CN211415505U

CN211415505U - Full-automatic veneer double-face synchronous register embossing device

Info

Publication number: CN211415505U
Application number: CN201921034856.5U
Authority: CN
Inventors: 郭晓宁
Original assignee: Guangdong Yingdaslie Intelligent Technology Co ltd
Current assignee: Guangdong Yingdaslie Intelligent Technology Co ltd
Priority date: 2019-07-04
Filing date: 2019-07-04
Publication date: 2020-09-04
Anticipated expiration: 2029-07-04

Abstract

The utility model discloses a double-sided synchronous register embossing device of a full-automatic veneer, which comprises a longitudinal hot press, an industrial control computer, a feeding conveying mechanism which is positioned at the feeding end of the longitudinal hot press and can move horizontally, a paper lifting platform which is positioned at one side of the feeding conveying mechanism, a manipulator device for paper laying which is positioned above the paper lifting platform and can move horizontally, a vision system which is positioned above the paper lifting platform, an automatic centering plate feeding mechanism which is positioned at the other side of the feeding conveying mechanism and can move horizontally and vertically, and a first proximity switch, a second proximity switch and a third proximity switch which correspond to the positions of the manipulator device for paper laying, the automatic centering plate feeding mechanism and the feeding conveying mechanism; and the industrial control computer correspondingly controls the positions of the paper paving mechanical arm device, the automatic centering plate feeding mechanism and the feeding conveying mechanism according to the first proximity switch, the second proximity switch and the third proximity switch, and controls the paper paving mechanical arm device to accurately position paper on the feeding conveying mechanism according to the paper position information acquired by the visual system, so that automatic synchronous registration and embossing are realized.

Description

Full-automatic veneer double-face synchronous register embossing device

Technical Field

The utility model belongs to the technical field of panel manufacture equipment, concretely relates to two-sided synchronous register embossing apparatus of full-automatic decorative board.

Background

The melamine board (also called double-faced board) is made up by soaking paper with different colours or textures in melamine resin adhesive, drying to a certain extent, spreading it on the surface of shaving board, damp-proof board, medium-density fibre board, plywood, core-board, multi-layer board or other hard fibre board, and hot-pressing so as to obtain the invented decorative board.

Patent application number is 201810174886. X's utility model discloses a send board device, can realize the travelling speed of track and send the same opposite direction of travelling speed size of wooden handcart, and panel does not remove along with sending the board device when having guaranteed to unload, prevents base plate and decorative paper dislocation, reduction in the number of rejects.

In the manufacturing process of the melamine board, the printing patterns of some formed products are planar and have no three-dimensional sense; with the development of technology and the demand of people, another molded product is produced. The surface of the base material is pressed with patterns with three-dimensional effect, and the upper surface and the lower surface of the base material are hot-pressed through an upper die and a lower die of a longitudinal hot press during manufacturing so as to extrude the patterns. In hot pressing, the embossing is required to correspond to the pattern on the substrate (register). In the production process, a mode of manually spreading paper is usually adopted, paper is spread on the upper surface and the lower surface of the base material, and the paper and the base material need to be correspondingly spread, but the grain alignment is difficult, the matching deviation of the embossing and the printing pattern is often generated, the production difficulty is relatively large, and the production efficiency is low.

It is seen that improvements and enhancements to the prior art are needed.

SUMMERY OF THE UTILITY MODEL

In view of the weak point of above-mentioned prior art, the utility model aims to provide a two-sided synchronous register embossing apparatus of full-automatic decorative board, design benefit, stable in structure, reliable and practical, intelligent degree is high, can accomplish synchronous register embossing line work automatically.

In order to achieve the purpose, the utility model adopts the following technical proposal:

the utility model provides a two-sided synchronous register embossing apparatus of full-automatic decorative board, includes vertical hot press, industrial control computer, wherein, still includes:

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

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

the mechanical hand device for paper laying is arranged above the paper lifting platform and can move horizontally;

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

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

for adsorbing a substrate;

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

the second proximity switch is used for detecting the horizontal moving position of the automatic centering plate feeding mechanism;

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

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

In the full-automatic veneer double-sided synchronous register embossing device, the manipulator device for paper paving comprises six manipulators, a bracket and a paper suction mechanism;

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

the adsorption member includes:

the rotating cylinder is fixedly connected to the fixing piece;

the end part of the vacuum pipe is fixed on the rotating table of the rotating cylinder;

the vacuum suction nozzles are uniformly arranged at the bottom of the vacuum tube;

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

the first proximity switch is arranged on the support and used for detecting the horizontal moving position of the moving seat.

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

but the one end swivelling joint of first joint in base, but the one end luffing joint of second joint is connected in the other end of first joint, but the one end luffing joint of third joint is connected in the other end of second joint, but the one end swivelling joint of fourth joint in the other end of third joint, but the one end luffing joint of fifth joint is connected in the other end of fourth joint, but the one end swivelling joint of sixth joint in the other end of fifth joint, the other end fixed connection of sixth joint in the connecting rod.

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

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

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

the roller motor is electrically connected to the industrial computer.

In the full-automatic veneer double-sided synchronous register embossing device, two rotating shafts are rotatably arranged at the bottom of the frame, rollers are respectively arranged at two ends of each rotating shaft, a driving motor is fixed on the frame and is in transmission connection with any one rotating shaft, and a guide rail in rolling connection with the rollers is arranged below the frame; and a fourth proximity switch for detecting the moving position of the frame is arranged at one end of the guide rail, and the driving motor and the fourth proximity switch are respectively and electrically connected to the industrial personal computer.

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

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

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

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

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

the crane is provided with a pushing cylinder for driving the pushing head to move horizontally.

In the full-automatic veneer double-sided synchronous register embossing device, the longitudinal hot press comprises an upper die capable of moving up and down, a fixed lower die and a connecting rod mechanism; the bottom surface of the upper die and the top surface of the lower die are respectively provided with an upper die and a lower die; two rows of rotatable first pulleys are vertically arranged on the left side and the right side of the upper die respectively, and the longitudinal hot press is correspondingly provided with two guide blocks which are respectively connected with the first pulleys in a sliding manner; the connecting rod mechanism comprises a synchronous rotating shaft rotatably arranged above the longitudinal hot press, connecting rods respectively fixed at two ends of the synchronous rotating shaft, and a swing rod with one end hinged with the connecting rod; the front side and the rear side of the upper die are respectively provided with a connecting seat; the other end of pendulum rod is articulated with the connecting seat, the connecting seat is vertical to be fixed with the carriage release lever that is suitable for the pendulum rod to run through, the carriage release lever cover is equipped with the loop bar that is fixed in vertical hot press, the trompil has been seted up respectively to the loop bar left and right sides, corresponds the trompil department of loop bar and is equipped with the second pulley with carriage release lever sliding connection.

In the full-automatic veneer double-face synchronous register embossing device, the longitudinal hot press also comprises a plurality of mould locking mechanisms; the mould locking mechanism comprises a telescopic cylinder, a locking rod, a clamping block and a mounting seat, wherein one end of the locking rod is hinged with a piston rod of the telescopic cylinder; the fixture blocks are arranged on the top surface of the upper die and are respectively fixed on the left side and the right side of the upper die; the installation seats are respectively fixed on the left side and the right side of the upper die.

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

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

the plate loading trolley comprises a plate loading frame, a crawler belt, a compression roller and a plate unloading block, wherein the crawler belt is arranged around the plate loading frame and used for conveying a base material;

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

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

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

Has the advantages that:

the utility model provides a two-sided synchronous register embossing apparatus of full-automatic decorative board, design benefit, stable in structure, reliable and practical, intelligent degree is high, can accomplish synchronous register embossing line work automatically.

Compared with the prior art, the utility model discloses ingenious application visual system for gather the positional information of paper on the paper lift platform, through image information collection, contrastive analysis reachs the skew information between paper and the standard template, and then control its six joints of six mechanical arm adjustment, the accurate positioning of paper mechanism and paper is inhaled in the realization, and through the horizontal migration of six mechanical arms, put paper accurately on feeding conveying mechanism's shop paper station, the artifical paper mode of spreading in the past has been changed, reducible human input, and the efficiency is improved.

And moreover, an automatic centering plate feeding mechanism is designed to work in cooperation with a mechanical arm device for paper paving, the automatic centering plate feeding mechanism firstly completes plate centering and then is sucked and fed onto a paper paving station of the feeding and conveying mechanism to complete corresponding paving of the base material and the paper, and therefore printing patterns of the paper are overlapped with lines to be formed on the base material.

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

Drawings

Fig. 1 is a perspective view of the structure of the full-automatic veneer double-sided synchronous registration embossing device provided by the utility model.

Fig. 2 is the structure side view of the full-automatic veneer double-sided synchronous registration embossing device provided by the utility model.

Fig. 3 is the utility model provides an among the full-automatic decorative board two-sided synchronous register embossing apparatus, spread paper and use manipulator device, vision system, paper lift platform and feeding conveying mechanism's structure stereogram.

Fig. 4 is the utility model provides a full-automatic decorative board two-sided is to the flower embossing apparatus in step, spreads the structural schematic diagram of mechanical hand device for paper.

Fig. 5 is the utility model provides a full-automatic decorative board two-sided synchronous registration embossing apparatus, six manipulators and the structure stereogram of inhaling paper mechanism.

Fig. 6 is a perspective view of the structure of the paper suction mechanism in the full-automatic veneer double-sided synchronous pattern-aligning and embossing device provided by the utility model.

Fig. 7 is the utility model provides a full-automatic decorative board two-sided synchronous registration embossing apparatus, paper lift platform's structure stereogram.

Fig. 8 is the utility model provides a full-automatic decorative board two-sided is in step to the flower embossing apparatus, paper lift platform's structural plan view.

Fig. 9 is the utility model provides a in the synchronous registration embossing apparatus of full-automatic decorative board two-sided, the structure bottom view of paper lift platform.

Fig. 10 is a first working principle diagram of a mechanical arm device and a vision system for paper spreading in the full-automatic veneer double-sided synchronous registration embossing device provided by the utility model.

Fig. 11 is the utility model provides a among the full-automatic decorative board two-sided synchronous register embossing apparatus, shop paper uses manipulator device and vision system's theory of operation diagram two.

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

Fig. 13 is a perspective view of the structure of the feeding and conveying mechanism in the double-sided synchronous embossing device for the full-automatic veneer.

Fig. 14 is a schematic structural diagram of a plate loading trolley in the feeding and conveying mechanism provided in fig. 13.

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

Fig. 16 is a perspective view of the structure of the automatic centering plate feeding mechanism in the double-sided synchronous pattern aligning and embossing device for the full-automatic veneer.

FIG. 17 is a perspective view of the lifting/lowering plate-sucking mechanism of the automatic plate-centering and feeding mechanism shown in FIG. 16.

FIG. 18 is a side view of the automatic centering plate feeding mechanism of FIG. 16 showing the structure of the plate lifting and lowering mechanism.

Fig. 19 is the utility model provides a among the full-automatic decorative board two-sided synchronous register embossing apparatus, shop paper uses manipulator device and vision system's working principle diagram four.

Fig. 20 is the working principle diagram of the manipulator device for paper laying and the vision system in the full-automatic veneer double-sided synchronous register embossing device provided by the utility model.

Fig. 21 is the utility model provides a among the full-automatic decorative board two-sided synchronous register embossing apparatus, shop paper uses manipulator device and vision system's operating principle diagram six.

Fig. 22 is a first perspective view of the structure of the vertical hot press in the full-automatic veneer double-sided synchronous pattern-aligning and embossing device provided by the utility model.

Fig. 23 is the utility model provides a two-sided synchronous register embossing apparatus of full-automatic decorative board, the structure stereogram of vertical hot press is two.

Fig. 24 is a three-dimensional structural view of the vertical hot press in the double-sided synchronous pattern aligning and embossing device for the full-automatic veneer.

Fig. 25 is the structure front view of the vertical hot press in the full-automatic veneer double-sided synchronous pattern-aligning and embossing device provided by the utility model.

Fig. 26 is a schematic structural view of the first pulley and the guide block in the longitudinal hot press provided by the present invention.

Fig. 27 is the structural schematic diagram of the mold locking mechanism in the vertical hot press provided by the utility model.

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

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

Detailed Description

The utility model provides a two-sided synchronous register embossing apparatus of full-automatic decorative board, for making the utility model discloses a purpose, technical scheme and effect are clearer, clear and definite, and it is right that the following refers to the drawing and the embodiment is lifted the utility model discloses further detailed description. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention. It is to be understood herein that the drawings are solely for the purpose of illustrating the invention.

In the description of the present invention, it should be understood that the terms "front", "back", "left", "right", "bottom", "top" and the like indicate the orientation or position relationship of the present invention based on the drawings, and are only for convenience of description and simplification of description. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to a number of the technical features indicated.

It should be noted that an XYZ three-axis coordinate system is established by using the direction in which the six-axis robot moves horizontally along the support as the X axis, the height direction of the support as the Z axis, and the direction in which the paper lifting platform moves as the Y axis.

Referring to fig. 1, 2 and 3, the present invention provides a full-automatic veneer double-sided synchronous pattern-aligning and embossing apparatus, which comprises a vertical hot press 1, an industrial control computer (not shown in the figure), a feeding and conveying mechanism 7, a paper lifting platform 3, a paper-laying manipulator device 5, a vision system 9, and an automatic centering and plate-feeding mechanism 2.

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

Referring to fig. 3 and 4, the first proximity switch is disposed on a horizontal moving direction line of the paper laying robot device, and is used to detect a horizontal moving position of the paper laying robot device 5. In the present embodiment, the first proximity switch 43 on the right side detects whether the paper laying manipulator device 5 is moved right above the paper lifting platform 3 and is moved in place; the first proximity switch 44 on the left side detects whether the paper laying robot device has moved to the left above the feed conveyance mechanism 7 and is moved to the right.

Referring to fig. 16, the second proximity switch is disposed on the horizontal moving direction line of the automatic centering plate-feeding mechanism, and is used for detecting the horizontal moving position of the automatic centering plate-feeding mechanism. In this embodiment, the second proximity switches 62 are respectively disposed on the front side and the rear side of the automatic centering and conveying plate mechanism, and detect whether the automatic centering and conveying plate mechanism moves forward above the feeding and conveying mechanism 7, moves in place, and moves backward to adsorb the stacked substrates.

Referring to fig. 2, 13 and 14, the third proximity switch is disposed on the horizontal moving direction line of the feeding and conveying mechanism, and is used for detecting the horizontal moving position of the feeding and conveying mechanism 7; in this embodiment, the third proximity switch 75 is disposed at the rear side of the feeding and conveying mechanism 7, and detects whether the feeding and conveying mechanism moves backward to a position to bear paper and base material, so as to ensure that the paper laying station positions of the feeding and conveying mechanism are always consistent; the third proximity switch 729 is disposed on the front side of the feeding and conveying mechanism 7, and detects whether the feeding and conveying mechanism moves forward between the upper die 11 and the lower die 12 of the longitudinal hot press 1, and moves in place, thereby ensuring that the embossing is overlapped with the printing pattern of the paper.

The industrial control computer is respectively and electrically connected with the paper lifting platform 3, the mechanical arm device 5 for paper paving, the vision system 9, the automatic centering plate feeding mechanism 2, the feeding conveying mechanism 7, the longitudinal hot press 1, the first proximity switch, the second proximity switch and the third proximity switch, and is used for receiving position detection information of the first proximity switch, the second proximity switch and the third proximity switch, so that the horizontal movement position of the mechanical arm device for paper paving, the horizontal movement position of the automatic centering plate feeding mechanism and the horizontal movement position of the feeding conveying mechanism are correspondingly controlled.

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

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

In this embodiment, the fixing member 522 has an L-shape.

In this embodiment, please refer to fig. 4 and 5, the first driving mechanism 54 is a servo motor, the servo motor is fixed on the moving seat 53, the bracket 4 is provided with a slide rail 41 connected with the moving seat 53 in a sliding manner, and a rack 42 engaged with an output gear of the servo motor; the slide rail 41 is clamped with the movable seat 53; the first proximity switch 43 and the first proximity switch 44 are respectively located at both ends of the rack 42; the servo motor is electrically connected to the industrial personal computer, and the detection signals of the first proximity switch 43 and the first proximity switch 44 of the industrial personal computer control the servo motor to work, so as to control the moving distance of the moving seat 53, so as to control the position of the paper suction mechanism 52, thereby facilitating the realization of automatic and accurate paper laying.

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

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

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

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

Further, referring to fig. 4, 5 and 6, the six-axis robot 51 includes a base 511 mounted on the movable base 53, and a first joint 512, a second joint 513, a third joint 514, a fourth joint 515, a fifth joint 516 and a sixth joint 517 which are connected in a transmission manner in sequence.

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

The base 511, i.e., the fixed end of the six-axis robot 51, is mounted on the movable base 53 by bolts, and the six-axis robot 51 is horizontally moved by the movable base 53. The base 511 is internally provided with a motor which can drive the first joint 512 to rotate relative to the base 511, and in the embodiment, the rotation axis (which is consistent with the Y-axis direction) of the first joint is perpendicular to the moving direction of the movable base and is positioned in the horizontal plane (XY plane). By the rotation of the first joint, the swing angle of the paper suction mechanism 52 in the XZ plane can be adjusted.

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

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

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

Nowadays, vision systems are more and more emphasized by people and enterprises. The vision system uses machines to replace human eyes to make various measurements and judgments, integrates the technologies of optics, mechanics, electronics and the like, and relates to a plurality of fields of computers, image processing, mode recognition and the like. The visual system converts the object to be shot into image signal through machine visual product (image shooting device, CMOS and CCD), and transmits it to special image processing system, and converts it into digital signal according to the information of pixel distribution, brightness and color, the image processing system carries out various operations to these signals to extract the characteristic of the object, and then controls the action of the equipment on site according to the result of discrimination.

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

In the paper laying process, a visual system is skillfully used to work together with a six-axis mechanical arm and a paper suction mechanism, an illumination light source is arranged to provide proper illumination light for an industrial camera, the industrial camera shoots the position of paper on a paper lifting platform, the position is transferred to an industrial control computer through an image acquisition card, and the image information is captured by the aid of an image processing system to obtain the position information (three-dimensional information) of the paper on the paper lifting platform.

As shown in fig. 1, 2, and 3, a feeding and conveying mechanism 7 is provided on the right side of the paper lifting platform 3, and in the melamine board production process, a base material 8 is placed on a paper laying station of the feeding and conveying mechanism 7, and paper 10 is placed on the surface of the base material. In automated manufacturing, the substrate is fed to a specific and unique position on the infeed conveyor (i.e., the sheet placement station), and the sheet is precisely placed at the sheet placement station, covering both the upper and lower surfaces of the substrate.

Under the work of the six-axis manipulator 51 and the paper suction mechanism 52, the paper on the paper lifting platform 3 can be translated to the paper spreading station on the feeding and conveying mechanism 7 along the horizontal moving direction of the six-axis manipulator, at this time, the position of the paper on the paper lifting platform 3 which is farthest away from the paper spreading station can be selected as a standard position, meanwhile, the position of the paper suction mechanism 52 relative to the paper when the paper is sucked is set as a standard suction position, and the position of the paper suction mechanism relative to the support is a reference suction position. In this embodiment, in order to realize that paper is laid on both the upper and lower surfaces of the substrate, the paper suction mechanism further needs to complete the paper turning operation, and therefore, there are two standard suction positions and two reference suction positions, and the paper suction mechanism corresponds to one standard suction position and one reference suction position when performing paper turning, and corresponds to the other standard suction position and the other reference suction position when not performing paper turning. The vision system shoots the standard position and stores the standard position to an industrial personal computer, and the industrial personal computer simultaneously records two reference adsorption positions.

Then, in the actual paper laying work, the visual system shoots the actual position of the paper on the paper lifting platform and transmits the actual position to the industrial personal computer, the actual position information is compared with the set standard position information under the operation of the image processing system to obtain an offset value of the actual position relative to the standard position, and then the industrial personal computer controls the six-axis manipulator 51 to work according to the offset value and automatically adjusts the six-axis manipulator so that the paper suction mechanism can adsorb the paper and ensure that the paper reaches the standard adsorption position; subsequently, the six-axis robot moves horizontally under the control of the industrial personal computer, and carries the paper to the feeding and conveying mechanism through the paper suction mechanism 52, and the paper is flatly paved on the paper paving station.

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

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

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

When the deviation angle of the paper relative to the standard position is large, the corresponding roller motor is started to enable the roller group on the corresponding side to rotate, and the part of the paper, which is in contact with the rotating roller, slowly moves the position, so that the whole position of the paper is adjusted, and the deviation angle is reduced. For example, the right side (looking along the Y axle) of the paper on the paper lift platform is more preceding than the left side, and the skew angle is great, so, starts the roller motor, and left side roller motor reversal, right side roller motor corotation for the roller antiport of left side roller group, the roller forward rotation of right side roller group, thereby the skew angle of adjustment paper reduces to minimum angle, is close to 0. Through such unique design, can avoid inhaling the paper mechanism and can avoid absorbing the great range of swing in XY plane, and can prevent that the paper from needing to swing great range after being adsorbed and carrying out position adjustment to and because of the too big paper that causes of swing range is impaired, thereby raise the efficiency.

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

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

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

In addition, the paper lifting platform 3 is also provided with a photoelectric sensor positioned below the paper, and the photoelectric sensor is connected with an industrial personal computer and used for detecting whether the paper is placed on the paper lifting platform; when the photoelectric sensor detects that the paper lifting platform has no paper, the industrial personal computer starts the driving motor 36, and the paper lifting platform 3 moves along the guide rail 30 under the operation of the driving motor.

Wherein, the output shaft of the driving motor 36 is fixed with a driving wheel, and the corresponding rotating shaft is fixed with a driven wheel, which are meshed and connected with the driving wheel and the driven wheel through chains. Guide rail 30 is provided along the Y-axis, and when the paper lifting platform lacks paper, drive motor 36 operates to rotate the shaft, and the paper lifting platform moves along the guide rail to the roller conveyor to receive a large stack of paper.

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

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

Wherein, the second proximity switch 62 is arranged on the support guide rail 6; in this embodiment, the second proximity switches 62 are respectively disposed at the front side and the rear side of the support rail to respectively detect whether the movable support 211 is moved in place.

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

In this embodiment, the movable supporting frame 211 is provided with a supporting roller 212, the supporting roller 212 contacts with the supporting rail 6, and the supporting roller rolls along the supporting rail 6 under the driving of the belt. In addition, the movable supporting frame 211 is further provided with a limiting guide wheel 216, and the two limiting guide wheels 216 located below the supporting roller 212 are respectively contacted with the outer side surface and the inner side surface of the supporting guide rail 6, so that the movable supporting frame 211 is prevented from shifting when moving, and the linear walking of the movable supporting frame 211 cannot be guaranteed.

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

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

In this embodiment, the crane 222 is provided with two stoppers 224 on the front side thereof for contacting the long sides of the substrate 8; the lifting frame 222 is provided with a limiting rod 224 which is used for contacting with the short side of the base material 8 at the left side; the lifting frame 222 is provided with a pushing head 225 on the right side for contacting with the short side of the substrate, and the pushing head pushes the substrate to the left until the short side of the left side of the substrate contacts with the limiting rod 224 on the left side; the crane 222 is provided at the rear side thereof with two pushing heads 225 for contacting the long side of the substrate, which push the substrate forward until the long side of the front side of the substrate contacts the stopper 224 of the front side. Realize the substrate centering through top pusher and gag lever post, then use the sucking disc to adsorb the substrate, move down after the crane horizontal migration, place the substrate accurately on feeding conveying mechanism's shop paper station, realized that the printed pattern of paper corresponds (the coincidence) with the line of treating the suppression of substrate.

In addition, the lifting frame 222 is provided with a two-piece suction prevention plate mechanism 226, the two-piece suction prevention plate mechanism 226 is positioned on the rear side of the lifting frame 222 and the front side of the pushing head 225, and the two-piece suction prevention plate mechanism drives the second suction cup positioned at the end part of the piston rod of the pressure cylinder to ascend through the pressure cylinder, so that the edge of the uppermost layer of base material is warped and separated from the lower layer of base material, and two pieces of base material are prevented from being sucked at one time in the plate sucking process.

The movable supporting frame 211 is provided with a third driving mechanism 214 for driving the lifting and lowering plate-sucking mechanism to move vertically relative to the movable supporting frame 211. The third driving mechanism 214 is a forward and reverse rotating motor, which is fixed on the movable supporting frame 211, and the forward and reverse rotating motor is in transmission connection with a lifting rotating shaft; the movable support frame 211 and the lifting frame 222 are respectively provided with two lifting belt wheels in a rotating manner, the lifting belt wheel positioned on the movable support frame 211 is connected with a lifting rotating shaft, a lifting belt 215 is arranged, the bottom end of the lifting belt 215 is fixedly connected with the lifting belt wheel positioned on the lifting frame 222, and the top end of the lifting belt 215 is fixedly connected with the lifting belt wheel positioned on the movable support frame 211. The positive and negative rotation motor works to drive the lifting rotating shaft to rotate to drive the lifting belt wheel positioned on the movable supporting frame 211 to wind the lifting belt, so that the lifting frame 222 ascends.

Further, referring to fig. 2, 13, 14 and 15, the feeding and conveying mechanism 7 includes a conveying chassis 73, a feeding rail 71, and a plate loading cart 72 slidably connected to the feeding rail 71.

Wherein, the rear end of the feeding guide rail 71 is fixed on the conveying chassis 73 and is laid on two sides of the lower die 12 of the longitudinal hot press 1. The plate loading trolley 72 comprises a plate loading frame 723, a crawler 721 arranged around the plate loading frame 723 and used for conveying the base material 8, a press roller 727 arranged at the front end of the plate loading frame 723 and rotatably connected to the plate loading frame 723, and a plate unloading block 728 obliquely and downwards arranged on the plate loading frame 723 and located at two ends of the front side of the press roller 727. The conveying chassis 73 is provided with a fourth driving mechanism 74 which can drive the plate loading trolley 72 to move horizontally relative to the feeding guide rail 71.

In this embodiment, two ends of the pressure roller 727 are respectively fixed with an L-shaped rotating member, the rotating member is mounted on the plate mounting frame 723 through a bearing, the rotating member is fixed with a pressure roller gear 7274, the pressure roller gear 7274 is engaged and connected with a pressure roller rack 7273, the plate mounting frame 723 is provided with a guide groove 7271 which is used for supporting the pressure roller rack 7273 and is slidably connected with the pressure roller rack 7273, and the pressure roller rack 7273 is connected with a pressure roller cylinder 7272 fixed on the plate mounting frame 723. The piston rod of the pressing roller cylinder 7272 performs telescopic action to drive the pressing roller rack 7273 to move back and forth along the guide groove 7271, and further drives the pressing roller 727 to rotate clockwise or anticlockwise through the pressing roller gear 7274.

In this embodiment, the plate attaching frame 723 is provided with a slide block 7231 slidably connected to the feed rail 71. The crawler 721 is wound on the surface of the plate loading frame 723 through the crawler shaft 725 and the transmission shaft 726, the surface of the plate loading frame is inclined downwards and is connected with the plate unloading block, and the base material is convenient to move downwards along the crawler. The provision of the drive shaft 726 ensures that the track 721 remains suitably taut and does not sag. In addition, the plate-mounted frame 723 is provided with a plurality of support plates 724 to assist the crawler 721 and to support the substrate. Protective plates 76 are arranged on two sides of the conveying underframe 73 and can play a role of protection.

When the plate loading trolley 72 sends the base material to a position between an upper die and a lower die of a longitudinal hot press and located at a hot pressing working position (a working position capable of ensuring the superposition of embossing and printed patterns), the pressing roller 727 rotates to not press the base material, then the base material is moved to a paper laying station after the plate loading trolley, the track shaft 725 drives the track 721 to rotate, so that the track conveys the base material forwards, the conveying speed and the backward moving speed of the plate loading trolley are controlled, the base material cannot move backwards along with the plate loading trolley, the base material can be static relative to the feeding guide rail, and finally the base material can fall to the hot pressing working position. In this embodiment, the feeding and conveying mechanism operates as a plate feeding device in the prior art, and the moving speed of the caterpillar track and the moving speed of the plate loading trolley are the same and opposite in direction, so that the total speed of the plates is zero, that is, the plates are prevented from moving along with the plate loading trolley during unloading, and the dislocation of the substrate and the paper is prevented, so that the rejection rate is reduced.

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

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

In this embodiment, a third proximity switch 75 is disposed at the rear end of the feeding rail 71 and fixed to the conveying chassis 73 for detecting whether the board loading cart 72 is moved backward to a position to ensure that the paper laying station is always determined to be unique relative to the conveying chassis. In addition, the press roller 727 can press the base material and the paper, so that the displacement of the base material and the paper during the movement of the plate loading trolley can be avoided to cause the misalignment of the embossing and the printing pattern of the paper. And a third proximity switch 729 is provided at the front end of the plate loading trolley 72 for detecting whether the plate loading trolley is moved forward in place, is positioned between the upper die and the lower die of the longitudinal hot press, and ensures that the embossing coincides with the printed pattern.

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

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

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

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

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

The utility model discloses a cooperation, link structure and the second pulley 17 of first pulley 181 and guide block 182 and the cooperation of carriage release lever 16 for the last mould of this hot press can only remove along the direction of height, makes to go up the mould and remains the horizontality throughout, and can not take place the skew of X direction, Y direction on the horizontal plane, finally improves the line of suppression and the coincidence precision of the printed pattern of paper greatly, promotes the quality of product.

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

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

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

As shown in fig. 27 and 28, the hook 194 is provided with a straight hook surface 1941, the latch block 193 is correspondingly provided with an inclined surface 1932 attached to the hook surface 1941 at the latch hole 1931, and through the ingenious design, when the hook 194 is in snap-fit connection with the latch hole 1931, the inclined surface 1932 of the latch hole 1931 is attached to the hook surface 1941 of the hook 194, so that the latch block cannot move completely, thereby avoiding the movement of the upper mold 112 due to the movement of the latch block 193, and ensuring that the pattern overlapping accuracy of the pressed lines and the pressed paper on the plate is not high. The fixture block 193 is provided with a mounting hole 1933, and a bolt penetrates through the mounting hole 1933 to be fixedly connected with the upper die.

Further, as with the fixing of the upper mold 112, the stoppers 193 are provided on the bottom surface of the lower mold 121 and fixed to the left and right sides of the lower mold 121, respectively; the mount blocks 197 are fixed to the left and right sides of the lower die 12, respectively. A die locking mechanism 19 that locks the upper die 112 and a die locking mechanism 19 that locks the lower die 121 are provided on the longitudinal hot press 1 in an up-down symmetrical manner with respect to a horizontal plane.

This vertical hot press passes through link mechanism and second pulley, the design and the mating reaction of guide block and first pulley, can make the last mould of vertical hot press can move along the direction of height smoothly steadily, can avoid going up the mould and appear the skew when the presswork panel and can't guarantee to be located the pattern that the mould of mould low side can aim at the paper, thereby it has the deviation to lead to the impressed watermark of the decorative board of pressing out and the pattern coincidence of paper, product quality is not ideal, the design of this vertical hot press improves the precision of counterpoint impressed watermark further.

Additionally, the utility model discloses still provide a as above the two-sided synchronous registration embossing apparatus's of full-automatic decorative board control method specifically include:

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

As shown in fig. 3 and 10, a dotted area 40 is divided on the paper lifting platform 3 to find a reference origin O, in this embodiment, the corner point at the upper left corner is selected as the reference origin O, and the feeding and conveying mechanism 7 is disposed at the right side of the paper lifting platform, and then the X axis and the Y axis are made through the reference origin O, where the direction of the six-axis manipulator moving horizontally along the support is still used as the X axis, and the direction of the paper lifting platform moving is used as the Y axis. In the present embodiment, as shown in fig. 7, the upper left corner point of the support chassis 321 may be selected as the reference origin O.

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

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

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

Step S300: when the mechanical arm device for paper paving works, the vision system shoots the current paper and the reference original point on the paper lifting platform and sends the acquired real-time image information to the industrial control computer.

When the paper is placed on the paper lifting platform, the position of the paper is not necessarily a standard position. As shown in fig. 11, the paper 10 on the paper lifting platform has a certain offset and no offset angle with respect to the standard position, that is, the top edge and the left edge of the paper 10 are respectively parallel to the X axis and the Y axis, the distance between the top edge and the X axis is Y1, and the distance between the left edge and the Y axis is X1, that is, the coordinates of the left corner point a of the paper are (X1, Y1). As shown in fig. 12, the paper 10 on the paper lifting platform has a certain offset and offset angle with respect to the standard position, that is, the coordinates of the upper left corner point a of the paper are (x1, y1), the coordinates of the lower left corner point b of the paper are (x 2, y 2), and the offset angle is calculated by the coordinates of the two corner points a and b. The vision system makes a video recording of the reference origin O and the paper and transmits the video to the industrial control computer.

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

The real-time image information obtained in step S300 is compared with the standard template information obtained in step S100 one by one, and the relationship between the paper and the reference origin, i.e., the X-direction offset, the Y-direction offset, and the offset angle of the paper with respect to the reference origin, is analyzed. In addition, the visual system and the industrial personal computer work cooperatively to obtain three-dimensional information (an X value, a Y value and a Z value) of the paper, the six-axis mechanical arm is controlled to work by utilizing the three numerical values and the reference position information of the six-axis mechanical arm, the six joints are coordinated and matched with each other, the position of the paper suction mechanism is adjusted, and the real-time position of the paper suction mechanism relative to the paper is promoted to be a standard suction position. Of course, the paper suction mechanism may be provided with a proximity switch, and the paper suction mechanism may be ensured to be able to suck the paper by adjusting the height position of the paper suction mechanism relative to the paper by using the proximity switch.

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

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

Step S500: assuming that the front side of the paper is upward, if the bottom surface of the base material needs to be paved with paper, the industrial control computer adjusts the X-direction position of the six-axis manipulator and the adsorption position of the paper suction mechanism according to the Y-direction offset, the X-direction offset, the deflection angle and the reference position II, so that the adsorption position at the moment is the standard position II, and the accurate positioning of the paper suction mechanism and the paper is completed; if the paper needs to be spread on the top surface of the base material, the industrial control computer adjusts the X-direction position of the six-axis manipulator and the adsorption position of the paper suction mechanism according to the Y-direction offset, the X-direction offset, the deflection angle and the reference position I, so that the adsorption position at the moment is the standard adsorption position I, and the accurate positioning of the paper suction mechanism and the paper is completed.

As shown in fig. 5 and 11, the coordinates of the upper left corner point a of the paper are (X1, Y1), and the offset angle is 0 ° (the top side and the left side of the paper 10 are respectively parallel to the X axis and the Y axis), so that the industrial control computer controls the six-axis robot to operate according to the offset, the first reference position or the second reference position (determined according to whether the paper is turned over) and controls the position of the six-axis robot in the X axis direction, according to the offset obtained after processing and analysis by the image processing system of the industrial control computer. If the position of the paper suction mechanism is the second standard suction position 50a when paper turning is needed, the X value of the six-axis manipulator is changed into (X10 + X1); if the paper turning is not required, the position of the paper suction mechanism is the standard suction position one 50b, and then the X value of the six-axis robot becomes (X20 + X1); then, the vertical swing angles of the second joint 513, the third joint 514 and the fifth joint 516 are adjusted, so that the position of the paper suction mechanism 52 relative to the paper 10 is adjusted, the paper suction mechanism moves along the Y-axis direction in the XY plane by the moving distance of Y1, the position of the paper suction mechanism is ensured to be the standard suction position two 50a or the standard suction position one 50b (determined according to whether the paper is turned over or not), and the accurate positioning of the paper suction mechanism and the paper is completed.

As shown in fig. 5 and 12, based on the upper left corner point a of the paper, the coordinates of the upper left corner point a are (X1, Y1), the coordinates of the lower left corner point b are (X2, Y2), and thus the X-direction offset amount of the paper is X1, the Y-direction offset amount is Y1, the clockwise direction is positive, the offset angle is θ, and the value is arctan ((X1-X2)/(Y2-Y1)), then the offset amount and the offset angle obtained after the image processing system of the industrial control computer processes and analyzes the data are controlled by the industrial control computer, and the industrial control computer controls the six-axis robot to operate according to the offset amount, the offset angle, the reference position one or the reference position two (determined according to whether the paper is turned over or not), and controls the position of the six-axis robot in the X-axis direction. If the paper needs to be turned over, the position of the paper suction mechanism is the second standard adsorption position 50a, the X value of the six-axis manipulator is (X10 + X1), if the paper does not need to be turned over, the position of the paper suction mechanism is the first standard adsorption position 50b, the X value of the six-axis manipulator is (X20 + X1), then the vertical swing angles of the second joint 513, the third joint 514 and the fifth joint 516 are adjusted, so that the position of the paper suction mechanism 52 relative to the paper 10 is adjusted, the paper suction mechanism moves in the Y-axis direction in the XY plane, and the moving distance is Y1; subsequently, the fourth joint 515 and the sixth joint 517 rotate to adjust the angular position of the paper suction mechanism in the XY plane to make the deflection angle equal to the offset angle θ, so as to ensure that the position of the paper suction mechanism is the second standard suction position 50a or the first standard suction position 50b, and complete the accurate positioning of the paper suction mechanism and the paper.

Step S600: the paper suction mechanism sucks and moves paper to a paper spreading station under the control of an industrial control computer.

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

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

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

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

After step S700 is completed, the top surface of the base material needs to be coated with paper. After the base material is placed on the feeding and conveying mechanism, the process returns to step S400, and the paper is laid on the top surface of the base material by the mechanical arm device for paper laying, so that the reverse surface of the paper is in contact with the top surface of the base material, and finally the printed pattern of the paper is coincident with the to-be-pressed pattern of the base material (or called pattern matching). In this embodiment, the two adjacent sides of the base material are overlapped with the two adjacent sides of the paper sheet, and after the embossing is completed, a partial paper edge (excess portion of the paper sheet) protrudes from the two adjacent sides of the base material, and a trimming process is required.

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

After the paper and the base material are placed and the printed patterns coincide with the lines to be pressed of the base material, the industrial control computer controls the feeding and conveying mechanism to horizontally move towards the direction of the longitudinal hot press, and the position of the feeding and conveying mechanism is accurately controlled through the third proximity switch so as to ensure that the feeding and conveying mechanism is located at the hot-pressing working position of the longitudinal hot press, so that the embossed patterns coincide with the printed patterns, and finally, the synchronous double-sided aligning embossed patterns of the veneer are realized. And finally, returning the mechanical arm device for paper paving, the automatic centering plate feeding mechanism and the feeding conveying mechanism to the original position, and entering the next registration embossing cycle.

Additionally, the utility model discloses still provide another kind as above the control method of the two-sided synchronous register embossing apparatus of full-automatic decorative board specifically include:

step S10: the paper is placed on the paper lifting platform, the visual system selects a plurality of reference points or reference side lines on the paper and shoots, and the image information is used as a standard template (or called the standard position of the paper) and stored in an industrial computer.

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

Step S20: setting a reference position of the six-axis manipulator relative to a reference point or a reference edge line; when the paper suction mechanism adsorbs the paper and can move, the position of the paper suction mechanism relative to the paper is set as a standard adsorption position, the position of the six-axis manipulator relative to a reference point or a reference sideline is set as a reference position, and the reference position is stored in an industrial control computer.

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

Since the six-axis robot moves horizontally along the support, the X-axis coordinate value of the reference position corresponding to the standard suction position 30a is set to X10, and the X-axis coordinate value of the reference position corresponding to the standard suction position 30b is set to X20, and the X-axis coordinate values are stored in the industrial personal computer.

Step S30: when the paper is sucked, the vision system shoots the current paper and the reference point or the reference side line on the paper lifting platform, and sends the obtained real-time image information to the industrial control computer.

When the paper is placed on the paper lifting platform, the position of the paper is not necessarily a standard position. As shown in fig. 19 and 20, the paper 10 on the paper lifting platform has a certain offset and no offset angle with respect to the standard position, that is, the points a, B, C, and D on the paper 10, which correspond to the reference point a, the reference point B, the reference point C, and the reference point D one by one, have the same offset. Of course, the edge lines L1, L2, L3, and L4 on the paper 10 may be respectively in one-to-one correspondence with the reference edge lines L1, L2, L3, and L4, that is, the edge lines L1 and L3 are respectively parallel to and have the same offset as the reference edge lines L1 and L3, and the edge lines L2 and L4 are respectively parallel to and have the same offset as the reference edge lines L2 and L4.

As shown in fig. 19 and 21, the sheet 10 on the sheet lifting platform has a certain offset and offset angle with respect to the standard position, that is, the points a, B, C, and D on the sheet 10, which correspond to the reference point a, the reference point B, the reference point C, and the reference point D in a one-to-one manner, have different offsets. Of course, the edge lines L1, L2, L3, and L4 on the paper 10 may respectively correspond to the reference edge line L1, the reference edge line L2, the reference edge line L3, and the reference edge line L4 one by one, but the edge lines L1 and L3 respectively correspond to the reference edge line L1 and the reference edge line L3 not parallel to each other, the edge lines L1 and L3 have the same offset angle, the edge lines L2 and L4 respectively correspond to the reference edge line L2 and the reference edge line L4 not parallel to each other, and the edge lines L2 and L4 have the same offset angle.

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

The relationship between the sheet and the reference point or the reference edge, i.e., the offset amount and the offset angle of the sheet, is analyzed by comparing the real-time image information acquired in step S30 with the standard template information acquired in step S10 one by one. In addition, the visual system and the industrial personal computer work cooperatively to obtain the offset information of the paper relative to the standard template, the six-axis manipulator is controlled to work by utilizing the offset information and the reference position information of the six-axis manipulator, the six joints are coordinated and matched with each other, the position of the paper suction mechanism is adjusted, and the real-time position of the paper suction mechanism relative to the paper is promoted to be a standard adsorption position. Of course, the paper suction mechanism may be provided with a proximity switch, and the paper suction mechanism may be ensured to be able to suck the paper by adjusting the height position of the paper suction mechanism relative to the paper by using the proximity switch.

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

Step S60: the paper suction mechanism sucks and moves paper to a paper spreading station under the control of an industrial control computer.

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

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

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

Step S80: the process returns to step S40 until the top surface of the base material is laid with paper.

After step S70 is completed, the top surface of the base material needs to be coated with paper. After the base material is placed on the feeding and conveying mechanism, the process returns to step S40, and the paper is laid on the top surface of the base material by the mechanical arm device for paper laying, so that the reverse surface of the paper is in contact with the top surface of the base material, and finally the printed pattern of the paper is coincident with the texture to be pressed (or referred to as registration). In this embodiment, the two adjacent sides of the base material are overlapped with the two adjacent sides of the paper sheet, and after the embossing is completed, a partial paper edge (excess portion of the paper sheet) protrudes from the two adjacent sides of the base material, and a trimming process is required.

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

Additionally, the utility model provides a two-sided synchronous register embossing apparatus of this full-automatic decorative board can be used for making the decorative board of different specifications (the decorative board that indicates each specification is the same in the width, and length is different), can all accomplish synchronous register embossing line work to these decorative boards, can reach seamless switching when producing different specification decorative boards.

To sum up, the utility model provides a two-sided synchronous register embossing apparatus of full-automatic decorative board, design benefit, stable in structure, reliable and practical, intelligent degree is high, can accomplish synchronous register embossing line work automatically.

The utility model discloses ingenious application vision system for gather the positional information of paper on the paper lift platform, through image information collection, contrastive analysis reachs the skew information between paper and the standard template, and then its six joints of six mechanical arm adjustment of control, the accurate positioning of paper mechanism and paper is inhaled in the realization, and the horizontal migration through six mechanical arms, put paper accurately on feeding conveying mechanism's shop paper station, the artifical paper mode of spreading in the past has been changed, reducible human input, and the efficiency is improved.

It should be understood that equivalent alterations and modifications can be made by those skilled in the art according to the technical solution of the present invention and the inventive concept thereof, and all such alterations and modifications should fall within the scope of the appended claims.

Claims

1. The utility model provides a two-sided synchronous register embossing apparatus of full-automatic decorative board, includes vertical hot press, industrial control computer, its characterized in that still includes:

for adsorbing a substrate;

2. The full-automatic veneer double-face synchronous register embossing device as claimed in claim 1, wherein the manipulator device for paper paving comprises a six-axis manipulator, a bracket and a paper suction mechanism;

the adsorption member includes:

the rotating cylinder is fixedly connected to the fixing piece;

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

4. The full-automatic veneer double-sided synchronous register embossing device according to claim 1, wherein the paper lifting platform comprises a frame, a stage which can move up and down relative to the frame and is used for placing paper;

the roller motor is electrically connected to the industrial computer.

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

6. The device for synchronously aligning and embossing double surfaces of the full-automatic veneer according to claim 1, wherein the automatic centering plate feeding mechanism comprises a support guide rail, a movable support frame and a lifting plate sucking mechanism which is connected with the movable support frame in a sliding manner;

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

7. The device for synchronously aligning and embossing double surfaces of the full-automatic veneer according to claim 1, wherein the longitudinal hot press comprises an upper die, a fixed lower die and a link mechanism, wherein the upper die can move up and down; the bottom surface of the upper die and the top surface of the lower die are respectively provided with an upper die and a lower die; two rows of rotatable first pulleys are vertically arranged on the left side and the right side of the upper die respectively, and the longitudinal hot press is correspondingly provided with two guide blocks which are respectively connected with the first pulleys in a sliding manner; the connecting rod mechanism comprises a synchronous rotating shaft rotatably arranged above the longitudinal hot press, connecting rods respectively fixed at two ends of the synchronous rotating shaft, and a swing rod with one end hinged with the connecting rod; the front side and the rear side of the upper die are respectively provided with a connecting seat; the other end of pendulum rod is articulated with the connecting seat, the connecting seat is vertical to be fixed with the carriage release lever that is suitable for the pendulum rod to run through, the carriage release lever cover is equipped with the loop bar that is fixed in vertical hot press, the trompil has been seted up respectively to the loop bar left and right sides, corresponds the trompil department of loop bar and is equipped with the second pulley with carriage release lever sliding connection.

8. The apparatus for synchronously embossing both surfaces of a veneer according to claim 7, wherein the longitudinal hot press further comprises a plurality of die locking mechanisms; the mould locking mechanism comprises a telescopic cylinder, a locking rod, a clamping block and a mounting seat, wherein one end of the locking rod is hinged with a piston rod of the telescopic cylinder; the fixture blocks are arranged on the top surface of the upper die and are respectively fixed on the left side and the right side of the upper die; the installation seats are respectively fixed on the left side and the right side of the upper die.

9. The full-automatic veneer double-face synchronous register embossing device as claimed in claim 1, wherein the feeding conveying mechanism comprises a conveying underframe, a feeding guide rail and a plate loading trolley which is slidably connected with the feeding guide rail;