WO2020206969A1 - 一种基于客户个性化定制的木工家具生产线 - Google Patents

一种基于客户个性化定制的木工家具生产线 Download PDF

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WO2020206969A1
WO2020206969A1 PCT/CN2019/111639 CN2019111639W WO2020206969A1 WO 2020206969 A1 WO2020206969 A1 WO 2020206969A1 CN 2019111639 W CN2019111639 W CN 2019111639W WO 2020206969 A1 WO2020206969 A1 WO 2020206969A1
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robot
line
production line
materials
intelligent
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PCT/CN2019/111639
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English (en)
French (fr)
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刘送永
姚遥
江红祥
李允旺
谢奇志
李志强
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中国矿业大学
南通跃通数控设备股份有限公司
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Publication of WO2020206969A1 publication Critical patent/WO2020206969A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • the invention relates to the technical field of woodworking furniture intelligent production lines, in particular to a woodworking furniture production line based on customer personalized customization.
  • the present invention provides a woodworking furniture production line based on customer personalized customization.
  • the present invention provides a woodworking furniture production line based on customer personalized customization, including an intelligent production line that can move unidirectionally to realize edge sealing around materials.
  • the intelligent production line is provided with an intelligent manufacturing system for controlling its work;
  • the chemical production line includes a four-circle type large-span gantry robot for clamping and conveying materials, a four-sided wide and narrow row edge banding robot for sealing materials around, and a stacking robot for stacking materials.
  • a two-line assembly line for processing, assembling, spraying, and packaging.
  • the intelligent production manufacturing system controls the materials used to take out materials from the digital warehouse and transport them to the intelligent production line material level and to transform the processed materials from the intelligent
  • the mobile robot transported by the production line uses code scanning to fetch materials between the mobile robot and the digital warehouse.
  • the intelligent manufacturing system can receive customized data from customers and convert the customized data into corresponding instructions and send them to the mobile robot. production line.
  • the stacking robot includes a stacking robot 1 arranged at the front end of the two-line assembly line, and a stacking robot two arranged at the rear end of the two-line assembly line.
  • the stacking robot one is used to seal the edges. Materials are transported from the storage position of the dual-line assembly line to the inlet of the dual-line assembly line, and the stacking robot 2 is used to alternately stack the processed materials at the exit of the dual-line assembly line.
  • a cutting and preliminary processing station is provided between the material level of the intelligent production line and the four-sided wide-narrow-row edge banding robot.
  • the four-circle type long-span gantry robot is a double-gripper gantry robot.
  • the dual gripper gantry robot includes two X guide rails arranged in parallel and two Y guide rails arranged perpendicular to the X guide rail; the X guide rail is fixed to the ground by a bracket, and the bottom of the X guide rail is at a certain distance from the ground.
  • the Y guide rail is erected above the X guide rail and can slide freely along the X guide rail; the two Y guide rails are respectively provided with a gripper one and a gripper two, so A rotating motor is connected between the first and second clamps and the Y rail, and the rotating motor can drive the first and second clamps to rotate freely around the Z axis; the base of the rotating motor is connected to the Y rail , The first gripper and the second gripper can be slid freely along two parallel Y guide rails respectively by the drive motor.
  • the first gripper is used to move the material from the material position of the intelligent production line to the cutting and preliminary processing station for cutting and preliminary processing, and then move the material from the cutting and preliminary processing station to the sealing station.
  • the edge robot feeds the inlet, and automatically grabs and rotates the material at the transition between the wide and narrow rows; the gripper 2 is used to transport and rotate the edge-sealed material from the exit station of the four-sided wide and narrow row edge banding robot to the double
  • the storage position of the in-line processing line is used for subsequent production.
  • the four-sided wide-narrow-line edge banding robot includes a wide-line edge banding machine and a narrow-line edge banding machine.
  • the wide-line edge banding machine is arranged near the feed opening for sealing the short sides of the material.
  • the row edge banding machine is set close to the discharge port to seal the long side of the material.
  • the four-enclosed large-span gantry robot can clamp and rotate the material at the transition between the wide-row edge banding machine and the narrow-row edge banding machine. Switch between short and long edge banding.
  • a power roller conveyor is adopted between the processing stations, assembling stations, spraying stations, and packaging stations on the two-line assembly line to realize the transition of materials between different stations.
  • the intelligent manufacturing system automatically arranges production tasks and issues instructions.
  • the mobile robot After receiving the instructions through wireless signals, the mobile robot automatically scans the code from the digital warehouse to retrieve materials, and transports the material plates to the material level and stacks neatly; Based on the gantry robot with four-enclosed double grippers, it transports the material board to the cutting and preliminary processing station.
  • the preliminary processing After the preliminary processing is completed, it is transported to the four-sided wide and narrow row edge banding robot inlet, and automatically grabs and Rotating material plate; based on the rotatability of the gantry robot gripper and the four-sided wide and narrow row edge banding robot, it can complete the four-sided edge banding in a single pass and improve the edge banding efficiency; partial procedures are based on double-line operations, processing, assembly, spraying, and packaging Double assembly line operation. At the first and last positions of the double line, a stacking robot is arranged to realize the station conversion and stacking operation of the material plate. The station transition between processing, assembly, spraying and packaging is carried out by a power roller conveyor Realize, greatly improve work efficiency.
  • the invention is based on the intelligent production and manufacturing system, which can realize the personalized customization of woodworking furniture; it is based on the four-circle type double gripper gantry robot, which improves the material board handling efficiency and layout compactness; based on the four-sided wide and narrow row edge banding robot, it can realize the material board When moving in one direction, the edges are sealed on all sides at one time, which reduces the idle stroke and improves the efficiency of edge sealing.
  • Figure 1 is a schematic diagram of the process system of the present invention.
  • this embodiment provides a woodworking furniture production line based on customer customization, including an intelligent production line that can move in one direction to achieve edge sealing around materials.
  • the intelligent production line is provided with intelligence for controlling its work.
  • Production and manufacturing system the intelligent production line includes a four-circle type large-span gantry robot for clamping and conveying materials, a four-sided wide and narrow-row edge banding robot for sealing materials around, and a stack of materials for stacking
  • the stacking robot is used to process, assemble, spray, and package the two-line production line of materials.
  • the intelligent manufacturing system controls the materials used to take out the materials from the digital warehouse and transport them to the intelligent production line material level and to A mobile robot that transports processed materials from an intelligent production line.
  • the mobile robot and the digital warehouse use code scanning to fetch materials.
  • the intelligent manufacturing system can receive customer personalized customized data and convert the customized data into corresponding instructions Send to mobile robots and intelligent production lines.
  • the stacking robot includes a stacking robot one arranged at the front end of the two-line assembly line, and two stacking robots arranged at the rear end of the two-line assembly line.
  • the stacking robot one is used for edge-sealing materials
  • the material is transported from the storage position of the dual-line assembly line to the inlet of the dual-line assembly line, and the stacking robot 2 is used to alternately stack the processed materials at the outlet of the dual-line assembly line.
  • a material opening and preliminary processing station is arranged.
  • the four-circle type long-span gantry robot is a double-gripper gantry robot.
  • the dual gripper gantry robot includes two X guide rails arranged in parallel and two Y guide rails arranged perpendicular to the X guide rail; the X guide rail is fixed to the ground by a bracket, and the bottom of the X guide rail has a certain height from the ground and can To accommodate people and mobile equipment below, the Y guide rail is erected above the X guide rail and can slide freely along the X guide rail; the two Y guide rails are respectively provided with a clamper one and a clamper two, the clamping A rotating motor is connected between the first and second clamps and the Y rail, and the rotating motor can drive the first and second clamps to rotate freely around the Z axis; the base of the rotating motor is connected to the Y rail, which can pass through The driving motor drives the gripper one and the gripper two to slide freely along two parallel Y guide rails respectively.
  • the first gripper is used to move the material from the material position of the intelligent production line to the cutting and preliminary processing station for cutting and preliminary processing, and then move the material from the cutting and preliminary processing station to the edge banding robot.
  • the storage position of the line is used for subsequent production.
  • the four-sided wide-narrow-line edge banding robot includes a wide-line edge banding machine and a narrow-line edge banding machine.
  • the wide-line edge banding machine is arranged near the feed opening for sealing the short sides of the material.
  • the machine is set close to the discharge port for sealing the long side of the material.
  • the four-circle type large-span gantry robot can clamp and rotate the material at the transition between the wide-row edge banding machine and the narrow-row edge banding machine to perform short, Long edge banding switch.
  • a power roller conveyor is adopted between the processing stations, assembly stations, spraying stations, and packaging stations on the two-line assembly line to realize the transition of materials between different stations.
  • the intelligent manufacturing system automatically arranges production tasks and issues instructions.
  • the mobile robot After receiving the instructions via wireless signals, the mobile robot automatically scans codes and retrieves materials from the warehouse and transports the materials to the material level. The O position is neatly stacked, and the material is plate-like workpieces; based on the gripper one of the four-circle double gripper gantry robot, the material plate is moved from the O position to the A position for cutting and preliminary processing, and then the material plate is moved from the A position Move to position B of the feeding port of the edge banding robot, and automatically grab and rotate the material plate at the transition between wide and narrow rows.
  • the transition is located between position B and position C; based on the rotatability and four-sided type of the gantry robot gripper 1 Wide and narrow row edge banding robot, when the material board moves from position B to position C in one direction, it can complete the four-sided edge banding in one pass, thereby avoiding the idle stroke during the reciprocating movement and improving the edge banding efficiency;
  • Gantry robot gripper 2 It is used to transport and rotate the material plate from D position to E position; the stacking robot rotates and transports the E position material plate to the F1 position of the first assembly line and the F2 position of the second assembly line.
  • the rotation angle of the robot body is not less than 180
  • the first assembly line and the second assembly line are collectively referred to as dual lines; for relatively time-consuming processes such as processing, assembly, spraying, packaging, etc., dual-line simultaneous operations are used to improve production efficiency, and power roller conveyors are used to realize material plates at different positions
  • the stacking robot 2 will alternately stack the products of the G 1 position of the first assembly line and the G 2 position of the second assembly line to the H position, and finally be transported out of the warehouse by the mobile robot.
  • This embodiment is based on the intelligent production and manufacturing system, which can realize the personalized customization of woodworking furniture; based on the four-sided double gripper gantry robot, it improves the efficiency of sheet handling and the compactness of the layout; based on the four-sided wide and narrow row edge banding robot, the realization of the sheet When moving in one direction, the edges are sealed on all four sides at one time to reduce the idle stroke and improve the efficiency of edge sealing.

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  • Manufacturing & Machinery (AREA)
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Abstract

一种基于客户个性化定制的木工家具生产线，包括可单向移动实现物料四周封边的智能化生产线，智能化生产线设置有用于控制其工作的智能生产制造系统；智能化生产线包括用于夹持并输送物料的四围式大跨距龙门机器人以及用于对物料进行四周封边的四面式宽窄行封边机器人、用于堆垛物料的堆垛机器人，用于对物料进行加工、组装、喷涂、包装的双线流水加工线，智能生产制造系统可接收客户个性化定制数据并将定制数据转化成相应指令发送给移动机器人、智能化生产线，能够实现木工家具个性化定制；提高了料板搬运效率和布局紧凑性；实现料板在单向移动时一次性四面封边，减少空程，提高封边效率。

Description

一种基于客户个性化定制的木工家具生产线 技术领域
本发明涉及木工家具智能生产线技术领域，尤其涉及一种基于客户个性化定制的木工家具生产线。
背景技术
近年来，国内外对木工家具生产线的自动化和智能化作业需求不断增长。目前，智能化生产是工业生产的趋势，在生产作业过程中实现机器代人。由于现有的工业生产线智能化程度不高，面对客户个性化订单的生产效率低，生产线布局不合理，造成不必要的人力资源和空间资源浪费。因此，从实际情况出发，研制开发出一种稳定可靠、智能便捷的基于客户个性化定制的木工家具生产线，从而为智能化木工家具生产线的实现提供基础。
发明内容
为解决上述问题，本发明提供一种基于客户个性化定制的木工家具生产线。
为实现上述目的，本发明采用以下技术手段：
本发明提供一种基于客户个性化定制的木工家具生产线，包括可单向移动实现物料四周封边的智能化生产线，所述智能化生产线设置有用于控制其工作的智能生产制造系统；所述智能化生产线包括用于夹持并输送物料的四围式大跨距龙门机器人以及用于对物料进行四周封边的四面式宽窄行封边机器人、用于堆垛物料的堆垛机器人，用于对物料进行加工、组装、喷涂、包装的双线流水加工线，所述智能生产制造系统控制有用于将物料从数字化仓库取出并输送到智能化生产线料位的以及用于将加工好的物料从智能化生产线搬运走的移动机器人，所述移动机器人与数字化仓库之间采用扫码取料，所述智能生产制造系统可接收客户个性化定制数据并将定制数据转化成相应指令发送给移动机器人、智能化生产线。
进一步的，所述堆垛机器人包括设置在双线流水加工线前端的堆垛机器人一，设置在双线流水加工线后端的堆垛机器人二，所述堆垛机器人一用于将封边好的物料从双线流水加工线储料位搬运至双线流水加工线进口，所述堆垛机器人二用于交替堆垛双线流水加工线出口处理好的物料。
进一步的，所述智能化生产线料位与四面式宽窄行封边机器人之间设置有开料和初加工工位。
进一步的，所述四围式大跨距龙门机器人是一种双夹持器龙门机器人。
进一步的，所述双夹持器龙门机器人包括两条平行设置的X导轨、与X导轨垂直设置的两条Y导轨；所述X导轨通过支架与地面固定，所述X导轨底部距离地面有一定高度且能够容纳下方的人员和移动装备通行；所述Y导轨架设于X导轨上方且可沿X导轨自由滑动；所述两条Y导轨上分别设置有夹持器一和夹持器二，所述夹持器一和夹持器二与Y导轨之间连接有旋转电机，所述旋转电机可带动夹持器一和夹持器二绕Z轴自由转动；所述旋转电机底座与Y导轨连接，可通过驱动电机带动夹持器一和夹持器二分别沿两条平行设置的Y导轨自 由滑动。
进一步的，所述夹持器一用于将物料从智能化生产线料位搬至开料和初加工工位进行开料和初加工，然后再将物料从开料和初加工工位搬至封边机器人进料口，并在宽窄行过渡处自动抓取和旋转物料；所述夹持器二用于将封边好的物料从四面式宽窄行封边机器人出口处工位搬运并旋转至双线流水加工线的储料位进行后续工序生产。
进一步的，所述四面式宽窄行封边机器人包括宽行封边机与窄行封边机，所述宽行封边机设置在靠近进料口处用于封物料的短边，所述窄行封边机设置在靠近出料口处用于封物料的长边，所述四围式大跨距龙门机器人可在宽行封边机与窄行封边机的过渡处夹持并旋转物料，进行短、长边封边切换。
进一步的，所述双线流水加工线上的加工工位、组装工位、喷涂工位、包装工位之间采用动力辊输送机实现物料在不同工位的过渡。
根据客户个性化数据，智能生产制造系统自动安排生产任务和下达指令，移动机器人通过无线信号接到指令后，自动从从数字化仓库扫码取料，并将料板搬运至料位堆垛整齐；基于四围式双夹持器龙门机器人，搬运料板至开料和初加工工位，初加工完成后，搬运至四面式宽窄行封边机器人进料口，并在宽窄行过渡处自动抓取和旋转料板；基于龙门机器人夹持器的可旋转性和四面式宽窄行式封边机器人，可单程完成四面封边，提高封边效率；局部工序基于双流水线作业，加工、组装、喷涂、包装双流水线操作，在双线的首末位置，各布置一台堆垛机器人，实现料板的工位转换和堆垛作业，加工、组装、喷涂、包装之间的工位过渡由动力辊输送机实现，大大提升了工作效率。
本发明的有益效果：
本发明基于智能生产制造系统，能够实现木工家具个性化定制；基于四围式双夹持器龙门机器人，提高了料板搬运效率和布局紧凑性；基于四面式宽窄行封边机器人，实现料板在单向移动时一次性四面封边，减少空程，提高封边效率。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明的工艺系统流程示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
如图1所示，本实施例提供一种基于客户个性化定制的木工家具生产线，包括可单向移动实现物料四周封边的智能化生产线，所述智能化生产线设置有用于控制其工作的智能生产制造系统；所述智能化生产线包括用于夹持并输送物料的四围式大跨距龙门机器人 以及用于对物料进行四周封边的四面式宽窄行封边机器人、用于堆垛物料的堆垛机器人，用于对物料进行加工、组装、喷涂、包装的双线流水加工线，所述智能生产制造系统控制有用于将物料从数字化仓库取出并输送到智能化生产线料位的以及用于将加工好的物料从智能化生产线搬运走的移动机器人，所述移动机器人与数字化仓库之间采用扫码取料，所述智能生产制造系统可接收客户个性化定制数据并将定制数据转化成相应指令发送给移动机器人、智能化生产线。
其中，所述堆垛机器人包括设置在双线流水加工线前端的堆垛机器人一，设置在双线流水加工线后端的堆垛机器人二，所述堆垛机器人一用于将封边好的物料从双线流水加工线储料位搬运至双线流水加工线进口，所述堆垛机器人二用于交替堆垛双线流水加工线出口处理好的物料。
所述智能化生产线料位与四面式宽窄行封边机器人之间设置有开料和初加工工位。
所述四围式大跨距龙门机器人是一种双夹持器龙门机器人。
所述双夹持器龙门机器人包括两条平行设置的X导轨、与X导轨垂直设置的两条Y导轨；所述X导轨通过支架与地面固定，所述X导轨底部距离地面有一定高度且能够容纳下方的人员和移动装备通行；所述Y导轨架设于X导轨上方且可沿X导轨自由滑动；所述两条Y导轨上分别设置有夹持器一和夹持器二，所述夹持器一和夹持器二与Y导轨之间连接有旋转电机，所述旋转电机可带动夹持器一和夹持器二绕Z轴自由转动；所述旋转电机底座与Y导轨连接，可通过驱动电机带动夹持器一和夹持器二分别沿两条平行设置的Y导轨自由滑动。
所述夹持器一用于将物料从智能化生产线料位搬至开料和初加工工位进行开料和初加工，然后再将物料从开料和初加工工位搬至封边机器人进料口，并在宽窄行过渡处自动抓取和旋转物料；所述夹持器二用于将封边好的物料从四面式宽窄行封边机器人出口处工位搬运并旋转至双线流水加工线的储料位进行后续工序生产。
所述四面式宽窄行封边机器人包括宽行封边机与窄行封边机，所述宽行封边机设置在靠近进料口处用于封物料的短边，所述窄行封边机设置在靠近出料口处用于封物料的长边，所述四围式大跨距龙门机器人可在宽行封边机与窄行封边机的过渡处夹持并旋转物料，进行短、长边封边切换。
所述双线流水加工线上的加工工位、组装工位、喷涂工位、包装工位之间采用动力辊输送机实现物料在不同工位的过渡。
根据客户个性化定制数据(语音或文字)，智能生产制造系统自动安排生产任务和下达指令，移动机器人通过无线信号接到指令后，自动从仓库扫码取料，并将料板搬运至料位O位堆垛整齐，物料为板材类工件；基于四围式双夹持器龙门机器人的夹持器一，将料板从O位搬至A位开料和初加工，然后将料板从A位搬至封边机器人进料口B位，并在宽窄行过渡处自动抓取和旋转料板，过渡处位于B位和C位之间；基于龙门机器人夹持器一的可旋转性和四面式宽窄行封边机器人，料板在从B位到C位的单向移动时，可单程完成四面封边，从而避免往复运动过程中产生的空程，提高封边效率；龙门机器人夹持器二用于将料板从D位搬运旋转至E位；堆垛机器人一将E位料板分别旋转搬运至第一流水线的F1位和第二流水线的F2位，其中机器人机体旋转角度不少于180度，第一流水线和第二流水线合称双线；针对 加工、组装、喷涂、包装等相对耗时工序，采用双线同步作业以提高生产效率，采用动力辊输送机实现料板在不同工位的过渡；包装工位完成后，由堆垛机器人二将第一流水线的G 1位和第二流水线的G 2位的产品，交替堆垛至H位，最后由移动机器人搬运出库。
本实施例基于智能生产制造系统，能够实现木工家具个性化定制；基于四围式双夹持器龙门机器人，提高了料板搬运效率和布局紧凑性；基于四面式宽窄行封边机器人，实现料板在单向移动时一次性四面封边，减少空程，提高封边效率。
显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。

Claims (8)

  1. 一种基于客户个性化定制的木工家具生产线，其特征在于，包括可单向移动实现物料四周封边的智能化生产线，所述智能化生产线设置有用于控制其工作的智能生产制造系统；所述智能化生产线包括用于夹持并输送物料的四围式大跨距龙门机器人以及用于对物料进行四周封边的四面式宽窄行封边机器人、用于堆垛物料的堆垛机器人，用于对物料进行加工、组装、喷涂、包装的双线流水加工线，所述智能生产制造系统控制有用于将物料从数字化仓库取出并输送到智能化生产线料位的以及用于将加工好的物料从智能化生产线搬运走的移动机器人，所述移动机器人与数字化仓库之间采用扫码取料，所述智能生产制造系统可接收客户个性化定制数据并将定制数据转化成相应指令发送给移动机器人、智能化生产线。
  2. 根据权利要求1所述的一种基于客户个性化定制的木工家具生产线，其特征在于，所述堆垛机器人包括设置在双线流水加工线前端的堆垛机器人一，设置在双线流水加工线后端的堆垛机器人二，所述堆垛机器人一用于将封边好的物料从双线流水加工线储料位搬运至双线流水加工线进口，所述堆垛机器人二用于交替堆垛双线流水加工线出口处理好的物料。
  3. 根据权利要求1所述的一种基于客户个性化定制的木工家具生产线，其特征在于，所述智能化生产线料位与四面式宽窄行封边机器人之间设置有开料和初加工工位。
  4. 根据权利要求1所述的一种基于客户个性化定制的木工家具生产线，其特征在于，所述四围式大跨距龙门机器人是一种双夹持器龙门机器人。
  5. 根据权利要求4所述的一种基于客户个性化定制的木工家具生产线，其特征在于，所述双夹持器龙门机器人包括两条平行设置的X导轨、与X导轨垂直设置的两条Y导轨；所述X导轨通过支架与地面固定，所述X导轨底部距离地面有一定高度且能够容纳下方的人员和移动装备通行；所述Y导轨架设于X导轨上方且可沿X导轨自由滑动；所述两条Y导轨上分别设置有夹持器一和夹持器二，所述夹持器一和夹持器二与Y导轨之间连接有旋转电机，所述旋转电机可带动夹持器一和夹持器二绕Z轴自由转动；所述旋转电机底座与Y导轨连接，可通过驱动电机带动夹持器一和夹持器二分别沿两条平行设置的Y导轨自由滑动。
  6. 根据权利要求5所述的一种基于客户个性化定制的木工家具生产线，其特征在于，所述夹持器一用于将物料从智能化生产线料位搬至开料和初加工工位进行开料和初加工，然后再将物料从开料和初加工工位搬至封边机器人进料口，并在宽窄行过渡处自动抓取和旋转物料；所述夹持器二用于将封边好的物料从四面式宽窄行封边机器人出口处工位搬运并旋转至双线流水加工线的储料位进行后续工序生产。
  7. 根据权利要求1所述的一种基于客户个性化定制的木工家具生产线，其特征在于，所述四面式宽窄行封边机器人包括宽行封边机与窄行封边机，所述宽行封边机设置在靠近进料口处用于封物料的短边，所述窄行封边机设置在靠近出料口处用于封物料的长边，所述四围式大跨距龙门机器人可在宽行封边机与窄行封边机的过渡处夹持并旋转物料，进行短、长边封边切换。
  8. 根据权利要求1所述的一种基于客户个性化定制的木工家具生产线，其特征在于，所述双线流水加工线上的加工工位、组装工位、喷涂工位、包装工位之间采用动力辊输送机实现物料在不同工位的过渡。
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