CN109720885A - A kind of pin-connected panel foam de-stacking and information spray printing device - Google Patents

Abstract

The invention discloses a kind of pin-connected panel foam de-stackings and information spray printing device, comprising: stacking tooling, stacking tooling include intersecting the hard pressing plate stacking tooling that the mixing stacking tooling piled up and hard pressing plate are individually piled up for foam and hard pressing plate；Spray printing mechanism, spray printing mechanism include foam bracket, information recognition device, information jet printing appts and multiple spray printing manipulators；De-stacking manipulator, de-stacking machinery hand include the hard pressing plate catching robot that hard pressing plate is transported between mixing stacking tooling and hard pressing plate stacking tooling, and the foam catching robot of foam is transported between mixing stacking tooling and foam bracket.The present invention realizes quick de-stacking and the information spray printing of foam by stacking tooling, spray printing mechanism, de-stacking manipulator, various sensors and the work of control system cooperation；De-stacking manipulator and spray printing manipulator are equipped with multiple, and the division of labor of each manipulator is clear, the de-stacking of foam can be rapidly completed, information identification works with information spray printing.

Description

A kind of pin-connected panel foam de-stacking and information spray printing device

Technical field

The present invention relates to be used for foam in a kind of de-stacking and information spray printing device more particularly to a kind of foam industrialized production The equipment of de-stacking and information spray printing.

Background technique

Foam is the material that plastic pellet foamed, abbreviation foam.Foam is divided into PU foam, antistatic foam, conduction bubble Cotton, EPE, antistatic EPE, PORON, CR, EVA, bridge formation PE, SBR, EPDM etc..Foam has flexible, light-weight, fast ram compression Quick fixation, easy to use, bending freely, a series of features such as the ultra-thin, reliable performance of volume, be mainly used to damping, there is closing Effect, in daily life and industrial production, has been widely used.

After cutting process in the commercial process of foam, the foam code for needing to have cut is at pile, for subsequent Process in, but since foam has flexible and certain adhesive, if only stacked gradually, will cause foam and stack not It is smooth；Since foam belongs to cellular structure, if stacked gradually, when grabbing using sucker, multiple foams quilt simultaneously will cause Crawl, it is therefore desirable to foam and hard pressing plate intersection sequentially to be piled up in tooling, the effect of hard pressing plate is to keep foam smooth, And make to be compacted between foam, conducive to the stacking of foam, and make foam upon thermal curing, plays the role of the adjacent foam of isolation.Firmly The material of matter pressing plate can be that glass plate, aluminium sheet isodensity is higher, surface is smooth, material of the fusing point at 150 DEG C or more, hard pressure The monolithic quality of plate is 10 times or so of monolithic foam quality.

After foam heat cure, need by foam-hard pressing plate pile foam and hard pressing plate individually crawl out, into Row de-stacking；At hard pressing plate pile so as to hard pressing plate secondary use, foam needs to identify foam by code reader hard pressing plate code The information of upper bar code judges the batch number and its attribute of foam, and spray printing is corresponding on the separate paper of foam back side Information.Existing equipment is individual de-stacking function, and there is no this functions of the spray printing of the identification of foam and information, and tear open Pile part-structure is complicated.

Summary of the invention

In order to solve problem above, the object of the present invention is to provide a kind of pin-connected panel foam de-stacking and information spray printing device, The equipment is provided simultaneously with the function that de-stacking, information identification and information spray printing are carried out to foam, and equipment operation process is simple, automation Degree is high, and equipment quickly can individually crawl out the foam intersected in the foam-hard pressing plate pile piled up and hard pressing plate, The hard pressing plate of monolithic is piled up into hard pressing plate pile, relevant information in information identification and spray printing is carried out to the foam of monolithic.

In order to achieve the goal above, the technical solution adopted by the present invention:

A kind of pin-connected panel foam de-stacking and information spray printing device, comprising:

Stacking tooling, the stacking tooling include intersecting the mixing stacking tooling piled up for foam and hard pressing plate, with And the hard pressing plate stacking tooling that hard pressing plate is individually piled up.Mixing stacking tooling is for piling up the foam after solidifying-hard pressure Straight sheet pile carries out de-stacking to it；Hard pressing plate stacking tooling is used for the stacking of monolithic hard pressing plate after de-stacking, is recycled.

Spray printing mechanism, the spray printing mechanism includes foam bracket, information recognition device, information jet printing appts, and is being steeped Multiple spray printing manipulators of foam, rapid transport foam are transported between cotton bracket, information recognition device and information jet printing appts；Spray printing Mechanism is used to carrying out the monolithic foam after de-stacking into information identification, and relevant information on spray printing.

De-stacking manipulator, the de-stacking machinery hand include transporting firmly between mixing stacking tooling and hard pressing plate stacking tooling The hard pressing plate catching robot of matter pressing plate, and mixing the foam gripper that foam is transported between stacking tooling and foam bracket Tool hand, will mix the hard pressing plate on stacking tooling and foam crawl is piled up on hard pressing plate stacking tooling and foam bracket.

Detection system, the detection system are used to detect the operation shape of the pin-connected panel foam de-stacking Yu information spray printing device State, and will test information and be sent to control system.

Control system, the control system are used to receive the information of detection system, and control the de-stacking of pin-connected panel foam and letter Cease the operation of spray printing device.

Further, the mixing stacking tooling and hard pressing plate stacking tooling include piling up frame, hoisting mechanism And tool base plate, the stacking frame and hoisting mechanism are arranged in tool base plate.It piles up frame and needs de-stacking for piling up Foam and hard pressing plate pile or de-stacking after hard pressing plate；Hoisting mechanism is used for stacking tooling Internal Code into the foam of pile With hard pressing plate perhaps hard pressing plate promoted perhaps declined for de-stacking manipulator grab or pile up.

The frame of piling up includes piling up bottom plate and being mounted on stacking bottom plate to surround the baffle for piling up space, the stacking Space bottom end is provided with tooling base, and the foam of de-stacking and the hard pressing plate after hard pressing plate pile or de-stacking is needed to pile up On the tooling base for piling up space；The stacking bottom plate two sides are provided with handle, convenient for will be empty or piled up and finish It piles up frame integrally to unload from stacking tooling, carries out subsequent production process.

The hoisting mechanism includes promoting motor, lifting speed reducer, promoting linear mould group and crotch, the promotion motor Power output end is fixedly connected with lifting speed reducer, and the output end of the lifting speed reducer, which is fixedly connected, promotes linear mould group, described It is promoted on the Lifting Modules group mounting plate that linear mould group is mounted in tool base plate, between the Lifting Modules group mounting plate and tool base plate Equipped with module bracket is promoted, the promotion sliding block for promoting linear mould group output end connects crotch, and the strut of the crotch protrudes into Pile up lower portion.Motor high-speed rotation is promoted, high-speed rotation is reduced to by lifting speed reducer to slowly run and be transferred to increase line Property mould group, promotes the up and down motion that linear mould group will be converted into crotch, by the foam and hard pressing plate pile on crotch, or Hard pressing plate pile is promoted perhaps to be declined and grabs or pile up for de-stacking manipulator.

Further, the mixing stacking tooling and hard pressing plate stacking tooling further include lifting mechanism and stacking frame Frame mechanism in place.

The lifting mechanism includes that lifting bottom plate, rectangle steel and lifting top plate, the lifting bottom plate are mounted on tool base plate On, the rectangle steel connection is lifted bottom plate and lifting top plate, and positioning side, the stacking bottom plate edge are provided on the lifting top plate Positioning side is slidably mounted on the lifting top plate.The spacing for piling up bottom plate and tool base plate is lifted by lifting mechanism, i.e., by code It puts the tooling base on bottom plate and piles up frame and be lifted a distance relative to tool base plate, convenient for being assembled with the linear mould of promotion It closes, promotes the stroke lowest order of the crotch of linear mould group connection lower than tooling base, facilitate in crotch insertion tooling base, in turn Convenient for code to be mounted in tool base plate at the stacking frame entirety of pile, grabbed for de-stacking manipulator.

Described to pile up the frame positioning plate that mechanism includes locating piece and cooperates with locating piece in place, the locating piece setting exists It piles up on bottom plate, the positioning plate setting is on lifting top plate.During installation, bottom plate will be piled up to slide on lifting top plate, when After locating piece touches positioning plate, shows that piling up bottom plate has arrived installation site, then be aligned with the positioning side of lifting top plate, will pile up Frame is fixedly mounted on lifting top plate.

The baffle includes shelves rod and baffle front panel, and the bottom end of the shelves rod is mounted on by bolt piles up on bottom plate, The front end of shelves rod connects baffle front panel, and the material of the shelves rod is aluminium, and the baffle front panel is PVC material.Shelves rod and gear Plate front panel is made of the material of two kinds of different hardness, and shelves stick is that hardness is relatively high at stacking space and fixation Aluminum material；Baffle front panel is directly contacted with foam, fix its yard at pile, prevent from toppling over, but foam cannot be damaged again, because This is the lower PVC material of hardness, prevents foam other equipment during transhipment from crashing into stacking tooling, foam hit and Damage.

Further, being provided with foam heelpiece on the foam bracket.Foam catching robot is placed on foam heelpiece The monolithic foam removed in mixing stacking tooling, spray printing manipulator transport this foam again, this monolithic foam is carried out information knowledge Other and spray printing.

The information recognition device includes identification device bracket, hollow rotating platform I, platform motor I, foam backing plate, reads Code device bracket and code reader, the hollow rotating platform I and code reader bracket are installed on identification device bracket, the platform The power output end of motor I is fixedly connected with the input terminal of hollow rotating platform I, and the foam backing plate is arranged in hollow rotating platform I output top, the code reader is mounted on code reader bracket and the identification head of code reader is located at the top of foam backing plate.By It is uncertain in the barcode position on foam, it is therefore desirable to rotate foam, make the bar code information on foam by upper end code reader Barcode scanning identification drives hollow rotating platform I to rotate particular by platform motor I, the foam backing plate rotation on hollow rotating platform I Turn, the foam rotation on foam backing plate, the identification head of code reader identifies bar code information, and the information recognized is transferred to control System processing processed.

The information jet printing appts include spray printing bracket, spray printing heelpiece, spray printing module bracket, the linear mould group of spray printing, spray printing Mould group motor, spray printing speed reducer and jet printer, the spray printing heelpiece are arranged in spray printing cantilever tip, the linear mould group water of spray printing For safety in spray printing module bracket, the power output shaft of spray printing mould group motor is fixedly connected with the input shaft of spray printing speed reducer, institute The input shaft that spray printing speed reducer output shaft is fixedly connected with the linear mould group of spray printing is stated, the spray printing of the linear mould group output end of spray printing is sliding Block connects spray printing machine support, and the jet printer is mounted on spray printing machine support and the jet-printing head of jet printer is located under spray printing heelpiece Side.Spray printing mould group motor high-speed rotation, high-speed rotation is reduced to by spray printing speed reducer slowly runs and is transferred to the linear mould group of spray printing, The linear mould group of spray printing will be converted into the horizontal movement of spray printing machine support, and jet printer bracket drives jet printer to move horizontally, and spray Print machine is controlled by control system, and spray printing needs the corresponding information of spray printing on the separate paper of foam back side.

The spray printing machinery hand includes platform support, hollow rotating platform II, platform motor II, rotating arm I, thin cylinder I and sucker I, the hollow rotating platform II be mounted on platform support top, the power output shaft of the platform motor II is fixed The input shaft of hollow rotating platform II is connected, the rotating arm I is mounted on the output end of hollow rotating platform II, rotating arm I Front end thin cylinder I is installed, the output end of the thin cylinder I is located at bubble by connecting shaft connecting sucker I, the sucker I The top of cotton heelpiece, foam backing plate and spray printing heelpiece.High-speed rotation drops in II high-speed rotation of platform motor, hollow rotating platform II To slowly run, rotating arm I is driven to rotate, the thin cylinder I of I front end of rotating arm works, and drives sucker I to draw foam, simply Easily foam is grabbed.

Further, the spray printing mechanism further includes spray printing support, the spray printing support includes support top plate, support bottom More square bars of plate and connecting support top plate and base-plate, the foam bracket, information recognition device, information jet printing appts It is arranged on support top plate with spray printing manipulator, foam bracket, information recognition device, information jet printing appts and spray printing is mechanical Hand is fixedly mounted on support top plate.

The width of the spray printing heelpiece is less than the width of foam, and the jet-printing head of jet printer is located at foam and stretches out spray printing bottom mat portion The lower section divided, facilitates the jet-printing head of jet printer Quick jet printing information on the downside of foam.

The multiple spray printing machinery hand includes the spray printing manipulator that foam is transported between foam bracket and information recognition device I, the spray printing manipulator II of foam is transported between information recognition device and information jet printing appts, and will spray in information jet printing appts The spray printing manipulator III that the foam finished leaves spray printing mechanism is printed, for a traditional spray printing manipulator, three sprays It is clear to print the manipulator division of labor, can rapid transport foam, information identification and spray printing are carried out to foam.

Further, the hard pressing plate catching robot is located at mixing stacking tooling and hard pressing plate stacking tooling Between, hard pressing plate is piled up from mixing stacking tooling crawl onto hard pressing plate stacking tooling, foam catching robot position Between mixing stacking tooling and foam bracket, foam is transported on foam bracket from mixing stacking tooling crawl.

The hard pressing plate catching robot and foam catching robot include robot base, column, swing indexing Device, protractor motor, protractor speed reducer, rotating arm II, thin cylinder II and sucker II.

The column is vertically arranged in robot base, the top for swinging protractor and being mounted on column, and described point The power output end of degree device motor is fixedly connected with the input shaft of protractor speed reducer, and the output shaft of the protractor speed reducer is fixed Connection swings the input shaft of protractor, and the rotating arm II is mounted on the output shaft for swinging protractor, the front end of rotating arm II Thin cylinder II is installed, the output end of the thin cylinder II passes through connecting shaft connecting sucker II.Protractor motor high-speed rotation, High-speed rotation is reduced to by protractor speed reducer slowly runs and is transmitted to protractor, and continuous rotation is become intermittent oscillation by protractor, II intermittent oscillation of rotating arm is driven, the thin cylinder II of II front end of rotating arm works, and sucker II is driven to draw foam or hard pressure Plate simply and easily grabs foam or hard pressing plate；At the same time, production efficiency is improved, motor is reduced Repeatedly starting and stopping improves the service life of motor.

Further, the column is provided with two, it is equipped with support plate between two root posts and robot base, enhances The fastening that column is connect with robot base；It is equipped with stiffening plate between the two root posts, two root posts is made to be connected to one, Prevent the component of mutual wobble effects thereon；The top surface of two root posts is equipped with protractor backing plate, and the protractor is mounted on point It spends on device backing plate, has been convenient for swing protractor, protractor motor and the protractor speed reducer etc. of upright supports thereon.

Further, the detection system includes positive limit sensor, negative sense limit sensors, zero point detection sensing Device and sensors in place.

The positive limit sensor is mounted on the direct limit for promoting the respective sliding block of linear mould group and the linear mould group of spray printing At position, i.e., at the direct limit position of promotion sliding block and spray printing sliding block；The negative sense limit sensors, which are mounted on, promotes linear mould group With the negative sense pole spacing place of the respective sliding block of the linear mould group of spray printing, that is, promote the negative sense pole spacing place of sliding block and spray printing sliding block；It is positive Stacking frame or the jet printer operation that limit sensors and negative sense limit sensors prevent linear mould group from driving are crossed the border.Described zero Point detection sensor is mounted on the initial position for promoting the respective sliding block of linear mould group and the linear mould group of spray printing, for linear mould group The initial position of frame and jet printer is piled up in initialization.The sliding block for promoting linear mould group and being connected with the linear mould group of spray printing On be provided with the baffle for blocking the positive limit sensor, negative sense limit sensors and zero point detection sensor, work as baffle When moving in positive limit sensor, negative sense limit sensors or zero point detection sensor, sensor receives sliding block Motor message transmits a signal to control system processing.

The sensors in place is disposed in parallel in rotating arm I and rotating arm II with thin cylinder I and thin cylinder II respectively End, i.e. sensors in place and thin cylinder I end that is disposed in parallel in rotating arm I, sensors in place and thin cylinder II It is disposed in parallel in the end of rotating arm II.Sensors in place is based on to rotating arm rotational positioning and to foam or hard pressing plate Number, concrete methods of realizing: being realized by the high level signal of detection the presence or absence of foam and hard pressing plate and sensor to foam or Person's hard pressing plate counts, i.e., when pivot arm ends move to mixing stacking tooling, hard pressing plate stacking tooling or foam bracket When position directly above, if having foam or hard pressing plate, level output be 1, no foam or pressure hard pressing plate when, level output It is 0.

Above-mentioned positive limit sensor, negative sense limit sensors and zero point detection sensor is light shading type sensor, is hidden Light formula covers disposed on sensor is equipped with a U-type groove, when baffle slides in U-type groove, when shutting out the light, and light shading type sensor emission letter Number.Sensors in place counts foam or hard pressing plate using reflex laser sensor, each manipulator pivot arm ends Sensors in place emit signal, indicate that a foam or hard pressing plate, control system count it, control system is final These countings are compared, determine hard pressing plate and the final quantity of foam.

Further, the control system includes industrial control computer and PLC, the industrial control computer with The connection of PLC signal, industrial control computer is host computer, and PLC is slave computer；PLC is connect with detection system signal, including with just Connected to limit sensors, negative sense limit sensors, zero point detection sensor with sensors in place signal, PLC respectively with stacking Motor in tooling, spray printing mechanism and de-stacking manipulator is connected with thin cylinder signal, including with promoted motor, platform motor I, Platform motor II, spray printing mould group motor, protractor motor, thin cylinder I are connected with II signal of thin cylinder, and control promotes electricity The start and stop of machine, platform motor I, platform motor II, spray printing mould group motor, protractor motor, thin cylinder I and thin cylinder II. When work, PLC controls the operation of motor and thin cylinder, and motor and thin cylinder operation drive the equipment to carry out de-stacking to foam With information spray printing, while work, various sensors obtain the operating status of equipment and are transmitted to industrial control computer, realize The functions such as spacing alarm that foam and hard pressing plate count and movement is crossed the border simultaneously are shown on the LCD screen of industrial control computer. PLC uploads data in industrial control computer, and various data are handled and shown convenient for industrial control computer；Operation Various parameters can be arranged by industrial control computer in personnel, and the parameter of setting is downloaded in PLC, make equipment according to setting Fixed parameter operation.

Further, the sucker I and sucker II are Cyclonic non-contact suction cup, relative to previous adsorption capacity Greatly, the vacuum chuck for causing foam to damage, this sucker can have preferable inhale specifically for the leachy sample of foam class band Attached ability can avoid causing to damage to foam in suction process；It is respectively provided on the hollow rotating platform II and swing protractor There is a tracheae via hole, the upper surface of the rotating arm I and rotating arm II is equipped with tracheae card slot, and tracheae passes through tracheae via hole and tracheae The air pipe interface of Cyclonic non-contact suction cup is connected after card slot, by this setup, being connected to tracheae, Cyclonic is non-to be connect On the air pipe interface for touching sucker, tracheae will not be coiled into one with the rotation of rotating arm, and tracheal rupture is caused to damage.

The bottom end of the tool base plate, base-plate and robot base is provided with castor, and the castor includes idler wheel It is supported with fixed.Castor is height-adjustable mobile castor, and when mobile, the fixed support of cycle is moved using idler wheel；Work When making, by fixation prop, simply and easily to stacking tooling, spray printing mechanism and de-stacking manipulator carried out move and It is fixed, complete de-stacking and information spray printing to foam.

Beneficial effects of the present invention:

The present invention provides a kind of high degree of automation, the pin-connected panel for carrying out de-stacking and information spray printing to foam is set It is standby, it is worked by stacking tooling, spray printing mechanism, de-stacking manipulator, various sensors and control system cooperation, realizes bubble The quick de-stacking of cotton and information spray printing；The hard pressing plate crawl mixed on stacking tooling is piled up and is arrived by hard pressing plate catching robot On hard pressing plate stacking tooling, foam catching robot will mix the crawl of the foam on stacking tooling and pile up onto foam bracket, Spray printing manipulator again by foam in spray printing bracket, information recognition device and information jet printing appts rapid transport, complete to foam Information identify and quickly spray relevant information；At the same time, user can require according to actual production, be torn open using castor movement Pile manipulator, stacking tooling and spray printing mechanism, the fast free composite assembly equipment.

De-stacking manipulator and spray printing manipulator in the present invention are equipped with multiple, and the division of labor of each manipulator is clear, can be quickly Complete the de-stacking of foam, information identification works with information spray printing；De-stacking machinery hand includes hard pressing plate catching robot and foam The de-stacking work of foam is rapidly completed in catching robot, two manipulator cooperations；Spray printing machinery hand includes in foam bracket The spray printing manipulator I that foam is transported between information recognition device, transports foam between information recognition device and information jet printing appts Spray printing manipulator II, and the foam that spray printing finishes in information jet printing appts is left to the spray printing manipulator III of spray printing mechanism, For a traditional spray printing manipulator, three spray printing manipulator division of labor are clear, can be reduced information identification and spray printing institute The time of cost improves the efficiency of the identification of foam information with spray printing work.

Stacking tooling in pin-connected panel foam de-stacking provided by the invention and information spray printing device promotes motor high speed and turns Dynamic, high-speed rotation is reduced to slowly run and be transferred to by lifting speed reducer promotes linear mould group, promotes linear mould group and turns rotation The up and down motion for turning to crotch, by crotch foam and hard pressing plate pile or hard pressing plate pile promoted or declined, It grabs or piles up for de-stacking manipulator；In addition, stacking tooling is easy for installation, it is sliding on lifting top plate by the way that bottom plate will be piled up It is dynamic, after locating piece touches positioning plate, bottom plate is piled up at this time and has arrived installation site, then is aligned with the positioning side of lifting top plate, Frame will be piled up to be fixedly mounted on lifting top plate, after stacking tooling is piled up completely, frame will be piled up and unloaded, empty stacking is installed Frame makes foam and hard pressing plate or hard pressing plate palletization, convenient for the operation of finishing operations.

Spray printing mechanism in pin-connected panel foam de-stacking provided by the invention and information spray printing device, spray printing manipulator I grab Foam is transported on foam backing plate by foam from foam heelpiece, and code reader identifies the bar code information on foam, and information is passed It is defeated by control system, foam is transported on spray printing heelpiece by spray printing manipulator II, and control system controls jet printer in foam back side Separate paper on spray printing corresponding information, the foam that spray printing manipulator III again finishes spray printing leaves spray printing mechanism, passes through code reader It is identified on the upside of foam, jet printer spray printing on the downside of foam, information identification and spray printing has been rapidly performed by foam.

De-stacking manipulator in pin-connected panel foam de-stacking provided by the invention and information spray printing device, protractor motor high speed Rotation, high-speed rotation is reduced to by protractor speed reducer slowly runs and is transmitted to protractor, and continuous rotation is become interval by protractor It swings, drives II intermittent oscillation of rotating arm, the thin cylinder II of II front end of rotating arm works, and sucker II is driven to draw foam or hard Matter pressing plate simply and easily grabs foam or hard pressing plate.

Detailed description of the invention

Fig. 1 is the structural diagram of the present invention；

Fig. 2 is top view of the invention；

Fig. 3 is the structural schematic diagram of mixing stacking tooling or hard pressing plate stacking tooling of the invention；

Fig. 4 is the side view of mixing stacking tooling or hard pressing plate stacking tooling of the invention；

Fig. 5 is stacking circuit theory schematic diagram of the invention；

Fig. 6 is the hoisting mechanism structural schematic diagram of invention；

Fig. 7 is baffle arrangement schematic diagram of the invention；

Fig. 8 is lifting mechanism structural schematic diagram of the invention；

Fig. 9 is spray printing mechanism structural schematic diagram of the invention；

Figure 10 is the side view of spray printing mechanism of the present invention；

Figure 11 is spray printing manipulator structural schematic diagram of the invention；

Figure 12 is the schematic diagram of the linear mould group of spray printing of the invention；

Figure 13 is the structural schematic diagram of hard pressing plate catching robot or foam catching robot of the invention；

Figure 14 is the enlarged drawing of part A in Figure 13；

Figure 15 is the Castor structure schematic diagram of invention；

In figure: 1, stacking tooling；11, stacking tooling is mixed；12, hard pressing plate stacking tooling；1-1, frame is piled up；1- 11, bottom plate is piled up；1-12, baffle；1-13, tooling base；1-14, handle；1-15, shelves rod；1-16, baffle front panel；1-2, Hoisting mechanism；1-21, motor is promoted；1-22, lifting speed reducer；1-23, linear mould group is promoted；1-24, crotch；1-25, promotion Mould group mounting plate；1-26, module bracket is promoted；1-27, sliding block is promoted；1-28, strut；1-3, tool base plate；1-4, lifting machine Structure；1-41, lifting bottom plate；1-42, rectangle steel；1-43, lifting top plate；1-44, positioning side；1-5, frame mechanism in place is piled up； 1-51, locating piece；1-52, positioning plate；2, spray printing mechanism；21, foam bracket；21-1, foam heelpiece；22, information identification dress It sets；22-1, identification device bracket；22-2, hollow rotating platform I；22-3, platform motor I；22-4, foam backing plate；22-5, reading Code device bracket；22-6, code reader；23, information jet printing appts；23-1, spray printing bracket；23-2, spray printing heelpiece；23-3, spray printing mould Pack support；The linear mould group of 23-4, spray printing；23-5, spray printing mould group motor；23-6, spray printing speed reducer；23-7, jet printer；23-8, Spray printing sliding block；23-9, spray printing machine support；24, spray printing manipulator；241, spray printing manipulator I；242, spray printing manipulator II；243, Spray printing manipulator III；24-1, platform support；24-2, hollow rotating platform II；24-3, platform motor II；24-4, rotating arm I； 24-5, thin cylinder I；24-6, sucker I；25, spray printing support；25-1, support top plate；25-2, base-plate；It is 25-3, rectangular Steel；3, de-stacking manipulator；31, hard pressing plate catching robot；32, foam catching robot；3-1, robot base；3-2, it stands Column；3-21, support plate；3-22, stiffening plate；3-3, protractor is swung；3-4, protractor motor；3-5, protractor speed reducer；3- 6, rotating arm II；3-7, thin cylinder II；3-8, sucker II；3-9, protractor backing plate；4-1, positive limit sensor；4-2, it bears To limit sensors；4-3, zero point detection sensor；4-4, baffle；5-1, tracheae via hole；5-2, tracheae card slot；6, castor；6- 1, idler wheel；6-2, fixed support.

Specific embodiment

To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention is made into one with reference to the accompanying drawing Step illustrates.In the description of the present invention, it is to be understood that, term " on ", "lower", "front", "rear", "left", "right", "top", The orientation or positional relationship of the instructions such as "bottom", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, merely to just In description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with Specific orientation construction and operation, therefore be not considered as limiting the invention.

A kind of pin-connected panel foam de-stacking and information spray printing device, as illustrated in fig. 1 and 2, comprising:

Stacking tooling 1, stacking tooling 1 include intersecting the mixing stacking tooling 11 piled up for foam and hard pressing plate, with And the hard pressing plate stacking tooling 12 that hard pressing plate is individually piled up.

Spray printing mechanism 2, spray printing mechanism 2 include foam bracket 21, information recognition device 22, information jet printing appts 23, and Multiple spray printing manipulators 24 of foam, this reality are transported between foam bracket 21, information recognition device 22 and information jet printing appts 23 It applies in example, selects 3 spray printing manipulators 24.

De-stacking manipulator 3, de-stacking manipulator 3, which is included between mixing stacking tooling 11 and hard pressing plate stacking tooling 12, to be transported The hard pressing plate catching robot 31 of hard pressing plate, and mixing the bubble that foam is transported between stacking tooling 11 and foam bracket 21 Cotton catching robot 32.

Detection system, detection system are used to detect the operating status of the de-stacking of pin-connected panel foam Yu information spray printing device, and will Detection information is sent to control system.

Control system, control system are used to receive the information of detection system, and control the de-stacking of pin-connected panel foam and information spray The operation of printing apparatus.

As prioritization scheme of the invention, as shown in Figures 3 and 4, stacking tooling 11 and hard pressing plate stacking tooling 12 are mixed Include piling up frame 1-1, hoisting mechanism 1-2 and tool base plate 1-3, piles up frame 1-1 and hoisting mechanism 1-2 and be arranged at work It fills on bottom plate 1-3；

Stacking sky is surrounded on bottom plate 1-11 including piling up bottom plate 1-11 and being mounted on to pile up as shown in figure 5, piling up frame 1-1 Between baffle 1-12, pile up space bottom end and be provided with tooling base 1-13, pile up the two sides bottom plate 1-11 and be provided with handle 1-14；

As shown in fig. 6, hoisting mechanism 1-2 includes promoting motor 1-21, lifting speed reducer 1-22, promoting linear mould group 1-23 With crotch 1-24, the power output end for promoting motor 1-21 is fixedly connected with lifting speed reducer 1-22, and lifting speed reducer 1-22's is defeated Outlet, which is fixedly connected, promotes linear mould group 1-23, promotes the Lifting Modules group peace that linear mould group 1-23 is mounted on tool base plate 1-3 On loading board 1-25, it is equipped between Lifting Modules group mounting plate 1-25 and tool base plate 1-3 and promotes module bracket 1-26, promote linear mould The strut 1-28 of the 1-27 connection of promotion sliding block the crotch 1-24, crotch 1-24 of group 1-23 output end, which are protruded into, to be piled up in frame 1-1 Portion.In the present embodiment, the motor for the model SMH80S-0075 that motor 1-21 selects KINCO to produce is promoted；Lifting speed reducer 1- The speed reducer for the model AB090A-035-S2-P2 that 22 selection APEX are produced；Promoting linear mould group 1-23 selects Figunes to go out The linear mould group of the model FHC175-10-PD_650 of production.

As prioritization scheme of the invention, mixes stacking tooling 11 and hard pressing plate stacking tooling 12 further includes lifting machine Structure 1-4 and frame mechanism 1-5 in place is piled up, as shown in Figures 3 and 4.

Lifting mechanism 1-4 includes lifting bottom plate 1-41, rectangle steel 1-42 and lifting top plate 1-43, as shown in figure 8, lifting bottom Plate 1-41 is mounted on tool base plate 1-3, and rectangle steel 1-42 connection is lifted bottom plate 1-41 and lifting top plate 1-43, is lifted top plate It is provided with positioning side 1-44 on 1-43, piles up bottom plate 1-11 and is slidably mounted on lifting top plate 1-43 along positioning side 1-44.

Piling up frame, mechanism 1-5 includes locating piece 1-51 and positioning plate 1-52, locating piece 1- with locating piece cooperation in place 51 settings are on piling up bottom plate 1-11, and positioning plate 1-52 setting is on lifting top plate 1-43.

Baffle 1-12 includes shelves rod 1-15 and baffle front panel 1-16, and the bottom end of shelves rod 1-15 is mounted on stacking by bolt On bottom plate 1-11, the front end of shelves rod 1-15 connects baffle front panel 1-16, and the material of shelves rod 1-15 is aluminium, baffle front panel 1- 16 be PVC material, as shown in Figure 7.

As prioritization scheme of the invention, as shown in Fig. 9,10 and 12, foam heelpiece 21-1 is provided on foam bracket 21.

Information recognition device 22 includes identification device bracket 22-1, I 22-2 of hollow rotating platform, I 22-3 of platform motor, bubble Cotton pad plate 22-4, code reader bracket 22-5 and code reader 22-6, I 22-2 of hollow rotating platform and code reader bracket 22-5 are respectively mounted On identification device bracket 22-1, the power output end of I 22-3 of platform motor is fixedly connected with the input of I 22-2 of hollow rotating platform The output top of I 22-2 of hollow rotating platform is arranged in end, foam backing plate 22-4, and code reader 22-6 is mounted on code reader bracket 22-5 is upper and the identification head of code reader 22-6 is located at the top of foam backing plate 22-4.In the present embodiment, I 22-2 of hollow rotating platform The hollow shaft rotating platform HT-130 for selecting KOCT-DEX to produce；I 22-3 of platform motor selects FHC110-PL-MOTOR model Motor；Code reader 22-6 selects the code reader of the 100QL model of Cognex.

Information jet printing appts 23 are linear including spray printing bracket 23-1, spray printing heelpiece 23-2, spray printing module bracket 23-3, spray printing Mould group 23-4, spray printing mould group motor 23-5, spray printing speed reducer 23-6 and jet printer 23-7, spray printing heelpiece 23-2 are arranged in spray printing branch The top frame 23-1, the linear mould group 23-4 of spray printing are horizontally arranged on spray printing module bracket 23-3, and spray printing mould group motor 23-5's is dynamic Power output shaft is fixedly connected with the input shaft of spray printing speed reducer 23-6, and spray printing speed reducer 23-6 output shaft is fixedly connected with the linear mould of spray printing The input shaft of group 23-4, the spray printing sliding block 23-8 connection spray printing machine support 23-9 of the linear mould group 23-4 output end of spray printing, jet printer 23-7 is mounted on spray printing machine support 23-9 and the jet-printing head of jet printer 23-7 is located at the lower section of spray printing heelpiece 23-2.This implementation In example, the linear mould group 23-4 of spray printing selects the linear mould group of the FHC65-10-100-PD model of FIGUNES；Spray printing mould group motor 23-5 selects the motor of the SMH40S-0010 model of Kinco；Spray printing speed reducer 23-6 selects the ABR090-045 model of Apex Speed reducer；Jet printer 23-7 selects the jet printer of the W300 model for the code that traces back.

As shown in figure 11, spray printing manipulator 24 includes platform support 24-1, II 24-2 of hollow rotating platform, platform motor II 24-3, I 24-4 of rotating arm, I 24-5 of thin cylinder and sucker I 24-6, II 24-2 of hollow rotating platform are mounted on platform support 24- 1 top, the power output shaft of II 24-3 of platform motor are fixedly connected with the input shaft of II 24-2 of hollow rotating platform, I 24- of rotating arm 4 are mounted on the output end of II 24-2 of hollow rotating platform, and I 24-5 of thin cylinder, slim gas are installed in the front end of I 24-4 of rotating arm The output end of I 24-5 of cylinder is located at foam heelpiece 21-1, foam backing plate 22-4 by I 24-6 of connecting shaft connecting sucker, I 24-6 of sucker With the top of spray printing heelpiece 23-2.In the present embodiment, the hollow shaft that II 24-2 of hollow rotating platform selects KOCT-DEX to produce revolves Turn platform HT-130；The motor of II 24-3 of platform motor selection FHC110-PL-MOTOR model；I 24-5 of thin cylinder is selected The cylinder of the ACE32X30S model of AirTAC.

As prioritization scheme of the invention, spray printing mechanism 2 further includes spray printing support 25, and spray printing support 25 includes support top plate The more square bar 25-3 of 25-1, base-plate 25-2 and connecting support top plate 25-1 and base-plate 25-2, foam bracket 21, Information recognition device 22, information jet printing appts 23 and spray printing manipulator 24 are arranged on support top plate 25-1.

The width of spray printing heelpiece 23-2 is less than the width of foam, and the jet-printing head of jet printer 23-7 is located at foam and stretches out spray printing bottom Pad the lower section of the part 23-2.

3 spray printing manipulators 24 include the spray printing manipulator that foam is transported between foam bracket 21 and information recognition device 22 I 241, the spray printing manipulator II 242 of foam is transported between information recognition device 22 and information jet printing appts 23, and information is sprayed Printing equipment sets the spray printing manipulator III 243 that the foam that spray printing in 23 finishes leaves spray printing mechanism 2.

As prioritization scheme of the invention, hard pressing plate catching robot 31 is located at mixing stacking tooling 21 and hard pressing plate Between stacking tooling 22, foam catching robot 32 is located between mixing stacking tooling 11 and foam bracket 21.

Hard pressing plate catching robot 31 and foam catching robot 32 include robot base 3-1, column 3-2, pendulum Dynamic protractor 3-3, protractor motor 3-4, protractor speed reducer 3-5, II 3- of II 3-6 of rotating arm, II 3-7 of thin cylinder and sucker 8, as shown in Figs. 13 and 14.

Column 3-2 is vertically arranged on robot base 3-1, swings the top that protractor 3-3 is mounted on column 3-2, point The power output end of degree device motor 3-4 is fixedly connected with the input shaft of protractor speed reducer 3-5, the output of protractor speed reducer 3-5 Axis is fixedly connected with the input shaft for swinging protractor 3-3, and II 3-6 of rotating arm is mounted on the output shaft for swinging protractor 3-3, rotation II 3-7 of thin cylinder is installed in the front end of II 3-6 of arm, and the output end of II 3-7 of thin cylinder passes through II 3-8 of connecting shaft connecting sucker. In the present embodiment, the indexing for the model 130D-T-90270-2R-S1VW-3 that protractor 3-3 selects strength that in the east of a river to produce is swung Device, such protractor come with protractor motor 3-4 and protractor speed reducer 3-5；II 3-7 of thin cylinder selects AirTAC company The thin cylinder of the model ACE32X30S_30_+_CS1-E-2 of production.

As prioritization scheme of the invention, column 3-2 is provided with two, between two root posts 3-2 and robot base 3-1 Equipped with support plate 3-21, it is equipped with stiffening plate 3-22 between two root posts 3-2, the top surface of two root posts 3-2 is equipped with protractor backing plate 3-9 swings protractor 3-3 and is mounted on protractor backing plate 3-9.

As prioritization scheme of the invention, detection system include positive limit sensor 4-1, negative sense limit sensors 4-2, Zero point detection sensor 4-3 and sensors in place.

As shown in figures 6 and 12, positive limit sensor 4-1, which is mounted on, promotes linear mould group 1-23 and the linear mould group of spray printing 23-4 is respectively at the direct limit position of sliding block, and negative sense limit sensors 4-2 is mounted on the linear mould group 1-23 of promotion and spray printing is linear The negative sense pole spacing place of the respective sliding block of mould group 23-4, zero point detection sensor 4-3, which is mounted on, promotes linear mould group 1-23 and spray printing The initial position of the respective sliding block of linear mould group 23-4, promotes the sliding block that linear mould group 1-23 is connected with the linear mould group 23-4 of spray printing On be provided with the baffle 4-4 blocked to limit sensors 4-1, negative sense limit sensors 4-2 and zero point detection sensor 4-3, Sensors in place is disposed in parallel in II 3- of I 24-4 of rotating arm and rotating arm with I 24-5 of thin cylinder and II 3-7 of thin cylinder respectively 6 end.In the present embodiment, positive limit sensor 4-1, negative sense limit sensors 4-2, zero point detection sensor 4-3 are selected The sensor of model OMRON EE-SX675P；The sensor of sensors in place selection model OMRON E3Z-D82.

As prioritization scheme of the invention, control system includes industrial control computer and PLC, industrial control computer with The connection of PLC signal, PLC are connect with detection system, stacking tooling 1, spray printing mechanism 2 and 3 signal of de-stacking manipulator respectively.This hair In bright, PLC controls the equipment using the PLC of KINCO K4 series, and industrial control computer selects model BPT- The industrial control computer of 15F-N82, industrial control computer are connected with LCD screen.

As prioritization scheme of the invention, I 24-6 of sucker and II 3-8 of sucker are Cyclonic non-contact suction cup, specific to select With the sucker of the PBT-50 model of Chelic；It is carried on II 24-2 of hollow rotating platform and swing protractor 3-3 of above-mentioned model There is tracheae via hole 5-1, the upper surface of II 3-6 of I 24-4 of rotating arm and rotating arm is equipped with tracheae card slot 5-2, and tracheae passes through tracheae The air pipe interface of Cyclonic non-contact suction cup is connected after the gentle pipe clamp slot 5-2 of via hole 5-1, as shown in figures 11 and 14.

The bottom end of tool base plate 1-3, base-plate 25-2 and robot base 3-1 are provided with castor 6, castor selection type Number castor for being K-100HB2-AF-40-EP, the castor 6 of this type includes idler wheel 6-1 and fixed support 6-2, such as Figure 15 institute Show.

In order to better understand the present invention, primary complete description is made to the working principle of the invention below:

In place firstly the need of tooling, tooling includes that mixing stacking tooling 11 is arrived with hard pressing plate stacking tooling 12 in place in place Position.

It mixes stacking tooling 11 in place: the crotch 1-24 for promoting linear mould group 1-23 connection being transferred into lowermost end first； Then the stacking frame 1-1 for mixing stacking tooling 11 is pushed on lifting top plate 1-43 and (is piled up in frame 1-1 at pile code Put hard pressing plate and foam), frame 1-1 will be piled up and slided on lifting top plate 1-43, so that crotch 1-24 is inserted into mixing and pile up In the tooling base 1-13 of tooling 11；Locating piece 1-51 is aligned with positioning plate 1-52 finally, bottom plate 1-12 is piled up and lifting is pushed up The positioning side 1-44 of plate 1-43 is aligned, and to thereafter, is fixed with bolt and is piled up frame 1-1.

After mixing stacking tooling 11 in place, need to promote hard pressing plate-foam pile: in mixing stacking tooling 11, control System control processed promotes motor 1-21 high-speed rotation, and high-speed rotation is reduced to slowly run and be transferred to and mention by lifting speed reducer 1-22 Rise linear mould group 1-23, moving upwards for crotch 1-24 will be converted by promoting linear mould group 1-23, promoted hard pressing plate with Foam to hard pressing plate catching robot 31 working face.

Hard pressing plate stacking tooling 12 is in place: similar in place with mixing stacking tooling 11, difference place is hard pressing plate Stacking tooling 12 is empty stacking tooling, and the crotch 1-24 initial position that this tooling promotes linear mould group 1-23 connection is located at most upper On the working face for holding hard pressing plate catching robot 31.

In the present embodiment, by mobile stacking tooling 1, the castor 6 of spray printing mechanism 2 and de-stacking manipulator 3, make de-stacking and letter Breath spray printing device is from left to right followed successively by hard pressing plate stacking tooling 12, hard pressing plate catching robot 31 and mixing stacking tooling 11, and the foam catching robot 32 and spray printing mechanism 2 of mixing 11 upper end of stacking tooling, as shown in Figure 2.

Tooling in place after, equipment in accordance with the following steps to foam carry out de-stacking:

1, hard pressing plate picks up.In hard pressing plate catching robot 31, control system controls protractor motor 3-4 high speed Rotation, high-speed rotation is reduced to slowly run and pass by protractor speed reducer 3-5 swings protractor 3-3, and swinging protractor 3-3 will connect Continuous rotation becomes intermittent oscillation, drives II 3-6 intermittent oscillation of rotating arm, rotates to the surface of mixing stacking tooling 11 1., thin II 3-7 of type cylinder movement, drives II 3-8 of sucker to draw hard pressing plate.

2, hard pressing plate is in place.II 3-6 of rotating arm of hard pressing plate catching robot 31 piles up hard pressing plate from mixing 1. 2. the surface of tooling 11 is transported to right above hard pressing plate stacking tooling 12 after, hard pressing plate is put down, then hard pressing plate II 3-6 of rotating arm of catching robot 31 recalls the surface of mixing stacking tooling 11 1. from new crawl hard pressing plate.

3, hard pressing plate-foam pile moves up.In mixing stacking tooling 11, control system control promotes motor 1-21 high speed Rotation, high-speed rotation is reduced to slowly run and be transferred to by lifting speed reducer 1-22 promotes linear mould group 1-23, promotes linear mould Group 1-23 will be converted into moving upwards for crotch 1-24, so that hard pressing plate-foam pile rises the height of a hard pressing plate Degree.

4, hard pressing plate pile moves down.In hard pressing plate stacking tooling 12, control system control promotes motor 1-21 high speed Rotation, high-speed rotation is reduced to slowly run and be transferred to by lifting speed reducer 1-22 promotes linear mould group 1-23, promotes linear mould Group 1-23 will be converted into moving downward for crotch 1-24, so that hard pressing plate-foam pile declines the height of a hard pressing plate Degree.

5, foam picks up.In foam catching robot 32, II 3-6 of rotating arm moves to mixing from default location and piles up work Fill 11 surface 1., II 3-7 of thin cylinder movement drives II 3-8 of sucker to draw foam, and the foam pick-up time is slower than hard Pressing plate picks up 1s.

6, foam is in place.II 3-6 of rotating arm of foam catching robot 32 by foam from mixing stacking tooling 11 just on 1., after being transported to right above foam bracket 21 2., after putting down foam, II 3-6 of rotating arm of foam catching robot 32 is recalled for side The surface of stacking tooling 21 is mixed 1. from new crawl foam.

7, hard pressing plate-foam pile moves down.In mixing stacking tooling 11, control system control promotes motor 1-21 high speed Rotation, high-speed rotation is reduced to slowly run and be transferred to by lifting speed reducer 1-22 promotes linear mould group 1-23, promotes linear mould Group 1-23 will be converted into moving upwards for crotch 1-24, so that hard pressing plate-foam pile rises the height of a foam.

When normal work, equipment is by setting working sequence automatic work: hard pressing plate pickup → hard pressing plate in place → it is hard Matter pressing plate-foam pile moves up → and hard pressing plate pile moves down → (foam picks up [foam picks up late hard pressing plate and picks up 1s]) → bubble Cotton in place → hard pressing plate-foam pile moves down, and repeats above step, complete the intersection de-stacking to foam and hard pressing plate.When mixed After closing the stacking completely of stacking tooling 11, unload from empty mixing stacking tooling 11 is newly changed, when on hard pressing plate stacking tooling 12 After hard pressing plate has grabbed, unload from newly changing the hard pressing plate stacking tooling 12 piled up.

After foam is placed on foam bracket 21, spray printing mechanism 2 in accordance with the following steps to foam carry out information identification with Spray printing:

S1, spray printing manipulator are in place.I 24-4 of rotating arm of control system control spray printing manipulator I 241 rotates to foam branch Foam heelpiece 21-1 take-off location on frame 21 is 3..

S2, foam transhipment.Control system controls I 24-5 of the thin cylinder work of spray printing manipulator I 241, thin cylinder I 24-5 drives I 24-6 of sucker to draw foam, and then foam is transported to the foam of information recognition device 22 by spray printing manipulator I 241 Right above backing plate 22-4 4., foam is put down.

S3, the identification of foam information.I 22-3 of control system control platform motor rotation drives I 22-2 of hollow rotating platform rotation Turn, and then drive the foam rotation on foam backing plate 22-4, the bar code on the code reader 22-6 identification foam of foam upper end will The information recognized is transferred to control system, and the information that control system is passed back according to code reader will be in its information and date library Bar code information compares, and according to read bar code information, reads the information for needing spray printing in the database, and to The foam of identification is counted.

S4, foam transhipment.Control system controls I 24-5 of the thin cylinder work of spray printing manipulator II 242 processed, thin cylinder I 24-5 drives I 24-6 of sucker to draw the foam on foam backing plate 22-4, then controls spray printing manipulator II 242 and transports foam Right above to the spray printing heelpiece 23-2 of information jet printing appts 23 5., foam is put down, and count to the foam transported.

S5, foam information spray printing.Control system controls spray printing motor 23-5 rotation, and spray printing speed reducer 23-6 is by high-speed rotation It is reduced to and slowly runs and be transferred to the linear mould group 23-4 of spray printing, the linear mould group of spray printing will be converted into spray printing machine support 23-9's Horizontal movement, spray printing machine support 23-9 drive jet printer 23-7 to move horizontally, and jet printer 23-7 is controlled by control system, in foam Quick jet printing corresponding information on the separate paper of back side, and the foam of spray printing is counted.

S6, foam transhipment.Control system controls I 24-6 of sucker on spray printing manipulator III 243 and draws on spray printing heelpiece Foam is left spray printing mechanism, and counted to the foam transported by foam.

When normal work, spray printing mechanism 2 by setting working sequence automatic work: spray printing manipulator in place → foam transhipment → Foam information identification → foam transhipment → foam information spray printing → foam transhipment, repeats above step, by foam catching robot 32 foams being transported on foam bracket 21 carry out information identification and spray printing.

In above-mentioned foam transhipment step, principle is similar in place with spray printing manipulator for the principle of foam transhipment, control system control I 24-4 of rotating arm rotation transhipment foam processed.

In the step of foam de-stacking, information identification are with spray printing, the operation of the various sensors acquisition equipment of detection system State is simultaneously transmitted to control system, realizes that foam and hard pressing plate count and movement crosses the border and the functions such as spacing alarm and is shown in industry On the LCD screen for controlling computer.

Existing destacking apparatus is individual de-stacking function, and there is no this function of the spray printing of the identification of foam and information Can, the present apparatus identifies foam information using Cognex 100QL code reader, and trace back a yard W300 jet printer spray printing corresponding information.Pass through this Sample can be recorded to the foam of same specification and be checked its quantity, spray printing relevant batch and physical size information, can guarantee final The foam for being packed into chest is the foam of same specification；The foam for recording which specification simultaneously is damaged, and how much is breakage, and informs front Process requires supplementation with the foam of how much certain specification.Information spray printing, which facilitates subsequent packages, to be checked, and two dimensional code is convenient for product Information transmitting in production.This structure is suitble to the intellectualized reconstruction of follow-up equipment, installs intelligent logistic management system additional and realizes bubble The intelligence of cotton production, further increases the production efficiency of foam, is easy to implement the upgrading of equipment.

The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its Equivalent thereof.

Claims (10)

1. a kind of pin-connected panel foam de-stacking and information spray printing device characterized by comprising

Stacking tooling (1), the stacking tooling (1) include intersecting the mixing stacking tooling piled up for foam and hard pressing plate (11) and the hard pressing plate stacking tooling (12) individually piled up of hard pressing plate；

Spray printing mechanism (2), the spray printing mechanism (2) include foam bracket (21), information recognition device (22), information jet printing appts (23), multiple sprays of foam and between foam bracket (21), information recognition device (22) and information jet printing appts (23) are transported It prints manipulator (24)；

De-stacking manipulator (3), the de-stacking manipulator (3) are included in mixing stacking tooling (11) and hard pressing plate stacking tooling (12) the hard pressing plate catching robot (31) of hard pressing plate is transported between, and in mixing stacking tooling (11) and foam bracket (21) the foam catching robot (32) of foam is transported between；

Detection system, the detection system are used to detect the operating status of the de-stacking of pin-connected panel foam and information spray printing device, And it will test information and be sent to control system；

Control system, the control system are used to receive the information of detection system, and control the de-stacking of pin-connected panel foam and information spray The operation of printing apparatus.

2. a kind of pin-connected panel foam de-stacking according to claim 1 and information spray printing device, which is characterized in that the mixing Stacking tooling (11) and hard pressing plate stacking tooling (12) include piling up frame (1-1), hoisting mechanism (1-2) and tool base plate (1-3), the stacking frame (1-1) and hoisting mechanism (1-2) are arranged on tool base plate (1-3)；

Pile up frame (1-1) includes piling up bottom plate (1-11) and being mounted on to pile up to surround on bottom plate (1-11) to pile up space Baffle (1-12), the stacking space bottom end are provided with tooling base (1-13), and stacking bottom plate (1-11) two sides are provided with Handle (1-14)；

The hoisting mechanism (1-2) include promoted motor (1-21), lifting speed reducer (1-22), promoted linear mould group (1-23) and Crotch (1-24), the power output end for promoting motor (1-21) are fixedly connected lifting speed reducer (1-22), and the promotion subtracts The output end of fast machine (1-22), which is fixedly connected, promotes linear mould group (1-23), and the linear mould group (1-23) of promotion is mounted on tooling On Lifting Modules group mounting plate (1-25) on bottom plate (1-3), between the Lifting Modules group mounting plate (1-25) and tool base plate (1-3) Equipped with module bracket (1-26) is promoted, the promotion sliding block (1-27) for promoting linear mould group (1-23) output end connects crotch (1-24), the strut (1-28) of the crotch (1-24), which protrudes into, piles up the inside frame (1-1).

3. a kind of pin-connected panel foam de-stacking according to claim 2 and information spray printing device, which is characterized in that the mixing Stacking tooling (11) and hard pressing plate stacking tooling (12) further include lifting mechanism (1-4) and stacking frame mechanism (1- in place 5)；

The lifting mechanism (1-4) includes lifting bottom plate (1-41), rectangle steel (1-42) and lifting top plate (1-43), the lifting Bottom plate (1-41) is mounted on tool base plate (1-3), rectangle steel (1-42) connection lifting bottom plate (1-41) and lifting top plate (1-43), is provided with positioning side (1-44) on the lifting top plate (1-43), and the stackings bottom plate (1-11) is along positioning side (1- 44) it is mounted on the lifting top plate (1-43)；

It is described to pile up the frame positioning plate (1-52) that mechanism (1-5) includes locating piece (1-51) and cooperates with locating piece in place, institute Locating piece (1-51) setting is stated on piling up bottom plate (1-11), positioning plate (1-52) setting is in lifting top plate (1-43)；

The baffle (1-12) includes shelves rod (1-15) and baffle front panel (1-16), and the bottom end of the shelves rod (1-15) passes through spiral shell Bolt, which is mounted on, to be piled up on bottom plate (1-11), and the front end of shelves rod (1-15) connects baffle front panel (1-16), the shelves rod (1-15) Material be aluminium, the baffle front panel (1-16) be PVC material.

4. a kind of pin-connected panel foam de-stacking according to claim 3 and information spray printing device, which is characterized in that the foam Foam heelpiece (21-1) is provided on bracket (21)；

The information recognition device (22) includes identification device bracket (22-1), hollow rotating platform I (22-2), platform motor I (22-3), foam backing plate (22-4), code reader bracket (22-5) and code reader (22-6), the hollow rotating platform I (22-2) It is installed on identification device bracket (22-1) with code reader bracket (22-5), the power output of the platform motor I (22-3) End is fixedly connected with the input terminal of hollow rotating platform I (22-2), and the foam backing plate (22-4) is arranged in hollow rotating platform I The output top of (22-2), the code reader (22-6) is mounted on code reader bracket (22-5) and the identification of code reader (22-6) Head is located at the top of foam backing plate (22-4)；

The information jet printing appts (23) include spray printing bracket (23-1), spray printing heelpiece (23-2), spray printing module bracket (23-3), The linear mould group (23-4) of spray printing, spray printing mould group motor (23-5), spray printing speed reducer (23-6) and jet printer (23-7), the spray printing Heelpiece (23-2) is arranged on the top spray printing bracket (23-1), and the linear mould group (23-4) of spray printing is horizontally arranged at spray printing mould group branch On frame (23-3), the power output shaft of spray printing mould group motor (23-5) is fixedly connected with the input shaft of spray printing speed reducer (23-6), institute State the input shaft that spray printing speed reducer (23-6) output shaft is fixedly connected with the linear mould group (23-4) of spray printing, the linear mould group of the spray printing The spray printing sliding block (23-8) of (23-4) output end connects spray printing machine support (23-9), and the jet printer (23-7) is mounted on jet printer On bracket (23-9) and the jet-printing head of jet printer (23-7) is located at the lower section of spray printing heelpiece (23-2)；

The spray printing manipulator (24) includes platform support (24-1), hollow rotating platform II (24-2), II (24- of platform motor 3), rotating arm I (24-4), thin cylinder I (24-5) and sucker I (24-6), the hollow rotating platform II (24-2) are mounted on The power output shaft on the top platform support (24-1), the platform motor II (24-3) is fixedly connected with II (24- of hollow rotating platform 2) input shaft, the rotating arm I (24-4) are mounted on the output end of hollow rotating platform II (24-2), I (24- of rotating arm 4) thin cylinder I (24-5) is installed in front end, and the output end of the thin cylinder I (24-5) passes through connecting shaft connecting sucker I (24-6), the sucker I (24-6) are located at the upper of foam heelpiece (21-1), foam backing plate (22-4) and spray printing heelpiece (23-2) Side.

5. a kind of pin-connected panel foam de-stacking according to claim 4 and information spray printing device, which is characterized in that the spray printing Mechanism (2) further includes spray printing support (25), the spray printing support (25) include support top plate (25-1), base-plate (25-2) and More square bars (25-3) of connecting support top plate (25-1) and base-plate (25-2), the foam bracket (21), information are known Other device (22), information jet printing appts (23) and spray printing manipulator (24) are arranged on support top plate (25-1)；

The width of the spray printing heelpiece (23-2) is less than the width of foam, and the jet-printing head of jet printer (23-7) is located at foam and stretches out spray Print the lower section of the part heelpiece (23-2)；

The multiple spray printing manipulator (24) includes the spray that foam is transported between foam bracket (21) and information recognition device (22) It prints manipulator I (241), the spray printing manipulator II of foam is transported between information recognition device (22) and information jet printing appts (23) (242), the spray printing manipulator III of spray printing mechanism (2) and by the foam that spray printing finishes in information jet printing appts (23) is left (243)。

6. a kind of pin-connected panel foam de-stacking according to claim 5 and information spray printing device, which is characterized in that the hard Pressing plate catching robot (31) is located between mixing stacking tooling (21) and hard pressing plate stacking tooling (22), the foam gripper Tool hand (32) is located between mixing stacking tooling (11) and foam bracket (21)；

The hard pressing plate catching robot (31) and foam catching robot (32) include robot base (3-1), column (3-2), protractor (3-3), protractor motor (3-4), protractor speed reducer (3-5), rotating arm II (3-6), slim gas are swung Cylinder II (3-7) and sucker II (3-8)；

The column (3-2) is vertically arranged on robot base (3-1), and the swing protractor (3-3) is mounted on column (3- 2) power output end on top, the protractor motor (3-4) is fixedly connected with the input shaft of protractor speed reducer (3-5), institute The output shaft for stating protractor speed reducer (3-5) is fixedly connected with the input shaft for swinging protractor (3-3), the rotating arm II (3-6) It is mounted on the output shaft for swinging protractor (3-3), thin cylinder II (3-7) is installed in the front end of rotating arm II (3-6), described thin The output end of type cylinder II (3-7) passes through connecting shaft connecting sucker II (3-8).

7. a kind of pin-connected panel foam de-stacking according to claim 6 and information spray printing device, which is characterized in that the column (3-2) is provided with two, is equipped between two root posts (3-2) and robot base (3-1) support plate (3-21), and described two vertical It is equipped with stiffening plate (3-22) between column (3-2), the top surface of two root posts (3-2) is equipped with protractor backing plate (3-9), and described swing is divided Degree device (3-3) is mounted on protractor backing plate (3-9).

8. a kind of pin-connected panel foam de-stacking according to claim 7 and information spray printing device, which is characterized in that the detection System includes positive limit sensor (4-1), negative sense limit sensors (4-2), zero point detection sensor (4-3) and senses in place Device；

The positive limit sensor (4-1) is mounted on the linear mould group (1-23) of promotion and the linear mould group (23-4) of spray printing is respectively sliding At the direct limit position of block, the negative sense limit sensors (4-2), which are mounted on, promotes linear mould group (1-23) and the linear mould of spray printing The negative sense pole spacing place of the respective sliding block of group (23-4), the zero point detection sensor (4-3), which is mounted on, promotes linear mould group (1- 23) described to promote linear mould group (1-23) and the linear mould of spray printing with the initial position of the respective sliding block of the linear mould group (23-4) of spray printing Group (23-4) connection sliding block on be provided with block the positive limit sensor (4-1), negative sense limit sensors (4-2) and The baffle (4-4) of zero point detection sensor (4-3), the sensors in place respectively with thin cylinder I (24-5) and thin cylinder II (3-7) is disposed in parallel in the end of rotating arm I (24-4) and rotating arm II (3-6).

9. a kind of pin-connected panel foam de-stacking according to claim 8 and information spray printing device, which is characterized in that the control System includes industrial control computer and PLC, and the industrial control computer is connect with PLC signal, PLC respectively with detection system System, stacking tooling (1), spray printing mechanism (2) are connected with de-stacking manipulator (3) signal.

10. a kind of pin-connected panel foam de-stacking according to claim 9 and information spray printing device, which is characterized in that the suction Disk I (24-6) and sucker II (3-8) are Cyclonic non-contact suction cup, the hollow rotating platform II (24-2) and swing indexing It is provided on device (3-3) tracheae via hole (5-1), is all provided on the upper surface of the rotating arm I (24-4) and rotating arm II (3-6) Have tracheae card slot (5-2), tracheae passes through tracheae via hole (5-1) gentle pipe clamp slot (5-2) and connects Cyclonic non-contact suction cup afterwards Air pipe interface；

The bottom end of the tool base plate (1-3), base-plate (25-2) and robot base (3-1) is provided with castor (6), institute Stating castor (6) includes idler wheel (6-1) and fixed support (6-2).