic centering slab feeding mechanism includes support Guide rail, movable supporting frame, the lifting Suction plate mechanism for being slidably connected to movable supporting frame；

Described second is set on supporting guide close to switch；

The supporting guide is equipped with the second driving mechanism for driving movable supporting frame to move horizontally along supporting guide；

The movable supporting frame is equipped with the third driving machine for driving lifting Suction plate mechanism relative movement support frame vertical shift Structure；

The lifting Suction plate mechanism include crane, set on multiple suckers of crane bottom, set on the adjacent two sides of crane And at least one gag lever post moving up and down, set on crane adjacent other two sides and can OQ t frame vertical shift Pushing tow head；

The crane is equipped with the pushing tow cylinder for driving pushing tow head to move horizontally.

For the full-automatic decoration panel Double-side Synchronous in flower Embosser, the longitudinal direction hot press includes that can move up and down Upper mold and fixed lower die, link mechanism；The bottom surface of upper mold and the top surface of lower die are respectively equipped with upper mold, lower mold；It is described The left and right sides of upper mold is equipped with two rows of rotatable first pulleys vertically respectively, and the longitudinal direction hot press is correspondingly provided with two pieces of difference The guide pad being slidably connected with first pulley；The link mechanism include rotation be set to above longitudinal hot press synchronous rotating shaft, It is individually fixed in the hinged swing rod of connecting rod, one end and the connecting rod at synchronous rotating shaft both ends；The front and rear sides of the upper mold are respectively equipped with Attachment base；The other end of the swing rod and attachment base are hinged, and the attachment base is vertically fixed suitable for the perforative mobile bar of swing rod, The mobile bar is arranged with the loop bar for being fixed on longitudinal hot press, offers aperture, corresponding set at left and right sides of the loop bar respectively The tapping of bar is equipped with the second pulley being slidably connected with mobile bar.

For the full-automatic decoration panel Double-side Synchronous in flower Embosser, the longitudinal direction hot press further includes multiple molds Lockable mechanism；The mold lockable mechanism include the hinged locking bar of the piston rod of telescopic cylinder, one end and telescopic cylinder, fixture block, Mounting base, the cylinder body of telescopic cylinder are articulated with mounting base, and locking bar is hinged with mounting base, and fixture block is provided along its length multiple cards Hole, the other end of locking bar are equipped with the grab snapped connection with card hole；The fixture block is set to the top surface of upper mold and is individually fixed in The left and right sides of upper mold；The mounting base is individually fixed in the left and right sides of upper mold.

For the full-automatic decoration panel Double-side Synchronous in flower Embosser, the feeding conveyor structure includes conveying bottom Frame, feed lead rail, the loading cart for being slidably coupled to feed lead rail；

Conveying chassis is fixed in the rear end of the feed lead rail, and is layed in the lower die two sides of longitudinal hot press；

The loading cart includes loading board vehicle frame, the crawler belt around the setting of loading board vehicle frame and for conveying substrate, is set to loading board vehicle Frame front end and be rotationally connected with the pressure roller of loading board vehicle frame and be set on loading board vehicle frame diagonally downward and be located at pressure roller on front side of Unload plate in both ends；

The conveying chassis, which is equipped with, can drive loading cart with respect to the 4th driving mechanism that feed lead rail moves horizontally；

The loading board vehicle frame is equipped with two rows and is located at crawler belt two sides and rotatable guide wheel, the rolling surface of the guide wheel and the side of crawler belt Face connects；

The third is respectively arranged on the rear end of feed lead rail, the front end of loading cart close to switch.

In addition, the control the present invention also provides a kind of full-automatic decoration panel Double-side Synchronous as described above to flower Embosser Method, wherein the described method includes:

Step S100: looking for a reference origin on paper hoistable platform, crosses the reference origin and makees plane right-angle coordinate, vision system System images the reference origin, which as standard form and is stored to industrial PC；

Step S200: reference position of the setting six axis robot with respect to reference origin；When the adjacent both sides of paper and flat square The coordinate overlapping of axles of coordinate system, and absorbing mechanism adsorbs paper and directly can translate or turn over paper and is moved on feeding conveyor structure When, the position correspondence by absorbing mechanism with respect to paper is set as standard adsorption position one or standard adsorption position two, accordingly by six Axis robot is set as reference position one or reference position two with respect to the position of reference origin, while by absorbing mechanism paving paper in charging Position on conveying mechanism is paving paper station, is stored together to industrial PC;

Step S300: when paving paper carries out paving paper work with robot device, vision system is to the current paper on paper hoistable platform It opens and reference origin images, acquired real-time image information is sent to industrial PC；

Step S400: industrial PC compares and analyzes acquired real-time image information with standard form, works as to obtain The corner points of the close reference origin of preceding paper are relative to the Y-direction offset of reference origin, X to offset and current paper sheet Deflection angle；

Step S500: assuming that paper is face-up, if desired to substrate bottom surface paving paper when, industrial PC according to Y-direction offset, X adjusts the X of six axis robot to position and the absorption position of absorbing mechanism to offset, deflection angle and reference position two, So that absorption position is standard adsorption position two this moment, the accurate positioning of absorbing mechanism and paper is completed；If desired substrate top is given When face spreads paper, industrial PC adjusts six axis robot to offset, deflection angle and reference position one according to Y-direction offset, X X to position and the absorption position of absorbing mechanism so that this moment absorption position be standard adsorption position one, complete absorbing mechanism with The accurate positioning of paper；

Step S600: absorbing mechanism is adsorbed under industrial PC control and mobile paper extremely paving paper station；

Step S700: automatic centering slab feeding mechanism carries out centering absorption movement to substrate, and is moved horizontally to above paving paper station, It moves down vertically again and substrate is placed on above the paper for being located at paving paper station；

Step S800: return step S400, until substrate top surface is covered with paper；

Step S900: feeding conveyor structure moves horizontally, and substrate is sent between the upper die and lower die of longitudinal hot press.

In addition to this, a kind of full-automatic decoration panel Double-side Synchronous as described above provided by the invention is to flower Embosser Control method, can also be and include:

Step S10: paper is placed on paper hoistable platform, and vision system chooses multiple reference points or ginseng on the paper It examines sideline and images, which as standard form and is stored to industrial PC；

Step S20: setting six axis robot is with respect to reference point or with reference to the reference position in sideline；When absorbing mechanism adsorbs the paper When opening and moving, the position by absorbing mechanism with respect to paper is set as standard adsorption position, by six axis robot with respect to reference point Or it is set as reference position with reference to the position in sideline, and store to industrial PC；

Step S30: when inhaling paper, vision system is taken the photograph to the current paper sheet and reference point on paper hoistable platform or with reference to sideline Acquired real-time image information is sent to industrial PC by picture；

Step S40: industrial PC compares and analyzes acquired real-time image information with standard form, to obtain current The offset and deviation angle of paper relative standard's template；

Step S50: industrial PC according to the offset and deviation angle of paper and reference position adjust the X of six axis robot to The absorption position of position and absorbing mechanism completes the accurate of absorbing mechanism and paper so that absorption position is normal place this moment Positioning；

Step S60: absorbing mechanism is adsorbed under industrial PC control and mobile paper extremely paving paper station；

Step S70: automatic centering slab feeding mechanism carries out centering absorption movement to substrate, and is moved horizontally to above paving paper station, It moves down vertically again and substrate is placed on above the paper for being located at paving paper station；

Step S80: return step S40, until substrate top surface is covered with paper；

Step S90: feeding conveyor structure moves horizontally, and substrate is sent between the upper die and lower die of longitudinal hot press.

The utility model has the advantages that

The present invention provides a kind of full-automatic decoration panel Double-side Synchronous to flower Embosser and its control method, ingenious in design, knot Structure is stablized, reliable and practical, and degree of intelligence is high, can be automatically performed and synchronize to flower embossing work.

Compared with prior art, the present invention is ingenious uses vision system, to acquire paper on paper hoistable platform Location information obtains the offset information between paper and standard form by image information collecting, comparative analysis, and then controls six Axis robot adjusts its six joints, realizes the accurate positioning of absorbing mechanism and paper, and move by the horizontal of six axis robot It is dynamic, paper is accurately laid on the paving paper station of feeding conveyor structure, changes previous artificial paving paper mode, can reduce Human input improves efficiency.

Moreover, also design a automatic centering slab feeding mechanism to cooperate paving paper to be worked with robot device, automatic centering Slab feeding mechanism first completes plate centering and then adsorbs to send to the paving paper station of feeding conveyor structure, to complete substrate and paper Corresponding laying, to realize that the printing decorative pattern of paper is overlapped with lines to be formed on substrate.

In addition, also setting up the close switch of third to control the position of the relatively longitudinal hot press of feeding conveyor structure, pressure is completed Line, to line, realizes synchronizing for decoration panel and embosses to flower, finally can reach automation, high-efficiency reform goes out with printing decorative pattern The purpose of decoration panel with stereoscopic effect.

Detailed description of the invention

Fig. 1 is structural perspective of the full-automatic decoration panel Double-side Synchronous provided by the invention to flower Embosser.

Fig. 2 is texture edge figure of the full-automatic decoration panel Double-side Synchronous provided by the invention to flower Embosser.

Fig. 3 be full-automatic decoration panel Double-side Synchronous provided by the invention to flower Embosser in, paving paper robot device, The structural perspective of vision system, paper hoistable platform and feeding conveyor structure.

Fig. 4 is full-automatic decoration panel Double-side Synchronous provided by the invention in flower Embosser, spreads paper robot device Structural schematic diagram.

Fig. 5 be full-automatic decoration panel Double-side Synchronous provided by the invention to flower Embosser in, six axis robot and inhale paper The structural perspective of mechanism.

Fig. 6 is full-automatic decoration panel Double-side Synchronous provided by the invention in flower Embosser, and the structure of absorbing mechanism is vertical Body figure.

Fig. 7 be full-automatic decoration panel Double-side Synchronous provided by the invention to flower Embosser in, the knot of paper hoistable platform Structure perspective view.

Fig. 8 be full-automatic decoration panel Double-side Synchronous provided by the invention to flower Embosser in, the knot of paper hoistable platform Structure top view.

Fig. 9 be full-automatic decoration panel Double-side Synchronous provided by the invention to flower Embosser in, the knot of paper hoistable platform Structure bottom view.

Figure 10 is full-automatic decoration panel Double-side Synchronous provided by the invention in flower Embosser, spreads paper robot device With the working principle diagram one of vision system.

Figure 11 is full-automatic decoration panel Double-side Synchronous provided by the invention in flower Embosser, spreads paper robot device With the working principle diagram two of vision system.

Figure 12 is full-automatic decoration panel Double-side Synchronous provided by the invention in flower Embosser, spreads paper robot device With the working principle diagram three of vision system.

Figure 13 be full-automatic decoration panel Double-side Synchronous provided by the invention to flower Embosser in, the knot of feeding conveyor structure Structure perspective view.

Figure 14 is the structural schematic diagram of loading cart in the feeding conveyor structure that Figure 13 is provided.

Figure 15 is the enlarged drawing of part A in Figure 14.

Figure 16 be full-automatic decoration panel Double-side Synchronous provided by the invention to flower Embosser in, automatic centering slab feeding mechanism Structural perspective.

Figure 17 is to go up and down the structural perspective of Suction plate mechanism in the automatic centering slab feeding mechanism that Figure 16 is provided.

Figure 18 is to go up and down the texture edge figure of Suction plate mechanism in the automatic centering slab feeding mechanism that Figure 16 is provided.

Figure 19 is full-automatic decoration panel Double-side Synchronous provided by the invention in flower Embosser, spreads paper robot device With the working principle diagram four of vision system.

Figure 20 is full-automatic decoration panel Double-side Synchronous provided by the invention in flower Embosser, spreads paper robot device With the working principle diagram five of vision system.

Figure 21 is full-automatic decoration panel Double-side Synchronous provided by the invention in flower Embosser, spreads paper robot device With the working principle diagram six of vision system.

Figure 22 be full-automatic decoration panel Double-side Synchronous provided by the invention to flower Embosser in, the structure of longitudinal hot press Perspective view one.

Figure 23 be full-automatic decoration panel Double-side Synchronous provided by the invention to flower Embosser in, the structure of longitudinal hot press Perspective view two.

Figure 24 be full-automatic decoration panel Double-side Synchronous provided by the invention to flower Embosser in, the structure of longitudinal hot press Perspective view three.

Figure 25 be full-automatic decoration panel Double-side Synchronous provided by the invention to flower Embosser in, the structure of longitudinal hot press Main view.

Figure 26 is the structural schematic diagram of first pulley and guide pad in longitudinal hot press provided by the invention.

Figure 27 is the structural schematic diagram of mold lockable mechanism in longitudinal hot press provided by the invention.

Figure 28 is the structural schematic diagram of fixture block in the mold lockable mechanism that Figure 27 is provided.

Figure 29 is the structural schematic diagram of guide wheel and crawler belt in feeding conveyor structure provided by the invention.

Specific embodiment

The present invention provides a kind of full-automatic decoration panel Double-side Synchronous to flower Embosser and its control method, to make the present invention Purpose, technical solution and effect it is clearer, clear, as follows in conjunction with drawings and embodiments further specifically to the present invention It is bright.It should be appreciated that described herein, specific examples are only used to explain the present invention, is not intended to limit the present invention.It needs herein It is to be understood that attached drawing is only intended to annotate goal of the invention of the invention.

In the description of the present invention, it is to be understood that, term "front", "rear", "left", "right", " bottom surface ", " top surface " etc. The orientation or positional relationship of instruction be the present invention is based on the orientation or positional relationship of attached drawing, be merely for convenience of the description present invention and Simplify description.In addition, term " first ", " second ", " third " etc. are used for description purposes only, it is not understood to indicate or imply Relative importance or the quantity for implicitly indicating indicated technical characteristic.

It should be noted that using six axis robot along the direction that support level moves as X-axis, the short transverse of bracket is Z Axis, the mobile direction of paper hoistable platform is Y-axis, thus establishes XYZ three-axis reference.

Please refer to Fig. 1, Fig. 2 and Fig. 3, the present invention provides a kind of full-automatic decoration panel Double-side Synchronous to flower Embosser, packet It includes mechanical including longitudinal hot press 1, industrial PC (not shown), feeding conveyor structure 7, paper hoistable platform 3, paving paper Arm device 5, vision system 9, automatic centering slab feeding mechanism 2.

Wherein, feeding conveyor structure 7 be set to longitudinal hot press 1 feed end and can relatively longitudinal hot press 1 move horizontally； Paper hoistable platform 3 is set to the side of feeding conveyor structure 7；Spread paper robot device 5 be set to the top of paper hoistable platform 3 and It is horizontally moveable；Vision system 9 is set to the top of paper hoistable platform 3 and for acquiring the paper being located on paper hoistable platform 3 Open 10 location information；Automatic centering slab feeding mechanism 2 be set to the other side of feeding conveyor structure 7 and can horizontal, vertical shift, use In adsorption substrates 8.In the present embodiment, paper hoistable platform 3 is set to the right side of feeding conveyor structure 7, automatic centering is sent Trigger structure 2 is set to the rear side of feeding conveyor structure 7, and automatic centering slab feeding mechanism 2 can also be set to a left side for feeding conveyor structure 7 Side.

Fig. 3, Fig. 4 are please referred to, first is set to paving paper close to switch is moved horizontally in direction line with robot device, for examining That surveys paving paper robot device 5 moves horizontally position.In the present embodiment, first positioned at right side spreads close to the detection of switch 43 Whether paper is moved to right with robot device 5 to 3 top of paper hoistable platform, and movement is in place；The first close switch 44 positioned at left side Whether detection paving paper is moved to left with robot device to 7 top of feeding conveyor structure, and movement is in place.

Figure 16 is please referred to, second, which is set to automatic centering slab feeding mechanism close to switch, moves horizontally in direction line, for detecting Automatic centering slab feeding mechanism moves horizontally position.In the present embodiment, the second close switch 62 is respectively arranged on automatic centering and send Its top for whether moving forward to feeding conveyor structure 7 is detected in the front side of trigger structure, rear side, and movement is in place and whether it moves back In place, to adsorb the substrate that stack is got up.

Fig. 2, Figure 13, Figure 14 are please referred to, third moving horizontally in direction line set on feeding conveyor structure close to switch is used Position is moved horizontally in detection feeding conveyor structure 7；In the present embodiment, third is set to feeding conveyor structure close to switch 75 Whether 7 rear side, detection feeding conveyor structure move back in place, with bearing paper and substrate, it is ensured that the paving of feeding conveyor structure Paper station position is always consistent；Third is set to the front side of feeding conveyor structure 7 close to switch 729, detects feeding conveyor Whether structure moves forward between the upper mold 11 of longitudinal hot press 1, lower die 12, and movement in place, and then ensures to emboss the printing with paper Pattern registration.

Industrial PC is electrically connected in paper hoistable platform 3, paving paper robot device 5, vision system 9, automatic Centering slab feeding mechanism 2, feeding conveyor structure 7, longitudinal direction hot press 1, first are opened close to switch, second close to switch and third are close It closes, receives first close to switch, second close to switch and third close to the position detection information of switch, and then to correspond to control paving The position moved horizontally of paper robot device, automatic centering slab feeding mechanism move horizontally position and feeding conveyor structure Move horizontally position.

Further say, please refer to Fig. 3, Fig. 4, Fig. 5 and Fig. 6, paving paper robot device 5 include six axis robot 51, Bracket 4, absorbing mechanism 52.

Wherein, absorbing mechanism 52 includes the connecting rod 521 being fixedly connected with the free end of six axis robot 51, fixes respectively In 521 both ends of connecting rod and it is located at two fixing pieces 522 of the lower section of connecting rod 521, for vacuum suction paper 10 and can 360 ° of rotations The adsorption element 523 turned；The both ends of adsorption element 523 are respectively arranged on two fixing pieces 522；The fixing end of six axis robot 51 is installed There is Mobile base 53, Mobile base 53 is slidably coupled on bracket 4, and Mobile base 53 is equipped with for driving it horizontal with respect to bracket 4 The first mobile driving mechanism 54；First is set on bracket 4 close to switch 43, first close to switch 44, for detecting movement Seat 53 moves horizontally position, in the present embodiment, approaches the right side that switch 43 is set to bracket 4 for first, first is approached and is opened Close 44 left sides for being set to bracket.Industrial PC controls first close to the signal of switch 44 close to switch 43 and first according to first Driving mechanism start and stop, and then control horizontal position of the six axis robot 51 with respect to bracket 4.

In the present embodiment, fixing piece 522 is L-shaped.

In the present embodiment, Fig. 4 and Fig. 5 are please referred to, the first driving mechanism 54 is servo motor, and servo motor is fixed on shifting On dynamic seat 53, bracket 4 is equipped with the sliding rail 41 being slidably connected with Mobile base 53, engages the tooth connecting with the output gear of servo motor Item 42；Sliding rail 41 and Mobile base 53 are clamped；First is located at the both ends of rack gear 42 close to switch 43 and first close to switch 44； Servo motor is electrically connected at industrial PC, by the detection signal of industrial PC first close switch 43 and the first close switch 44 Servo motor work is controlled, and then the moving distance for controlling Mobile base 53 is easy to implement to control the position of absorbing mechanism 52 Automatic and accurate spreads paper.

Specifically, the above and below of sliding rail 41 opens up fluted, and Mobile base 53 is equipped with to be in contact and can opposite sliding rail with groove The sliding parts of 41 slidings, are connected in groove by sliding part when Mobile base 53 is moved along sliding rail 41, avoidable Mobile base 53 from It is detached from sliding rail 41.By the work of servo motor, the output gear rotation connecting with rack gear 42 drives Mobile base 53 with respect to tooth Item 42 moves horizontally.Sliding rail 41 and rack gear 42 are arranged in parallel, and rack gear 42 is set between two sliding rails 41.

It further says, referring to Fig. 6, adsorption element 523 includes the rotary cylinder for being fixedly connected on fixing piece 522 5231, end is fixed on the vacuum tube 5232 of the turntable of rotary cylinder 5231 and uniformly set on the more of 5232 bottom of vacuum tube A vacuum slot 5233.

In the present embodiment, rotary cylinder 5231 is fixed on a fixing piece 522, and rotation is fixed in one end of vacuum tube 5232 The turntable of cylinder 5231, the other end of vacuum tube 5232 are rotationally connected with another fixing piece 522.Vacuum tube is connected to vacuum Pump, vacuum slot are connected to vacuum tube, by extracting air, are attracted to paper tightly under vacuum slot, rotary cylinder opens Dynamic, turntable rotates, and opposed fixed member rotates vacuum tube therewith, can carry out turning over paper movement.It is of course also possible to be, very The both ends of blank pipe respectively correspond the turntable for being fixed on rotary cylinder, and two rotary cylinders, which respectively correspond, is fixed on the interior of two fixing pieces Side, two rotary cylinders synchronous working drive vacuum tube rotation.

Industrial PC control Mobile base 53 is moved horizontally along bracket 4, and six axis robot 51 is under the drive of Mobile base 53 It moves horizontally, when the position for being moved to paper 10, adsorption element 523 imposes adsorption capacity under the control of industrial PC, to paper, Paper is drawn, it is mobile with paper then as the movement of Mobile base 53, complete paving paper work.Adsorption element has rotatable Function, can be rotated while adsorbing paper, realization turn over paper.

It further says, please refer to Fig. 4, Fig. 5 and Fig. 6, six axis robot 51 includes the pedestal 511 for being installed on Mobile base 53 And the first joint 512, second joint 513, third joint 514, the 4th joint 515, the 5th joint 516 being successively sequentially connected With the 6th joint 517.

Wherein, the one end in the first joint 512 is rotationally connected with pedestal 511, and one end of second joint 513 can be swung up and down It is connected to the other end in the first joint 512, the one end in third joint 514, which can be swung up and down, is connected to the another of second joint 513 End, the one end in the 4th joint 515 are rotationally connected with the other end in third joint 514, and the one end in the 5th joint 516 can go up the bottom The dynamic other end for being connected to the 4th joint 515, the one end in the 6th joint 517 are rotationally connected with the other end in the 5th joint 516, The other end in the 6th joint 517 is fixedly connected on connecting rod 521.

The fixing end of the namely six axis robot 51 of pedestal 511, is mounted on Mobile base 53 by bolt, by 53 band of Mobile base Dynamic six axis robot 51 moves horizontally.The electricity that the first joint 512 can be driven to rotate relative to pedestal 511 is installed inside pedestal 511 Machine, in the present embodiment, the rotation axis (consistent with Y direction) in the first joint perpendicular to Mobile base moving direction and be located at In horizontal plane (X/Y plane).By the rotation in the first joint, swing angle of the absorbing mechanism 52 in XZ plane is adjusted.

The end in the first joint 512 is fixed with the motor that opposite first joint of second joint 513 can be driven to swing up and down, Under the work of the motor, second joint can be swung in YZ plane.Likewise, the end of second joint 513, which is fixed with, to drive Third joint 514 is with respect to the motor that second joint is swung up and down, and under the operation of the motor, third joint can be put in YZ plane It is dynamic.In addition, likewise, the 5th joint can be in YZ plane rocking.Pass through second joint 513, third joint 514, the 5th joint 516 Swing, adjust absorbing mechanism 52 height (Z axis) position and the position in X/Y plane.

Third joint 514 is equipped with the motor that the 4th joint 515 can be driven to rotate relative to third joint, works in the motor Under, third joint can be rotated along Z axis.Likewise, the 5th joint 516, which is equipped with, can drive opposite 5th joint in the 6th joint 517 The motor of rotation, under the motor operation, the 6th joint can be rotated along Z axis.Pass through the 4th joint 515, the 6th joint 517 Rotation adjusts swing angle of the absorbing mechanism 52 in X/Y plane.

Absorbing mechanism is installed on to the free end (namely the bottom end in the 6th joint) of six axis robot by bolt, passes through six The movement in six joints of axis robot, adjusts the position of absorbing mechanism, enable absorbing mechanism in standard adsorption position one or Paper is adsorbed in standard adsorption position two, and under the drive of Mobile base, six axis robot is moved horizontally, absorbing mechanism with Movement, and paper is layered on the paving paper station of feeding conveyor structure, completes automatic and accurate paving paper work.

Now, vision system is increasingly by people, the attention of enterprise.Vision system replaces human eye to do using machine Various measurements and judgement combine optics, machinery, electronics etc. technology, are related to computer, image procossing, pattern-recognition Etc. multiple fields.Vision system will be shot by machine vision product (i.e. image-pickup device is divided to two kinds of CMOS and CCD) It takes target to be converted into picture signal, sends dedicated image processing system to, according to the information such as pixel distribution and brightness, color, It is transformed into digitized signal;Image processing system carries out various operations to these signals to extract clarification of objective, and then basis The result of differentiation come control scene device action.

Vision system mainly includes five bulks --- lighting source, camera lens, industrial camera, Image Acquisition/processing card with And image processing system.Wherein, lighting source includes shining backwards to illumination, front illumination, Structured Illumination and four class of stroboscopic illumination Bright mode is that measured object is placed between light source and video camera backwards to illumination, can obtain the image of high contrast, Structured Illumination It is to project grating or linear light source etc. on measured object, according to the distortion that they are generated, demodulates the three-dimensional information of measured object；Mirror Head focuses the image of measured object, provides preferable resolution ratio, field angle, operating distance and depth of field etc. for vision system；Camera shooting Machine can be divided into CCD camera and cmos camera by different chip types, for shooting measured object；Image pick-up card has A/D Conversion, image transmitting, Image Acquisition control, image procossing function, by the vision signal of shot by camera from camera tape On dump on industrial PC, saved with document form data；Image processing system to image data carry out complicated calculating and Processing, obtains system design information, and image procossing algorithms most in use include filtering, edge sharpening, image segmentation, transformation, Geometrical morphological analysis, three-dimensional measurement etc..

It is ingenious in paving paper process that six axis robot and absorbing mechanism is cooperated to work with vision system, illumination light is set Source provides illumination light appropriate for industrial camera, and industrial camera shoots the position of paper on paper hoistable platform, passes through figure As capture card is transferred on industrial PC, the processing of captured image information is carried out by image processing system, is obtained paper and is existed Location information (three-dimensional information) on paper hoistable platform.

As shown in Figure 1, Figure 2, Figure 3 shows, it is equipped with feeding conveyor structure 7 on the right side of paper hoistable platform 3, in melamine plate In production process, substrate 8 is placed on the paving paper station of feeding conveyor structure 7, places paper 10 on the surface of substrate.Certainly During dynamic metaplasia produces, substrate can be sent to the determination on feeding conveyor structure and unique positions (namely paving paper station), then needing Paper is precisely placed in paving paper station, covers the upper and lower surface of substrate.

Under the work of six axis robot 51 and absorbing mechanism 52, the paper on paper hoistable platform 3 can be along six axis The paving paper station for moving horizontally direction and being moved on feeding conveyor structure 7 of manipulator, can choose paper in paper liter at this time It is set as normal place far from the farthest position of paving paper station on drop platform 3, meanwhile, absorbing mechanism 52 is adsorbed into paper phase to paper The position opened is set as standard adsorption position, and absorbing mechanism is with reference to absorption position with respect to the position of bracket.In the present embodiment, it is It is able to achieve and spreads paper in substrate upper and lower surfaces, absorbing mechanism also needs to complete to turn over paper movement, and accordingly, there exist two marks Quasi- absorption position and two refer to absorption position, and absorbing mechanism turn over a corresponding standard adsorption position and a reference when paper Absorption position, corresponds to another standard adsorption position when being not required to turn over paper and another refers to absorption position.Vision system is by the mark Level, which is set, shoots and is transferred to industrial PC, and industrial PC records two simultaneously and refers to absorption position.

Then, in actually paving paper work, vision system shoots the physical location of paper on paper hoistable platform, transmission The actual position information and set standard location information are compared under the operation of image processing system to industrial PC, Obtain the deviant of its relative standard position, and then industrial PC controls six axis robot 51 according to deviant and works, and voluntarily adjusts Whole six axis robot, so that absorbing mechanism is able to carry out paper adsorption and guarantees to reach standard adsorption position；Then, six shaft mechanical Hand moves horizontally under the control of industrial PC, and mobile toward feeding conveyor structure with paper by absorbing mechanism 52, and puts down It is layered on paper station.

In paving paper process, paper is first laid in paving paper station, substrate is then put, is immediately to spread paper, makes base Material upper and lower surfaces respectively be located at substrate above and below paper rear-face contact, convenient for next step hot pressing process carry out.

It further says, please refers to Fig. 7, Fig. 8, Fig. 9, paper hoistable platform 3 includes frame 31, can about 31 opposing frame Objective table 32 mobile and for placing paper.

Wherein, objective table 32 includes support underframe 321, several row's roller groups being rotatably arranged on support underframe 321, sets In the roller motor 323 support underframe 321 lower section and be used to that roller group to be driven to work；Roller group includes evenly distributed several rollers Cylinder 322, chain connection between adjacent roller 322；Roller motor 323 is electrically connected at industrial PC, is controlled by industrial PC Its work.By Conveyor, a big stacker is sent to the objective table 32 of paper hoistable platform 3.In the present embodiment, Two roller motors 323 are set, are connected by chain drive, drive the roller group for being located at 321 two sides of support underframe to rotate, roller 322 are installed on support underframe 321 by bearing.

When paper relative standard's positional shift angle is larger, then start corresponding roller motor, makes the roller of corresponding side Group rotation, and position is then slowly moved in the part of paper being in contact with the roller of rotation, adjusts the integral position of paper, reduces Deviation angle.For example, right side (from the point of view of Y-axis) opposing left of the paper on paper hoistable platform is earlier above, deviation angle is larger, So, roller motor is enabled, left side roller motor reversal, right side roller motor rotates forward, so that the roller of left side roller group is reversed Rotation, the roller of right side roller group rotate forward, and so as to adjust the deviation angle of paper, minimum angles are reduced to, close to 0 °. It is larger to can avoid absorbing mechanism amplitude of fluctuation in X/Y plane, and paper can be prevented to be adsorbed for unique design in this way After need to swing biggish amplitude and carry out position adjustment, and because the excessive paper caused by of amplitude of fluctuation is impaired, to improve effect Rate.

It further says, please refers to Fig. 7, Fig. 9, frame 31 is equipped with to be threadedly coupled and can opposing frame with support underframe 321 The bottom of the multiple elevating screws 33 and lifting motor 37 of 31 rotations, elevating screw 33 is equipped with driven sprocket 38, lifting motor 37 output shaft is equipped with the drive sprocket connecting with 38 chain of driven sprocket；Lifting motor 37 is electrically connected at industrial PC, by Industrial PC controls its work.

Wherein, the both ends of elevating screw 33 are installed on frame 31 by bearing, in the present embodiment, are provided with four elevating screws 33, accordingly, the left and right sides of support underframe 321 be respectively fixedly connected with elevating screw 33 be threadedly coupled two connect Part.Lifting motor 37 works, and connection function is engaged with drive sprocket, driven sprocket by chain 39, while driving four liftings Screw rod 33 rotates, and in the rotation of 33 opposing frame 31 of elevating screw, the support underframe connecting with elevating screw 33 can be gone up and down, Realize the lifting of paper.

Further, as shown in Fig. 7, Fig. 8, Fig. 9,31 lower rotation of frame is equipped with two shafts 34, and the both ends of shaft 34 are set There is idler wheel 35, frame 31 is fixed with driving motor 36, and driving motor 36 and any shaft 34 are sequentially connected, set below frame 31 There is the guide rail 30 that connection is rolled with idler wheel 35；Driving motor 36 is electrically connected at industrial PC.

In addition, paper hoistable platform 3 is additionally provided with the photoelectric sensor positioned at paper sheet underneath, photoelectric sensor and industry control electricity Whether brain connection, be placed with paper on paper hoistable platform for detecting；When photoelectric sensor detects that paper hoistable platform does not have When paper, industrial PC enables driving motor 36, and under the work of driving motor, paper hoistable platform 3 is moved along guide rail 30.

Wherein, the output shaft of driving motor 36 is fixed with driving wheel, and corresponding shaft is fixed with driven wheel, by chain with Driving wheel, driven wheel engagement connection.Guide rail 30 is arranged along Y-axis, when paper hoistable platform lacks paper, 36 work of driving motor Make, shaft is driven to rotate, paper hoistable platform is moved along guide rail, is moved to Conveyor and is gone to receive a big stacker.

In addition to this, as shown in Fig. 3, Fig. 8, be equipped with the shift position for detection framework in one end of guide rail the 4th is connect Nearly switch, the 4th is electrically connected at industrial PC close to switch, for detecting the shift position of paper hoistable platform 3, so that paper Opening hoistable platform 3 is to determine uniquely, and then be advantageously implemented automatic and accurate and inhale paper, spread with respect to the position of feeding conveyor structure 7 Paper.

Further say, please refer to Fig. 1, Figure 16, Figure 17 and Figure 18, automatic centering slab feeding mechanism 2 include supporting guide 6, Movable supporting frame 211, the lifting Suction plate mechanism for being slidably connected to movable supporting frame 211.

Wherein, it second is set on supporting guide 6 close to switch 62；In the present embodiment, it second is set respectively close to switch 62 Front side, rear side in supporting guide detect whether movable supporting frame 211 moves in place respectively.

Supporting guide 6 is equipped with the second driving mechanism for driving movable supporting frame 211 to move horizontally along supporting guide 6 63.In the present embodiment, two belt wheels 61 are respectively fixed in the forward and backward side of supporting guide 6；Second driving mechanism 63 is positive and negative rotation Motor is fixed on supporting guide 6, and clockwise and anticlockwise motor is sequentially connected with drive shaft 64, the both ends of drive shaft 64 respectively with Positioned at two belt wheels 61 connection of 6 rear side of supporting guide, after the belt wheel on front side of supporting guide 6 corresponds to and is located at supporting guide 6 The belt wheel of side is connected by belt；Movable supporting frame 211 is fixedly connected with the belt.Clockwise and anticlockwise motor work, drives transmission to turn Axis rotation, and then drive belt to operate by belt wheel, to drive movable supporting frame 211 to move back and forth along 6 level of supporting guide.

In the present embodiment, movable supporting frame 211 is equipped with back-up roller wheel 212, and back-up roller wheel 212 connects with supporting guide 6 Touching, under the drive of belt, back-up roller wheel is rolled along supporting guide 6 and is walked.In addition, movable supporting frame 211 is additionally provided with limit Guide wheel 216, positioned at the lower section of back-up roller wheel 212 two limit guide wheels 216 respectively with the lateral surface of supporting guide 6 and medial surface phase Contact not can guarantee the walking of its straight line to prevent from shifting when movable supporting frame 211 is mobile.

Lifting Suction plate mechanism include crane 222, set on 222 bottom of crane multiple suckers 223, be set to crane 222 adjacent two sides and at least one gag lever post 224 moving up and down, set on adjacent other two sides of crane 222 and can The pushing tow head 225 of 222 vertical shift of OQ t frame；Crane 222 is equipped with the pushing tow for driving pushing tow head 225 to move horizontally Cylinder 226.The second sliding that crane is equipped with the first sliding seat being slidably connected with gag lever post and is slidably connected with pushing tow head Seat, when substrate is placed on feeding conveyor structure by crane, due to being contacted with feeding conveyor structure surface, gag lever post and top Push top moves up, and leaves behind feeding conveyor structure surface due to only voluntarily being moved down by gravity.

In the present embodiment, crane 222 is equipped with riser guide 221, and movable supporting frame 211 is correspondingly provided with and riser guide 221 loop bars 213 being slidably connected, specifically, loop bar 213 are respectively equipped with rotatable pulley in four sides of upper and lower ends 217, four pulleys positioned at 213 4 side of loop bar are in contact with riser guide 221 respectively, to guarantee that riser guide 221 can be put down It is steady freely to move up and down.

In the present embodiment, crane 222 is equipped with two gag lever posts for being in contact with the long side of substrate 8 on front side of it 224；Crane 222 is equipped with a gag lever post 224 for being in contact with the short side of substrate 8 to the left；Crane 222 is at it Right side is equipped with one for the pushing tow head 225 that is in contact with the short side of substrate, which turns left substrate promotions, up to substrate The short side in left side is in contact with the gag lever post 224 in left side；Side sets that there are two for long side phase with substrate to crane 222 behind The pushing tow head 225 of contact, the pushing tow head push forward substrate, until the gag lever post 224 of the long side of the front side of substrate and front side It is in contact.Substrate centering is realized by pushing tow head and gag lever post, then carrys out adsorption substrates using sucker, crane moves horizontally After moved down, substrate is precisely placed on the paving paper station of feeding conveyor structure, realizes the printed patterns and base of paper The lines to be pressed of material is corresponding (coincidence).

In addition, crane 222 is equipped with anti-suction two pieces trigger structure 226, anti-suction two pieces trigger structure 226 is located at crane 222 The front side of rear side, pushing tow head 225, anti-two pieces trigger structure of inhaling drive the positioned at the piston rod end of pressure cylinder by pressure cylinder Two suckers rise, and make the edge of top layer's substrate that warpage occur and are detached from lower layer's substrate, prevent from once inhaling two during suction disc Part substrate.

Movable supporting frame 211 is equipped with the third for driving lifting Suction plate mechanism relative movement 211 vertical shift of support frame Driving mechanism 214.Third driving mechanism 214 is clockwise and anticlockwise motor, is fixed on movable supporting frame 211, and clockwise and anticlockwise motor passes It is dynamic to be connected with lift shaft；Movable supporting frame 211 and crane 222 rotate respectively to be set there are two belt wheel is gone up and down, and mobile branch is located at Lifting belt wheel on support 211 is connect with lift shaft, be arranged a hoisting belts 215, the bottom end of the hoisting belts 215 be located at Lifting belt wheel on crane 222 is fixedly connected, the top of the hoisting belts 215 and the lifting being located on movable supporting frame 211 Belt wheel is fixedly connected.Clockwise and anticlockwise motor work drives the liter on movable supporting frame 211 by driving lift shaft rotation It drops belt wheel and winds hoisting belts, and then realize the rising of crane 222.

It further says, please refer to Fig. 2, Figure 13, Figure 14 and Figure 15, feeding conveyor structure 7 includes conveying chassis 73, charging Guide rail 71, the loading cart 72 for being slidably coupled to feed lead rail 71.

Wherein, conveying chassis 73 is fixed in the rear end of feed lead rail 71, and is layed in 12 liang of lower die of longitudinal hot press 1 Side.Loading cart 72 includes loading board vehicle frame 723, is arranged and is used to convey the crawler belt 721 of substrate 8 around loading board vehicle frame 723, is set to It 723 front end of loading board vehicle frame and is rotationally connected with the pressure roller 727 of loading board vehicle frame 723 and is set to loading board vehicle frame diagonally downward Plate 728 is unloaded on 723 and positioned at 727 front side both ends of pressure roller.Conveying chassis 73, which is equipped with, can drive loading cart 72 is opposite to feed The 4th driving mechanism 74 that guide rail 71 moves horizontally.

In the present embodiment, the both ends of pressure roller 727 are respectively fixed with L-shaped rotating member, which is pacified by bearing Loaded on loading board vehicle frame 723, which is fixed with a press roll gear 7274, and the press roll gear 7274 engagement is connected with pressure roller tooth Item 7273, loading board vehicle frame 723 are equipped with the guiding groove 7271 for being used to support pressure roller rack gear 7273 and being slidably connected with pressure roller rack gear, The pressure roller rack gear 7273 is connected with the pressure roller cylinder 7272 being fixed on loading board vehicle frame 723.The piston rod of pressure roller cylinder 7272 into Row expanding-contracting action, band dynamic pressure roller rack gear 7273 moves back and forth along guiding groove 7271, and then is driven by press roll gear 7274 Rotate clockwise or counterclockwise pressure roller 727.

In the present embodiment, loading board vehicle frame 723 is equipped with the sliding shoe 7231 for matching and being slidably connected with feed lead rail 71. Crawler belt 721 is set around 723 surface of loading board vehicle frame by crawler belt axis 725 and transmission shaft 726, the surface of loading board vehicle frame it is inclined to Under, and engaged with plate is unloaded, it is moved down convenient for substrate along crawler belt.The setting of transmission shaft 726 can ensure that crawler belt 721 keeps closing Suitable rate of tension, will not be sagging.In addition, loading board vehicle frame 723, which is equipped with muti-piece support plate 724, carrys out secondary track 721, support is played The effect of substrate.The two sides of conveying chassis 73 are equipped with the protective plate 76 that can play protective action.

When loading cart 72 substrate sent between the upper die and lower die of longitudinal hot press and be located at hot press working position (can Guarantee the operating position that embossing is overlapped with printing decorative pattern) after, pressure roller 727 rotates, and substrate is no longer depressed, then after loading cart It moves to during paving paper station, crawler belt axis 725 drives crawler belt 721 to rotate, and conveys crawler belt forward substrate, controls conveying speed Degree moves back speed with loading cart, so that substrate will not be moved back with loading cart, it can be static with respect to feed lead rail, finally make Hot press working position can be dropped down by obtaining substrate.In the present embodiment, the work of the feeding conveyor structure is as in the prior art The plate feeding device referred to is identical, can be realized the movement speed of crawler belt and the movement speed size same direction phase of loading cart Instead, so that the general speed of plate is zero, it is that plate is not mobile with loading cart when ensure that discharging, prevents substrate from going out with paper It now misplaces, to reduce rejection rate.

In the present embodiment, the 4th driving mechanism 74 includes feeder motor 741, conveying shaft 742,744 and of belt pulley for feeding foil Conveyor belt 743.Feeder motor 741 is fixed on conveying chassis 73 and is located at 72 lower section of loading cart, and feeder motor power connects It is connected to conveying shaft 742, the both ends for conveying shaft are installed on conveying chassis 73 by bearing, and belt pulley for feeding foil 744 is respectively arranged on defeated Send front side, the rear side of chassis 73, wherein the both ends of conveying shaft 742 are respectively and positioned at the belt pulley for feeding foil for conveying 73 rear side of chassis 744 are fixedly connected, and the belt pulley for feeding foil 744 positioned at 73 front side of conveying chassis is mounted on conveying chassis, conveyor belt 743 by bearing Around the front side of conveying chassis 73, the setting of belt pulley for feeding foil 744 of rear side is located at, loading board vehicle frame 723 is equipped with and fixes with conveyor belt The fixing piece 722 of connection.

Specifically, as shown in figure 29, loading board vehicle frame 723 is located at 721 two sides of crawler belt and rotatable guide wheel 77 equipped with two rows of, The rolling surface of guide wheel 77 connects with the side of crawler belt 721.Sideslip occurs at work for crawler belt 721 in order to prevent, the two of crawler belt Guide wheel 77 is respectively set in side, and guide wheel 77 is mounted on loading board vehicle frame 723 by bearing, crawler belt work in, the side of crawler belt with The rolling surface of guide wheel is in contact, and limits crawler belt sideslip with this.

In the present embodiment, third is set to the rear end of feed lead rail 71 close to switch 75 and is fixed on conveying chassis 73, It is to determine uniquely always to ensure to spread the opposite conveying chassis of paper station for detecting whether loading cart 72 moves back in place.Separately Outside, pressure roller 727 can press against substrate and paper, can avoid substrate and paper in loading cart moving process and be subjected to displacement to lead Embossing is caused not to be overlapped with the printing decorative pattern of paper.And third is set to the front end of loading cart 72 close to switch 729, to detect dress Whether plate trolley moves forward in place, between the upper die and lower die in longitudinal hot press, and ensures to emboss and be overlapped with printing decorative pattern.

It is using the axis direction of synchronous rotating shaft as X-axis, with the direction perpendicular to synchronous rotating shaft axis for longitudinal hot press For Y-axis, longitudinal hot press is for longitudinal pressed sheet (namely moving direction one of the length direction of plate press corresponding thereto It causes).In the present embodiment, longitudinal hot press is used to suppress the melamine plate (such as 4x10 ruler plate) that length-width ratio is 10:4.

Figure 22, Figure 23 are please referred to, longitudinal direction hot press 1 provided by the invention includes upper mold 11 moving up and down and fixes not Dynamic lower die 12, the bottom surface of upper mold 11 are equipped with upper mold 112, and the top surface of lower die 12 is equipped with lower mold 121, and upper mold 112 is under Mold 121 is used to suppress lines to plate.

As shown in Figure 23, Figure 26, the left and right sides of upper mold 11 is equipped with two rows of rotatable first pulleys 181 vertically respectively, Longitudinal hot press 1 is correspondingly provided with two pieces of guide pads being slidably connected respectively with first pulley 181 182.In the present embodiment, first Pulley 181 is mounted on 11 side of upper mold by bearing, and the axle center of the consistent first pulley 181 of the specification of every row is excessively same vertical Line, and can be along the surface vertical shift of guide pad 182.The left or right side of upper mold 11 is equipped with two rows of first pulleys 181, together When, the left or right side of longitudinal hot press 1 is correspondingly provided with two pieces of guide pads 182 fixed vertically, in upper mold up and down motion process In, first pulley 181, which is remained, to be contacted and rolls with guide pad 182, to guarantee that along the x axis inclined will not occur for upper mold It moves.

Such as Figure 22, Figure 23, Figure 24, Figure 25, which further includes link mechanism 14；Link mechanism 14 includes passing through Bearing rotation be set to the synchronous rotating shaft 141 of longitudinal 1 top of hot press, the connecting rod 142 for being individually fixed in 141 both ends of synchronous rotating shaft, One end and the hinged swing rod 143 of connecting rod 142.The front and rear sides of upper mold 11 are respectively equipped with attachment base 111, and attachment base 111 passes through spiral shell Bolt is mounted on the top surface of upper mold 11；The other end and attachment base 111 of swing rod 143 are hinged, and attachment base 111, which is vertically fixed, is suitable for pendulum The perforative mobile bar 16 of bar 143, mobile bar 16 are arranged with the loop bar 15 for being fixed on longitudinal hot press 1, divide at left and right sides of loop bar 15 Aperture 151 is not offered, is equipped with the second pulley 17 being slidably connected with mobile bar 16 at the aperture 151 of corresponding loop bar 15.It is fixed It is to be overlapped unanimously from the point of view of main view in the projection of two pieces of connecting rods 142 at 141 both ends of synchronous rotating shaft.

Specifically, second pulley 17 is rotatably arranged on the left and right sides of loop bar 15 by bearing.Mobile bar 16 and loop bar 15 It is slidably connected.Longitudinal hot press 1 is equipped with fixing seat 13, and synchronous rotating shaft 141 is rotatablely installed in fixing seat 13.In the present embodiment, Loop bar 15 is bolted on longitudinal hot press 1, and loop bar 15 is equipped with two groups of second pulleys 17 along short transverse, according to reality Need can be set one or more groups of second pulleys.During upper mold vertical shift, the vertical shift therewith of mobile bar 16, and with Two pulleys 17 are in contact, and opposite second pulley is slided, and can prevent upper mold from offset along the y axis occurring in vertical shift. In addition, the setting of the synchronous rotating shaft 141 of link mechanism, connecting rod 142 and swing rod 143 can guarantee the front side of upper mold 11, rear section Synchronous vertical shift, it is high to avoid the occurrence of one low one, to realize that upper mold is in horizontal plane always in vertical shift.

Mating reaction, link mechanism and the second pulley 17 and movement that the present invention passes through first pulley 181 and guide pad 182 The cooperating of bar 16 enables the upper mold of the hot press mobile only along short transverse, upper mold is made to remain horizontal State, and the offset of X-direction, Y-direction will not occur in the horizontal plane, finally greatly improve the lines of compacting and the printing figure of paper The registration accuracy of case promotes the quality of product.

As shown in Figure 25, Figure 26, Figure 27, Figure 28, which further includes multiple mold lockable mechanisms 19；Mold lock It is the hinged locking bar 192 of the piston rod of locking mechanism 19 including telescopic cylinder 191, one end and telescopic cylinder 191, fixture block 193, L-shaped Mounting base 197, the cylinder body of telescopic cylinder 191 is articulated with mounting base 197, and locking bar 192 and mounting base 197 are hinged, so that locking bar It can be rotated relative to mounting base；Fixture block 193 is provided along its length multiple card holes 1931, the other end of locking bar 192 be equipped with The grab 194 that card hole 1931 snaps connection, grab 194 and locking bar 192 are integrally formed；Fixture block 193 is set to the top surface of upper mold 112 And it is fixed by bolts in the left and right sides of upper mold 112 respectively, moreover, fixture block 193 is located at the lateral surface of upper mold 11, upper mold 112 top surface is bonded with the bottom surface of upper mold 11；Mounting base 197 is fixed by bolts in the left and right sides of upper mold 11 respectively.

After the piston rod of telescopic cylinder 191 extends in place, the grab 194 of locking bar 192 and the card hole 1931 of fixture block 193 are blocked Button connection, fixture block 193 is fixed together with upper mold 112, will not fall down, move left and right；When the piston of telescopic cylinder 191 After bar retracts, the releasing of grab 194 of locking bar 192 is snapped connection with card hole 1931, can be by upper mold 112 together with fixture block 193 1 And disassemble, replacement upper mold is very convenient, and upper mold can steadily be fixed not under the action of telescopic cylinder and locking bar It is dynamic.

Further, mounting base 197 is fixed with horizontally disposed round bar 195, and the correspondence of locking bar 192 is offered suitable for round bar 195 perforative through-hole (not shown)s, the through-hole are waist-shaped hole；Round bar 195 is arranged with spring 196, one end of spring 196 with Locking bar 192 abuts against.In the present embodiment, the other end of spring 196 and the limited block (not shown) for being fixed on round bar 195 It abuts, certainly, which can be the nut for being threadingly attached to round bar.The diameter phase of the size of through-hole and round bar 195 It coincide, round bar 195 runs through the through-hole of locking bar 192 always, and the work of guide and limit is played to the locking bar 192 for being articulated with mounting base 197 With, prevent locking bar swing when sway forwards and backwards.When the piston rod of telescopic cylinder 191 retracts, locking bar 192 is driven to swing to release pair The locking of fixture block 193, spring 196 are substantially shunk due to the bigger pressure by locking bar 192；When the piston rod of telescopic cylinder 191 Elongation drives 192 backswing of locking bar to put the locking to fixture block to good use, and spring 196 generates elastic force to locking bar 192, so that locking bar The difficulty that deflecting is swung increases, to enhance mold lockable mechanism 19 to the locking effect of upper mold 112, upper mold is avoided to move It is deviated in dynamic and embossing processes.

As shown in Figure 27, Figure 28, grab 194 is equipped with straight hook side 1941, and fixture block 193 is correspondingly provided at card hole 1931 The inclined-plane 1932 being bonded with hook side 1941, ingehious design in this way, when grab 194 and card hole 1931 snap connection, card The inclined-plane 1932 in hole 1931 is bonded with the hook side 1941 of grab 194, so that fixture block can not move completely, to can avoid due to card Moving for block 193 and cause upper mold 112 mobile so that suppressing the pattern registration precision of the lines and paper that come on plate not It is high.Mounting hole 1933 is offered on fixture block 193, bolt passes through mounting hole 1933 and is fixedly connected with upper mold.

In addition, fixture block 193 is set to the bottom surface of lower mold 121 and is individually fixed in lower die as the fixation of upper mold 112 The left and right sides of tool 121；Mounting base 197 is individually fixed in the left and right sides of lower die 12.The mold of locking is carried out to upper mold 112 Lockable mechanism 19 is with the mold lockable mechanism 19 to lower mold 121 progress locking about horizontal plane setting symmetrical above and below in longitudinal heat On press 1.

The longitudinal direction hot press passes through the design and mating reaction of link mechanism and second pulley, guide pad and first pulley, It can promote the upper mold of longitudinal hot press that can stablize swimmingly to move along short transverse, can avoid upper mold in pressed sheet Appearance deviates and not can guarantee the pattern that can precisely align paper positioned at the mold of upper mold bottom surface, so as to cause the decorations come are suppressed The embossing of panel and the pattern registration of paper have deviation, and product quality is not satisfactory, and the design of the longitudinal direction hot press is further Improve the precision to flower embossing in ground.

Step S100: looking for a reference origin on paper hoistable platform, crosses the reference origin and makees plane right-angle coordinate, vision system System images the reference origin, which as standard form and is stored to industrial PC.

As shown in Fig. 3, Figure 10, a dashed region 40 is divided on paper hoistable platform 3, a reference origin O is looked for, in this reality It applies in example, the angle point for having chosen the upper left corner is reference origin O, and feeding conveyor structure 7 will be set on the right side of paper hoistable platform, so Reference origin O is crossed afterwards and does X-axis and Y-axis, is still along the direction that support level moves using six axis robot as X-axis, paper herein The mobile direction of hoistable platform is Y-axis.In the present embodiment, as shown in fig. 7, can choose the upper left angle point of support underframe 321 For reference origin O.

Step S200: reference position of the setting six axis robot with respect to reference origin；When the adjacent both sides of paper and plane The coordinate overlapping of axles of rectangular coordinate system, and absorbing mechanism adsorbs paper and directly can translate or turn over paper and is moved to feeding conveyor structure When upper, the position correspondence by absorbing mechanism with respect to paper is set as standard adsorption position one or standard adsorption position two, accordingly will Six axis robot is set as reference position one or reference position two with respect to the position of reference origin, at the same by absorbing mechanism paving paper in into Position on material conveyer structure is paving paper station, is stored together to industrial PC；And the position at this time of paper is denoted as standard Position.

As shown in Fig. 3, Figure 10, the top margin of paper 10 and the left side are respectively corresponded and are overlapped with X-axis, Y-axis, the upper left of paper 10 Angle point A is overlapped with reference origin O, is then set the standard adsorption position of absorbing mechanism, is shown two standard adsorptions in Figure 10 Position is one 50b of standard adsorption position, two 50a of standard adsorption position respectively, when the position of absorbing mechanism 52 is standard adsorption position When setting a 50b, paper 10 can be adsorbed, and is directly moved to the feeding conveyor structure 7 on right side, is layered on paper station；Work as suction When the position of mechanism of paper 52 is two 50a of standard adsorption position, paper can be adsorbed, the feeding conveyor structure direction turned right is mobile While carry out turning over paper, paper is layered on paper station, this completes the work of the paving paper of substrate upper and lower surface.The standard is inhaled Attached one 50b of position and two 50a of standard adsorption position is to determine uniquely on paper.

Since six axis robot 51 is moved horizontally along bracket 4, by the corresponding reference position two two 50a of standard adsorption position X axis coordinate value is set as x10, and the X axis coordinate value of the corresponding reference position one one 50b of standard adsorption position is set as x20, and deposit to Industrial PC.

Step S300: when paving paper carries out paving paper work with robot device, vision system is to working as on paper hoistable platform Preceding paper and reference origin camera shooting, are sent to industrial PC for acquired real-time image information.

When being placed in paper hoistable platform due to paper, paper position not necessarily normal place.As shown in figure 11, paper There are certain offset, no deviation angles for 10 relative standard position of paper on hoistable platform, that is to say, that the top of paper 10 Side and the left side, which respectively correspond, is parallel to X-axis, Y-axis, and top margin is Y1 at a distance from X-axis, and it is paper that the left side, which is X1 at a distance from Y-axis, The coordinate of the left comer point a opened is (X1, Y1).As shown in figure 12, the 10 relative standard position of paper on paper hoistable platform exists Certain offset and deviation angle, that is to say, that the coordinate of the upper left angle point a of paper is (x1, y1), the lower-left angle point of paper The coordinate of b is (x2, y2), calculates deviation angle by the coordinate value of this two angle point a, b.Vision system by reference origin O with And paper images and is transmitted to industrial PC.

Step S400: industrial PC compares and analyzes acquired real-time image information with standard form, thus The corner points of the close reference origin of current paper sheet are relative to the Y-direction offset of reference origin, X to offset and current paper out The deflection angle opened.

It is carried out one by one by the standard form information that real-time image information acquired in step S300 and step S100 are obtained The relationship between paper and reference origin is analyzed in comparison --- the X of the opposite reference origin of paper to offset, Y-direction offset with And deviation angle.In addition, vision system and industrial PC cooperating, three-dimensional information (X value, Y value and the Z of available paper Value), six axis robot work is controlled using the reference position information of three numerical value, six axis robot, six joints are mutual Cooperation adjusts the position of absorbing mechanism, promote absorbing mechanism with respect to paper real time position be standard adsorption position.When So, it can also be positioned proximate to switch in absorbing mechanism, adjust height of the absorbing mechanism with respect to paper close to switch using this Position, it is ensured that absorbing mechanism can adsorb paper.

As shown in figure 11, by comparing with standard form, the offset of paper relative standard's template is obtained, with a left side for paper Subject to upper angle point a, the X of paper is X1 to offset, and Y-direction offset is Y1, and deviation angle is 0 °.

As shown in figure 12, by comparing with standard form, the offset of paper relative standard's template is obtained, with a left side for paper Subject to upper angle point a, the X of paper is X1 to offset, and Y-direction offset is Y1, is positive in a clockwise direction, deviation angle θ, Value is arctan ((x1-x2)/(y2-y1)).

Step S500: assuming that paper is face-up, when if desired spreading paper to substrate bottom surface, industrial PC is inclined according to Y-direction Shifting amount, X adjust absorption of the X of six axis robot to position and absorbing mechanism to offset, deflection angle and reference position two The accurate positioning of absorbing mechanism and paper is completed so that absorption position is normal place two this moment in position；If desired substrate top is given When face spreads paper, industrial PC adjusts six axis robot to offset, deflection angle and reference position one according to Y-direction offset, X X to position and the absorption position of absorbing mechanism so that this moment absorption position be standard adsorption position one, complete absorbing mechanism with The accurate positioning of paper.

As shown in Fig. 5, Figure 11, the coordinate of the upper left angle point a of paper is (X1, Y1), and deviation angle is 0 ° of (top of paper 10 Side and the left side, which respectively correspond, is parallel to X-axis, Y-axis), then, it is obtained after the image processing system processing, analysis of industrial PC Offset, industrial PC are controlled according to offset, reference position one or reference position two (according to whether turn over paper situation to determine) Six axis robot movement processed, controls the position of the X-direction of six axis robot.When turning over paper if necessary, the position of absorbing mechanism For two 50a of standard adsorption position, then, the X value of six axis robot becomes (x10+X1)；If you do not need to turning over paper, then paper machine is inhaled The position of structure is one 50b of standard adsorption position, then, the X value of six axis robot becomes (x20+X1)；Then second joint is adjusted 513, third joint 514 and the 5th joint 516 swing up and down angle, position so as to adjust absorbing mechanism 52 with respect to paper 10 It sets, moves absorbing mechanism in X/Y plane along Y direction, moving distance Y1, it is ensured that the position of absorbing mechanism is standard Two 50a of absorption position or one 50b(of standard adsorption position is according to whether turn over paper situation to determine), complete absorbing mechanism and paper It is accurately positioned.

As shown in Fig. 5, Figure 12, it is subject to the upper left angle point a of paper, the coordinate of upper left angle point a is (x1, y1), the lower left corner The coordinate of point b be (x2, y2), thus, the X of paper to offset be x1, Y-direction offset be y1, in a clockwise direction for Just, deviation angle θ, value are arctan ((x1-x2)/(y2-y1)), then, at the image processing system of industrial PC Reason, the offset obtained after analyzing, deviation angle, industrial PC is according to offset, deviation angle, reference position one or reference bit Two (according to whether turning over paper situation to determine) are set to control six axis robot movement, control the position of the X-direction of six axis robot It sets.When turning over paper if necessary, the position of absorbing mechanism is two 50a of standard adsorption position, then, the X value of six axis robot becomes (x10+x1);If you do not need to turning over paper, then the position of absorbing mechanism is one 50b of standard adsorption position, then, six axis robot X value becomes (x20+x1);Then adjust second joint 513, third joint 514 and the 5th joint 516 swings up and down angle, Position so as to adjust absorbing mechanism 52 with respect to paper 10, moves absorbing mechanism in X/Y plane along Y direction, it is mobile away from From for y1；Then, the rotation in the 4th joint 515, the 6th joint 517 adjusts angle position of the absorbing mechanism in X/Y plane, makes Its deflection angle is equal to deviation angle θ, it is ensured that the position of absorbing mechanism is two 50a of standard adsorption position or standard adsorption position one 50b completes the accurate positioning of absorbing mechanism and paper.

Step S600: absorbing mechanism is adsorbed under industrial PC control and mobile paper extremely paving paper station.

As shown in figure 3, absorbing mechanism carries out paving paper work, and Mobile base 53 after the accurate positioning for completing absorbing mechanism It is mobile toward 7 direction of feeding conveyor structure (X-direction) along bracket 4, paper is layered on paper station.Pass through 4 both ends of bracket First be arranged is close to switch to be precisely controlled Mobile base in the position of X-direction.

Step S700: automatic centering slab feeding mechanism carries out centering absorption movement to substrate, and is moved horizontally to paving paper station Top, then move down vertically and substrate is placed on above the paper for being located at paving paper station.

As shown in Figure 1 and Figure 2, when industrial PC will with robot device 5 according to step S100 to step S600 control paving paper After paper (face down of paper) is layered on the paving paper station of feeding conveyor structure 7, then need for substrate to be placed in above paper, And be located exactly on paving paper station, industrial PC controls automatic centering slab feeding mechanism 2, allows automatic centering slab feeding mechanism 2 to substrate 8 First centering, then adsorption substrates, are moved to feeding conveyor structure 7, then move down, and substrate is steadily placed on paving paper station, So that the reverse side of paper is in contact with the bottom surface of substrate.Automatic centering slab feeding mechanism is precisely controlled close to switch by second Shift position.

Step S800: return step S400, until substrate top surface is covered with paper.

After completing step S700, then need to spread paper to substrate top surface.When placing substrate on feeding conveyor structure Afterwards, then it is back to step S400, allows paving paper that paper is layered on to the top surface of substrate with robot device, so that the reverse side and base of paper The top surface of material is in contact, and the lines to be pressed of the printing decorative pattern and substrate that finally realize paper coincides (or to flower). In the present embodiment, the corresponding both sides adjacent with paper in the adjacent both sides of substrate are overlapped, generally, after completing embossing, base The adjacent other both sides outer projecting portion trimming (redundance of paper) of material, needs to carry out trimming process step.

After paper and substrate are placed and realize that the lines to be pressed for printing decorative pattern and substrate coincides, then industrial PC Control feeding conveyor structure is moved horizontally toward longitudinal hot press direction, is precisely controlled feeding conveyor structure close to switch by third Position, to ensure that feeding conveyor structure is in the hot press working position of longitudinal hot press so that embossing is overlapped with decorative pattern is printed, The Double-side Synchronous for finally realizing decoration panel embosses flower.Finally, paving paper robot device, automatic centering slab feeding mechanism and into Material conveyer structure is back to original position, into next pair of flower embossing circulation.

In addition, the control the present invention also provides another full-automatic decoration panel Double-side Synchronous as described above to flower Embosser Method processed, which comprises

Step S10: paper is placed on paper hoistable platform, and vision system chooses multiple reference points or ginseng on the paper It examines sideline and images, which as standard form (or the normal place for being paper) and is stored to industrial PC.

As shown in figure 19, a dashed region 40 is divided on paper hoistable platform, and four reference points are selected on paper, point It is not reference point A, reference point B, reference Point C and reference point D, which can be four angle points of paper, can also be with It is mark's point on paper.It is with reference to sideline L1, reference respectively furthermore it is also possible to be to choose four on paper and refer to sideline Sideline L2, with reference to sideline L3 and refer to sideline L4.Feeding conveyor structure will be set on the right side of paper hoistable platform, this sentences six axis machines Tool hand is X-axis (namely the length direction of L1 is X-direction), the mobile side of paper hoistable platform along the direction that support level moves To for Y-axis.

Step S20: setting six axis robot is with respect to reference point or with reference to the reference position in sideline；When absorbing mechanism adsorbs institute When stating paper and moving, the position by absorbing mechanism with respect to paper is set as standard adsorption position, by the opposite ginseng of six axis robot Examination point is set as reference position with reference to the position in sideline, and stores to industrial PC.

As shown in figure 19, reference point is chosen on the paper or with reference to behind sideline, sets the standard adsorption of absorbing mechanism Position shows two standard adsorption positions in Figure 19, is standard adsorption position 30a, standard adsorption position 30b respectively, works as suction When the position of mechanism of paper is standard adsorption position 30b, paper can be adsorbed, and is moved to the feeding conveyor structure on right side, is layered on On station；When the position of absorbing mechanism is standard adsorption position 30a, paper can be adsorbed, turn right feeding conveyor structure side To it is mobile while carry out turning over paper, paper is layered on station, this completes the work of the paving paper of substrate upper and lower surface.The standard Absorption position 30a and standard adsorption position 30b is to determine uniquely on paper.In the present embodiment, absorbing mechanism is in mark When quasi- absorption position 30a or standard adsorption position 30b, straight line and paper that the evenly distributed vacuum slot of absorbing mechanism is linked to be Perpendicular to moving direction when being parallel to each other and close to this.

Since six axis robot is moved along support level, by the X axis coordinate of the corresponding reference position standard adsorption position 30a Value is set as x10, the X axis coordinate value of the corresponding reference position standard adsorption position 30b is set as x20, and deposit to industrial PC.

Step S30: when inhaling paper, vision system is to the current paper sheet and reference point on paper hoistable platform or refers to sideline Camera shooting, is sent to industrial PC for acquired real-time image information.

When being placed in paper hoistable platform due to paper, paper position not necessarily normal place.Such as Figure 19, Tu20Suo Show, there are certain offset, no deviation angles, that is to say, that paper for the 10 relative standard position of paper on paper hoistable platform Point a, point b, point c, point d have identical offset correspondingly with reference point A, reference point B, reference Point C, reference point D on 10 Amount.It is, of course, also possible to be, the sideline l1, sideline l2, sideline l3, sideline l4 on paper 10 respectively with reference sideline L1, reference edge Line L2, it respectively corresponds with reference to sideline L3, with reference to sideline L4 one-to-one correspondence namely sideline l1, sideline l3 and refers to sideline L1, reference Sideline L3 is parallel and has identical offset, and sideline l2, sideline l4 are respectively corresponded and referred to sideline L2, parallel with reference to sideline L4 And there is identical offset.

As shown in Figure 19, Figure 21,10 relative standard position of paper on paper hoistable platform there are certain offset and Deviation angle, that is to say, that on paper 10 with reference point A, reference point B, reference Point C, reference point D correspondingly point a, point b, Point c, point d have different offsets.It is, of course, also possible to be sideline l1, sideline l2, sideline l3, sideline l4 difference on paper 10 It is corresponded with reference sideline L1, with reference to sideline L2, with reference to sideline L3, with reference to sideline L4, but sideline l1, sideline l3 are respectively corresponded With reference sideline L1, not parallel with reference to sideline L3, and sideline l1, sideline l3 have identical deviation angle, sideline l2, sideline l4 Respectively corresponding has identical deviation angle with reference to sideline L2, and sideline l2 not parallel with reference to sideline L4, sideline l4.

Step S40: industrial PC compares and analyzes acquired real-time image information with standard form, to obtain The offset and deviation angle of current paper sheet relative standard's template.

It is a pair of that one is carried out by the standard form information that real-time image information acquired in step S30 and step S10 are obtained Than analyzing paper and reference point or with reference to relationship --- the offset and deviation angle of paper between sideline.In addition, vision system System and industrial PC cooperating, the drift condition information of available paper relative standard template are believed using the drift condition It ceases, the reference position information of six axis robot works to control six axis robot, six mutually coordinated cooperations in joint, adjustment suction paper The position of mechanism, promote absorbing mechanism with respect to paper real time position be standard adsorption position.It is of course also possible in absorbing mechanism On be positioned proximate to switch, utilize this close to switch come adjust absorbing mechanism with respect to paper height and position, it is ensured that absorbing mechanism energy Enough adsorb paper.

Step S50: industrial PC adjusts six axis robot according to the offset and deviation angle of paper and reference position X to position and the absorption position of absorbing mechanism so that absorption position is normal place this moment, complete absorbing mechanism and paper It is accurately positioned.

Step S60: absorbing mechanism is adsorbed under industrial PC control and mobile paper extremely paving paper station.

After the accurate positioning for completing absorbing mechanism, absorbing mechanism carries out paving paper work, and Mobile base 53 is past along bracket Feeding conveyor structure direction (X-direction) is mobile, and paper is layered on station.It is controlled by what bracket both ends were arranged close to switch Mobile base processed is in the position of X-direction.

Step S70: automatic centering slab feeding mechanism carries out centering absorption movement to substrate, and is moved horizontally on paving paper station Side, then move down vertically and substrate is placed on above the paper for being located at paving paper station.

As shown in Figure 1 and Figure 2, when industrial PC controls paving paper with robot device 5 for paper according to step S10 to step S60 After (face down of paper) is layered on the paving paper station of feeding conveyor structure 7, then need for substrate to be placed in above paper, and It is located exactly on paving paper station, industrial PC controls automatic centering slab feeding mechanism 2, makes automatic centering slab feeding mechanism 2 first to substrate 8 Centering, then adsorption substrates, are moved to feeding conveyor structure 7, then move down, and substrate is steadily placed on paving paper station, with The reverse side of paper is set to be in contact with the bottom surface of substrate.The shifting of automatic centering slab feeding mechanism is precisely controlled close to switch by second Dynamic position.

Step S80: return step S40, until substrate top surface is covered with paper.

After completing step S70, then need to spread paper to substrate top surface.When placing substrate on feeding conveyor structure Afterwards, then it is back to step S40, allows paving paper that paper is layered on to the top surface of substrate with robot device, so that the reverse side and base of paper The top surface of material is in contact, and the lines to be pressed of the printing decorative pattern and substrate that finally realize paper coincides (or to flower). In the present embodiment, the corresponding both sides adjacent with paper in the adjacent both sides of substrate are overlapped, generally, after completing embossing, base The adjacent other both sides outer projecting portion trimming (redundance of paper) of material, needs to carry out trimming process step.

In addition, the full-automatic decoration panel Double-side Synchronous provided by the invention can be used for manufacturing different rule to flower Embosser The decoration panel (referring to that the decoration panel of each specification is identical on the width, length is different) of lattice, can complete same for these decoration panels Step embosses work to flower, can reach seamless switching when producing different size decoration panel.

In conclusion the present invention provides a kind of full-automatic decoration panel Double-side Synchronous to flower Embosser and its controlling party Method, ingenious in design, stable structure is reliable and practical, and degree of intelligence is high, can be automatically performed and synchronize to flower embossing work.

The present invention is ingenious to pass through image to acquire the location information of paper on paper hoistable platform with vision system Information collection, comparative analysis obtain the offset information between paper and standard form, so control six axis robot adjust its six The accurate positioning of absorbing mechanism and paper, and moving horizontally by six axis robot are realized, by the accurate shakedown of paper in a joint It is placed on the paving paper station of feeding conveyor structure, changes previous artificial paving paper mode, human input can be reduced, improve effect Rate.

It, can according to the technique and scheme of the present invention and its hair it is understood that for those of ordinary skills Bright design is subject to equivalent substitution or change, and all these changes or replacement all should belong to the guarantor of appended claims of the invention Protect range.

Claims

1. a kind of full-automatic decoration panel Double-side Synchronous exists to flower Embosser, including longitudinal hot press, industrial PC, feature In, further includes:

Paper hoistable platform is set to the side of feeding conveyor structure；

For adsorption substrates；

2. full-automatic decoration panel Double-side Synchronous according to claim 1 is to flower Embosser, which is characterized in that the paving paper It include six axis robot, bracket, absorbing mechanism with robot device；

The adsorption element includes:

Rotary cylinder is fixedly connected on fixing piece；

3. full-automatic decoration panel Double-side Synchronous according to claim 2 is to flower Embosser, which is characterized in that six axis Manipulator includes the first joint, second joint, the third joint, the 4th for being installed on the pedestal of Mobile base and being successively sequentially connected Joint, the 5th joint and the 6th joint；

4. full-automatic decoration panel Double-side Synchronous according to claim 1 is to flower Embosser, which is characterized in that the paper Hoistable platform include frame, can opposing frame move up and down and for placing the objective table of paper；

The roller electrical connection of motor is in industrial PC.

5. full-automatic decoration panel Double-side Synchronous according to claim 4 is to flower Embosser, which is characterized in that the frame Lower rotation is equipped with two shafts, and the both ends of shaft are respectively equipped with idler wheel, and frame is fixed with driving motor, driving motor with any turn Axis transmission connection is equipped with the guide rail that connection is rolled with idler wheel below frame；It is equipped in one end of the guide rail and is used for detection block The 4th of the shift position of frame is electrically connected close to switch in industrial PC close to switch, the driving motor, the 4th.

6. full-automatic decoration panel Double-side Synchronous according to claim 1 is to flower Embosser, which is characterized in that described automatic Centering slab feeding mechanism includes supporting guide, movable supporting frame, the lifting Suction plate mechanism for being slidably connected to movable supporting frame；

Described second is set on supporting guide close to switch；

7. full-automatic decoration panel Double-side Synchronous according to claim 1 is to flower Embosser, which is characterized in that the longitudinal direction Hot press includes upper mold moving up and down and fixed lower die, link mechanism；The bottom surface of upper mold and the top surface of lower die are set respectively There are upper mold, lower mold；The left and right sides of the upper mold is equipped with two rows of rotatable first pulleys, longitudinal heat vertically respectively Press is correspondingly provided with two pieces of guide pads being slidably connected respectively with first pulley；The link mechanism includes that rotation is set to longitudinal heat The hinged swing rod of synchronous rotating shaft above press, connecting rod, one end and the connecting rod for being individually fixed in synchronous rotating shaft both ends；The upper mold Front and rear sides be respectively equipped with attachment base；The other end of the swing rod and attachment base are hinged, and the attachment base is vertically fixed suitable In the perforative mobile bar of swing rod, the mobile bar is arranged with the loop bar for being fixed on longitudinal hot press, divides at left and right sides of the loop bar Aperture is not offered, and the tapping of corresponding loop bar is equipped with the second pulley being slidably connected with mobile bar.

8. full-automatic decoration panel Double-side Synchronous according to claim 7 is to flower Embosser, which is characterized in that the longitudinal direction Hot press further includes multiple mold lockable mechanisms；The mold lockable mechanism includes the work of telescopic cylinder, one end and telescopic cylinder The hinged locking bar of stopper rod, fixture block, mounting base, the cylinder body of telescopic cylinder are articulated with mounting base, and locking bar is hinged with mounting base, fixture block edge Its length direction is equipped with multiple card holes, and the other end of locking bar is equipped with the grab snapped connection with card hole；The fixture block is set to upper mold The top surface of tool and the left and right sides for being individually fixed in upper mold；The mounting base is individually fixed in the left and right sides of upper mold.

9. full-automatic decoration panel Double-side Synchronous according to claim 1 is to flower Embosser, which is characterized in that the charging Conveying mechanism includes conveying chassis, feed lead rail, the loading cart for being slidably coupled to feed lead rail；

10. a kind of decoration panel Double-side Synchronous full-automatic as claimed in claim 2 or claim 3 is to the control method of flower Embosser, It is characterized in that, which comprises

11. a kind of decoration panel Double-side Synchronous full-automatic as claimed in claim 2 or claim 3 is to the control method of flower Embosser, It is characterized in that, which comprises

Step S80: return step S40, until substrate top surface is covered with paper；