Material conveying mechanical arm for wood board production and processing and using method of material conveying mechanical arm

Abstract

The invention relates to the technical field of wood board carrying, and discloses a material conveying mechanical arm for wood board production and processing and a using method thereof.The material conveying mechanical arm comprises a transferring mechanism, a supporting assembly is fixedly installed on the inner wall of the transferring mechanism, a driving assembly is installed on the side wall of the transferring mechanism, a second electric telescopic rod is started to stretch out, and an adsorption frame is pushed to descend; as the connecting plate is static, the connecting plate extrudes gas in the adsorption frame, negative pressure is generated at the bottom of the connecting plate until the adsorption frame drives the suction cup to make contact with the thin plate, the suction cup and the thin plate are attached, after attachment, the adsorption frame continues to move, the connecting plate makes contact with the protruding position of the first spring reset rod, and therefore the first spring reset rod is pushed to ascend; when the thin plate is conveyed, the blocking plate is driven to ascend, the blocking plate is separated from the suction cup, negative pressure at the bottom of the connecting plate enters the suction cup, the suction cup adsorbs the thin plate and flexibly clamps the thin plate, the situation that the thin plate is prone to deformation due to the fact that large extrusion force is applied to the thin plate is effectively prevented, and the integrity of thin plate conveying is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of wooden board handling equipment, and specifically relates to a material handling manipulator for wooden board production and processing and a using method thereof. Background Art

[0002] A material handling manipulator is used to automatically handle wooden boards or raw materials. It can adapt to wooden boards of different sizes and thicknesses, with a flexible grasping method. It can stack wooden boards according to specifications, support multiple stacking patterns, automatically complete the handling of wooden boards from one place to another, reduce human intervention, and has a strong load-bearing capacity to be able to handle large-sized and heavy wooden boards.

[0003] Among them, the manipulator often realizes the handling of wooden boards by clamping both sides of the wooden board with jaws. However, when handling thin boards with a relatively smooth surface, the extrusion force applied by the jaws may cause the thin boards to deform and may cause damage to the thin boards. Summary of the Invention

[0004] To solve the above technical problems, the present invention provides a material handling manipulator for wooden board production and processing, including a transfer mechanism. A support component is fixedly installed on the inner wall of the transfer mechanism, and a driving component is installed on the side wall of the transfer mechanism. The support component is used to move the wooden board; A clamping mechanism is installed on the inner wall of the transfer mechanism. The clamping mechanism is slidably installed on the inner wall of the transfer mechanism and is used to clamp the wooden board; and An air jet mechanism is located on the inner wall of the transfer mechanism and is used to separate the wooden board from the stacked wooden boards; Among them, the clamping mechanism clamps and fixes the wooden board. The air jet mechanism separates the clamped wooden board from the stacked wooden boards, and finally the transfer mechanism moves the wooden board clamped by the clamping mechanism.

[0005] Preferably, two adsorption frames are arranged inside the transfer mechanism. The transfer mechanism includes: A support component. The bottom of the support component is fixedly arranged with the tops of the two adsorption frames and is used to move the wooden board; A driving component. The top of the driving component is fixedly arranged with the bottom of the support component and is used to drive the adsorption frame to approach the wooden board; Among them, the support component is connected to a hoisting device, and the hoisting device drives the support component to move, thereby driving the wooden board to move.

[0006] Preferably, the clamping mechanism includes: An adsorption component. The adsorption component is slidably arranged on the inner wall of the adsorption frame through a sliding member and is used to adsorb the wooden board; The sliding member includes a connecting plate slidably connected to the inner wall of the adsorption frame, and blocking plates are slidably connected to the inner walls of both adsorption frames; The grasping component is fixedly arranged on the side wall of the adsorption frame through a fixing piece and is used for grasping the wooden board; The fixing piece includes a first fixing frame fixedly connected to the left and right sides of the adsorption frame. A spring rotating frame is rotatably connected to the inner wall of each of the four first fixing frames; The pushing component is rotatably arranged on the inner wall of the grasping component through a hydraulic component and is used for pushing the grasping component close to the wooden board; The hydraulic component includes an oil delivery pipe fixedly connected to the inner wall of the spring rotating frame. A first piston rod is slidably connected to the inner wall of each of the four oil delivery pipes; Among them, the adsorption component adsorbs the wooden board and rises. After the wooden board rises, the pushing component will push the grasping component close to the wooden board to grasp the wooden board. After grasping, the wooden board is flexibly clamped, effectively preventing a large extrusion force from being applied to the wooden board, which is likely to cause the wooden board to deform. At the same time, during grasping, the bottom of the wooden board is supported, enabling the wooden board to closely fit with the adsorption component, effectively preventing the wooden board from sagging under its own weight after rising, which affects the stability of material transportation.

[0007] Preferably, the air jet mechanism includes: The extrusion component is fixedly arranged on the top of the first fixing frame through a support piece and is used for extruding gas; The support piece includes a fixed cylinder fixedly connected to the top of the first fixing frame. A spring extrusion ring is slidably connected to the inner wall of each of the four fixed cylinders. A roller is rotatably connected to the bottom of each of the four spring extrusion rings; The blocking component is fixedly arranged on the inner wall of the fixed cylinder through a connecting piece and is used for separating the wooden boards from each other; The connecting piece includes an air delivery pipe penetrating and connected to the inner wall of the fixed cylinder. A spring air blocking ring is rotatably connected to the inner wall of each of the four air delivery pipes; The release component is slidably arranged on the inner wall of the adsorption frame through a blocking piece and is used for releasing high-pressure gas; The blocking piece includes two air blocking plates slidably connected to the inner wall of the adsorption frame. A third spring return rod is fixedly connected to the side wall of each of the two air blocking plates; Among them, the gas is extruded by the extrusion component, the gas is blocked by the blocking component, so that the gas pressure rises. Finally, the blocking of the gas by the blocking component is cancelled, and the high-pressure gas is ejected to separate the wooden boards from each other, preventing the wooden boards from adsorbing to each other, which may cause the wooden boards to deform.

[0008] Preferably, the support component includes a first connecting frame arranged on the inner wall of the transfer mechanism. An electric telescopic rod one is fixedly connected to the bottom of the first connecting frame. A second connecting frame is slidably connected to the inner wall of the first connecting frame. The bottom output end of the electric telescopic rod one is fixedly connected to the top of the second connecting frame; The driving assembly includes two electric telescopic rods II fixedly connected to the bottom of the second connecting frame. The bottom output ends of the two electric telescopic rods II are fixedly connected to the tops of the two adsorption frames. Several thin plates are arranged at the bottom of the second connecting frame; Among them, during use, the staff connects the hoisting equipment to the top of the first connecting frame, then lowers the adsorption frame by starting the electric telescopic rod II to fix the thin plate, and finally drives the first connecting frame to move through the hoisting equipment to move the thin plate.

[0009] Preferably, the adsorption assembly includes nine suction cups fixedly connected to the bottom of the adsorption frame. Two spring return rods I are fixedly connected to the tops of the two blocking plates. Two connecting blocks are fixedly connected to the tops of the two adsorption frames; The inner walls of the four connecting blocks are all slidably connected to the outer walls of the four spring return rods I. The four spring return rods I are grouped in pairs. The inner walls of the two connecting plates are all slidably connected to the outer walls of the two groups of spring return rods I; The tops of the two connecting plates are fixedly connected to the bottom of the second connecting frame. The adsorption frame is pushed down by the electric telescopic rod II to make the suction cup contact the thin plate and adsorb the thin plate; Among them, when the electric telescopic rod II extends to push the adsorption frame down to make the suction cup contact the thin plate, at the same time, negative pressure will be generated in the adsorption frame to make the suction cup adsorb the thin plate. Start the electric telescopic rod I to extend, push the second connecting frame down to make the adsorption frame close to the thin plate, then stop the electric telescopic rod I, and then start the electric telescopic rod II to extend, push the adsorption frame down. When the adsorption frame descends, since the connecting plate is stationary, the connecting plate will squeeze the gas in the adsorption frame, generating negative pressure at the bottom of the connecting plate until the adsorption frame drives the suction cup to contact the thin plate and the two fit together. After fitting, the adsorption frame continues to move, and the connecting plate will contact the protruding position of the spring return rod I, thereby pushing the spring return rod I to rise, accumulating its resilience. The rise of the spring return rod I will drive the blocking plate to rise, separating the blocking plate from the suction cup. The negative pressure at the bottom of the connecting plate will enter the suction cup, making the suction cup adsorb the thin plate and flexibly clamp the thin plate, effectively preventing excessive extrusion force on the thin plate, which is likely to cause deformation of the thin plate and ensuring the integrity of thin plate transportation.

[0010] Preferably, the grasping assembly includes four second fixing frames fixedly connected to the bottom of the first connecting frame. Four blocking wheels are rotatably connected to the bottoms of the four second fixing frames. The side walls of the four spring push rods are all slidably connected to the side walls of the four second fixing frames. The rotation of the spring rotating frame is blocked by the blocking wheel; The pushing assembly includes inclined blocks fixedly connected to the side walls of the second fixing frames. Hydraulic oil is provided in the inner walls of the four oil pipes. Four piston rods II are slidably connected to the inner walls of the four oil pipes. Four spring support blocks are slidably connected to the inner walls of the four spring rotating frames. The extension of the spring support block is controlled by the piston rod I and the piston rod II; Among them, when the adsorption frame descends, it will drive the spring rotating frame to descend, separating the spring rotating frame from the blocking wheel. The resilience of the spring rotating frame is released, causing the spring rotating frame to rotate. When the adsorption frame ascends, the spring rotating frame is blocked by the blocking wheel, causing the spring rotating frame to rotate again and move towards the adsorption frame to grasp the thin plate adsorbed by the adsorption frame. When the adsorption frame descends, it will also drive the first fixing frame and the spring rotating frame to descend synchronously. After the spring rotating frame is separated from the blocking wheel, since the spring rotating frame was in a compressed state before, at this time, the resilience of the spring rotating frame will be released, causing the spring rotating frame to rotate and move away from the adsorption frame, as Figure 11 shown. When the spring rotating frame rotates, the first piston rod will also be separated from the inclined plane block, and the thrust on the spring support block disappears. Since the spring support block was in a stretched state before, at this time, the resilience of the spring support block will be released, causing the spring support block to return to its position and retract into the spring rotating frame. By the rotation of the spring rotating frame, the thin plate is avoided, enabling the suction cup to smoothly contact the thin plate.

[0011] Preferably, the extrusion assembly includes an inclined panel disposed at the bottom of the fixed cylinder. The side walls of the four first fixing frames are fixedly connected with limiting plates. The outer walls of the four inclined panels are slidably connected to the inner walls of the four limiting plates. The side walls of the four inclined panels are fixedly connected with second spring return rods; The four second spring return rods are grouped in pairs of two. The side walls of the two adsorption frames are slidably connected to the outer walls of the two groups of second spring return rods. When the spring rotating frame rotates, it will be separated from the inclined panel. At this time, the resilience of the second spring return rod will be released, causing the inclined surface of the inclined panel to be separated from the roller, and the spring extrusion ring to descend; The blocking assembly includes a push rod fixedly connected to the top of the spring extrusion ring. The outer walls of the four fixed cylinders are fixedly connected with jet plates. The inner walls of the four jet plates are in through connection with the outer walls of the four air pipes; Sliding holes are provided in the inner walls of the four fixed cylinders. The inner walls of the four sliding holes are slidably connected to the outer walls of the four push rods. The jet plates will eject gas to separate the stacked thin plates from each other; Among them, when the spring rotating frame rotates again and moves towards the adsorption frame, it will push the inclined panel to squeeze the spring extrusion ring to rise, squeezing the gas in the fixed cylinder. The squeezed gas will enter the jet plate through the air pipe and be ejected between the thin plates. When the spring rotating frame rotates away from the adsorption frame, it will be separated from the inclined panel. Since the second spring return rod was in a stretched state before, at this time, the resilience of the second spring return rod will be released, pushing the inclined panel to move towards the spring rotating frame direction, causing the inclined surface of the inclined panel to be separated from the roller. Since the spring extrusion ring was in a compressed state before, at this time, the resilience of the spring extrusion ring will be released, causing the spring extrusion ring to descend. After the spring extrusion ring descends, the push rod will enter the fixed cylinder, and the sliding hole of the push rod will communicate with the inside of the fixed cylinder, allowing external gas to enter the fixed cylinder.

[0012] Preferably, the release component includes a push plate fixedly connected to the outer wall of the spring extrusion ring. Two plugging rods are fixedly connected to the top of each of the two connecting plates. Two air holes are formed in the inner walls of the two adsorption frames. The inner walls of the four air holes are slidably connected to the outer walls of the two plugging rods. A plurality of communication grooves are formed in the inner walls of the four air blocking plates; Among them, when the adsorption frame descends, the connecting plate will squeeze the gas in the adsorption frame. The gas will be blocked by the air blocking plate until the push plate pushes the spring return rod three to move, causing the air blocking plate to move synchronously, so that the communication groove of the air blocking plate communicates with the air injection pipe, and the gas is ejected from the air injection pipe. When the adsorption frame descends, the connecting plate will drive the plugging rod into the air hole to block the air hole, making the inside of the adsorption frame in a sealed state. When the adsorption frame moves, the connecting plate will squeeze the gas inside the adsorption frame. At this time, the squeezed gas will be blocked by the air blocking plate, so the gas pressure will increase. As the adsorption frame continues to move, the spring rotating frame will move away from the adsorption frame. At this time, the spring extrusion ring will descend, driving the push plate to descend. When the push plate contacts the spring return rod three, since the contact surfaces of both are arc surfaces, the push plate will squeeze the spring return rod three, causing it to accumulate resilience, and the spring return rod three will move towards the direction of the electric telescopic rod two, driving the air blocking plate to move, so that the communication groove on the air blocking plate communicates with the air injection pipe, and the high-pressure gas in the adsorption frame will enter the air injection pipe and be ejected towards the contact surface between the thin plate and the suction cup to clean the dust on the thin plate.

[0013] A method for using a material handling manipulator for wood board production and processing includes the following steps: S1: Equipment installation: The staff connects the first connecting frame to the hoisting equipment and moves the equipment to the position where the wood board needs to be transported through the hoisting equipment; S2: Start the equipment: Start the electric telescopic rod one to extend, push the second connecting frame to descend, make the adsorption frame approach the thin plate, then stop the electric telescopic rod one, and then start the electric telescopic rod two to extend, push the adsorption frame to descend. When the adsorption frame descends, since the connecting plate is stationary, the connecting plate will squeeze the gas in the adsorption frame, generating negative pressure at the bottom of the connecting plate.

[0014] The present invention has the following beneficial effects: (1)When the present invention is in use, the staff connects the first connecting frame to the hoisting device, and moves the device to the position where the wooden board needs to be transported through the hoisting device. After moving into place, the first electric telescopic rod is started to extend, pushing the second connecting frame to descend, so that the adsorption frame approaches the thin plate. Then, the first electric telescopic rod is stopped, and the second electric telescopic rod is started to extend, pushing the adsorption frame to descend. When the adsorption frame descends, since the connecting plate is stationary, the connecting plate will squeeze the gas in the adsorption frame, generating negative pressure at the bottom of the connecting plate until the adsorption frame drives the suction cup to contact the thin plate and the two fit together. After fitting, when the adsorption frame continues to move, the connecting plate will contact the protruding position of the first spring return rod, thereby pushing the first spring return rod to rise and accumulating its resilience. The rise of the first spring return rod will drive the blocking plate to rise, separating the blocking plate from the suction cup. The negative pressure at the bottom of the connecting plate will enter the suction cup, enabling the suction cup to adsorb the thin plate. After the adsorption is completed, by starting the second electric telescopic rod to rise again, the second connecting frame is driven to rise, and the thin plate is driven to rise by adsorbing the thin plate with the suction cup. Then, the staff transports the thin plate to the required position through the hoisting device. By adsorbing and clamping the thin plate, the thin plate is flexibly clamped, effectively preventing a large squeezing force from being applied to the thin plate, which is likely to cause deformation of the thin plate and ensuring the integrity of the thin plate transportation.

[0015] (2)When the adsorption frame descends in the present invention, it will also drive the first fixing frame and the spring rotating frame to descend synchronously. When the spring rotating frame separates from the blocking wheel, since the spring rotating frame was in a compressed state before, at this time, the resilience of the spring rotating frame will be released, causing the spring rotating frame to rotate and move away from the adsorption frame. As Figure 11 shown, when the spring rotating frame rotates, the first piston rod will also separate from the inclined plane block, and the thrust on the spring support block disappears. Since the spring support block was in a stretched state before, at this time, the resilience of the spring support block will be released, causing the spring support block to return to its position and retract into the spring rotating frame. Through the rotation of the spring rotating frame, it avoids the thin plate, enabling the suction cup to smoothly contact the thin plate. When the suction cup completes the adsorption and the first electric telescopic rod drives the second connecting frame to rise, the spring rotating frame and the first fixing frame rise synchronously, and the spring rotating frame will contact the blocking wheel again, causing the spring rotating frame to be squeezed and rotate towards the adsorption frame. At this time, the spring support block will move to the bottom of the thin plate, as Figure 12 shown. During the rotation of the spring support block, the first piston rod will contact the inclined plane of the inclined plane block again, causing the first piston rod to be squeezed and pushing the hydraulic oil in the oil delivery pipe. The hydraulic oil will push the second piston rod, causing the spring support block to rise and grab the thin plate, supporting the bottom of the thin plate, enabling the thin plate to fit tightly with the suction cup, effectively preventing the thin plate from sagging due to its own weight after rising, which affects the stability of material transportation.

[0016] When the spring rotating frame of the present invention rotates away from the adsorption frame, it will separate from the inclined panel. Since the second spring return rod was in a stretched state before, at this time, the resilience of the second spring return rod will be released, pushing the inclined panel to move towards the spring rotating frame, so that the inclined surface of the inclined panel separates from the roller. Since the spring extrusion ring was in a compressed state before, at this time, the resilience of the spring extrusion ring will be released, causing the spring extrusion ring to descend. After the spring extrusion ring descends, the push rod will enter the fixed cylinder. The sliding hole of the push rod will communicate with the inside of the fixed cylinder, allowing external gas to enter the fixed cylinder. At the same time, after the push rod descends, the thrust on the spring air-blocking ring disappears. Since the spring air-blocking ring was in a compressed state before, after the thrust disappears, the resilience of the spring air-blocking ring will be released, causing it to return to block the gas. When the second connecting frame drives the thin plate to rise and the spring rotating frame rotates towards the adsorption frame again, the spring rotating frame will push the inclined panel towards the adsorption frame, causing the inclined surface of the inclined panel to lift the roller, and the spring extrusion ring and the push rod to rise synchronously. When the push rod enters the sliding hole, the spring extrusion ring will squeeze the gas in the fixed cylinder. At this time, the squeezed gas will be blocked by the spring air-blocking ring, so the gas pressure will increase. As the push rod continues to move, the push rod will push the spring air-blocking ring to rotate, canceling the block of the gas, and the high-pressure gas will enter the jet plate through the air delivery pipe and be ejected from the jet plate between the thin plates, preventing two smooth-surfaced thin plates from being stacked and being too close to each other, resulting in most of the gas between the contact surfaces of the thin plates being discharged, forming a vacuum effect. By ejecting gas, the flow rate of the gas between the thin plates is increased, enabling the thin plates to be quickly separated, effectively preventing the thin plates from rising, and the two thin plates attracting each other, causing the thin plates to deform.

[0017] When the adsorption frame of the present invention descends, the connecting plate will drive the blocking rod into the air hole to block the air hole, making the inside of the adsorption frame in a closed state. When the adsorption frame moves, the connecting plate will squeeze the gas inside the adsorption frame. At this time, the squeezed gas will be blocked by the air-blocking plate, so the gas pressure will increase. As the adsorption frame continues to move, the spring rotating frame will move away from the adsorption frame. At this time, the spring extrusion ring will descend, driving the push plate to descend. When the push plate contacts the third spring return rod, since the contact surfaces of both are arc surfaces, the push plate will squeeze the third spring return rod, accumulating its resilience, causing the third spring return rod to move towards the second electric telescopic rod, driving the air-blocking plate to move, so that the communication groove on the air-blocking plate communicates with the jet pipe, and the high-pressure gas in the adsorption frame will enter the jet pipe and be ejected towards the contact surface between the thin plate and the suction cup to clean the dust on the thin plate, effectively preventing the dust on the surface of the thin plate from affecting the tight fit between the suction cup and the thin plate and ensuring a good adsorption effect. Description of the Drawings

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0019] Figure 1 Schematic diagram of the overall structure of the present invention; Figure 2 Schematic cross-sectional view of the overall structure of the present invention; Figure 3 Schematic cross-sectional view of the negative pressure frame of the present invention; Figure 4 Schematic cross-sectional view of the spring rotating frame of the present invention; Figure 5 For the present invention Figure 4 Enlarged schematic diagram of A in; Figure 6 Rear view schematic diagram of the fixed cylinder of the present invention; Figure 7 Rear view cross-sectional schematic diagram of the fixed cylinder of the present invention; Figure 8 For the present invention Figure 7 Enlarged schematic diagram of B in; Figure 9 Rear view cross-sectional schematic diagram of the negative pressure frame of the present invention; Figure 10 Schematic cross-sectional view of the air injection pipe of the present invention; Figure 11 Schematic diagram of the working process of the spring rotating frame of the present invention; Figure 12 Schematic diagram of the working process of the transfer mechanism of the present invention; Figure 13 Schematic diagram of the working process of the present invention.

[0020] In the drawings, the list of components represented by each reference numeral is as follows: In the figure: 1. Transfer mechanism; 11. Support component; 12. Driving component; 111. First connecting frame; 112. First electric telescopic rod; 113. Second connecting frame; 121. Second electric telescopic rod; 122. Thin plate; 13. Adsorption frame; 2. Clamping mechanism; 21. Adsorption component; 22. Grabbing component; 23. Pushing component; 211. Connecting plate; 212. Blocking plate; 213. Suction cup; 214. First spring return rod; 215. Connecting block; 221. First fixing frame; 222. Spring rotating frame; 223. Second fixing frame; 224. Blocking wheel; 231. Oil pipeline; 232. First piston rod; 233. Inclined plane block; 234. Second piston rod; 235. Spring support block; 3. Jet mechanism; 31. Extrusion component; 32. Blocking component; 33. Release component; 311. Fixed cylinder; 312. Spring extrusion ring; 313. Roller; 314. Inclined panel; 315. Second spring return rod; 316. Limit plate; 321. Air pipeline; 322. Spring air blocking ring; 323. Push rod; 324. Jet plate; 331. Air blocking plate; 332. Third spring return rod; 333. Jet pipe; 334. Pushing plate; 335. Blocking rod. Detailed implementation mode

[0021] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0022] Example 1, please refer to Figure 1 - Figure 7 , the present invention is a material handling manipulator for wood board production and processing, including a transfer mechanism 1. A support component 11 is fixedly installed on the inner wall of the transfer mechanism 1, and a driving component 12 is installed on the side wall of the transfer mechanism 1. The support component 11 is used to move the wood board; A clamping mechanism 2, the clamping mechanism 2 is installed on the inner wall of the transfer mechanism 1, and the clamping mechanism 2 is slidably installed on the inner wall of the transfer mechanism 1 for clamping the wood board; and A jet mechanism 3, the jet mechanism 3 is located on the inner wall of the transfer mechanism 1 for separating the wood board from the stacked wood boards; Among them, the clamping mechanism 2 clamps and fixes the wood board, the jet mechanism 3 separates the clamped wood board from the stacked wood boards, and finally the transfer mechanism 1 moves the wood board clamped by the clamping mechanism 2.

[0023] There are two adsorption frames 13 inside the transfer mechanism 1. The transfer mechanism 1 includes: Support component 11, the bottom of the support component 11 is fixedly arranged with the tops of two adsorption frames 13, and is used for moving the wooden board; Drive component 12, the top of the drive component 12 is fixedly arranged with the bottom of the support component 11, and is used for driving the adsorption frame 13 to approach the wooden board; Wherein, the support component 11 is connected to a hoisting device, and the hoisting device drives the support component 11 to move, thereby driving the wooden board to move.

[0024] The clamping mechanism 2 includes: Adsorption component 21, the adsorption component 21 is slidably arranged on the inner wall of the adsorption frame 13 through a sliding member, and is used for adsorbing the wooden board; The sliding member includes a connecting plate 211 slidably connected to the inner wall of the adsorption frame 13, and blocking plates 212 are slidably connected to the inner walls of both adsorption frames 13; Grasping component 22, the grasping component 22 is fixedly arranged on the side wall of the adsorption frame 13 through a fixing member, and is used for grasping the wooden board; The fixing member includes fixing frames one 221 fixedly connected to the left and right sides of the adsorption frame 13, and spring rotating frames 222 are rotatably connected to the inner walls of the four fixing frames one 221; Pushing component 23, the pushing component 23 is rotatably arranged on the inner wall of the grasping component 22 through a hydraulic member, and is used for pushing the grasping component 22 to approach the wooden board; The hydraulic member includes an oil delivery pipe 231 fixedly connected to the inner wall of the spring rotating frame 222, and piston rods one 232 are slidably connected to the inner walls of the four oil delivery pipes 231; Wherein, let the adsorption component 21 adsorb the wooden board and rise. After the wooden board rises, the pushing component 23 will push the grasping component 22 to approach the wooden board to grasp the wooden board. After grasping, the wooden board is softly clamped, effectively preventing a large extrusion force from being applied to the wooden board, which is likely to cause the wooden board to deform. At the same time, during grasping, the bottom of the wooden board is supported, enabling the wooden board to be closely attached to the adsorption component 21, effectively preventing the wooden board from sagging under the influence of its own weight after rising, which affects the stability of material transportation.

[0025] The air jet mechanism 3 includes: Extrusion component 31, the extrusion component 31 is fixedly arranged on the top of the fixing frame one 221 through a support member, and is used for extruding gas; The support member includes fixing cylinders 311 fixedly connected to the top of the fixing frame one 221, spring extrusion rings 312 are slidably connected to the inner walls of the four fixing cylinders 311, and rollers 313 are rotatably connected to the bottoms of the four spring extrusion rings 312; Blocking component 32, the blocking component 32 is fixedly arranged on the inner wall of the fixing cylinder 311 through a connecting member, and is used for separating the wooden board from the wooden board; The connecting piece includes an air delivery pipe 321 penetrating and connected to the inner wall of the fixed cylinder 311, and a spring air blocking ring 322 is rotatably connected to the inner wall of each of the four air delivery pipes 321; A release assembly 33, the release assembly 33 is slidably arranged on the inner wall of the adsorption frame 13 through a blocking piece, and is used for releasing high-pressure gas; The blocking piece includes two air blocking plates 331 slidably connected to the inner wall of the adsorption frame 13, and a third spring return rod 332 is fixedly connected to the side wall of each of the two air blocking plates 331; Among them, the gas is compressed by the compression assembly 31, the gas is blocked by the blocking assembly 32, so that the gas pressure rises. Finally, the blocking of the gas by the blocking assembly 32 is cancelled, the high-pressure gas is ejected, the wooden boards are separated from each other, and the mutual adsorption between the wooden boards is prevented, so as to prevent the wooden boards from deforming.

[0026] Embodiment 2, please refer to Figure 8 - Figure 13 , the present invention is a material handling manipulator for wood board production and processing. On the basis of Embodiment 1, the support assembly 11 includes a connecting frame one 111 arranged on the inner wall of the transfer mechanism 1. A first electric telescopic rod 112 is fixedly connected to the bottom of the connecting frame one 111. A connecting frame two 113 is slidably connected to the inner wall of the connecting frame one 111. The bottom output end of the first electric telescopic rod 112 is fixedly connected to the top of the connecting frame two 113; The driving assembly 12 includes two second electric telescopic rods 121 fixedly connected to the bottom of the connecting frame two 113. The bottom output ends of the two second electric telescopic rods 121 are fixedly connected to the tops of the two adsorption frames 13. A plurality of thin plates 122 are arranged at the bottom of the connecting frame two 113; Among them, during use, the staff connects the hoisting device to the top of the connecting frame one 111, then starts the second electric telescopic rod 121 to lower the adsorption frame 13 to fix the thin plate 122, and finally drives the connecting frame one 111 to move through the hoisting device to move the thin plate 122.

[0027] The adsorption assembly 21 includes nine suction cups 213 fixedly connected to the bottom of the adsorption frame 13. Two spring return rods one 214 are fixedly connected to the tops of the two blocking plates 212. Two connecting blocks 215 are fixedly connected to the tops of the two adsorption frames 13; The inner walls of the four connecting blocks 215 are slidably connected to the outer walls of the four spring return rods one 214. The four spring return rods one 214 are grouped in pairs. The inner walls of the two connecting plates 211 are slidably connected to the outer walls of the two groups of spring return rods one 214; The tops of the two connecting plates 211 are fixedly connected to the bottom of the connecting frame two 113. The adsorption frame 13 is pushed down by the second electric telescopic rod 121, so that the suction cups 213 contact the thin plate 122 to adsorb the thin plate 122; Among them, the electric telescopic rod two 121 extends to push the adsorption frame 13 to descend, making the suction cup 213 contact with the thin plate 122. At the same time, negative pressure will be generated inside the adsorption frame 13, enabling the suction cup 213 to adsorb the thin plate 122. Then start the electric telescopic rod one 112 to extend, pushing the connecting frame two 113 to descend, making the adsorption frame 13 approach the thin plate 122. Then stop the electric telescopic rod one 112, and start the electric telescopic rod two 121 to extend again, pushing the adsorption frame 13 to descend. When the adsorption frame 13 descends, since the connecting plate 211 is stationary, the connecting plate 211 will squeeze the gas inside the adsorption frame 13, generating negative pressure at the bottom of the connecting plate 211 until the adsorption frame 13 drives the suction cup 213 to contact the thin plate 122, making the two fit. After fitting, the adsorption frame 13 continues to move, and the connecting plate 211 will contact the protruding position of the spring return rod one 214, thereby pushing the spring return rod one 214 to rise, storing its resilience. The rising of the spring return rod one 214 will drive the blocking plate 212 to rise, separating the blocking plate 212 from the suction cup 213. The negative pressure at the bottom of the connecting plate 211 will enter the suction cup 213, enabling the suction cup 213 to adsorb the thin plate 122, performing flexible clamping on the thin plate 122, effectively preventing the application of a large extrusion force to the thin plate 122, which is likely to cause deformation of the thin plate 122, and ensuring the integrity of the transportation of the thin plate 122.

[0028] The grasping assembly 22 includes four fixing frames two 223 fixedly connected to the bottom of the connecting frame one 111. The bottom of each of the four fixing frames two 223 is rotatably connected with a blocking wheel 224. The side walls of the four spring push rods 225 are slidably connected to the side walls of the four fixing frames two 223, and the rotation of the spring rotating frame 222 is blocked by the blocking wheel 224. The pushing assembly 23 includes an inclined plane block 233 fixedly connected to the side wall of the fixing frame two 223. Hydraulic oil is provided in the inner walls of the four oil pipelines 231. A piston rod two 234 is slidably connected to the inner walls of the four oil pipelines 231. A spring support block 235 is slidably connected to the inner walls of the four spring rotating frames 222, and the extension of the spring support block 235 is controlled by the piston rod one 232 and the piston rod two 234. Among them, the descent of the adsorption frame 13 will drive the spring rotating frame 222 to descend, separating the spring rotating frame 222 from the blocking wheel 224. The resilience of the spring rotating frame 222 is released, causing the spring rotating frame 222 to rotate. When the adsorption frame 13 rises, the spring rotating frame 222 is blocked by the blocking wheel 224, causing the spring rotating frame 222 to rotate again and move towards the adsorption frame 13 to grasp the thin plate 122 adsorbed by the adsorption frame 13. When the adsorption frame 13 descends, it will also drive the fixing frame one 221 and the spring rotating frame 222 to descend synchronously. After the spring rotating frame 222 is separated from the blocking wheel 224, since the spring rotating frame 222 was in a compressed state before, at this time, the resilience of the spring rotating frame 222 will be released, causing the spring rotating frame 222 to rotate and move away from the adsorption frame 13, asFigure 11 As shown, when the spring rotating frame 222 rotates, the piston rod 232 will also separate from the inclined block 233, and the thrust on the spring support block 235 will disappear. Since the spring support block 235 was in a stretched state before, the rebound force of the spring support block 235 will be released at this time, so that the spring support block 235 returns to its original position and retracts into the spring rotating frame 222. Through the rotation of the spring rotating frame 222, the thin plate 122 is avoided, so that the suction cup 213 can smoothly contact the thin plate 122.

[0029] The extrusion assembly 31 includes an inclined plate 314 disposed at the bottom of the fixed cylinder 311, and the side walls of the four fixed frames 221 are fixedly connected to the limit plates 316, and the outer walls of the four inclined plates 314 are slidably connected to the inner walls of the four limit plates 316, and the side walls of the four inclined plates 314 are fixedly connected to the spring return rods 2 315; The four spring return rods 315 are arranged in pairs, and the side walls of the two adsorption frames 13 are slidably connected to the outer walls of the two groups of spring return rods 315. When the spring rotating frame 222 rotates, it will separate from the inclined plate 314. At this time, the resilience of the spring return rods 315 will be released, so that the inclined surface of the inclined plate 314 is separated from the roller 313, so that the spring extrusion ring 312 descends; The blocking assembly 32 includes a push rod 323 fixedly connected to the top of the spring extrusion ring 312, and the outer walls of the four fixed cylinders 311 are fixedly connected with jet plates 324, and the inner walls of the four jet plates 324 are connected to the outer walls of the four gas pipes 321; The inner walls of the four fixed cylinders 311 are provided with sliding holes, and the inner walls of the four sliding holes are slidably connected with the outer walls of the four push rods 323, and the gas is ejected through the jet plate 324 to separate the stacked thin plates 122 from the thin plates 122; When the spring rotating frame 222 rotates again and moves toward the adsorption frame 13, it pushes the inclined plate 314 to squeeze the spring extrusion ring 312 to rise, squeeze the gas in the fixed cylinder 311, and the squeezed gas enters the jet plate 324 through the gas pipe 321 and is sprayed between the thin plates 122. When the spring rotating frame 222 rotates away from the adsorption frame 13, it separates from the inclined plate 314. Since the spring reset rod 315 was in a stretched state before, at this time, the spring reset rod 315 is returned to The elastic force will be released, pushing the inclined plate 314 to move toward the spring rotating frame 222, so that the inclined surface of the inclined plate 314 is separated from the roller 313. Since the spring extrusion ring 312 was previously in a compressed state, the resilience of the spring extrusion ring 312 will be released at this time, allowing the spring extrusion ring 312 to descend. After the spring extrusion ring 312 descends, the push rod 323 will enter the fixed cylinder 311, and the sliding hole of the push rod 323 will be connected to the fixed cylinder 311, allowing external gas to enter the fixed cylinder 311.

[0030] The release component 33 includes a push plate 334 fixedly connected to the outer wall of the spring extrusion ring 312. At the top of both connecting plates 211, two blocking rods 335 are fixedly connected. At the inner walls of both adsorption frames 13, two air holes are provided. The inner walls of the four air holes are all slidably connected to the outer walls of the two blocking rods 335. A number of communication grooves are provided in the inner walls of the four air blocking plates 331. Among them, when the adsorption frame 13 descends, the connecting plate 211 will squeeze the gas inside the adsorption frame 13. The gas will be blocked by the air blocking plate 331 until the push plate 334 pushes the spring return rod three 332 to move, causing the air blocking plate 331 to move synchronously, so that the communication groove of the air blocking plate 331 communicates with the air injection pipe 333, and the gas is ejected from the air injection pipe 333. When the adsorption frame 13 descends, the connecting plate 211 will drive the blocking rod 335 into the air hole to block the air hole, making the inside of the adsorption frame 13 in a closed state. When the adsorption frame 13 moves, the connecting plate 211 will squeeze the gas inside the adsorption frame 13. At this time, the squeezed gas will be blocked by the air blocking plate 331, so the gas pressure will increase. As the adsorption frame 13 continues to move, the spring rotating frame 222 will move away from the adsorption frame 13. At this time, the spring extrusion ring 312 will descend, driving the push plate 334 to descend. When the push plate 334 contacts the spring return rod three 332, since the contact surfaces of both are arc surfaces, the push plate 334 will squeeze the spring return rod three 332 to accumulate its resilience, making the spring return rod three 332 move towards the electric telescopic rod two 121, driving the air blocking plate 331 to move, so that the communication groove on the air blocking plate 331 communicates with the air injection pipe 333, and the high-pressure gas inside the adsorption frame 13 will enter the air injection pipe 333 and be ejected towards the contact surface between the thin plate 122 and the suction cup 213 to clean the dust on the thin plate 122.

[0031] The quantity of the above components is not limited, and those skilled in the relevant art can freely set it according to actual needs, as long as the above components are installed at the corresponding component connection positions.

[0032] The usage method of this material handling manipulator includes the following steps: S1: Equipment installation: The staff connects the connecting frame one 111 to the hoisting equipment and moves the equipment to the position where the wooden board needs to be transported through the hoisting equipment. S2: Start the equipment: Start the electric telescopic rod one 112 to extend, push the connecting frame two 113 to descend, make the adsorption frame 13 approach the thin plate 122, then stop the electric telescopic rod one 112, and then start the electric telescopic rod two 121 to extend, push the adsorption frame 13 to descend. When the adsorption frame 13 descends, since the connecting plate 211 is stationary, the connecting plate 211 will squeeze the gas inside the adsorption frame 13, generating negative pressure at the bottom of the connecting plate 211.

[0033] A specific application of this embodiment is as follows: When the present invention is in use, the staff connects the connecting frame 111 to the hoisting device, and moves the device to the position where the wooden board needs to be transported through the hoisting device. After moving into place, the electric telescopic rod 112 is started to extend, pushing the connecting frame 113 downward, so that the adsorption frame 13 approaches the thin plate 122. Then, the electric telescopic rod 112 is stopped, and the electric telescopic rod 121 is started to extend, pushing the adsorption frame 13 downward. When the adsorption frame 13 descends, since the connecting plate 211 is stationary, the connecting plate 211 will squeeze the gas in the adsorption frame 13, generating negative pressure at the bottom of the connecting plate 211 until the adsorption frame 13 drives the suction cup 213 to contact the thin plate 122, making the two fit. After fitting, the adsorption frame 13 continues to move, and the connecting plate 211 will contact the protruding position of the spring return rod 214, thereby pushing the spring return rod 214 upward, accumulating its resilience. The upward movement of the spring return rod 214 will drive the blocking plate 212 upward, separating the blocking plate 212 from the suction cup 213. The negative pressure at the bottom of the connecting plate 211 will enter the suction cup 213, enabling the suction cup 213 to adsorb the thin plate 122. After the adsorption is completed, the electric telescopic rod 121 is started to rise again, driving the connecting frame 113 upward. By adsorbing the thin plate 122 with the suction cup 213, the thin plate 122 is driven upward. The staff then transports the thin plate 122 to the required position through the hoisting device. By adsorbing and clamping the thin plate 122, the thin plate 122 is flexibly clamped, effectively preventing a large squeezing force from being applied to the thin plate 122, which is likely to cause deformation of the thin plate 122, and ensuring the integrity of the transportation of the thin plate 122; Secondly, when the adsorption frame 13 descends, it will also drive the fixed frame 221 and the spring rotating frame 222 to descend synchronously. When the spring rotating frame 222 separates from the blocking wheel 224, since the spring rotating frame 222 was in a compressed state before, at this time, the resilience of the spring rotating frame 222 will be released, causing the spring rotating frame 222 to rotate and move away from the adsorption frame 13. As Figure 11 shown, when the spring rotating frame 222 rotates, the piston rod 232 will also separate from the inclined plane block 233, and the thrust on the spring support block 235 disappears. Since the spring support block 235 was in a stretched state before, at this time, the resilience of the spring support block 235 will be released, causing the spring support block 235 to return to its original position and retract into the spring rotating frame 222. Through the rotation of the spring rotating frame 222, the thin plate 122 is avoided, enabling the suction cup 213 to smoothly contact the thin plate 122. When the suction cup 213 completes the adsorption and the electric telescopic rod 112 drives the connecting frame 113 upward, the spring rotating frame 222 and the fixed frame 221 rise synchronously, and the spring rotating frame 222 will contact the blocking wheel 224 again, causing the spring rotating frame 222 to be squeezed and rotate towards the adsorption frame 13. At this time, the spring support block 235 will move to the bottom of the thin plate 122. As Figure 12As shown, during the rotation of the spring support block 235, the first piston rod 232 will come into contact with the inclined surface of the inclined block 233 again, causing the first piston rod 232 to be squeezed, pushing the hydraulic oil in the oil delivery pipe 231. The hydraulic oil will push the second piston rod 234, causing the spring support block 235 to rise, grasping the thin plate 122, supporting the bottom of the thin plate 122 by the spring support block 235, enabling the thin plate 122 to be closely attached to the suction cup 213, effectively preventing the thin plate 122 from sagging under its own weight after rising, which affects the stability of material transportation; Secondly, when the spring rotating frame 222 rotates away from the adsorption frame 13, it will separate from the inclined panel 314. Since the second spring return rod 315 was in a stretched state before, at this time, the resilience of the second spring return rod 315 will be released, pushing the inclined panel 314 to move towards the spring rotating frame 222, causing the inclined surface of the inclined panel 314 to separate from the roller 313. Since the spring pressing ring 312 was in a compressed state before, at this time, the resilience of the spring pressing ring 312 will be released, causing the spring pressing ring 312 to descend. After the spring pressing ring 312 descends, the push rod 323 will enter the fixed cylinder 311. The sliding hole of the push rod 323 will communicate with the inside of the fixed cylinder 311, allowing external gas to enter the fixed cylinder 311. At the same time, after the push rod 323 descends, the thrust on the spring air blocking ring 322 disappears. Since the spring air blocking ring 322 was in a compressed state before, after the thrust disappears, the resilience of the spring air blocking ring 322 will be released, causing it to return to block the gas. When the second connecting frame 113 drives the thin plate 122 to rise and the spring rotating frame 222 rotates towards the adsorption frame 13 again, the spring rotating frame 222 will push the inclined panel 314 to move towards the adsorption frame 13, causing the inclined surface of the inclined panel 314 to lift the roller 313, causing the spring pressing ring 312 and the push rod 323 to rise synchronously. When the push rod 323 enters the sliding hole, the spring pressing ring 312 will squeeze the gas in the fixed cylinder 311. At this time, the squeezed gas will be blocked by the spring air blocking ring 322, so the gas pressure will increase. As the push rod 323 continues to move, the push rod 323 will push the spring air blocking ring 322 to rotate, canceling the block on the gas, and the high-pressure gas will enter the jet plate 324 through the air delivery pipe 321 and be ejected from the jet plate 324 between the thin plates 122, preventing two smooth-surface thin plates 122 in a stacked state from being too closely attached to each other, resulting in most of the gas between the contact surfaces of the thin plates 122 being discharged, forming a vacuum effect. By ejecting gas, the flow rate of the gas between the thin plates 122 is increased, enabling the thin plates 122 to be quickly separated, effectively preventing the thin plates 122 from rising and attracting each other, resulting in deformation of the thin plates 122; Secondly, when the adsorption frame 13 descends, the connecting plate 211 will drive the blocking rod 335 into the air hole to block the air hole, making the inside of the adsorption frame 13 in a closed state. When the adsorption frame 13 moves, the connecting plate 211 will squeeze the gas inside the adsorption frame 13. At this time, the squeezed gas will be blocked by the gas blocking plate 331, so the gas pressure will increase. As the adsorption frame 13 continues to move, the spring rotating frame 222 will move away from the adsorption frame 13. At this time, the spring pressing ring 312 will descend, driving the push plate 334 to descend. When the push plate 334 contacts the spring return rod three 332, since the contact surfaces of both are arc surfaces, the push plate 334 will squeeze the spring return rod three 332 to accumulate its resilience, making the spring return rod three 332 move towards the electric telescopic rod two 121, driving the gas blocking plate 331 to move, so that the communication groove on the gas blocking plate 331 communicates with the spray pipe 333. The high-pressure gas inside the adsorption frame 13 will enter the spray pipe 333 and be sprayed against the contact surface between the thin plate 122 and the suction cup 213 to clean the dust on the thin plate 122, effectively preventing the dust on the surface of the thin plate 122 from affecting the close fit between the suction cup 213 and the thin plate 122 and ensuring a good adsorption effect; Among them, after the staff transports the thin plate 122 to the top of the conveyor belt through a hoisting device, by starting the electric telescopic rod one 112 to extend again to push the connecting frame two 113 to descend, the spring rotating frame 222 is separated from the blocking wheel 224, and the spring rotating frame 222 rotates and separates from the thin plate 122. As the connecting frame two 113 continues to move, the thin plate 122 will contact the conveyor belt. At this time, the spring rotating frame 222 will rotate to the top of the thin plate 122, as Figure 11 shown. After that, start the electric telescopic rod two 121 to retract to drive the adsorption frame 13 to rise, so that the suction cup 213 rises. At this time, the connecting plate 211 will separate from the protrusion on the top of the blocking plate 212, and the resilience of the spring return rod one 214 will be released, making the blocking plate 212 return to its position to block the suction cup 213 again, breaking the vacuum and separating the suction cup 213 from the thin plate 122. The thin plate 122 will then be transported by the external conveyor belt to complete the discharging of the thin plate 122; Among them, after the adsorption frame 13 rises in place, the blocking rod 335 will separate from the air hole again. At this time, the external gas will enter the adsorption frame 13 through the air hole to complete the gas replenishment.

[0034] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and changes can be made according to the content of this specification. These embodiments are selected and specifically described in this specification to better explain the principle and practical application of the present invention, so that those skilled in the relevant technical field can understand and utilize the present invention well. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. A material handling manipulator for wood board production and processing, characterized in that Including: A transfer mechanism (1), a support assembly (11) is fixedly installed on the inner wall of the transfer mechanism (1), a drive assembly (12) is installed on the side wall of the transfer mechanism (1), and the support assembly (11) is used to move the wooden board; A clamping mechanism (2), the clamping mechanism (2) is installed on the inner wall of the transfer mechanism (1), the clamping mechanism (2) is slidably installed on the inner wall of the transfer mechanism (1) for clamping the wooden board; and An air jet mechanism (3), the air jet mechanism (3) is located on the inner wall of the transfer mechanism (1) for separating the wooden boards from each other; Wherein, the clamping mechanism (2) clamps and fixes the wooden board, the air jet mechanism (3) separates the clamped wooden board from the stacked wooden boards, and finally the transfer mechanism (1) moves the wooden board clamped by the clamping mechanism (2).

2. The material handling manipulator for wood board production and processing according to claim 1, wherein: Two adsorption frames (13) are arranged inside the transfer mechanism (1), and the transfer mechanism (1) includes: A support assembly (11), the bottom of the support assembly (11) is fixedly arranged with the tops of the two adsorption frames (13) for moving the wooden board; A drive assembly (12), the top of the drive assembly (12) is fixedly arranged with the bottom of the support assembly (11) for driving the adsorption frame (13) to approach the wooden board; Wherein, the support assembly (11) is connected to a hoisting device, and the hoisting device drives the support assembly (11) to move, thereby driving the wooden board to move.

3. The material handling manipulator for wood board production and processing according to claim 2, wherein: The clamping mechanism (2) includes: An adsorption assembly (21), the adsorption assembly (21) is slidably arranged on the inner wall of the adsorption frame (13) through a sliding member for adsorbing the wooden board; The sliding member includes a connecting plate (211) slidably connected to the inner wall of the adsorption frame (13), and a blocking plate (212) is slidably connected to the inner walls of the two adsorption frames (13); A grasping assembly (22), the grasping assembly (22) is fixedly arranged on the side wall of the adsorption frame (13) through a fixing member for grasping the wooden board; The fixing member includes a first fixing frame (221) fixedly connected to the left and right sides of the adsorption frame (13), and a spring rotating frame (222) is rotatably connected to the inner walls of the four first fixing frames (221); A pushing assembly (23), the pushing assembly (23) is rotatably arranged on the inner wall of the grasping assembly (22) through a hydraulic member for pushing the grasping assembly (22) to approach the wooden board; The hydraulic member includes an oil delivery pipe (231) fixedly connected to the inner wall of the spring rotating frame (222), and a first piston rod (232) is slidably connected to the inner walls of the four oil delivery pipes (231); Wherein, the adsorption assembly (21) adsorbs the wooden board and ascends. After the wooden board ascends, the pushing assembly (23) will push the grasping assembly (22) to approach the wooden board to grasp the wooden board.

4. The material handling manipulator for wood board production and processing according to claim 3, wherein: The air jet mechanism (3) includes: An extrusion assembly (31), the extrusion assembly (31) is fixedly arranged on the top of the first fixing frame (221) through a support member for extruding gas; The support member includes a fixed cylinder (311) fixedly connected to the top of the first fixing frame (221). A spring extrusion ring (312) is slidably connected to the inner wall of each of the four fixed cylinders (311). A roller (313) is rotatably connected to the bottom of each of the four spring extrusion rings (312); A blocking assembly (32), which is fixedly arranged on the inner wall of the fixed cylinder (311) through a connecting member and is used to separate the wooden boards from each other; The connecting member includes an air delivery pipe (321) penetrating and connected to the inner wall of the fixed cylinder (311). A spring air blocking ring (322) is rotatably connected to the inner wall of each of the four air delivery pipes (321); A release assembly (33), which is slidably arranged on the inner wall of the adsorption frame (13) through a blocking member and is used to release high-pressure gas; The blocking member includes two air blocking plates (331) slidably connected to the inner wall of the adsorption frame (13). A third spring return rod (332) is fixedly connected to the side wall of each of the two air blocking plates (331); Among them, the gas is squeezed by the squeezing assembly (31), the gas is blocked by the blocking assembly (32), so that the gas pressure rises. Finally, the blocking of the gas by the blocking assembly (32) is cancelled, and the high-pressure gas is ejected to separate the wooden boards from each other.

5. The material handling manipulator for wood board production and processing according to claim 4, characterized in that: The support assembly (11) includes a first connecting frame (111) arranged on the inner wall of the transfer mechanism (1). An electric telescopic rod one (112) is fixedly connected to the bottom of the first connecting frame (111). A second connecting frame (113) is slidably connected to the inner wall of the first connecting frame (111). The bottom output end of the electric telescopic rod one (112) is fixedly connected to the top of the second connecting frame (113); The driving assembly (12) includes two electric telescopic rods two (121) fixedly connected to the bottom of the second connecting frame (113). The bottom output ends of the two electric telescopic rods two (121) are fixedly connected to the tops of the two adsorption frames (13). A plurality of thin plates (122) are arranged at the bottom of the second connecting frame (113); Among them, during use, the staff connects the hoisting device to the top of the first connecting frame (111), then lowers the adsorption frame (13) by starting the electric telescopic rod two (121) to fix the thin plate (122), and finally drives the first connecting frame (111) to move by the hoisting device to move the thin plate (122).

6. The material handling manipulator for wood board production and processing according to claim 5, characterized in that: The adsorption assembly (21) includes nine suction cups (213) fixedly connected to the bottom of the adsorption frame (13). Two first spring return rods (214) are fixedly connected to the top of each of the two blocking plates (212). Two connecting blocks (215) are fixedly connected to the top of each of the two adsorption frames (13); The inner walls of the four connecting blocks (215) are slidably connected to the outer walls of the four first spring return rods (214). The four first spring return rods (214) are grouped in pairs. The inner walls of the two connecting plates (211) are slidably connected to the outer walls of the two groups of first spring return rods (214); The tops of the two connecting plates (211) are fixedly connected to the bottom of the second connecting frame (113). The adsorption frame (13) is pushed down by the second electric telescopic rod (121) so that the suction cup (213) contacts the thin plate (122) to adsorb the thin plate (122). Among them, when the second electric telescopic rod (121) extends to push the adsorption frame (13) down, the suction cup (213) contacts the thin plate (122). At the same time, negative pressure is generated inside the adsorption frame (13) to make the suction cup (213) adsorb the thin plate (122).

7. The material handling manipulator for wood board production and processing according to claim 6, characterized in that: The grasping assembly (22) includes four second fixing frames (223) fixedly connected to the bottom of the first connecting frame (111). The bottoms of the four second fixing frames (223) are all rotatably connected with blocking wheels (224). The side walls of the four spring push rods (225) are all slidably connected to the side walls of the four second fixing frames (223). The rotation of the spring rotating frame (222) is blocked by the blocking wheel (224). The pushing assembly (23) includes an inclined plane block (233) fixedly connected to the side wall of the second fixing frame (223). The inner walls of the four oil pipes (231) are all provided with hydraulic oil. The inner walls of the four oil pipes (231) are all slidably connected with second piston rods (234). The inner walls of the four spring rotating frames (222) are all slidably connected with spring support blocks (235). The extension of the spring support block (235) is controlled by the first piston rod (232) and the second piston rod (234). Among them, when the adsorption frame (13) descends, it will drive the spring rotating frame (222) to descend, separating the spring rotating frame (222) from the blocking wheel (224). The resilience of the spring rotating frame (222) is released, causing the spring rotating frame (222) to rotate. When the adsorption frame (13) ascends, the spring rotating frame (222) is blocked by the blocking wheel (224), causing the spring rotating frame (222) to rotate again and move towards the adsorption frame (13) to grasp the thin plate (122) adsorbed by the adsorption frame (13).

8. A material handling manipulator for wood board production and processing according to claim 7, characterized in that: The extrusion assembly (31) includes an inclined panel (314) arranged at the bottom of the fixed cylinder (311). The side walls of the four first fixing frames (221) are all fixedly connected with limiting plates (316). The outer walls of the four inclined panels (314) are slidably connected to the inner walls of the four limiting plates (316). The side walls of the four inclined panels (314) are all fixedly connected with second spring return rods (315). The four second spring return rods (315) are grouped in pairs of two. The side walls of the two adsorption frames (13) are all slidably connected to the outer walls of the two groups of second spring return rods (315). When the spring rotating frame (222) rotates, it will separate from the inclined panel (314). At this time, the resilience of the second spring return rod (315) is released, causing the inclined surface of the inclined panel (314) to separate from the roller (313), and the spring extrusion ring (312) descends.

9. The material handling manipulator for wood board production and processing according to claim 8, wherein: The blocking assembly (32) includes a push rod (323) fixedly connected to the top of the spring extrusion ring (312). Jet plates (324) are fixedly connected to the outer walls of the four fixed cylinders (311). The inner walls of the four jet plates (324) are in through connection with the outer walls of the four air delivery pipes (321). Sliding holes are provided in the inner walls of the four fixed cylinders (311), and the outer walls of the four push rods (323) are slidably connected to the inner walls of the four sliding holes. The jet plates (324) eject gas to separate the stacked thin plates (122) from each other. Among them, when the spring rotating frame (222) rotates again and moves towards the adsorption frame (13), it will push the inclined panel (314) to squeeze the spring extrusion ring (312) upward, squeezing the gas in the fixed cylinder (311). The squeezed gas will enter the jet plate (324) through the air delivery pipe (321) and be ejected between the thin plates (122).

10. The material handling manipulator for wood board production and processing according to claim 9, characterized in that: The release assembly (33) includes a push plate (334) fixedly connected to the outer wall of the spring extrusion ring (312). Two blocking rods (335) are fixedly connected to the tops of the two connecting plates (211). Two air holes are provided in the inner walls of the two adsorption frames (13), and the outer walls of the four blocking rods (335) are slidably connected to the inner walls of the four air holes. A number of communication slots are provided in the inner walls of the four air blocking plates (331). Among them, when the adsorption frame (13) descends, the connecting plate (211) will squeeze the gas in the adsorption frame (13). The gas will be blocked by the air blocking plate (331) until the push plate (334) pushes the spring return rod three (332) to move, causing the air blocking plate (331) to move synchronously, so that the communication slot of the air blocking plate (331) is communicated with the jet pipe (333), and the gas is ejected from the jet pipe (333).

11. A method of using a material handling manipulator for wood board production and processing, which uses a material handling manipulator for wood board production and processing as described in claim 10, characterized in that: It includes the following steps S1: Equipment installation: The staff connects the connecting frame one (111) to the hoisting equipment and moves the equipment to the position where the wooden board needs to be transported through the hoisting equipment. S2: Start the equipment: Start the electric telescopic rod one (112) to extend, push the connecting frame two (113) to descend, so that the adsorption frame (13) approaches the thin plate (122), and then stop the electric telescopic rod one (112). Then start the electric telescopic rod two (121) to extend, push the adsorption frame (13) to descend. When the adsorption frame (13) descends, since the connecting plate (211) is stationary, the connecting plate (211) will squeeze the gas in the adsorption frame (13), generating negative pressure at the bottom of the connecting plate (211).

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