CN110315604B

CN110315604B - Full-automatic veneer double-sided synchronous pattern alignment embossing device and control method thereof

Info

Publication number: CN110315604B
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: 2023-08-22
Anticipated expiration: 2039-07-04
Also published as: CN110315604A

Abstract

The invention discloses a full-automatic veneer double-sided synchronous pattern alignment embossing device and a control method thereof, wherein the device comprises a longitudinal hot press, an industrial computer, a feeding conveying mechanism which is positioned at the feeding end of the longitudinal hot press and can horizontally move, a paper lifting platform which is arranged at one side of the feeding conveying mechanism, a paper laying manipulator device which is arranged above the paper lifting platform and can horizontally move, a vision system which is arranged above the paper lifting platform, an automatic centering plate conveying mechanism which is arranged at the other side of the feeding conveying mechanism and can horizontally and vertically move, and a first proximity switch, a second proximity switch and a third proximity switch which correspond to the positions of the paper laying manipulator device, the automatic centering plate conveying mechanism and the feeding conveying mechanism; the industrial control computer correspondingly controls the positions of the paper laying manipulator device, the automatic centering plate feeding mechanism and the feeding conveying mechanism according to the first proximity switch, the second proximity switch and the third proximity switch, and controls the paper laying manipulator device to accurately position paper on the feeding conveying mechanism according to the position information of the paper collected by the vision system, so that automatic synchronous embossing is realized.

Description

Full-automatic veneer double-sided synchronous pattern alignment embossing device and control method thereof

Technical Field

The invention belongs to the technical field of plate manufacturing equipment, and particularly relates to a full-automatic double-sided synchronous embossing device for a veneer and a control method thereof.

Background

The melamine board (also called as double veneer) is a decorative board which is formed by putting paper with different colors or textures into melamine resin adhesive to soak, then drying to a certain degree of solidification, paving the paper on the surfaces of a shaving board, a dampproof board, a medium-density fiberboard, a plywood, a joinery board, a multilayer board or other hard fiber boards, and hot-pressing.

The invention patent with the application number of 201810174886.X discloses a plate feeding device, which can realize that the moving speed of a crawler belt is opposite to the moving speed of a plate feeding vehicle in the same direction, so that the plate does not move along with the plate feeding device during discharging, the dislocation of a substrate and facing paper is prevented, and the rejection rate is reduced.

In the melamine board manufacturing process, the printed patterns of some molded products are planar, and have no stereoscopic impression; with technological development and demands of people, another shaped product is produced. The surface of the base material is pressed with patterns with three-dimensional effect, and the upper and lower surfaces of the base material are hot-pressed by an upper die and a lower die of a longitudinal hot press during manufacturing so as to form the patterns. In hot pressing, it is necessary to emboss the pattern (counter-embossed) on the substrate. In the production process, paper is paved on the upper surface and the lower surface of the base material in a manual paper paving mode, and the paper and the base material are required to be paved correspondingly, so that the embossing is difficult, the deviation of the embossing and the printing patterns is often generated, the production difficulty is relatively high, and the production efficiency is low.

It can be seen that there is a need for improvements and improvements in the art.

Disclosure of Invention

In view of the shortcomings of the prior art, the invention aims to provide the full-automatic double-sided synchronous embossing device for the veneer, which has the advantages of ingenious design, stable structure, reliability, practicability and high intelligent degree, and can automatically complete synchronous embossing work.

In order to achieve the above purpose, the invention adopts the following technical scheme:

the utility model provides a two-sided synchronous embossing device that is to flowers of full-automatic decorative board, includes vertical hot press, industrial computer, wherein, still includes:

the feeding conveying mechanism is positioned at the feeding end of the longitudinal hot press and can horizontally move relative to the longitudinal hot press;

the paper lifting platform is arranged on one side of the feeding conveying mechanism;

the paper laying manipulator device is arranged above the paper lifting platform and can horizontally move;

the vision system is arranged above the paper lifting platform and is used for collecting the position information of the paper;

an automatic centering plate feeding mechanism which is arranged at the other side of the feeding and conveying mechanism and can move horizontally and vertically,

for adsorbing a substrate;

a first proximity switch for detecting a horizontal movement position of the paper laying robot device;

The second proximity switch is used for detecting the horizontal movement position of the automatic centering plate conveying mechanism;

a third proximity switch for detecting a horizontal movement position of the feed conveyor;

the industrial computer is electrically connected with the paper lifting platform, the paper laying manipulator device, the vision system, the automatic centering plate feeding mechanism, the feeding conveying mechanism, the longitudinal hot press, the first proximity switch, the second proximity switch and the third proximity switch respectively.

In the full-automatic veneer double-sided synchronous pattern alignment embossing device, the paper laying manipulator device comprises a six-axis manipulator, a bracket and a paper sucking mechanism;

the paper sucking mechanism comprises a connecting rod fixedly connected with the free end of the six-axis mechanical arm, two fixing pieces which are respectively fixed at two ends of the connecting rod and are positioned below the connecting rod, and an adsorption part which is used for vacuum adsorption of paper and can rotate by 360 degrees;

the adsorption member includes:

a rotary cylinder fixedly connected to the fixing member;

the end part of the vacuum tube is fixed on the rotary table of the rotary cylinder;

a plurality of vacuum suction nozzles uniformly arranged at the bottom of the vacuum tube;

the fixed end of the six-axis manipulator is provided with a movable seat which can be connected to the bracket in a sliding way, and the movable seat is provided with a first driving mechanism for driving the movable seat to move horizontally relative to the bracket;

The first proximity switch is arranged on the bracket and used for detecting the horizontal movement position of the movable seat.

In the full-automatic veneer double-sided synchronous register embossing device, the six-axis manipulator comprises a base arranged on a movable seat, and a first joint, a second joint, a third joint, a fourth joint, a fifth joint and a sixth joint which are sequentially connected in a transmission manner;

one end of the first joint is rotatably connected to the base, one end of the second joint can swing up and down to be connected to the other end of the first joint, one end of the third joint can swing up and down to be connected to the other end of the second joint, one end of the fourth joint is rotatably connected to the other end of the third joint, one end of the fifth joint can swing up and down to be connected to the other end of the fourth joint, one end of the sixth joint is rotatably connected to the other end of the fifth joint, and the other end of the sixth joint is fixedly connected to the connecting rod.

In the full-automatic veneer double-sided synchronous register embossing device, the paper lifting platform comprises a frame and an objective table which can move up and down relative to the frame and is used for placing paper;

the objective table comprises a supporting underframe, a plurality of rows of roller groups rotatably arranged on the supporting underframe, and a roller motor which is arranged below the supporting underframe and is used for driving the roller groups to work;

The roller group comprises a plurality of rollers which are uniformly arranged, and the adjacent rollers are connected through chains;

the roller motor is electrically connected to the industrial computer.

In the full-automatic veneer double-sided synchronous pattern alignment embossing device, the bottom of the frame is rotationally provided with two rotating shafts, the two ends of each rotating shaft are respectively provided with idler wheels, the frame is fixedly provided with a driving motor, the driving motor is in transmission connection with any rotating shaft, and a guide rail in rolling connection with the idler wheels is arranged below the frame; and one end of the guide rail is provided with a fourth proximity switch for detecting the moving position of the frame, and the driving motor and the fourth proximity switch are respectively and electrically connected with the industrial personal computer.

In the full-automatic veneer double-sided synchronous pattern alignment embossing device, the automatic centering plate feeding mechanism comprises a supporting guide rail, a movable supporting frame and a lifting plate sucking mechanism which is connected with the movable supporting frame in a sliding manner;

the second proximity switch is arranged on the support guide rail;

the support guide rail is provided with a second driving mechanism for driving the movable support frame to horizontally move along the support guide rail;

the movable support frame is provided with a third driving mechanism for driving the lifting suction plate mechanism to vertically move relative to the movable support frame;

the lifting suction plate mechanism comprises a lifting frame, a plurality of suckers arranged at the bottom of the lifting frame, at least one limiting rod which is arranged at two adjacent sides of the lifting frame and can move up and down, and pushing heads which are arranged at the other two adjacent sides of the lifting frame and can move vertically relative to the lifting frame;

The lifting frame is provided with a pushing cylinder for driving the pushing head to horizontally move.

In the full-automatic veneer double-sided synchronous pattern alignment embossing device, the longitudinal hot press comprises an upper die capable of moving up and down, a fixed lower die and a connecting rod mechanism; the bottom surface of the upper die and the top surface of the lower die are respectively provided with an upper die and a lower die; two rows of rotatable first pulleys are vertically arranged on the left side and the right side of the upper die respectively, and two guide blocks which are respectively connected with the first pulleys in a sliding manner are correspondingly arranged on the longitudinal hot press; the connecting rod mechanism comprises a synchronous rotating shaft, connecting rods and a swing rod, wherein the synchronous rotating shaft is arranged above the longitudinal hot press in a rotating mode, the connecting rods are respectively fixed at two ends of the synchronous rotating shaft, and one end of each swing rod is hinged with each connecting rod; connecting seats are respectively arranged on the front side and the rear side of the upper die; the other end of the swing rod is hinged with the connecting seat, the connecting seat is vertically fixed with a moving rod which is suitable for the swing rod to penetrate, the moving rod is sleeved with a sleeve rod which is fixed on the longitudinal hot press, the left side and the right side of the sleeve rod are respectively provided with holes, and the hole corresponding to the sleeve rod is provided with a second pulley which is in sliding connection with the moving rod.

In the full-automatic veneer double-sided synchronous pattern alignment embossing device, the longitudinal hot press further comprises a plurality of die locking mechanisms; the die locking mechanism comprises a telescopic cylinder, a lock rod, a clamping block and a mounting seat, wherein one end of the lock rod is hinged with a piston rod of the telescopic cylinder, the cylinder body of the telescopic cylinder is hinged to the mounting seat, the lock rod is hinged to the mounting seat, the clamping block is provided with a plurality of clamping holes along the length direction of the lock rod, and the other end of the lock rod is provided with a clamping hook connected with the clamping holes in a clamping manner; the clamping blocks are arranged on the top surface of the upper die and are respectively fixed on the left side and the right side of the upper die; the mounting seats are respectively fixed on the left side and the right side of the upper die.

In the full-automatic veneer double-sided synchronous register embossing device, the feeding conveying mechanism comprises a conveying underframe, a feeding guide rail and a plate loading trolley which is slidably connected with the feeding guide rail;

the rear end of the feeding guide rail is fixed on the conveying underframe and paved on two sides of the lower die of the longitudinal hot press;

the plate loading trolley comprises a plate loading frame, a track, a compression roller and a plate unloading block, wherein the track is arranged around the plate loading frame and used for conveying base materials, the compression roller is arranged at the front end of the plate loading frame and is rotatably connected with the plate loading frame, and the plate unloading block is obliquely downwards arranged on the plate loading frame and is positioned at two ends of the front side of the compression roller;

the conveying underframe is provided with a fourth driving mechanism which can drive the plate loading trolley to horizontally move relative to the feeding guide rail;

the plate loading frame is provided with two rows of rotatable guide wheels which are positioned at two sides of the crawler belt, and the rolling surface of each guide wheel is connected with the side surface of the crawler belt;

the third proximity switch is respectively arranged at the rear end of the feeding guide rail and the front end of the plate loading trolley.

In addition, the invention also provides a control method of the full-automatic veneer double-sided synchronous register embossing device, wherein the method comprises the following steps:

step S100: finding a reference origin on the paper lifting platform, taking a plane rectangular coordinate system through the reference origin, shooting the reference origin by a vision system, taking the image information as a standard template and storing the standard template into an industrial control computer;

Step S200: setting a reference position of the six-axis manipulator relative to a reference origin; when two adjacent sides of paper coincide with coordinate axes of a plane rectangular coordinate system, and the paper sucking mechanism sucks the paper and can directly translate or turn over the paper to translate on the feeding conveying mechanism, the position of the paper sucking mechanism relative to the paper is correspondingly set as a standard suction position I or a standard suction position II, the position of the six-axis manipulator relative to a reference origin is correspondingly set as a reference position I or a reference position II, and meanwhile, the position of the paper sucking mechanism for laying paper on the feeding conveying mechanism is a paper laying station and is stored in an industrial computer;

step S300: when the paper laying is carried out by the manipulator device for paper laying, the vision system shoots the current paper and the reference origin on the paper lifting platform, and sends the acquired real-time image information to the industrial computer;

step S400: the industrial control computer compares and analyzes the acquired real-time image information with a standard template, so that Y-direction offset and X-direction offset of corner points of the current paper, which are close to a reference origin, relative to the reference origin and deflection angles of the current paper are obtained;

step S500: if the front surface of the paper is upward, the industrial control computer adjusts the X-direction position of the six-axis mechanical arm and the adsorption position of the paper sucking mechanism according to the Y-direction offset, the X-direction offset, the deflection angle and the reference position II when the paper is required to be laid on the bottom surface of the base material, so that the adsorption position at the moment is the standard adsorption position II, and the accurate positioning of the paper sucking mechanism and the paper is completed; if paper needs to be laid on the top surface of the base material, the industrial control computer adjusts the X-direction position of the six-axis mechanical arm and the adsorption position of the paper sucking mechanism according to the Y-direction offset, the X-direction offset, the deflection angle and the reference position I, so that the adsorption position at the moment is the standard adsorption position I, and the accurate positioning of the paper sucking mechanism and paper is completed;

Step S600: the paper sucking mechanism sucks and moves paper to a paper laying station under the control of an industrial computer;

step S700: the automatic centering plate feeding mechanism performs centering adsorption action on the base material, horizontally moves to the position above the paper laying station, and vertically moves downwards to place the base material on paper positioned at the paper laying station;

step S800: returning to the step S400 until the top surface of the base material is paved with paper;

step S900: the feeding and conveying mechanism moves horizontally to convey the base material between the upper die and the lower die of the longitudinal hot press.

In addition, the control method of the full-automatic veneer double-sided synchronous register embossing device provided by the invention can further comprise the following steps:

step S10: placing paper on a paper lifting platform, selecting a plurality of reference points or reference edges on the paper by a vision system, photographing, taking the image information as a standard template, and storing the image information into an industrial personal computer;

step S20: setting a reference position of the six-axis manipulator relative to a reference point or a reference edge; when the paper sucking mechanism sucks the paper and can move, the position of the paper sucking mechanism relative to the paper is set as a standard sucking position, the position of the six-axis mechanical arm relative to a reference point or a reference edge is set as a reference position, and the position is stored in an industrial computer;

Step S30: when sucking paper, the vision system shoots the current paper and a reference point or a reference edge on the paper lifting platform, and sends the acquired real-time image information to an industrial computer;

step S40: the industrial control computer compares and analyzes the acquired real-time image information with the standard template, so that the offset and the offset angle of the current paper relative to the standard template are obtained;

step S50: the industrial control computer adjusts the X-direction position of the six-axis mechanical arm and the adsorption position of the paper sucking mechanism according to the offset and the offset angle of the paper and the reference position, so that the adsorption position is a standard position at the moment, and the accurate positioning of the paper sucking mechanism and the paper is completed;

step S60: the paper sucking mechanism sucks and moves paper to a paper laying station under the control of an industrial computer;

step S70: the automatic centering plate feeding mechanism performs centering adsorption action on the base material, horizontally moves to the position above the paper laying station, and vertically moves downwards to place the base material on paper positioned at the paper laying station;

step S80: returning to the step S40 until the top surface of the base material is paved with paper;

step S90: the feeding and conveying mechanism moves horizontally to convey the base material between the upper die and the lower die of the longitudinal hot press.

The beneficial effects are that:

the invention provides a full-automatic double-sided synchronous embossing device for a veneer and a control method thereof, which have the advantages of ingenious design, stable structure, reliability, practicability and high intelligent degree, and can automatically complete synchronous embossing work.

Compared with the prior art, the invention skillfully utilizes the vision system to collect the position information of the paper on the paper lifting platform, obtains the offset information between the paper and the standard template through image information collection and comparison analysis, further controls the six-axis mechanical arm to adjust six joints of the paper, realizes the accurate positioning of the paper suction mechanism and the paper, and accurately lays the paper on the paper laying station of the feeding conveying mechanism through the horizontal movement of the six-axis mechanical arm, thereby changing the traditional manual paper laying mode, reducing the manpower investment and improving the efficiency.

And the automatic centering plate feeding mechanism is also designed to work in cooperation with a manipulator device for paper laying, and the automatic centering plate feeding mechanism firstly completes the centering of the plate and then adsorbs the plate to a paper laying station of the feeding and conveying mechanism so as to complete the corresponding laying of the base material and the paper, thereby realizing the superposition of the printing patterns of the paper and the patterns to be formed on the base material.

In addition, the third proximity switch is further arranged to control the position of the feeding conveying mechanism relative to the longitudinal hot press, embossing and pattern alignment of printing patterns are completed, synchronous pattern alignment embossing of the veneer is realized, and finally the aim of automatically and efficiently producing the veneer with a three-dimensional effect can be achieved.

Drawings

Fig. 1 is a structural perspective view of a full-automatic veneer double-sided synchronous register embossing device provided by the invention.

Fig. 2 is a side view of the structure of the full-automatic veneer double-sided synchronous register embossing device provided by the invention.

Fig. 3 is a perspective view of the structure of the manipulator device for laying paper, the vision system, the paper lifting platform and the feeding and conveying mechanism in the full-automatic veneer double-sided synchronous register embossing device provided by the invention.

Fig. 4 is a schematic structural diagram of a manipulator device for laying paper in the full-automatic veneer double-sided synchronous register embossing device provided by the invention.

Fig. 5 is a structural perspective view of a six-axis mechanical arm and a paper sucking mechanism in the full-automatic veneer double-sided synchronous register embossing device provided by the invention.

Fig. 6 is a structural perspective view of a paper sucking mechanism in the full-automatic veneer double-sided synchronous register embossing device provided by the invention.

Fig. 7 is a structural perspective view of a paper lifting platform in the full-automatic veneer double-sided synchronous register embossing device provided by the invention.

Fig. 8 is a top view of a structure of a paper lifting platform in the full-automatic veneer double-sided synchronous register embossing device provided by the invention.

Fig. 9 is a bottom view of the structure of the paper lifting platform in the full-automatic veneer double-sided synchronization register embossing device provided by the invention.

Fig. 10 is a first working schematic diagram of a manipulator device for laying paper and a vision system in the full-automatic veneer double-sided synchronous register embossing device provided by the invention.

Fig. 11 is a second working schematic diagram of a manipulator device for laying paper and a vision system in the full-automatic veneer double-sided synchronous register embossing device provided by the invention.

Fig. 12 is a third working schematic diagram of a manipulator device for laying paper and a vision system in the full-automatic veneer double-sided synchronous register embossing device provided by the invention.

Fig. 13 is a structural perspective view of a feeding and conveying mechanism in the full-automatic veneer double-sided synchronous register embossing device provided by the invention.

Fig. 14 is a schematic view of the structure of the loading cart in the feed conveyor provided in fig. 13.

Fig. 15 is an enlarged view of a portion a in fig. 14.

Fig. 16 is a structural perspective view of an automatic centering plate feeding mechanism in the full-automatic veneer double-sided synchronous register embossing device provided by the invention.

Fig. 17 is a perspective view showing the structure of the lifting suction plate mechanism in the self-centering plate feeding mechanism provided in fig. 16.

Fig. 18 is a side view of the structure of the lifting suction plate mechanism in the self-centering plate feeding mechanism provided in fig. 16.

Fig. 19 is a schematic diagram showing the operation of a manipulator device for laying paper and a vision system in the full-automatic veneer double-sided synchronization register embossing device provided by the invention.

Fig. 20 is a schematic diagram of the operation of the manipulator device for laying paper and the vision system in the full-automatic veneer double-sided synchronization register embossing device provided by the invention.

Fig. 21 is a schematic diagram showing the operation of a manipulator device for laying paper and a vision system in the full-automatic veneer double-sided synchronization register embossing device provided by the invention.

Fig. 22 is a first perspective view of a longitudinal hot press in the full-automatic veneer double-sided synchronization embossing device provided by the invention.

Fig. 23 is a second perspective view of a longitudinal hot press in the full-automatic veneer double-sided synchronization embossing device provided by the invention.

Fig. 24 is a three-dimensional view of a longitudinal hot press in the full-automatic veneer double-sided synchronization embossing device provided by the invention.

Fig. 25 is a front view of the structure of the longitudinal hot press in the full-automatic veneer double-sided synchronization embossing device provided by the invention.

Fig. 26 is a schematic structural diagram of a first pulley and a guide block in the longitudinal hot press according to the present invention.

Fig. 27 is a schematic structural view of a die locking mechanism in the longitudinal hot press provided by the invention.

Fig. 28 is a schematic structural view of a latch in the mold locking mechanism provided in fig. 27.

Fig. 29 is a schematic structural view of a guide wheel and a crawler belt in the feeding and conveying mechanism provided by the invention.

Detailed Description

The invention provides a full-automatic veneer double-sided synchronous register embossing device and a control method thereof, which are used for making the purposes, the technical scheme and the effects of the invention clearer and more definite, and the invention is further described in detail below by referring to the accompanying drawings and the embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. It is to be understood that the drawings are solely for the purposes of illustrating the invention.

In the description of the present invention, it should be understood that the azimuth or positional relationship indicated by the terms "front", "rear", "left", "right", "bottom", "top", etc. are the azimuth or positional relationship of the present invention based on the drawings, and are merely for convenience of description of the present invention and simplification of the description. In addition, the terms "first," "second," "third," etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

The direction of the six-axis manipulator along the horizontal movement of the support is taken as an X axis, the height direction of the support is taken as a Z axis, and the direction of the paper lifting platform movement is taken as a Y axis, so that an XYZ three-axis coordinate system is established.

Referring to fig. 1, 2 and 3, the present invention provides a full-automatic double-sided synchronous embossing device for decoration panels, which comprises a longitudinal hot press 1, an industrial computer (not shown), a feeding and conveying mechanism 7, a paper lifting platform 3, a manipulator device 5 for laying paper, a vision system 9 and an automatic centering and feeding mechanism 2.

The feeding conveying mechanism 7 is arranged at the feeding end of the longitudinal hot press 1 and can horizontally move relative to the longitudinal hot press 1; the paper lifting platform 3 is arranged on one side of the feeding conveying mechanism 7; the paper laying manipulator device 5 is arranged above the paper lifting platform 3 and can move horizontally; the vision system 9 is arranged above the paper lifting platform 3 and is used for collecting the position information of the paper 10 on the paper lifting platform 3; the automatic centering plate feeding mechanism 2 is arranged on the other side of the feeding conveying mechanism 7 and can move horizontally and vertically for adsorbing the base material 8. In the present embodiment, the paper lifting platform 3 is provided on the right side of the feed conveyor 7, the self-centering sheet feeding mechanism 2 is provided on the rear side of the feed conveyor 7, and the self-centering sheet feeding mechanism 2 may be provided on the left side of the feed conveyor 7.

Referring to fig. 3 and 4, the first proximity switch is disposed on a horizontal movement direction line of the paper laying robot device, and is used for detecting a horizontal movement position of the paper laying robot device 5. In the present embodiment, the first proximity switch 43 located on the right detects whether the paper laying manipulator device 5 moves to the right above the paper lifting platform 3, and moves in place; the first proximity switch 44 located on the left detects whether the paper laying robot device moves to the left above the feed conveyor 7, and moves into position.

Referring to fig. 16, the second proximity switch is disposed on a horizontal movement direction line of the automatic centering plate feeding mechanism and is used for detecting a horizontal movement position of the automatic centering plate feeding mechanism. In the present embodiment, the second proximity switches 62 are provided on the front side and the rear side of the self-centering plate feeding mechanism, respectively, to detect whether or not they move forward above the feed conveying mechanism 7, move in place, and whether or not they move backward in place, to adsorb the stacked substrates.

Referring to fig. 2, 13 and 14, the third proximity switch is disposed on a horizontal movement direction line of the feeding and conveying mechanism and is used for detecting a horizontal movement position of the feeding and conveying mechanism 7; in this embodiment, the third proximity switch 75 is disposed at the rear side of the feeding and conveying mechanism 7, and detects whether the feeding and conveying mechanism moves backward to a proper position, so as to bear paper and substrate, so that the position of the paper laying station of the feeding and conveying mechanism can be ensured to be consistent all the time; the third proximity switch 729 is provided on the front side of the feed conveyor 7, detects whether the feed conveyor is moved forward between the upper die 11 and the lower die 12 of the longitudinal press 1, moves in place, and further ensures that the embossing coincides with the printed pattern of the paper.

The industrial computer is respectively and electrically connected with the paper lifting platform 3, the paper laying manipulator device 5, the vision system 9, the automatic centering plate feeding mechanism 2, the feeding conveying mechanism 7, the longitudinal hot press 1, the first proximity switch, the second proximity switch and the third proximity switch, and receives position detection information of the first proximity switch, the second proximity switch and the third proximity switch, so as to correspondingly control the horizontal movement position of the paper laying manipulator device, the horizontal movement position of the automatic centering plate feeding mechanism and the horizontal movement position of the feeding conveying mechanism.

Further, referring to fig. 3, 4, 5 and 6, the paper laying robot device 5 includes a six-axis robot 51, a bracket 4 and a paper suction mechanism 52.

The paper suction mechanism 52 includes a connecting rod 521 fixedly connected to the free end of the six-axis manipulator 51, two fixing members 522 respectively fixed to both ends of the connecting rod 521 and located below the connecting rod 521, and an adsorption member 523 capable of rotating 360 ° for vacuum adsorbing the paper 10; two ends of the adsorption component 523 are respectively arranged on the two fixing pieces 522; the fixed end of the six-axis manipulator 51 is provided with a movable seat 53, the movable seat 53 is slidably connected to the bracket 4, and the movable seat 53 is provided with a first driving mechanism 54 for driving the movable seat 53 to horizontally move relative to the bracket 4; the first proximity switch 43 and the first proximity switch 44 are both provided on the stand 4 for detecting the horizontal movement position of the movable base 53, and in this embodiment, the first proximity switch 43 is provided on the right side of the stand 4 and the first proximity switch 44 is provided on the left side of the stand. The industrial personal computer controls the first driving mechanism to start and stop according to the signals of the first proximity switch 43 and the first proximity switch 44, so as to control the horizontal position of the six-axis manipulator 51 relative to the bracket 4.

In this embodiment, the mount 522 is L-shaped.

In this embodiment, referring to fig. 4 and 5, the first driving mechanism 54 is a servo motor, the servo motor is fixed on the moving seat 53, and the bracket 4 is provided with a sliding rail 41 slidably connected with the moving seat 53 and a rack 42 engaged with an output gear of the servo motor; the sliding rail 41 is clamped with the movable seat 53; the first proximity switch 43 and the first proximity switch 44 are respectively positioned at two ends of the rack 42; the servo motor is electrically connected to the industrial computer, and the detection signals of the first proximity switch 43 and the first proximity switch 44 of the industrial computer control the servo motor to work, so as to control the moving distance of the moving seat 53, so as to control the position of the paper sucking mechanism 52, and facilitate the realization of automatic and accurate paper laying.

Specifically, the upper and lower surfaces of the sliding rail 41 are provided with grooves, the movable seat 53 is provided with a sliding member which is in contact with the grooves and can slide relative to the sliding rail 41, and the movable seat 53 can be prevented from being separated from the sliding rail 41 by the sliding member being clamped in the grooves when the movable seat 53 moves along the sliding rail 41. By the operation of the servo motor, the output gear connected with the rack 42 rotates to drive the movable seat 53 to horizontally move relative to the rack 42. The slide rails 41 and the racks 42 are arranged in parallel, and the racks 42 are arranged between the two slide rails 41.

Further, referring to fig. 6, the suction member 523 includes a rotary cylinder 5231 fixedly connected to the fixing member 522, a vacuum tube 5232 having an end fixed to a rotary table of the rotary cylinder 5231, and a plurality of vacuum nozzles 5233 uniformly provided at the bottom of the vacuum tube 5232.

In this embodiment, the rotary cylinder 5231 is fixed to one fixing member 522, one end of the vacuum tube 5232 is fixed to the rotary table of the rotary cylinder 5231, and the other end of the vacuum tube 5232 is rotatably connected to the other fixing member 522. The vacuum tube is communicated with the vacuum pump, the vacuum suction nozzle is communicated with the vacuum tube, the paper is tightly adsorbed under the vacuum suction nozzle by pumping air, the rotary cylinder is started, the rotary table rotates, and the vacuum tube rotates relative to the fixing piece along with the rotary table, so that the paper turning action can be performed. Of course, two ends of the vacuum tube are respectively and correspondingly fixed on the rotary tables of the rotary air cylinders, the two rotary air cylinders are respectively and correspondingly fixed on the inner sides of the two fixing pieces, and the two rotary air cylinders work synchronously to drive the vacuum tube to rotate.

The industrial computer controls the movable seat 53 to horizontally move along the support 4, the six-axis manipulator 51 is driven by the movable seat 53 to horizontally move, when the six-axis manipulator moves to the position of the paper 10, the adsorption component 523 applies adsorption force to the paper under the control of the industrial computer to absorb the paper, and then the paper is moved along with the movement of the movable seat 53 to finish the paper laying work. The adsorption component has a rotatable function, and can rotate while adsorbing paper, so that paper turning is realized.

Further, referring to fig. 4, 5 and 6, the six-axis manipulator 51 includes a base 511 mounted on a movable base 53, and a first joint 512, a second joint 513, a third joint 514, a fourth joint 515, a fifth joint 516 and a sixth joint 517 in driving connection.

One end of the first joint 512 is rotatably connected to the base 511, one end of the second joint 513 is connected to the other end of the first joint 512 in a vertically swinging manner, one end of the third joint 514 is connected to the other end of the second joint 513 in a vertically swinging manner, one end of the fourth joint 515 is rotatably connected to the other end of the third joint 514, one end of the fifth joint 516 is connected to the other end of the fourth joint 515 in a vertically swinging manner, one end of the sixth joint 517 is rotatably connected to the other end of the fifth joint 516, and the other end of the sixth joint 517 is fixedly connected to the connecting rod 521.

The base 511 is a fixed end of the six-axis manipulator 51, and is mounted on the moving seat 53 through bolts, and the six-axis manipulator 51 is driven by the moving seat 53 to move horizontally. The base 511 has a motor mounted therein for driving the first joint 512 to rotate relative to the base 511, and in this embodiment, the rotation axis (consistent with the Y-axis direction) of the first joint is perpendicular to the moving direction of the moving base and is located in a horizontal plane (XY plane). By rotation of the first joint, the swing angle of the paper suction mechanism 52 in the XZ plane can be adjusted.

The end of the first joint 512 is fixed with a motor that drives the second joint 513 to swing up and down relative to the first joint, and under the operation of the motor, the second joint can swing in the YZ plane. Similarly, a motor that drives the third joint 514 to swing up and down relative to the second joint is fixed to the end of the second joint 513, and under the operation of the motor, the third joint can swing in the YZ plane. In addition, similarly, the fifth joint may swing in the YZ plane. The height (Z-axis) position of the paper suction mechanism 52 and the position in the XY plane are adjusted by the swinging of the second joint 513, the third joint 514, and the fifth joint 516.

The third joint 514 is provided with a motor that drives the fourth joint 515 in rotation relative to the third joint, and in operation, the third joint is rotatable along the Z-axis. Likewise, fifth joint 516 is provided with a motor that drives sixth joint 517 in rotation relative to the fifth joint, and in operation, the sixth joint is rotatable along the Z-axis. The swing angle of the paper suction mechanism 52 in the XY plane is adjusted by the rotation of the fourth joint 515 and the sixth joint 517.

The paper sucking mechanism is arranged at the free end (namely the bottom end of a sixth joint) of the six-axis manipulator through bolts, and the position of the paper sucking mechanism is adjusted through the movement of the six joints of the six-axis manipulator, so that the paper sucking mechanism can suck paper at the standard suction position I or the standard suction position II, the six-axis manipulator moves horizontally under the drive of the moving seat, the paper sucking mechanism moves along with the paper sucking mechanism, the paper is paved on a paper paving station of the feeding and conveying mechanism, and automatic and accurate paper paving work is completed.

Today, vision systems are becoming more and more important to people and businesses. The vision system uses a machine to replace human eyes to make various measurements and judgments, integrates optical, mechanical, electronic and other aspects of technology, and relates to multiple fields of computers, image processing, pattern recognition and the like. The vision system converts the shot object into image signals through machine vision products (namely an image shooting device, namely CMOS and CCD, respectively), the image signals are transmitted to a special image processing system, the image signals are converted into digital signals according to pixel distribution, brightness, color and other information, the image processing system performs various operations on the signals to extract the characteristics of the object, and then the on-site equipment actions are controlled according to the judging result.

The vision system mainly comprises five blocks, namely an illumination light source, a lens, an industrial camera, an image acquisition/processing card and an image processing system. The illumination light source comprises four illumination modes of back illumination, forward illumination, structured light illumination and stroboscopic illumination, wherein the back illumination is that an object to be measured is placed between the light source and the camera, an image with high contrast can be obtained, the structured light illumination is that a grating or a linear light source and the like are projected onto the object to be measured, and three-dimensional information of the object to be measured is demodulated according to distortion generated by the grating or the linear light source and the like; the lens focuses the image of the measured object, and provides better resolution, field angle, working distance, depth of field and the like for the vision system; the camera can be divided into a CCD camera and a CMOS camera according to different chip types and is used for shooting an object to be detected; the image acquisition card has the functions of A/D conversion, image transmission, image acquisition control and image processing, and the image acquisition card transfers the video signals shot by the camera from the camera belt to the industrial personal computer and stores the video signals in a data file form; the image processing system performs complex calculation and processing on the image data to obtain information required by the system design, and common algorithms for image processing comprise filtering, edge sharpening, image segmentation, transformation, geometric analysis, three-dimensional measurement and the like.

In the paper laying procedure, a vision system is skillfully utilized to work in cooperation with a six-axis mechanical arm and a paper sucking mechanism, an illumination light source is arranged to provide proper illumination light for an industrial camera, the industrial camera shoots the position of paper on a paper lifting platform, the position is transferred to an industrial computer through an image acquisition card, the captured image information is processed by an image processing system, and the position information (three-dimensional information) of the paper on the paper lifting platform is obtained.

As shown in fig. 1, 2 and 3, a feed conveyor 7 is provided on the right side of the paper lifting table 3, and in the melamine sheet production process, a base material 8 is placed on a paper laying station of the feed conveyor 7, and a paper 10 is placed on the surface of the base material. In automated production, the substrate is fed to a defined and unique location (i.e., a paper laying station) on the feed conveyor, and the paper is precisely placed at the paper laying station to cover the upper and lower surfaces of the substrate.

Under the work of the six-axis mechanical arm 51 and the paper sucking mechanism 52, the paper on the paper lifting platform 3 can translate to a paper laying station on the feeding conveying mechanism 7 along the horizontal moving direction of the six-axis mechanical arm, at the moment, the position of the paper farthest away from the paper laying station on the paper lifting platform 3 can be selected to be set as a standard position, meanwhile, the position of the paper sucking mechanism 52 relative to the paper when sucking the paper is set as a standard sucking position, and the position of the paper sucking mechanism relative to the bracket is set as a reference sucking position. In this embodiment, in order to enable the paper to be laid on the upper surface and the lower surface of the substrate, the paper sucking mechanism is required to complete the paper turning operation, so that two standard adsorption positions and two reference adsorption positions exist, one standard adsorption position and one reference adsorption position correspond to the paper sucking mechanism when the paper is turned, and the other standard adsorption position and the other reference adsorption position correspond to the paper when the paper is not turned. The vision system shoots the standard position and transfers the standard position to the industrial computer, and the industrial computer records two reference adsorption positions simultaneously.

Then, in the actual paper laying work, the vision system shoots the actual position of the paper on the paper lifting platform, transmits the actual position information to the industrial computer, compares the actual position information with the set standard position information under the operation of the image processing system to obtain the offset value of the relative standard position, and then the industrial computer controls the six-axis manipulator 51 to work according to the offset value, and automatically adjusts the six-axis manipulator so that the paper sucking mechanism can adsorb the paper and ensure that the standard adsorption position is reached; then, the six-axis mechanical arm moves horizontally under the control of the industrial computer, and moves to the feeding and conveying mechanism through the paper sucking mechanism 52 with the paper, and is spread on the paper spreading station.

In the paper laying process, the paper is firstly laid on a paper laying station, then the base material is put on, and the paper is laid next, so that the upper surface and the lower surface of the base material are respectively contacted with the back surfaces of the paper positioned on the upper surface and the lower surface of the base material, and the next hot pressing process is convenient to carry out.

Further, referring to fig. 7, 8 and 9, the paper lifting platform 3 includes a frame 31 and a stage 32 movable up and down relative to the frame 31 for placing paper.

The objective table 32 comprises a supporting underframe 321, a plurality of rows of roller groups rotatably arranged on the supporting underframe 321, and a roller motor 323 arranged below the supporting underframe 321 and used for driving the roller groups to work; the roller group comprises a plurality of rollers 322 which are uniformly arranged, and the adjacent rollers 322 are connected by chains; the roller motor 323 is electrically connected to the industrial computer, and the work of the roller motor 323 is controlled by the industrial computer. A large stack of sheets is fed onto the stage 32 of the sheet lifting platform 3 by a roller conveyor. In this embodiment, two roller motors 323 are provided, and are connected by chain transmission to drive roller sets located at two sides of the support chassis 321 to rotate, and the rollers 322 are mounted on the support chassis 321 through bearings.

When the deviation angle of the paper relative to the standard position is larger, the corresponding roller motor is started to enable the roller group on the corresponding side to rotate, the position of the part, which is contacted with the rotating roller, of the paper is slowly moved, the integral position of the paper is adjusted, and the deviation angle is reduced. For example, the offset angle is larger on the right side (viewed along the Y axis) of the sheet on the sheet lifting platform relative to the left side, and then the roller motor is started, the left roller motor is turned back, the right roller motor is turned forward, the rollers of the left roller group are turned in the reverse direction, and the rollers of the right roller group are turned forward, so that the offset angle of the sheet is adjusted, and is reduced to a minimum angle to be close to 0 °. Through such unique design, can avoid the paper sucking mechanism to swing the range greatly in the XY plane, and can prevent that the paper from need swing great range and carry out the position adjustment after being adsorbed to and because of swing range is too big with causing the paper impaired, thereby improve efficiency.

Further, referring to fig. 7 and 9, the frame 31 is provided with a plurality of lifting screws 33 and a lifting motor 37, wherein the lifting screws 33 are in threaded connection with the supporting underframe 321 and can rotate relative to the frame 31, the bottom of the lifting screws 33 is provided with a driven sprocket 38, and an output shaft of the lifting motor 37 is provided with a driving sprocket in chain connection with the driven sprocket 38; the lifting motor 37 is electrically connected to the industrial computer, and the work of the lifting motor is controlled by the industrial computer.

Wherein, the two ends of the lifting screw rod 33 are mounted on the frame 31 through bearings, in this embodiment, four lifting screw rods 33 are provided, and correspondingly, two connecting pieces in threaded connection with the lifting screw rods 33 are fixedly connected to the left and right sides of the supporting chassis 321 respectively. The lifting motor 37 works, and drives the four lifting screw rods 33 to rotate simultaneously under the meshing connection action of the chain 39, the driving chain wheel and the driven chain wheel, and when the lifting screw rods 33 rotate relative to the frame 31, the supporting underframe connected with the lifting screw rods 33 can lift, so that the lifting of paper is realized.

Further, as shown in fig. 7, 8 and 9, the bottom of the frame 31 is rotatably provided with two rotating shafts 34, two ends of each rotating shaft 34 are provided with rollers 35, the frame 31 is fixed with a driving motor 36, the driving motor 36 is in transmission connection with any rotating shaft 34, and a guide rail 30 in rolling connection with the rollers 35 is arranged below the frame 31; the driving motor 36 is electrically connected to the industrial computer.

In addition, the paper lifting platform 3 is also provided with a photoelectric sensor positioned below the paper, and the photoelectric sensor is connected with an industrial computer and used for detecting whether the paper is placed on the paper lifting platform; when the photoelectric sensor detects that the paper lifting platform does not have paper, the industrial personal computer starts the driving motor 36, and the paper lifting platform 3 moves along the guide rail 30 under the working of the driving motor.

The output shaft of the driving motor 36 is fixed with a driving wheel, the corresponding rotating shaft is fixed with a driven wheel, and the driven wheel is meshed with the driving wheel and the driven wheel through a chain. The guide rail 30 is arranged along the Y-axis, and when the paper lifting platform lacks paper, the driving motor 36 works to drive the rotating shaft to rotate, and the paper lifting platform moves along the guide rail to the roller conveyor to receive a large stack of paper.

In addition, as shown in fig. 3 and 8, a fourth proximity switch for detecting the moving position of the frame is arranged at one end of the guide rail, and the fourth proximity switch is electrically connected to the industrial computer and is used for detecting the moving position of the paper lifting platform 3, so that the position of the paper lifting platform 3 relative to the feeding and conveying mechanism 7 is determined to be unique, and further automatic and accurate paper suction and paper spreading are facilitated.

Further, referring to fig. 1, 16, 17 and 18, the self-centering plate feeding mechanism 2 includes a support rail 6, a movable support 211, and a lifting plate sucking mechanism slidably connected to the movable support 211.

Wherein the second proximity switch 62 is arranged on the support rail 6; in the present embodiment, the second proximity switches 62 are provided at the front and rear sides of the support rail, respectively, to detect whether the moving support 211 is moved in place, respectively.

The support rail 6 is provided with a second driving mechanism 63 for driving the moving support 211 to move horizontally along the support rail 6. In the present embodiment, two pulleys 61 are fixed to the front and rear sides of the support rail 6, respectively; the second driving mechanism 63 is a forward and reverse rotation motor, and is fixed on the support guide rail 6, the forward and reverse rotation motor is in transmission connection with a transmission rotating shaft 64, two ends of the transmission rotating shaft 64 are respectively connected with two belt pulleys 61 positioned at the rear side of the support guide rail 6, and the belt pulley positioned at the front side of the support guide rail 6 is correspondingly connected with the belt pulley positioned at the rear side of the support guide rail 6 through a belt; the movable supporting frame 211 is fixedly connected with the belt. The forward and reverse rotation motor works to drive the transmission rotating shaft to rotate, and then the belt is driven to operate through the belt wheel so as to drive the movable supporting frame 211 to horizontally move back and forth along the supporting guide rail 6.

In this embodiment, the movable supporting frame 211 is provided with supporting rollers 212, the supporting rollers 212 contact with the supporting rail 6, and the supporting rollers roll along the supporting rail 6 under the driving of the belt. In addition, the movable supporting frame 211 is further provided with limiting guide wheels 216, and two limiting guide wheels 216 below the supporting rollers 212 are respectively contacted with the outer side surface and the inner side surface of the supporting guide rail 6, so that the movable supporting frame 211 is prevented from shifting when moving, and the linear running of the movable supporting frame can not be ensured.

The lifting suction plate mechanism comprises a lifting frame 222, a plurality of suckers 223 arranged at the bottom of the lifting frame 222, at least one limiting rod 224 which is arranged at two adjacent sides of the lifting frame 222 and can move up and down, and a pushing head 225 which is arranged at the other two adjacent sides of the lifting frame 222 and can move vertically relative to the lifting frame 222; the lift 222 is provided with a ram cylinder 226 for driving the ram 225 to move horizontally. The lifting frame is provided with a first sliding seat which is in sliding connection with the limiting rod and a second sliding seat which is in sliding connection with the pushing head, when the lifting frame places the base material on the feeding conveying mechanism, the limiting rod and the pushing head move upwards due to the contact with the surface of the feeding conveying mechanism, and the base material moves downwards by self due to the fact that the base material is only subjected to gravity after leaving the surface of the feeding conveying mechanism.

In this embodiment, the lifting frame 222 is provided with a lifting rail 221, the movable supporting frame 211 is correspondingly provided with a sleeve rod 213 slidably connected with the lifting rail 221, specifically, four sides of the upper end and the lower end of the sleeve rod 213 are respectively provided with rotatable pulleys 217, and four pulleys located on four sides of the sleeve rod 213 are respectively contacted with the lifting rail 221, so as to ensure that the lifting rail 221 can stably and smoothly move up and down.

In this embodiment, the lifting frame 222 is provided with two limit rods 224 on its front side for contacting the long sides of the base material 8; the lifting frame 222 is provided with a limit rod 224 on the left side thereof for contacting with the short side of the base material 8; the lifting frame 222 is provided with a pushing head 225 on the right side for contacting with the short side of the substrate, and the pushing head pushes the substrate to the left until the short side of the left side of the substrate contacts with the left limiting rod 224; the lift 222 is provided at its rear side with two pusher heads 225 for contacting the long sides of the substrate, which push the substrate forward until the long sides of the front side of the substrate contact the front stop bars 224. Realize the substrate centering through pushing away head and gag lever post, then use the sucking disc to adsorb the substrate, move down after the crane horizontal migration, accurately place the substrate on feed conveyor's shop paper station, realized that the print pattern of paper is corresponding (the coincidence) with the line of waiting to suppress of substrate.

In addition, the lifting frame 222 is provided with an anti-sucking two-piece plate mechanism 226, the anti-sucking two-piece plate mechanism 226 is positioned at the rear side of the lifting frame 222 and the front side of the pushing head 225, and the anti-sucking two-piece plate mechanism drives a second sucker positioned at the end part of a piston rod of the pressure cylinder to rise through the pressure cylinder, so that the edge of the uppermost substrate is warped and separated from the lower substrate, and two substrates are prevented from being sucked once in the sucking process.

The movable supporting frame 211 is provided with a third driving mechanism 214 for driving the lifting suction plate mechanism to vertically move relative to the movable supporting frame 211. The third driving mechanism 214 is a forward and reverse rotation motor, which is fixed on the movable supporting frame 211, and the forward and reverse rotation motor is connected with a lifting rotating shaft in a transmission way; the movable supporting frame 211 and the lifting frame 222 are respectively provided with two lifting belt wheels in a rotating way, the lifting belt wheels on the movable supporting frame 211 are connected with the lifting rotating shaft, a lifting belt 215 is arranged, the bottom end of the lifting belt 215 is fixedly connected with the lifting belt wheels on the lifting frame 222, and the top end of the lifting belt 215 is fixedly connected with the lifting belt wheels on the movable supporting frame 211. The forward and reverse rotation motor works to drive the lifting belt wheel on the movable supporting frame 211 to roll the lifting belt by driving the lifting rotating shaft to rotate, so that the lifting frame 222 is lifted.

Further, referring to fig. 2, 13, 14 and 15, the feed conveyor 7 includes a conveyor base 73, a feed rail 71, and a tooling plate cart 72 slidably coupled to the feed rail 71.

The rear end of the feeding guide rail 71 is fixed to the conveying underframe 73 and is laid on two sides of the lower die 12 of the longitudinal hot press 1. The loading trolley 72 includes a loading frame 723, a crawler 721 provided around the loading frame 723 for transporting the base material 8, a pressing roller 727 provided at the front end of the loading frame 723 and rotatably connected to the loading frame 723, and unloading blocks 728 provided obliquely downward on the loading frame 723 and located at both ends of the front side of the pressing roller 727. The transport chassis 73 is provided with a fourth drive mechanism 74 which drives the pallet truck 72 horizontally with respect to the feed rail 71.

In this embodiment, two ends of the press roller 727 are respectively fixed with a rotating member in an L shape, the rotating member is mounted on the plate frame 723 through a bearing, the rotating member is fixed with a press roller gear 7274, the press roller gear 7274 is in engagement connection with a press roller rack 7273, the plate frame 723 is provided with a guide groove 7271 for supporting the press roller rack 7273 and in sliding connection with the press roller rack, and the press roller rack 7273 is connected with a press roller cylinder 7272 fixed on the plate frame 723. The piston rod of the press roller cylinder 7272 performs telescopic action to drive the press roller rack 7273 to move back and forth along the guide groove 7271, and then the press roller 727 is driven to rotate clockwise or anticlockwise through the press roller gear 7274.

In this embodiment, the loading plate frame 723 is provided with a slide 7231 which is slidably coupled to the feed rail 71. The track 721 is wound around the surface of the pallet frame 723 by track shafts 725 and drive shafts 726, the surface of the pallet frame being inclined downwardly and engaging the discharge plate to facilitate downward movement of the substrate along the track. The drive shaft 726 is provided to ensure that the track 721 maintains proper tension and does not sag. In addition, a plurality of support plates 724 are provided on the loading frame 723 to assist the crawler 721, which serves to support the substrate. The two sides of the conveying underframe 73 are provided with protection plates 76 which can play a role in protection.

When the pallet truck 72 delivers the substrate between the upper die and the lower die of the longitudinal hot press and is located at the hot pressing working position (the working position where embossing and printing patterns can be guaranteed to coincide), the press roller 727 rotates and does not press the substrate any more, then in the process that the pallet truck moves back to the paper laying station, the track shaft 725 drives the track 721 to rotate, the track conveys the substrate forwards, the conveying speed and the backward moving speed of the pallet truck are controlled, so that the substrate cannot move back along with the pallet truck, and can be stationary relative to the feeding guide rail, and finally the substrate can fall to the hot pressing working position. In this embodiment, the feeding and conveying mechanism works as the plate feeding device in the prior art, so that the moving speed of the crawler belt and the moving speed of the plate loading trolley are opposite in the same direction, the total speed of the plate is zero, that is, the plate is ensured not to move along with the plate loading trolley during discharging, the dislocation of the base plate and the paper is prevented, and the rejection rate is reduced.

In the present embodiment, the fourth driving mechanism 74 includes a conveying motor 741, a conveying shaft 742, a conveying pulley 744, and a conveying belt 743. The conveying motor 741 is fixed on the conveying underframe 73 and is positioned below the plate loading trolley 72, the conveying motor is in power connection with the conveying rotating shaft 742, two ends of the conveying rotating shaft are arranged on the conveying underframe 73 through bearings, the conveying belt wheels 744 are respectively arranged on the front side and the rear side of the conveying underframe 73, two ends of the conveying rotating shaft 742 are respectively fixedly connected with the conveying belt wheels 744 positioned on the rear side of the conveying underframe 73, the conveying belt wheels 744 positioned on the front side of the conveying underframe 73 are arranged on the conveying underframe through bearings, the conveying belt 743 is arranged around the conveying belt wheels 744 positioned on the front side and the rear side of the conveying underframe 73, and the plate loading frame 723 is provided with a fixing piece 722 fixedly connected with the conveying belt.

Specifically, as shown in fig. 29, the track frame 723 is provided with two rows of rotatable guide wheels 77 located on both sides of the crawler 721, and the rolling surface of the guide wheels 77 is connected to the side surface of the crawler 721. In order to prevent the track 721 from deviating during operation, guide wheels 77 are respectively provided at both sides of the track, and the guide wheels 77 are mounted on the loading plate frame 723 through bearings, and during operation of the track, the sides of the track are in contact with the rolling surfaces of the guide wheels, thereby limiting the track from deviating.

In this embodiment, a third proximity switch 75 is provided at the rear end of the feed rail 71 and is fixed to the transport undercarriage 73 for detecting whether the pallet truck 72 is moved back into position to ensure that the paper laying station is always definitively unique with respect to the transport undercarriage. In addition, the pressing roller 727 can press the base material and the paper, so that the base material and the paper can be prevented from being displaced in the moving process of the plate loading trolley, and the embossing is prevented from being misaligned with the printing pattern of the paper. And a third proximity switch 729 is provided at the front end of the pallet 72 for detecting whether the pallet is moved forward in place, between the upper and lower dies of the longitudinal hot press, and ensuring that the embossing coincides with the printing pattern.

For the longitudinal hot press, the axis direction of the synchronous rotating shaft is taken as an X axis, the direction perpendicular to the axis of the synchronous rotating shaft is taken as a Y axis, and the longitudinal hot press is used for longitudinally pressing the plate (namely, the length direction of the plate is consistent with the moving direction of the plate relative to the press). In this example, a longitudinal heated press was used to press melamine board (e.g., 4x10 gauge board) having an aspect ratio of 10:4.

Referring to fig. 22 and 23, the longitudinal hot press 1 provided by the present invention includes an upper die 11 capable of moving up and down and a fixed lower die 12, wherein an upper die 112 is disposed on a bottom surface of the upper die 11, a lower die 121 is disposed on a top surface of the lower die 12, and the upper die 112 and the lower die 121 are used for pressing lines on a plate.

As shown in fig. 23 and 26, two rows of rotatable first pulleys 181 are vertically arranged on the left and right sides of the upper die 11, and two guide blocks 182 respectively slidably connected with the first pulleys 181 are correspondingly arranged on the longitudinal hot press 1. In the present embodiment, the first pulleys 181 are mounted on the side of the upper die 11 through bearings, and the axes of the first pulleys 181 of the same specification in each row pass through the same vertical line and are vertically movable along the surface of the guide block 182. The left side or the right side of the upper die 11 is provided with two rows of first pulleys 181, and simultaneously, the left side or the right side of the longitudinal hot press 1 is correspondingly provided with two vertically fixed guide blocks 182, and in the up-and-down movement process of the upper die, the first pulleys 181 always keep contact with the guide blocks 182 and roll, so that the upper die is ensured not to deviate along the X-axis direction.

22, 23, 24, 25, the longitudinal press further includes a linkage 14; the link mechanism 14 comprises a synchronous rotating shaft 141 which is rotatably arranged above the longitudinal hot press 1 through a bearing, a link 142 which is respectively fixed at two ends of the synchronous rotating shaft 141, and a swing rod 143 one end of which is hinged with the link 142. The front side and the rear side of the upper die 11 are respectively provided with a connecting seat 111, and the connecting seats 111 are arranged on the top surface of the upper die 11 through bolts; the other end of the swing rod 143 is hinged with the connecting seat 111, the connecting seat 111 is vertically fixed with a moving rod 16 which is suitable for the swing rod 143 to penetrate, the moving rod 16 is sleeved with a sleeve rod 15 which is fixed on the longitudinal hot press 1, the left side and the right side of the sleeve rod 15 are respectively provided with an opening 151, and a second pulley 17 which is in sliding connection with the moving rod 16 is arranged at the opening 151 of the corresponding sleeve rod 15. The projections of the two links 142 fixed to both ends of the synchronization shaft 141 coincide with each other in front view.

Specifically, the second pulleys 17 are rotatably provided on the left and right sides of the loop bar 15 by bearings. The movable rod 16 is slidably connected to the loop bar 15. The longitudinal hot press 1 is provided with a fixed seat 13, and the synchronous rotating shaft 141 is rotatably installed on the fixed seat 13. In this embodiment, the loop bar 15 is fixed on the longitudinal hot press 1 by bolts, and the loop bar 15 is provided with two sets of second pulleys 17 along the height direction, and one or more sets of second pulleys can be provided according to actual needs. In the vertical movement of the upper die, the moving rod 16 moves vertically along with it, contacts the second pulley 17, and slides relative to the second pulley, preventing the upper die from being displaced in the Y-axis direction during the vertical movement. In addition, the arrangement of the synchronous rotating shaft 141, the connecting rod 142 and the swing rod 143 of the connecting rod mechanism can ensure that the front side part and the rear side part of the upper die 11 move synchronously and vertically, and the situation that the upper die is lower and higher is avoided, so that the upper die is always in a horizontal plane in the vertical movement.

According to the invention, through the cooperation of the first pulley 181 and the guide block 182 and the cooperation of the connecting rod structure, the second pulley 17 and the moving rod 16, the upper die of the hot press can only move along the height direction, so that the upper die always keeps a horizontal state, the X direction and the Y direction of the upper die cannot deviate on a horizontal plane, the superposition precision of pressed lines and printed patterns of paper is greatly improved, and the quality of products is improved.

As shown in fig. 25, 26, 27 and 28, the longitudinal hot press further comprises a plurality of die locking mechanisms 19; the die locking mechanism 19 comprises a telescopic cylinder 191, a lock rod 192, a clamping block 193 and an L-shaped mounting seat 197, wherein one end of the lock rod 192 is hinged with a piston rod of the telescopic cylinder 191, the cylinder body of the telescopic cylinder 191 is hinged with the mounting seat 197, and the lock rod 192 is hinged with the mounting seat 197 so that the lock rod can rotate relative to the mounting seat; the clamping block 193 is provided with a plurality of clamping holes 1931 along the length direction, the other end of the lock rod 192 is provided with a clamping hook 194 in clamping connection with the clamping holes 1931, and the clamping hook 194 and the lock rod 192 are integrally formed; the clamping blocks 193 are arranged on the top surface of the upper die 112 and are respectively fixed on the left side and the right side of the upper die 112 through bolts, the clamping blocks 193 are arranged on the outer side surface of the upper die 11, and the top surface of the upper die 112 is attached to the bottom surface of the upper die 11; the mounts 197 are fixed to the left and right sides of the upper die 11 by bolts, respectively.

When the piston rod of the telescopic cylinder 191 extends to a proper position, the clamping hook 194 of the lock rod 192 is in clamping connection with the clamping hole 1931 of the clamping block 193, so that the clamping block 193 and the upper die 112 are fixed and cannot fall down and move left and right; when the piston rod of the telescopic cylinder 191 is retracted, the hook 194 of the lock rod 192 is released from the snap connection with the snap hole 1931, so that the upper die 112 and the clamping block 193 can be detached together, the upper die is very convenient to replace, and the upper die can be stably fixed under the action of the telescopic cylinder and the lock rod.

Further, the mounting seat 197 is fixed with a horizontally arranged round rod 195, and the lock rod 192 is correspondingly provided with a through hole (not shown in the figure) suitable for the round rod 195 to penetrate, and the through hole is a waist-shaped hole; the round rod 195 is sleeved with a spring 196, and one end of the spring 196 is abutted against the lock rod 192. In this embodiment, the other end of the spring 196 abuts against a stopper (not shown) fixed to the round rod 195, and of course, the stopper may be a nut screwed to the round rod. The size of the through hole is matched with the diameter of the round rod 195, the round rod 195 always penetrates through the through hole of the lock rod 192, the guide limiting function is achieved on the lock rod 192 hinged to the mounting seat 197, and the lock rod is prevented from swinging back and forth during swinging. When the piston rod of the telescopic cylinder 191 is retracted, the lock rod 192 is driven to swing to release the locking of the clamping block 193, and the spring 196 is greatly contracted due to the larger pressure of the lock rod 192; when the piston rod of the telescopic cylinder 191 is extended, the lock rod 192 is driven to reversely swing to release the locking of the clamping block, and the spring 196 generates elasticity to the lock rod 192, so that the difficulty of the turning swing of the lock rod is increased, the locking effect of the die locking mechanism 19 on the upper die 112 is enhanced, and the upper die is prevented from shifting in the moving and embossing processes.

As shown in fig. 27 and 28, the hook 194 is provided with a straight hook surface 1941, the clamping block 193 is correspondingly provided with an inclined surface 1932 attached to the hook surface 1941 at the position of the clamping hole 1931, and through such smart design, when the hook 194 is in snap connection with the clamping hole 1931, the inclined surface 1932 of the clamping hole 1931 is attached to the hook surface 1941 of the hook 194, so that the clamping block cannot move at all, and the movement of the upper die 112 caused by the movement of the clamping block 193 can be avoided, so that the superposition precision of patterns pressed on a plate and patterns of paper is not high. The fixture block 193 is provided with a mounting hole 1933, and a bolt is fixedly connected with the upper mold through the mounting hole 1933.

In addition, as with the fixing of the upper mold 112, the fixture blocks 193 are provided on the bottom surface of the lower mold 121 and are fixed to the left and right sides of the lower mold 121, respectively; the mounts 197 are fixed to the left and right sides of the lower die 12, respectively. The die locking mechanism 19 locking the upper die 112 and the die locking mechanism 19 locking the lower die 121 are provided on the longitudinal press 1 vertically symmetrically with respect to the horizontal plane.

The longitudinal hot press can enable the upper die of the longitudinal hot press to stably and smoothly move along the height direction through the design and the cooperation of the connecting rod mechanism, the second pulley, the guide block and the first pulley, and can avoid that the upper die deviates when a plate is pressed and the pattern of paper can not be accurately aligned to the die positioned on the lower surface of the upper die, so that the pressed decorative panel embossing and the pattern superposition of the paper have deviation, the product quality is not ideal, and the design of the longitudinal hot press further improves the embossing precision.

step S100: and finding a reference origin on the paper lifting platform, taking a plane rectangular coordinate system through the reference origin, photographing the reference origin by a vision system, taking the image information as a standard template, and storing the image information into an industrial personal computer.

As shown in fig. 3 and 10, a dotted line area 40 is defined on the paper lifting platform 3 to find a reference origin O, in this embodiment, the corner point of the upper left corner is selected as the reference origin O, and the feeding and conveying mechanism 7 is disposed on the right side of the paper lifting platform, and then the reference origin O is crossed to make an X axis and a Y axis, where the direction of the horizontal movement of the six-axis manipulator along the support is still taken as the X axis, and the direction of the movement of the paper lifting platform is taken as the Y axis. In the present embodiment, as shown in fig. 7, the upper left corner of the support chassis 321 may be selected as the reference origin O.

Step S200: setting a reference position of the six-axis manipulator relative to a reference origin; when two adjacent sides of paper coincide with coordinate axes of a plane rectangular coordinate system, and the paper sucking mechanism sucks the paper and can directly translate or turn over the paper to translate on the feeding conveying mechanism, the position of the paper sucking mechanism relative to the paper is correspondingly set as a standard suction position I or a standard suction position II, the position of the six-axis manipulator relative to a reference origin is correspondingly set as a reference position I or a reference position II, and meanwhile, the position of the paper sucking mechanism for laying paper on the feeding conveying mechanism is a paper laying station and is stored in an industrial computer; and the present position of the sheet is recorded as the standard position.

As shown in fig. 3 and 10, the top edge and the left edge of the paper 10 are respectively overlapped with the X axis and the Y axis, the upper left corner point a of the paper 10 is overlapped with the reference origin O, then the standard adsorption position of the paper sucking mechanism is set, and in fig. 10, two standard adsorption positions, namely a first standard adsorption position 50b and a second standard adsorption position 50a, are shown, when the position of the paper sucking mechanism 52 is the first standard adsorption position 50b, the paper 10 can be adsorbed, and the paper is directly moved to the feeding and conveying mechanism 7 on the right side and is paved on the paper paving station; when the position of the paper suction mechanism 52 is the standard suction position two 50a, the paper can be sucked, the paper can be turned over while moving towards the feeding and conveying mechanism on the right side, and the paper is laid on the paper laying station, so that the paper laying work on the upper surface and the lower surface of the base material is completed. The first standard suction position 50b and the second standard suction position 50a are determined to be unique on the sheet.

Since the six-axis manipulator 51 moves horizontally along the support 4, the X-axis coordinate value of the reference position two corresponding to the standard adsorption position two 50a is set as X10, the X-axis coordinate value of the reference position one corresponding to the standard adsorption position one 50b is set as X20, and the X-axis coordinate value is stored in the industrial computer.

Step S300: when the paper laying manipulator device is used for paper laying, the vision system is used for shooting the current paper and the reference origin on the paper lifting platform, and the acquired real-time image information is sent to the industrial computer.

Since the paper is placed on the paper lifting platform, the paper position is not necessarily the standard position. As shown in fig. 11, the paper 10 on the paper lifting platform has a certain offset amount and no offset angle with respect to the standard position, that is, the top edge and the left edge of the paper 10 are respectively parallel to the X axis and the Y axis, the distance between the top edge and the X axis is Y1, and the distance between the left edge and the Y axis is X1, that is, the coordinates of the left corner point a of the paper are (X1, Y1). As shown in fig. 12, the paper 10 on the paper lifting platform has a certain offset amount and offset angle with respect to the standard position, that is, the coordinates of the upper left corner point a of the paper are (x 1, y 1), the coordinates of the lower left corner point b of the paper are (x 2, y 2), and the offset angle is calculated by the coordinate values of the two corner points a, b. The vision system shoots and transmits the reference origin O and the paper to the industrial computer.

Step S400: and the industrial control computer compares and analyzes the acquired real-time image information with the standard template, so that Y-direction offset and X-direction offset of corner points of the current paper, which are close to the reference origin, relative to the reference origin and the deflection angle of the current paper are obtained.

The real-time image information acquired in the step S300 is compared with the standard template information acquired in the step S100 one by one, and the relationship between the paper and the reference origin, namely the X-direction offset, the Y-direction offset and the offset angle of the paper relative to the reference origin, is analyzed. In addition, the vision system and the industrial computer work cooperatively to obtain three-dimensional information (X value, Y value and Z value) of the paper, the six-axis mechanical arm is controlled to work by utilizing the three values and the reference position information of the six-axis mechanical arm, the six joints are coordinated and matched mutually, the position of the paper sucking mechanism is regulated, and the real-time position of the paper sucking mechanism relative to the paper is promoted to be a standard adsorption position. Of course, a proximity switch may be provided to the paper suction mechanism, and the proximity switch may be used to adjust the height position of the paper suction mechanism relative to the paper, thereby ensuring that the paper suction mechanism can suck the paper.

As shown in fig. 11, the offset of the sheet with respect to the standard template is obtained by comparing with the standard template, and the X-direction offset of the sheet is X1, the Y-direction offset is Y1, and the offset angle is 0 ° with respect to the upper left corner a of the sheet.

As shown in fig. 12, the offset of the sheet with respect to the standard template is obtained by comparing with the standard template, and the X-direction offset of the sheet is X1, the Y-direction offset is Y1, and the clockwise direction is positive, and the offset angle is θ, which is arctan ((X1-X2)/(Y2-Y1)).

Step S500: if the front surface of the paper is upward, the industrial control computer adjusts the X-direction position of the six-axis mechanical arm and the adsorption position of the paper sucking mechanism according to the Y-direction offset, the X-direction offset, the deflection angle and the reference position II when the paper is required to be laid on the bottom surface of the base material, so that the adsorption position at the moment is the standard position II, and the accurate positioning of the paper sucking mechanism and the paper is completed; if paper needs to be laid on the top surface of the base material, the industrial control computer adjusts the X-direction position of the six-axis mechanical arm and the adsorption position of the paper sucking mechanism according to the Y-direction offset, the X-direction offset, the deflection angle and the reference position I, so that the adsorption position at the moment is the standard adsorption position I, and the accurate positioning of the paper sucking mechanism and paper is completed.

As shown in fig. 5 and 11, the coordinates of the upper left corner a of the paper are (X1, Y1) and the offset angle is 0 ° (the top edge and the left edge of the paper 10 are respectively parallel to the X axis and the Y axis), and then the offset obtained after processing and analysis by the image processing system of the industrial computer controls the six-axis manipulator to operate according to the offset, the reference position one or the reference position two (determined according to whether the paper is turned over or not) and controls the position of the six-axis manipulator in the X axis direction. If the position of the paper sucking mechanism is the standard sucking position II 50a when the paper is required to be turned over, the X value of the six-axis manipulator is changed into (x10+x1); if the paper is not required to be turned, the position of the paper sucking mechanism is a standard adsorption position I50 b, and then the X value of the six-axis manipulator is changed into (x20+x1); then, the vertical swing angles of the second joint 513, the third joint 514 and the fifth joint 516 are adjusted, so that the position of the paper sucking mechanism 52 relative to the paper 10 is adjusted, the paper sucking mechanism moves along the Y-axis direction in the XY plane by a distance Y1, the position of the paper sucking mechanism is ensured to be a standard suction position two 50a or a standard suction position one 50b (determined according to whether paper is turned over), and the accurate positioning of the paper sucking mechanism and the paper is completed.

As shown in fig. 5 and 12, the upper left corner a of the paper is set as (X1, Y1) and the lower left corner b is set as (X2, Y2), so that the X-direction offset of the paper is set as X1, the Y-direction offset is set as Y1, the clockwise direction is set as positive, the offset angle is set as θ, and the values are arctan ((X1-X2)/(Y2-Y1)), then the offset and the offset angle obtained after processing and analysis by the image processing system of the industrial personal computer are used for controlling the six-axis manipulator according to the offset, the offset angle, the reference position one or the reference position two (determined according to whether paper is turned over or not) and controlling the position of the six-axis manipulator in the X-axis direction. If the paper is required to be turned, the position of the paper sucking mechanism is a standard adsorption position II 50a, then the X value of the six-axis mechanical arm is changed to be (x10+x1), if the paper is not required to be turned, the position of the paper sucking mechanism is a standard adsorption position I50 b, then the X value of the six-axis mechanical arm is changed to be (x20+x1), and then the up-down swing angles of the second joint 513, the third joint 514 and the fifth joint 516 are adjusted, so that the position of the paper sucking mechanism 52 relative to the paper 10 is adjusted, and the paper sucking mechanism moves along the Y axis direction in the XY plane for a movement distance of Y1; then, the rotation of the fourth joint 515 and the sixth joint 517 adjusts the angular position of the paper suction mechanism in the XY plane, so that the deflection angle is equal to the offset angle θ, and the position of the paper suction mechanism is ensured to be the standard suction position two 50a or the standard suction position one 50b, thereby completing the accurate positioning of the paper suction mechanism and the paper.

Step S600: the paper sucking mechanism sucks and moves paper to a paper laying station under the control of the industrial computer.

As shown in fig. 3, after the accurate positioning of the paper suction mechanism is completed, the paper suction mechanism performs a paper laying work, and the movable base 53 moves along the support 4 toward the feeding and conveying mechanism 7 (X-axis direction) to lay paper on the paper laying station. The position of the movable seat in the X-axis direction is precisely controlled by the first proximity switches arranged at the two ends of the bracket 4.

Step S700: the automatic centering plate feeding mechanism performs centering adsorption action on the base material, horizontally moves to the position above the paper laying station, and vertically moves downwards to place the base material on paper positioned at the paper laying station.

As shown in fig. 1 and 2, when the industrial computer controls the paper laying manipulator device 5 to lay paper (the front of the paper is downward) on the paper laying station of the feeding and conveying mechanism 7 according to steps S100 to S600, the industrial computer controls the automatic centering and conveying mechanism 2 to center the substrate 8, then adsorb the substrate, move to the feeding and conveying mechanism 7, then move downward, and stably place the substrate on the paper laying station so that the back surface of the paper contacts with the bottom surface of the substrate. The moving position of the automatic centering plate feeding mechanism is accurately controlled through the second proximity switch.

Step S800: returning to the step S400 until the top surface of the substrate is paved with paper.

After step S700 is completed, paper needs to be laid on the top surface of the substrate. After the substrate is placed on the feeding and conveying mechanism, the step S400 is returned, and the paper is paved on the top surface of the substrate by the paper paving manipulator device, so that the back surface of the paper contacts with the top surface of the substrate, and finally, the superposition (or pattern alignment) of the printing pattern of the paper and the pattern to be pressed of the substrate is realized. In this embodiment, the adjacent two sides of the base material overlap with the adjacent two sides of the paper, and in general, after embossing, the adjacent other two sides of the base material protrude outward by the edges (the surplus portion of the paper) and a trimming process is required.

When the paper is placed with the base material and the printing pattern is overlapped with the pattern to be pressed of the base material, the industrial computer controls the feeding conveying mechanism to horizontally move towards the longitudinal hot press, and the position of the feeding conveying mechanism is precisely controlled through the third proximity switch, so that the feeding conveying mechanism is ensured to be positioned at the hot pressing working position of the longitudinal hot press, the embossing is overlapped with the printing pattern, and finally, double-sided synchronous embossing of the veneer is realized. Finally, the manipulator device for paper laying, the automatic centering plate feeding mechanism and the feeding conveying mechanism return to the original positions and enter the next embossing circulation.

In addition, the invention also provides a control method of the full-automatic veneer double-sided synchronous register embossing device, which comprises the following steps:

step S10: and placing the paper on a paper lifting platform, selecting a plurality of reference points or reference edges on the paper by a vision system, photographing, taking the image information as a standard template (or a standard position of called paper) and storing the image information into an industrial personal computer.

As shown in fig. 19, a dotted line area 40 is divided on the paper lifting platform, and four reference points, that is, a reference point a, a reference point B, a reference point C, and a reference point D, are selected on the paper, and the four reference points may be four corner points of the paper or mark points on the paper. In addition, four reference edges may be selected on the paper, namely, a reference edge L1, a reference edge L2, a reference edge L3, and a reference edge L4. The feeding conveying mechanism is arranged on the right side of the paper lifting platform, the direction of the horizontal movement of the six-axis manipulator along the bracket is taken as an X axis (namely, the length direction of L1 is taken as the X axis direction), and the direction of the movement of the paper lifting platform is taken as a Y axis.

Step S20: setting a reference position of the six-axis manipulator relative to a reference point or a reference edge; when the paper sucking mechanism sucks the paper and can move, the position of the paper sucking mechanism relative to the paper is set as a standard sucking position, the position of the six-axis mechanical arm relative to a reference point or a reference edge is set as a reference position, and the position is stored in an industrial computer.

As shown in fig. 19, after a reference point or a reference edge is selected on the paper, setting a standard adsorption position of the paper sucking mechanism, wherein two standard adsorption positions, namely a standard adsorption position 30a and a standard adsorption position 30b, are shown in fig. 19, when the position of the paper sucking mechanism is the standard adsorption position 30b, the paper can be sucked, and the paper is moved to a feeding conveying mechanism on the right side and laid on a station; when the position of the paper sucking mechanism is the standard sucking position 30a, paper can be sucked, and the paper can be turned while moving towards the right side feeding and conveying mechanism, so that the paper can be laid on the station, and the paper laying work on the upper surface and the lower surface of the base material is completed. The standard suction position 30a and the standard suction position 30b are determined to be unique on the sheet. In this embodiment, when the paper suction mechanism is at the standard suction position 30a or the standard suction position 30b, the straight line of the vacuum suction nozzles of the paper suction mechanism which are uniformly arranged is parallel to and close to the side of the paper perpendicular to the moving direction.

Because the six-axis manipulator moves horizontally along the bracket, the X-axis coordinate value of the reference position corresponding to the standard adsorption position 30a is set as X10, the X-axis coordinate value of the reference position corresponding to the standard adsorption position 30b is set as X20, and the X-axis coordinate value is stored in the industrial control computer.

Step S30: when sucking paper, the vision system shoots the current paper and the reference point or the reference edge on the paper lifting platform, and sends the acquired real-time image information to the industrial computer.

Since the paper is placed on the paper lifting platform, the paper position is not necessarily the standard position. As shown in fig. 19 and 20, the paper 10 on the paper lifting platform has a certain offset amount and no offset angle relative to the standard position, that is, the points a, B, C and D on the paper 10, which are in one-to-one correspondence with the reference points a, B, C and D, have the same offset amount. Of course, the edges L1, L2, L3, L4 on the paper 10 may be in one-to-one correspondence with the reference edges L1, L2, L3, L4, that is, the edges L1, L3 may be parallel to the reference edges L1, L3 and have the same offset, and the edges L2, L4 may be parallel to the reference edges L2, L4 and have the same offset.

As shown in fig. 19 and 21, the paper 10 on the paper lifting platform has a certain offset and an offset angle with respect to the standard position, that is, the points a, B, C and D on the paper 10, which are in one-to-one correspondence with the reference points a, B, C and D, have different offsets. Of course, the edges L1, L2, L3, L4 on the paper 10 may be in one-to-one correspondence with the reference edges L1, L2, L3, L4, but the edges L1, L3 may be respectively non-parallel to the reference edges L1, L3, and the edges L1, L3 may have the same offset angle, and the edges L2, L4 may be respectively non-parallel to the reference edges L2, L4, and the edges L2, L4 may have the same offset angle.

Step S40: and the industrial control computer compares and analyzes the acquired real-time image information with the standard template, so that the offset and the offset angle of the current paper relative to the standard template are obtained.

The real-time image information acquired in the step S30 is compared with the standard template information acquired in the step S10 one by one, and the relation between the paper and the reference point or the reference edge, namely the offset and the offset angle of the paper, is analyzed. In addition, the vision system and the industrial computer work cooperatively, so that the offset condition information of the paper relative to the standard template can be obtained, the six-axis manipulator is controlled to work by utilizing the offset condition information and the reference position information of the six-axis manipulator, and the six joints are coordinated and matched mutually to adjust the position of the paper sucking mechanism, so that the real-time position of the paper sucking mechanism relative to the paper is enabled to be the standard adsorption position. Of course, a proximity switch may be provided to the paper suction mechanism, and the proximity switch may be used to adjust the height position of the paper suction mechanism relative to the paper, thereby ensuring that the paper suction mechanism can suck the paper.

Step S50: the industrial control computer adjusts the X-direction position of the six-axis mechanical arm and the adsorption position of the paper sucking mechanism according to the offset and the offset angle of the paper and the reference position, so that the adsorption position is a standard position at the moment, and the accurate positioning of the paper sucking mechanism and the paper is completed.

Step S60: the paper sucking mechanism sucks and moves paper to a paper laying station under the control of the industrial computer.

After the accurate positioning of the paper sucking mechanism is completed, the paper sucking mechanism performs paper laying work, and the movable seat 53 moves along the support toward the feeding and conveying mechanism (X-axis direction) to lay paper on the station. The position of the movable seat in the X-axis direction is controlled by the proximity switches arranged at the two ends of the bracket.

Step S70: the automatic centering plate feeding mechanism performs centering adsorption action on the base material, horizontally moves to the position above the paper laying station, and vertically moves downwards to place the base material on paper positioned at the paper laying station.

As shown in fig. 1 and 2, when the industrial computer controls the paper laying manipulator device 5 to lay paper (the front of the paper is downward) on the paper laying station of the feeding and conveying mechanism 7 according to steps S10 to S60, the industrial computer controls the automatic centering and conveying mechanism 2 to center the substrate 8, then adsorb the substrate, move to the feeding and conveying mechanism 7, then move downward, and stably place the substrate on the paper laying station so that the back surface of the paper contacts with the bottom surface of the substrate. The moving position of the automatic centering plate feeding mechanism is accurately controlled through the second proximity switch.

Step S80: returning to the step S40 until the top surface of the substrate is paved with paper.

After step S70 is completed, paper needs to be laid on the top surface of the substrate. After the substrate is placed on the feeding and conveying mechanism, the step S40 is returned, and the paper is paved on the top surface of the substrate by the paper paving manipulator device, so that the back surface of the paper contacts with the top surface of the substrate, and finally, the superposition (or pattern alignment) of the printing pattern of the paper and the pattern to be pressed of the substrate is realized. In this embodiment, the adjacent two sides of the base material overlap with the adjacent two sides of the paper, and in general, after embossing, the adjacent other two sides of the base material protrude outward by the edges (the surplus portion of the paper) and a trimming process is required.

In addition, the full-automatic veneer double-sided synchronous register embossing device provided by the invention can be used for manufacturing veneers with different specifications (namely veneers with different specifications are identical in width and different in length), can finish synchronous register embossing work for the veneers, and can achieve seamless switching when producing veneers with different specifications.

In summary, the invention provides the full-automatic double-sided synchronous register embossing device for the veneer and the control method thereof, which have the advantages of ingenious design, stable structure, reliability, practicability and high intelligent degree, and can automatically complete synchronous register embossing work.

The invention skillfully uses the vision system to collect the position information of the paper on the paper lifting platform, obtains the offset information between the paper and the standard template through image information collection and comparison analysis, further controls the six-axis mechanical arm to adjust six joints of the paper, realizes the accurate positioning of the paper suction mechanism and the paper, and accurately lays the paper on the paper laying station of the feeding and conveying mechanism through the horizontal movement of the six-axis mechanical arm, thereby changing the traditional manual paper laying mode, reducing the manpower investment and improving the efficiency.

It will be understood that equivalents and modifications will occur to those skilled in the art in light of the present invention and their spirit, and all such modifications and substitutions are intended to be included within the scope of the present invention as defined in the following claims.

Claims

1. The utility model provides a full-automatic decorative board two-sided synchronization is to flower embossing apparatus, includes vertical hot press, industrial computer, its characterized in that still includes:

the paper lifting platform is arranged on one side of the feeding conveying mechanism and comprises a frame and an objective table which can move up and down relative to the frame and is used for placing paper;

the paper laying manipulator device is arranged above the paper lifting platform and can horizontally move, and comprises a six-axis manipulator, a bracket and a paper sucking mechanism;

the automatic centering plate conveying mechanism is arranged on the other side of the feeding conveying mechanism and can move horizontally and vertically and is used for adsorbing the base material, and comprises a supporting guide rail, a movable supporting frame and a lifting plate sucking mechanism which is connected with the movable supporting frame in a sliding manner;

the industrial computer is electrically connected with the paper lifting platform, the paper laying manipulator device, the vision system, the automatic centering plate feeding mechanism, the feeding conveying mechanism, the longitudinal hot press, the first proximity switch, the second proximity switch and the third proximity switch respectively;

the vision system shoots the current paper and a reference point or a reference border on the paper lifting platform, and sends the acquired real-time image information to the industrial computer;

the industrial control computer compares and analyzes the acquired real-time image information with the standard template, so that the offset and the offset angle of the current paper relative to the standard template are obtained;

The industrial control computer adjusts the X-direction position of the six-axis mechanical arm and the adsorption position of the paper sucking mechanism according to the offset and the offset angle of the paper and the reference position, so that the adsorption position is a standard position at the moment, and the accurate positioning of the paper sucking mechanism and the paper is completed.

2. A full-automatic veneer double-sided synchronization register embossing apparatus as in claim 1, wherein:

the adsorption member includes:

a rotary cylinder fixedly connected to the fixing member;

3. The full-automatic veneer double-sided synchronization register embossing device according to claim 2, wherein the six-axis manipulator comprises a base arranged on a movable seat, and a first joint, a second joint, a third joint, a fourth joint, a fifth joint and a sixth joint which are connected in a sequential transmission manner;

4. A full-automatic veneer double-sided synchronization register embossing apparatus as in claim 1, wherein:

the roller motor is electrically connected to the industrial computer.

5. The full-automatic veneer double-sided synchronous pattern alignment embossing device according to claim 4, wherein the bottom of the frame is rotatably provided with two rotating shafts, two ends of each rotating shaft are respectively provided with rollers, the frame is fixedly provided with a driving motor, the driving motor is in transmission connection with any rotating shaft, and a guide rail in rolling connection with the rollers is arranged below the frame; and one end of the guide rail is provided with a fourth proximity switch for detecting the moving position of the frame, and the driving motor and the fourth proximity switch are respectively and electrically connected with the industrial personal computer.

6. A full-automatic veneer double-sided synchronization register embossing apparatus as in claim 1, wherein:

the second proximity switch is arranged on the support guide rail;

the lifting suction plate mechanism comprises a lifting frame, a plurality of suckers arranged at the bottom of the lifting frame, at least one limiting rod which is arranged at two adjacent sides of the lifting frame and can move up and down, and pushing heads which are arranged at the other two adjacent sides of the lifting frame and can move vertically relative to the lifting frame; the lifting frame is provided with a pushing cylinder for driving the pushing head to horizontally move.

7. The full-automatic veneer double-sided synchronization register embossing apparatus as set forth in claim 1, wherein the longitudinal hot press comprises an upper die which can move up and down, a fixed lower die and a link mechanism; the bottom surface of the upper die and the top surface of the lower die are respectively provided with an upper die and a lower die; two rows of rotatable first pulleys are vertically arranged on the left side and the right side of the upper die respectively, and two guide blocks which are respectively connected with the first pulleys in a sliding manner are correspondingly arranged on the longitudinal hot press; the connecting rod mechanism comprises a synchronous rotating shaft, connecting rods and a swing rod, wherein the synchronous rotating shaft is arranged above the longitudinal hot press in a rotating mode, the connecting rods are respectively fixed at two ends of the synchronous rotating shaft, and one end of each swing rod is hinged with each connecting rod; connecting seats are respectively arranged on the front side and the rear side of the upper die; the other end of the swing rod is hinged with the connecting seat, the connecting seat is vertically fixed with a moving rod which is suitable for the swing rod to penetrate, the moving rod is sleeved with a sleeve rod which is fixed on the longitudinal hot press, the left side and the right side of the sleeve rod are respectively provided with holes, and the hole corresponding to the sleeve rod is provided with a second pulley which is in sliding connection with the moving rod.

8. A full automatic veneer double-sided synchronization register embossing apparatus as set forth in claim 7, wherein the longitudinal hot press further comprises a plurality of die lock mechanisms; the die locking mechanism comprises a telescopic cylinder, a lock rod, a clamping block and a mounting seat, wherein one end of the lock rod is hinged with a piston rod of the telescopic cylinder, the cylinder body of the telescopic cylinder is hinged to the mounting seat, the lock rod is hinged to the mounting seat, the clamping block is provided with a plurality of clamping holes along the length direction of the lock rod, and the other end of the lock rod is provided with a clamping hook connected with the clamping holes in a clamping manner; the clamping blocks are arranged on the top surface of the upper die and are respectively fixed on the left side and the right side of the upper die; the mounting seats are respectively fixed on the left side and the right side of the upper die.

9. The full-automatic veneer double-sided synchronization register embossing apparatus of claim 1, wherein the feed conveying mechanism comprises a conveying chassis, a feed guide rail, a tooling plate trolley slidably connected to the feed guide rail;

the plate loading frame is provided with two rows of rotatable guide wheels which are positioned at two sides of the crawler belt, and the rolling surface of each guide wheel is connected with the side surface of the crawler belt; the third proximity switch is respectively arranged at the rear end of the feeding guide rail and the front end of the plate loading trolley.

10. A method of controlling a full automatic veneer double-sided synchronous register embossing apparatus as claimed in claim 2 or 3, the method comprising:

step S100: finding a reference origin on the paper lifting platform, taking a plane rectangular coordinate system through the reference origin, shooting the reference origin by a vision system, taking the shot image information as a standard template and storing the standard template into an industrial personal computer;

11. A method of controlling a full automatic veneer double-sided synchronous register embossing apparatus as claimed in claim 2 or 3, the method comprising:

step S10: placing paper on a paper lifting platform, selecting a plurality of reference points or reference edges on the paper by a vision system, photographing, taking the photographed image information as a standard template, and storing the photographed image information into an industrial personal computer;

step S50: the industrial control computer adjusts the X-direction position of the six-axis mechanical arm and the adsorption position of the paper sucking mechanism according to the offset and the offset angle of the paper and the reference position, so that the adsorption position is a standard position at the moment, and the accurate positioning of the paper sucking mechanism and the paper is completed; step S60: the paper sucking mechanism sucks and moves paper to a paper laying station under the control of an industrial computer;

step S70: the automatic centering plate feeding mechanism performs centering adsorption action on the base material, horizontally moves to the position above the paper laying station, and then erects

The substrate is placed on the paper positioned at the paper laying station by direct shifting;