A turnover basket conveying system, a wooden board basket loading system and a basket loading method

Abstract

The present invention belongs to the field of woodworking technology, and specifically relates to a turnover basket conveying system, a wood board basket loading system, and a basket loading method. The turnover basket conveying system includes an empty basket loading position, a basket removal position, a basket loading position, a basket stacking position, and a material discharge position arranged on a basket loading conveyor line; each workstation has a positioning mechanism for blocking the turnover basket, and both the basket removal position and the basket stacking position realize basket removal and basket stacking through the cooperation of a basket insertion mechanism and a basket lifting mechanism; a basket insertion mechanism is symmetrically arranged on the left and right sides of the basket removal position and the basket stacking position, and the basket insertion mechanism includes: a basket insertion bracket installed on the left and right sides of a frame of the basket loading conveyor line, a basket insertion cylinder, and a basket insertion plate; the front end of the basket insertion plate has two tentacles, which extend into the turnover basket to lift the turnover basket. The present invention only requires manual placement of an empty turnover basket at the starting end of the basket loading conveyor line, and an AGV trolley is used at the end of the basket loading conveyor line to automatically receive multiple turnover baskets filled with wood boards stacked together, which saves time and effort.

Description

Technical Field

[0001] The present invention belongs to the technical field of woodworking, and in particular relates to a turnover basket conveying system, a wood board basket loading system and a basket loading method. Background Art

[0002] When the woodworking industry produces tooth-jointed boards, in order to improve the grade and quality of the boards, short semi-finished wood blocks need to be selected and classified according to color grades. The semi-finished wood blocks of a single color are then combed and spliced ​​into long tooth-jointed wood strips, and the tooth-jointed wood strips are then assembled into boards. This way, the boards are solid color and no colorful flower boards will be formed.

[0003] The current industry practice is to manually sort the color-selected and sorted materials, aligning the marked surfaces before feeding them to a combing machine for splicing. This manual process is inefficient, and continuous manual work can cause visual fatigue. Sometimes, the front and back sides of the wood blocks are mixed up, resulting in mixed-color lumber. This affects lumber quality, lowering grade, and ultimately reducing prices and profits.

[0004] After the wooden boards are sorted and stacked in the silo, the material claws are needed to place the entire stack of wooden boards neatly into the turnover basket. The turnover basket needs to be manually placed in the designated loading position and then transported away after it is full. The turnover basket full of wooden boards is very heavy, and moving the turnover basket is time-consuming and labor-intensive. Summary of the Invention

[0005] The purpose of the present invention is to overcome the time-consuming and labor-intensive defects of manual transfer of turnover baskets in the prior art, and to provide a turnover basket conveying system, a wooden board basket loading system and a basket loading method that can automatically dismantle and stack baskets.

[0006] The technical solution adopted by the present invention to solve its technical problem is:

[0007] The basket dismantling position and the basket stacking position are respectively arranged on the loading and unloading frame, the loading and unloading frame are respectively arranged on the loading and unloading frame, the loading and unloading frame are respectively arranged on the loading and unloading frame, the loading and unloading frame are respectively arranged on the loading and unloading frame, the loading and unloading frame are respectively arranged on the loading and unloading frame, the loading and unloading frame are respectively arranged on the loading and unloading frame, the loading and unloading frame are respectively arranged on the loading and unloading frame, the loading and unloading frame are respectively arranged on the loading and unloading frame

[0008] Furthermore, a basket insertion guide rail is fixed on the basket insertion bracket, and the basket insertion plate is slidably connected to the basket insertion guide rail.

[0009] Furthermore, the lower end of the turnover basket has a sliding plate corresponding to the four sides respectively, the four corners of the bottom end of the turnover basket have supporting feet, and the four corners of the top end of the turnover basket have docking grooves corresponding to the four supporting feet respectively. The docking groove is a space formed by two outward-inclined inclined plates, and there is also a plug-in hole between the sliding plate and the turnover basket.

[0010] Furthermore, there are 8 workstations for holding wooden boards arranged in a 2*4 pattern in the turnover basket, and the two workstations in each row are separated by a workstation partition, which has a material discharge space for inserting a movable material removal plate or a fixed material removal plate.

[0011] Furthermore, the turnover basket also has a work station width adjustment mechanism, which includes a second guide block fixed on the side wall of the turnover basket, a guide rod slidably connected to the second guide block, a tightening block connected to the end of the guide rod, and an adjustment spring sleeved on the guide rod, and the two ends of the adjustment spring are respectively tightened between the tightening block and the second guide block.

[0012] Furthermore, the basket loading conveyor line is a plurality of transmission rollers driven by chains, and the sliding plates of the turnover baskets are driven to move by the rotation of the transmission rollers.

[0013] Furthermore, the positioning mechanism includes: a positioning mounting frame, a positioning cylinder mounted on the positioning mounting frame, a positioning block connected to an output end of the positioning cylinder, and a positioning guide rail provided on the positioning mounting frame, wherein the positioning block is slidably connected to the positioning guide rail.

[0014] Furthermore, the basket lifting mechanism is a scissor-type lifting frame arranged in the middle of the basket loading conveyor line.

[0015] The present invention also discloses a wooden board basket loading system, which is characterized in that it includes a turnover basket conveying system, a robotic arm arranged next to it, and a material picking claw installed at the end of the robotic arm; the material picking claw includes a material picking rack installed on the robotic arm and two claw assemblies symmetrically installed on the material picking rack, and the claw assembly includes a fixed material picking plate installed on the material picking rack, a fourth guide rail arranged on the material picking rack, a material picking cylinder installed on the material picking rack, and a movable material picking plate connected to the output end of the material picking cylinder and sliding along the fourth guide rail.

[0016] The present invention also discloses a method for packing wooden boards into baskets, which is characterized by comprising the following steps:

[0017] S1. At the empty basket loading station, multiple empty baskets are manually stacked together and placed on the basket loading conveyor line;

[0018] S2. The stacked empty baskets are driven to the basket dismantling position by the transmission roller, and the turnover basket on the bottom layer is separated at the basket dismantling position. First, the basket lifting mechanism pushes the stacked turnover baskets to move upward together. From bottom to top, the plug-in hole of the second turnover basket moves to the tentacle position of the basket insertion plate. The basket insertion cylinder pushes the basket insertion plate to extend toward the turnover basket, so that the tentacles extend into the plug-in hole, keeping the upper turnover basket in a suspended state. Then, the basket lifting mechanism drives the turnover basket on the bottom layer to move downward to the transmission roller. Under the conveying action of the transmission roller, the turnover basket on the bottom layer moves to the basket loading position. At the same time, the basket lifting mechanism moves upward again to catch the turnover basket above. After that, the basket insertion mechanism releases the turnover basket, and then the basket lifting mechanism descends again until the bottom of the turnover basket contacts the transmission roller.

[0019] S3. After the turnover basket moves to the loading position, the material-taking claws arrange the whole stack of wooden boards grabbed by the claw assembly on one side horizontally and place them in the working position of the turnover basket. Then, the claws turn 180 degrees and arrange the whole stack of wooden boards grabbed by the claw assembly on the other side horizontally and place them in the working position of the turnover basket.

[0020] S4. At the basket stacking position, the turnover basket on the transmission roller is lifted by the basket lifting mechanism, and the turnover basket is suspended in the air by the basket insertion plate. Then the basket lifting mechanism is retracted below the transmission roller. At this time, the positioning block of the positioning mechanism is lowered so that another turnover basket filled with wooden boards can be transported to the basket stacking position through the transmission roller. The basket lifting mechanism is raised again to support the turnover basket on the transmission roller and connect it with the suspended turnover basket. Then the basket insertion plate is retracted, and the basket lifting mechanism is lowered again to place the stacked turnover baskets on the transmission roller.

[0021] S5. The turnover baskets stacked at the stacking position are continuously transported to the discharge position.

[0022] The turnover basket conveying system, wood board basket loading system and basket loading method of the present invention have the following beneficial effects:

[0023] 1. Automatic basket dismantling and stacking can be achieved through the cooperation of the basket insertion mechanism and the basket lifting mechanism. It only requires manual placement of an empty turnover basket at the starting end of the basket loading conveyor line, and the use of an AGV trolley at the end of the basket loading conveyor line to automatically receive multiple stacked turnover baskets filled with wooden boards, which saves time and effort.

[0024] 2. The station width adjustment mechanism of the turnover basket can adapt to stacks of wooden boards of different thicknesses to prevent the wooden boards from shaking or tipping over in the turnover basket. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] Figure 1 It is an overall structural diagram of an embodiment of the present invention;

[0027] Figure 2 This is a structural diagram of a material receiving machine according to an embodiment of the present invention;

[0028] Figure 3 This is a partial structural diagram of a material receiving machine according to an embodiment of the present invention;

[0029] Figure 4 This is a structural diagram of the material receiving machine and the first conveyor line according to an embodiment of the present invention;

[0030] Figure 5 It is a partial structural diagram of an embodiment of the present invention;

[0031] Figure 6 yes Figure 5 Enlarged view of part A in the middle;

[0032] Figure 7 is a structural diagram of a visual system according to an embodiment of the present invention;

[0033] Figure 8 This is an overall structural diagram of a sorting silo according to an embodiment of the present invention;

[0034] Figure 9 This is a partial structural diagram of a sorting silo according to an embodiment of the present invention;

[0035] Figure 10 This is a structural diagram of the material retrieving claw according to an embodiment of the present invention;

[0036] Figure 11 This is a three-dimensional structural diagram of a turnover basket conveying system according to an embodiment of the present invention;

[0037] Figure 12 This is a front view of the turnover basket conveying system according to an embodiment of the present invention;

[0038] Figure 13 This is a structural diagram of a turnover basket according to an embodiment of the present invention;

[0039] Figure 14 This is a structural diagram of a stacking basket according to an embodiment of the present invention;

[0040] Figure 15 This is a three-dimensional diagram of a basket insertion mechanism according to an embodiment of the present invention;

[0041] Figure 16 is a three-dimensional diagram of a positioning mechanism according to an embodiment of the present invention;

[0042] Figure 17 It is a structural diagram of a fourth material support platform according to an embodiment of the present invention.

[0043] In the figure: 1, wooden board, 2, material receiving machine, 21, material receiving frame, 22, first drive motor, 23, material receiving active sprocket, 24, material receiving driven sprocket, 25, material turning shaft, 26, material turning arm, 27, basket guide groove, 28, guide hopper, 29, sliding roller, 3, first conveyor line, 31, conveying partition, 32, material receiving section, 33, material leveling section, 34, material discharging section, 35, material baffle, 4, centrifuge, 42, first photoelectric sensor, 5, second conveyor line, 6, third conveyor line, 7, sorting silo, 71, silo chassis, 72, stacking silo, 73, material taking silo, 74, first partition Plate, 75, second drive motor, 76, screw nut pair, 77, stacking bottom plate, 78, push plate, 79, first guide block, 710, first guide rail, 711, push cylinder, 713, second partition, 714, second photoelectric sensor, 715, first material support platform, 716, second material support platform, 718, third material support platform, 719, second guide rail, 720, lifting bracket, 721, lifting push rod, 722, fourth material support platform, 7221, material taking groove, 723, third guide rail, 724, fifth material support platform, 725, material taking space, 72 6. Guide sleeve, 8. Turnover basket conveying system, 81. Positioning mechanism, 811. Positioning mounting frame, 812. Positioning cylinder, 813. Positioning guide rail, 814. Positioning block, 82. Basket insertion mechanism, 821. Basket insertion bracket, 822. Basket insertion cylinder, 823. Basket insertion plate, 824. Basket insertion guide rail, 825. Tentacle, 830. Transmission roller, 831. Empty basket loading position, 832. Basket removal position, 833. Basket loading position, 834. Basket stacking position, 835. Discharging position, 84. Scissor lift, 9. Turnover basket, 91. Second guide block, 92. Guide rod, 93. Tightening block, 94. Sliding plate, 95. Workstation partition, 96. Material discharge space, 97. Support foot, 98. Docking groove, 99. Connecting hole, 10. Material picking claw, 101. Material picking rack, 102. Fixed material picking plate, 103. Fourth guide rail, 104. Material picking cylinder, 105. Movable material picking plate, 11. Material basket, 111. Basket guide rail, 12. Delta robot, 13. Posture adjustment mechanism, 131. Arc guide frame, 132. Guide rotor, 14. Vision system, 141. Dark light box, 142. Lens, 143. Light source, 15. Robotic arm, 16. Fourth conveyor line. DETAILED DESCRIPTION

[0044] The present invention will now be described in further detail with reference to the accompanying drawings, which are simplified schematic diagrams that illustrate the basic structure of the present invention in a schematic manner.

[0045] The embodiment of the present invention is a production line for sorting wood boards. For the convenience of explanation and understanding, the embodiment is described with the direction of material movement as "front" and the "left" and "right" corresponding to the direction of material movement when a person is looking at it as the standard.

[0046] like Figures 1-17 The specific embodiment of a flexible intelligent sorting line for the woodworking industry of the present invention shown includes a material receiving machine 2, a first conveyor line 3, a centrifuge 4, a second conveyor line 5, a third conveyor line 6, a fourth conveyor line 16, a visual system 14 arranged above the fourth conveyor line 16, a robot gripper for grabbing the wooden boards 1 on the fourth conveyor line 16, a sorting bin 7 for stacking the grabbed wooden boards 1, a material picking claw 10 for grabbing the stacked wooden boards 1 and placing them in a turnover basket 9, and a turnover basket conveying system 8.

[0047] The material receiving machine 2 is used to receive the wood board 1 material after color selection and classification marking delivered by the AGV car, and Figure 2-Figure 4 The material receiving machine 2 includes: a material receiving frame 21, a first driving motor 22 installed on the material receiving frame 21, a material receiving active sprocket 23 connected to the output shaft of the first driving motor 22, a material receiving driven sprocket 24 connected to the material receiving active sprocket 23 through a chain drive, a material turning shaft 25 coaxially arranged with the material receiving driven sprocket 24, and two material turning arms 26 fixedly connected to the two ends of the material turning shaft 25 and arranged parallel to each other.

[0048] After color selection and classification, the marked planks 1 are placed in a material basket 11 and transported to the material receiver 2 via an AGV. Basket guide rails 111 are symmetrically arranged on the left and right sides of the basket 11. The inner side of the tipping arm 26 has a basket guide groove 27 corresponding to the basket guide rails 111. A plurality of sliding rollers 29 are installed in a row within the basket guide groove 27 to reduce the movement resistance of the basket guide rails 111. A guide hopper 28 is also fixedly mounted on the upper side of the tipping arm 26. The lower side of the guide hopper 28 is connected to the material basket 11, and the upper end of the guide hopper 28 is closed inward.

[0049] Combine Figure 1 and Figure 4 The front of the material receiving machine 2 is also connected to the first conveyor line 3. The first conveyor line 3 is a belt with multiple evenly arranged conveying partitions 31 parallel to the width direction. The first conveyor line 3 is divided into a material receiving section 32, an upwardly inclined material leveling section 33 and a material discharging section 34 from back to front. The two sides of the material receiving section 32 are fixedly installed with material blocking plates 35 inclined to the left and right sides.

[0050] Specifically, the material basket 11 containing the wooden planks 1 slides into the basket guide groove 27 via the basket guide track 111. The first drive motor 22 drives the material receiving driven sprocket 24, the material turning shaft 25, and the material turning arm 26 via the material receiving active sprocket 23 to rotate the material basket 11. After the material basket 11 is turned, the material is connected to the material receiving section 32 of the first conveyor line 3 through the guide hopper 28. The material blocking plate 35 blocks the wooden planks 1 from falling from both sides. The wooden planks 1 are transported upward through the conveying partition 31 on the first conveyor line 3 to the material leveling section 33. The material leveling section 33 evenly spreads the wooden planks 1 on the belt, and the wooden planks 1 finally enter the material discharging section 34 for uniform feeding.

[0051] See also Figure 5 The outlet of the discharge section 34 is docked with a centrifuge 4. Under the centrifugal action of the centrifuge 4, the planks 1 are thrown toward the edge of the centrifuge 4. A plank outlet is located on the tangent line of the edge of the centrifuge 4. The second conveyor line 5 faces the plank outlet. The width and height of the plank outlet are adjusted according to the width of the plank 1. The width of the plank outlet is greater than the width of one plank and less than the width of two planks; the height of the plank outlet is greater than the height of one plank and less than the height of two planks. Only one plank 1 is allowed to be thrown out at a time. After being thrown out of the plank outlet, the planks 1 are arranged in a basically uniform single layer. The planks 1 are arranged along their length and continue to be transported forward on the second conveyor line 5. The centrifuge 4 is equipped with a first photoelectric sensor 42 to monitor the number of planks in the centrifuge 4.

[0052] See also Figure 5 and Figure 6 The end of the second conveyor line 5 is connected to the third conveyor line 6 that transmits vertically therewith. The third conveyor line 6 is provided with a posture adjustment mechanism 13. The posture adjustment mechanism 13 includes an arc-shaped guide frame 131 fixed on the bracket of the third conveyor line 6, and a guide rotating body 132 arranged above the third conveyor line 6 and facing the second conveyor line 5. The arc-shaped guide frame 131 starts from the right side of the second conveyor line 5 and extends toward the middle of the third conveyor line 6 and the conveying direction of the third conveyor line 6. The guide rotating body 132 is a steel ball brush or a rubber wheel connected to the output shaft of the rotating motor.

[0053] During the process of transferring the wooden board 1 from the second conveyor line 5 to the third conveyor line 6, the front end of the wooden board 1 hits the guide rotor 132, and is then rotated by the rotating guide rotor 132. The rear end of the wooden board 1 is guided by the arc-shaped guide frame 131 and gradually moves toward the middle of the third conveyor line 6. Due to the forward conveying of the third conveyor line 6 itself, the direction of the wooden board 1 gradually changes.

[0054] The end of the third conveyor line 6 is connected to the fourth conveyor line 16. The conveying direction of the fourth conveyor line 16 is perpendicular to the conveying direction of the third conveyor line 6. On the fourth conveyor line 16, the wooden board 1 is basically transported in the width direction, or there is a slight tilt which does not affect the subsequent processes.

[0055] The starting end of the fourth conveyor line 16 is equipped with a visual system 14 for dynamically monitoring the plane angle, front and back sides, length and other information of the horizontally conveyed wooden board 1. Due to the inkjet marking of the wooden board 1 during color selection, the marked side is the reference surface and is determined to be the front side, and the other side is the back side. Figure 7 The visual system 14 is installed in a dark light box 141, and the dark light box 141 is equipped with components such as a lens 142 and a light source 143. The photo information taken by the lens 142 is sent to the robot gripper of the subsequent process.

[0056] Two robot grippers are arranged side by side on the side of the fourth conveyor line 16. The embodiment of the present invention adopts a delta robot 12, and each delta robot 12 corresponds to a sorting bin 7. Each sorting bin 7 has four workstations, which are divided into two front workstations (marked side facing up) and two reverse workstations (marked side facing down), which respectively correspond to the wooden board 1 with the color selection mark facing up and the wooden board 1 with the color selection mark facing down. Two forward workstations and two reverse workstations are designed to act as a cache.

[0057] See also Figure 5 The wooden boards 1 are transported one by one in parallel in the length direction on the second conveyor line 5. When the wooden boards 1 are monitored by the visual system 14 and grasped by the delta robot, they need to be separated by a certain distance. At the same time, the output capacity per unit time is also improved. Therefore, the second conveyor line 5, the third conveyor line 6 and the fourth conveyor line 16 cooperate to transform the wooden boards from being conveyed in the length direction to being conveyed in the width direction, automatically spacing out the wooden boards. The delta robot 12 grabs the wooden boards 1 on the fourth conveyor line 16 with a suction cup gripper. The two delta robots 12 cooperate to grab the wooden boards 1, improving work efficiency. For example, the first delta robot 12 grabs the 1st, 3rd, 5th, 7th and 9th wooden boards 1 to the first sorting bin 7, and the second delta robot 12 grabs the 2nd, 4th, 6th, 8th and 10th wooden boards 1 to the second sorting bin 7.

[0058] See also Figure 8 and Figure 9Each sorting silo 7 includes a silo chassis 71, on which four stations are arranged in parallel. Each station includes a stacking silo 72 and a taking silo 73. The stacking silo 72 is a space formed by two first partitions 74 arranged opposite to each other. A second drive motor 75 is installed on the silo chassis 71. A screw nut pair 76 is connected to the output shaft of the second drive motor 75. A stacking bottom plate 77 is fixed to the nut of the screw nut pair 76. The stacking bottom plate 77 extends into the stacking silo 72. The stacking bottom plate 77 is also fixedly connected to the first guide Toward block 79, the silo base frame 71 is also provided with a first guide rail 710 arranged parallel to the screw of the screw nut pair 76, and the first guide block 79 is slidably connected to the first guide rail 710. A pushing cylinder 711 is also installed on the silo base frame 71 outside the stacking silo 72, and the output end of the pushing cylinder 711 is connected to a pushing plate 78. When the stacking bottom plate 77 is at the lower limit position, the lower end of the pushing plate 78 is located above the stacking bottom plate 77, and the pushing plate 78 can just stick to the upper surface of the stacking bottom plate 77 to push the entire stack of wooden boards 1. Two oppositely arranged second partitions 713 are correspondingly arranged behind the first partition 74 on each workstation. There is a material picking space 725 between the first partition 74 and the second partition 713 for the material picking claw 10 to enter. The space formed by the rear of the first partition 74 and the second partition 713 is the material picking bin 73. In order to facilitate the material picking claw 10 to enter the material picking space 725, the height of the material picking bin 73 of the two middle workstations is twice or more than the height of the material picking bin 73 of the workstations on both sides.

[0059] A second photoelectric sensor 714 for detecting whether a wooden board 1 is placed in the stacking bin 72 is also installed on the first partition 74 at the upper end of each stacking bin 72 .

[0060] See also Figure 8 and Figure 9 The material picking mechanism is divided into a first material picking mechanism for picking up materials from the workstations on both sides and a second material picking mechanism for picking up materials from the middle mechanism. The first material picking mechanism includes: a first material support platform 715 and a second material support platform 716 arranged on the front and rear sides of the material picking space 725. The heights of the first material support platform 715 and the second material support platform 716 are the same as the lower limit position of the stacking bottom plate 77. A gripper avoidance mechanism is arranged between the first material support platform 715 and the second material support platform 716. The gripper avoidance mechanism includes: an avoidance cylinder installed on the silo base frame 71, a third material support platform 718 installed at the output end of the avoidance cylinder, a guide sleeve 726 installed on the silo base frame 71, and a second guide rail 719 slidably connected to the guide sleeve 726.

[0061] The second material-removing mechanism includes: a lifting bracket 720 fixedly mounted on the silo chassis 71 and located behind the second partition 713; a lifting push rod 721 mounted on the lifting bracket 720; an output end of the lifting push rod 721 fixedly connected to a fourth material support platform 722; a third guide rail 723 vertically arranged on the lifting bracket 720; and the fourth material support platform 722 slidably connected to the third guide rail 723. Figure 17 The middle portion of the fourth material support platform 722 corresponding to the material retrieving space 725 is a material retrieving groove 7221 for the material retrieving claw 10 to enter. The second material retrieving mechanism also includes a fifth material support platform 724 disposed within the material retrieving bin 73. When the fourth material support platform 722 is at its lowest position, the fourth material support platform 722 and the fifth material support platform 724 are connected at the same height.

[0062] In order to meet the stacking and retrieval requirements of wooden boards 1 of different widths, each first partition 74 and second partition 713 is slidably connected to the silo base frame 71 or the lifting bracket 720 fixedly connected to the silo base frame 71 through a guide rail slider mechanism.

[0063] Combine Figure 1 and Figure 10 The stacked wooden boards 1 are picked up by the picking claws 10 installed on the robotic arm 15. The robotic arm 15 in this embodiment is a six-axis robotic arm. The picking claws 10 include a picking frame 101 installed on the robotic arm 15 and two claw assemblies symmetrically installed on the picking frame 101. The claw assembly includes a fixed picking plate 102 installed on the picking frame 101, a fourth guide rail 103 set on the picking frame 101, a picking cylinder 104 installed on the picking frame 101, and a movable picking plate 105 connected to the output end of the picking cylinder 104 and sliding along the fourth guide rail 103.

[0064] Specifically, the delta robot 12 grabs the wooden boards 1 from the fourth conveyor line 16 and puts them into the stacking bin 72 through the suction cup gripper. In the initial position, all the stacking bottom plates 77 are located at the uppermost end of the stacking bin 72. Every time a wooden board 1 is put on the stacking bottom plate 77, the second photoelectric sensor 714 on the corresponding stacking bin 72 will send the detection result to the controller, and the controller will control the corresponding second drive motor 75 to rotate, driving the stacking bottom plate 77 to move downward by the thickness of a wooden board 1 until the stacking bin 72 is full and the stacking bottom plate 77 is at the lower limit position. At this time, the pushing cylinder 711 pushes the pushing plate 78, and then the pushing plate 78 pushes the whole stack of wooden boards 1 to move toward the picking bin 73, pushing the whole stack of wooden boards 1 to the first material support platform 715, the second material support platform 716 and the third material support platform 718, or pushing the whole stack of wooden boards 1 to the fourth material support platform 722 and the fifth material support platform 724;

[0065] When it is necessary to pick up the wooden boards 1 on the work stations on both sides, the avoidance cylinder first drives the third material support platform 718 to move downward, and the whole stack of wooden boards 1 is overlapped on the first material support platform 715 and the second material support platform 716. A picking gap is formed between the first material support platform 715 and the whole stack of wooden boards 1 for the fixed picking plate 102 to extend into. The fixed picking plate 102 of the picking claw 10 is inserted into the picking gap, and the movable picking plate 105 is located above the whole stack of wooden boards 1. At this time, the picking cylinder 104 drives the movable picking plate 105 to move downward to press the whole stack of wooden boards 1, and then the six-axis robotic arm 15 drives the picking claw 10 to transport the whole stack of wooden boards 1 to the turnover basket 9 in the subsequent process.

[0066] When it is necessary to pick up the wooden boards 1 on the two middle workstations; the pushing plate 78 pushes the whole stack of wooden boards 1 onto the fourth material support platform 722 and the fifth material support platform 724, and the lifting push rod 721 drives the fourth material support platform 722 to move upward to above the material picking bin 73 of the workstations on both sides, and then the robotic arm 15 drives the fixed picking plate 102 of the picking claw 10 to be inserted into the picking groove 7221 of the fourth material support platform 722, and at the same time, the movable picking plate 105 is located above the whole stack of wooden boards 1. At this time, the picking cylinder 104 drives the movable picking plate 105 to move downward to press the top of the whole stack of wooden boards 1. At this time, the picking cylinder 104 drives the movable picking plate 105 to move downward to press the whole stack of wooden boards 1, and then the robotic arm 15 drives the picking claw 10 to transport the whole stack of wooden boards 1 to the turnover basket 9 in the subsequent process.

[0067] The robot gripper alternately places the wooden board 1 with the marked side facing upward into the two front stations, and alternately places the wooden board 1 with the marked side facing downward into the two back stations, so as to leave time for the first motor to drive the stacking bottom plate 77 to move downward.

[0068] See also Figure 13 Each turnover basket 9 has 8 workstations, corresponding to the 8 workstations of the sorting bin 7. After the six-axis robotic arm 15 grabs the whole stack of wooden boards 1, it rotates the wooden boards 1 90°, changing from vertical stacking to horizontal arrangement, and arranges the whole stack of wooden boards 1 horizontally in each workstation of the turnover basket 9, and each workstation can place multiple layers of stacked wooden boards 1.

[0069] There are 8 workstations for holding wooden boards 1 arranged in a 2*4 arrangement in the turnover basket 9. The two workstations in each row are separated by a workstation partition 95. The workstation partition 95 has a discharge space 96 for inserting a movable material-removing plate 105 or a fixed material-removing plate 102. The lower end of the turnover basket 9 has a sliding plate 94 corresponding to the four sides, and the four corners of the bottom end of the turnover basket 9 have supporting feet 97. The four corners of the top end of the turnover basket 9 have docking grooves 98 corresponding to the four supporting feet 97. The docking groove 98 is a space formed by two outward-inclined inclined plates. There is also a plug-in hole 99 between the sliding plate 94 and the turnover basket 9.

[0070] The turnover basket 9 also includes a station width adjustment mechanism, which includes a second guide block 91 fixed to the side wall of the turnover basket 9, a guide rod 92 slidably connected to the second guide block 91, a tightening block 93 connected to the end of the guide rod 92, and an adjustment spring mounted on the guide rod 92. The two ends of the adjustment spring are respectively tightened between the tightening block 93 and the second guide block 91. The width adjustment mechanism can accommodate stacks of wooden planks 1 of different thicknesses and prevent the wooden planks 1 from shaking or tipping over within the turnover basket 9.

[0071] See also Figures 11-16 This embodiment of the present invention also includes a turnover basket conveying system 8, which is divided into five workstations: an empty basket loading station 831 for stacking multiple turnover baskets 9; a basket removal station 832 for removing one turnover basket 9; a basket loading station 833 for loading wood boards 1 into the turnover basket 9; a basket stacking station 834 for stacking turnover baskets 9 filled with wood boards 1; and a discharge station 835. The basket loading track system's basket loading conveyor line comprises multiple chain-driven drive rollers 830. The rotation of the drive rollers 830 drives the sliding plates 94 of the turnover baskets 9, thereby driving the turnover baskets 9 forward.

[0072] The positioning of each station on the basket loading roller line is achieved through the positioning mechanism 81, see Figure 16 The positioning mechanism 81 includes a positioning mounting frame 811 mounted on the basket loading rail system, a positioning cylinder 812 mounted on the positioning mounting frame 811, a positioning block 814 connected to the output end of the positioning cylinder 812, and a positioning guide rail 813 provided on the positioning mounting frame 811. The positioning block 814 is slidably connected to the positioning guide rail 813. The positioning cylinder 812 pushes the positioning block 814 upward to block the movement of the turnover basket 9, thereby achieving positioning of the turnover basket 9 at different workstations.

[0073] See also Figure 14 and Figure 15 The basket removal and stacking stations 832 and 834 both utilize a basket insertion mechanism 82 and a basket lifting mechanism. The basket lifting mechanism is a scissor-type lift frame 84 positioned in the middle of the basket loading conveyor line. The basket lifting mechanism can also directly push the turnover basket 9 via a cylinder. The basket insertion mechanisms 82 are symmetrically positioned on the left and right sides of the basket removal and stacking stations 832 and 834. The basket insertion mechanisms 82 include: basket insertion brackets 821 mounted on the left and right sides of the rack of the basket loading conveyor line; a basket insertion cylinder 822 mounted on the brackets 821; a basket insertion plate 823 connected to the output end of the cylinder 822; and a basket insertion guide rail 824 fixed to the brackets 821. The basket insertion plate 823 is slidably connected to the basket insertion guide rail 824. The front end of the basket insertion plate 823 has two tentacles 825 that extend into the insertion holes 99 to lift the turnover basket 9.

[0074] Specifically, at the empty basket loading station, multiple empty baskets are stacked together and placed on the basket loading conveyor line. The stacked empty baskets are then driven by the transmission roller 830 to move to the basket removal position 832. Taking three stacked turnover baskets 9 as an example, the bottom turnover basket 9 is separated at the basket removal position 832. First, the scissor lift 84 pushes the three turnover baskets 9 upward together, so that the insertion hole 99 of the middle turnover basket 9 moves to the position of the tentacle 825 of the basket insertion plate 823. The basket insertion cylinder 822 pushes the basket insertion plate 823 to extend toward the turnover basket 9, so that the tentacle The hand 825 is inserted into the insertion hole 99 to keep the uppermost turnover basket 9 and the middle turnover basket 9 suspended in the air. Then the scissor-type lifting frame 84 drives the turnover basket 9 on the lower layer to move downward to the transmission roller 830. Under the conveying action of the transmission roller 830, the turnover basket 9 on the lower layer moves to the loading position 833. At the same time, the scissor-type lifting frame 84 moves upward again to catch the turnover basket 9 above. After that, the basket insertion mechanism 82 releases the turnover basket 9. Then the scissor-type lifting frame 84 descends again until the bottom of the middle turnover basket 9 contacts the transmission roller 830.

[0075] The basket stacking process at the basket stacking position 834 is as follows: at the basket stacking position 834, the turnover basket 9 on the transmission roller 830 is lifted by the basket lifting mechanism, and the turnover basket 9 is suspended in the air by the basket insertion plate 823, and then the scissor lift frame 84 is retracted to below the transmission roller 830. At this time, the positioning block 814 of the positioning mechanism 81 descends so that another turnover basket 9 filled with wooden boards 1 can be transported to the basket stacking position 834 through the transmission roller 830, and the scissor lift frame 84 is raised again to lift the turnover basket 9 on the transmission roller and dock it with the suspended turnover basket 9, and then the basket insertion plate 823 is retracted, and the scissor lift frame 84 is lowered again to place the stacked turnover baskets 9 on the transmission roller 830.

[0076] The turnover baskets 9 stacked at the stacking position 834 are further transported to the discharge position 835 .

[0077] The sorting and basketing process of the embodiment of the present invention is as follows: first, two delta robots 12 are used to load the wooden boards 1 into the two front stations and two back stations of the corresponding sorting bin 7. When the wooden boards 1 at a certain station are full, the six-axis robotic arm 15 drives the material picking claw 10 to go to the sorting bin 7 to pick up the whole stack of wooden boards 1. In order to speed up the picking speed of the material picking claw 10, two claw assemblies are set on the material picking claw 10. After the two claw assemblies pick up the whole stack of wooden boards 1, the whole stack of wooden boards 1 is turned 90° and placed in the stations in the turnover basket 9 respectively.

[0078] The flexible intelligent sorting method for the woodworking industry according to an embodiment of the present invention comprises the following steps:

[0079] S1, put the color-selected and marked wood board 1 into the receiving machine 2, and the receiving machine 2 turns the wood board 1 to the first conveyor line 3;

[0080] S2, the first conveyor line 3 transports the plank 1 into the centrifuge 4, and the centrifugal action of the centrifuge 4 throws the plank 1 out of the plank outlet and onto the second conveyor line 5, where the plank 1 is conveyed along its length.

[0081] S3. The plank 1 is conveyed via the second conveyor line 5 to the third conveyor line 6, and then to the fourth conveyor line 16. The plank 1 is conveyed along the width direction of the plank 1 on the third conveyor line 6 and the fourth conveyor line 16. On the fourth conveyor line 16, the plank 1 is dynamically monitored by the vision system 14 for its plane angle, front and back sides, and length, and the monitored data is transmitted to the robot gripper.

[0082] S4, the robot gripper grabs the wooden board 1 on the fourth conveyor line 16 according to the received monitoring data, and puts it into the front or back station of the sorting bin 7 after adjusting the angle; the two robot grippers alternately grab the wooden board 1 on the fourth conveyor line 16 and put it into the corresponding sorting bin 7, and each sorting bin 7 is provided with two front stations and two back stations;

[0083] S5. The material-retrieving claw 10 takes out the stacked wooden boards 1 in the workstation of the sorting bin 7 and puts them into the corresponding workstation in the turnover basket 9.

[0084] The flexible intelligent sorting line of the embodiment of the present invention can complete the sorting and tidying of 7,200 pieces of materials per hour, and can complete the sorting and tidying of 57,600 pieces of materials in 8 hours per day. Compared with manual sorting, it greatly improves the sorting efficiency and saves labor costs.

[0085] The production line's vision system 14 adopts a high-definition visual inspection system and uses a special detection algorithm, with an extremely low false detection error rate.

[0086] The operating status and data of each sub-equipment in the production line are fed back in real time, facilitating centralized management and overall scheduling with the intelligent workshop management system.

[0087] It should be understood that the specific embodiments described above are only used to explain the present invention and are not intended to limit the present invention. Obvious changes or modifications derived from the spirit of the present invention are still within the scope of protection of the present invention.

Claims

1. A turnover basket conveying system, characterized by: The invention comprises an empty basket loading position (831) for stacking a plurality of turnover baskets (9), a basket dismantling position (832) for dismantling one of the turnover baskets (9), a basket loading position (833) for loading a stack of wooden boards (1) into the turnover basket (9), a basket stacking position (834) for stacking turnover baskets (9) filled with wooden boards (1), and a discharging position (835); each station is provided with a positioning mechanism (81) for blocking the turnover basket (9); the basket dismantling position (832) and the basket stacking position (834) are both realized by the cooperation of a basket inserting mechanism (82) and a basket lifting mechanism; basket inserting mechanisms (82) are symmetrically provided on the left and right sides of the basket dismantling position (832) and the basket stacking position (834); the basket inserting mechanism (82) is arranged on the left and right sides of the basket dismantling position (832) and the basket stacking position (834); the basket inserting mechanism (82) is arranged on the right and left ... ) comprises: a basket insertion bracket (821) installed on the left and right sides of a frame of a basket loading conveyor line, a basket insertion cylinder (822) installed on the basket insertion bracket (821), and a basket insertion plate (823) connected to the output end of the basket insertion cylinder (822); the front end of the basket insertion plate (823) has two tentacles (825), which extend into the turnover basket (9) through the tentacles (825) to lift the turnover basket (9) and load the wooden boards (1) into the two front stations and two back stations of the corresponding sorting bin (7) through two delta robots (12); when the wooden boards (1) at a certain station are full, the six-axis robot arm (15) drives the material picking claw (10) to go to the sorting bin (7) to take the whole stack of wooden boards (1); The sorting silo (7) includes a silo chassis (71), and four workstations are arranged in parallel on the silo chassis (71), each workstation including a stacking silo (72) and a taking silo (73). The stacking silo (72) is a space formed by two first partitions (74) arranged opposite to each other. A second drive motor (75) is installed on the silo chassis (71), and a screw nut pair (76) is connected to the output shaft of the second drive motor (75). A stacking base plate (77) is fixed to the nut of the screw nut pair (76). The stacking base plate (77) extends into the stacking silo (72). A pushing cylinder (711) is also installed on the silo chassis (71) outside the stacking silo (72). The pushing cylinder (711) The output end is connected to a push plate (78); two second partitions (713) are arranged opposite to each other behind the first partition (74) on each workstation, and a material picking space (725) is provided between the first partition (74) and the second partition (713) for the material picking claw (10) to enter. The space formed by the rear of the first partition (74) and the second partition (713) is a material picking bin (73), and the height of the material picking bins (73) of the two middle workstations is twice or more than the height of the material picking bins (73) of the two side workstations; a second photoelectric sensor (714) for detecting whether a wooden board (1) is placed in the material picking bin (72) is also installed on the first partition (74) at the upper end of each stacking bin (72);The first partition (74) and the second partition (713) are both slidably connected to the silo base frame (71) or the lifting bracket (720) fixedly connected to the silo base frame (71) through a guide rail slider mechanism; the first material picking mechanism is also included for picking up materials from the workstations on both sides; the first material picking mechanism includes a first material support platform (715) and a second material support platform (716) arranged on the front and rear sides of the material picking space (725); the heights of the first material support platform (715) and the second material support platform (716) are the same as the lower limit position of the stacking bottom plate (77); a gripper avoidance mechanism is provided between the first material support platform (715) and the second material support platform (716); the gripper avoidance mechanism includes: an avoidance cylinder installed on the silo base frame (71), a third material support platform (718) installed at the output end of the avoidance cylinder, a guide sleeve (726) installed on the silo base frame (71), and a second guide rail (719) slidably connected to the guide sleeve (726). ; 2. The turnover basket conveying system according to claim 1, characterized in that: A basket insertion guide rail (824) is fixed to the basket insertion bracket (821), and the basket insertion plate (823) is slidably connected to the basket insertion guide rail (824).

3. The turnover basket conveying system according to claim 1, characterized in that: The lower end of the turnover basket (9) has a sliding plate (94) corresponding to the four sides respectively, the four corners of the bottom end of the turnover basket (9) have supporting feet (97), the four corners of the top end of the turnover basket (9) have docking grooves (98) corresponding to the four supporting feet (97), the docking grooves (98) are spaces formed by two outwardly inclined inclined plates, and a plug hole (99) is also provided between the sliding plate (94) and the turnover basket (9).

4. The turnover basket conveying system according to claim 3, characterized in that: The turnover basket (9) has eight workstations arranged in a 2*4 pattern for placing wooden boards. Two workstations in each row are separated by a workstation partition (95). The workstation partition (95) has a material discharge space (96) for inserting a movable material removal plate (105) or a fixed material removal plate (102).

5. The turnover basket conveying system according to claim 4, characterized in that: The turnover basket (9) also has a station width adjustment mechanism, which includes a second guide block (91) fixed on the side wall of the turnover basket (9), a guide rod (92) slidably connected to the second guide block (91), a tightening block (93) connected to the end of the guide rod (92), and an adjustment spring sleeved on the guide rod (92), wherein the two ends of the adjustment spring are respectively tightened between the tightening block (93) and the second guide block (91).

6. The turnover basket conveying system according to claim 2, characterized in that: The basket loading conveyor line comprises a plurality of transmission rollers (830) driven by a chain, and the rotation of the transmission rollers (830) drives the sliding plate (94) of the turnover basket (9) to move.

7. The turnover basket conveying system according to claim 6, characterized in that: The positioning mechanism (81) comprises: a positioning mounting frame (811), a positioning cylinder (812) mounted on the positioning mounting frame (811), a positioning block (814) connected to the output end of the positioning cylinder (812), and a positioning guide rail (813) provided on the positioning mounting frame (811), wherein the positioning block (814) is slidably connected to the positioning guide rail (813).

8. The turnover basket conveying system according to claim 6, characterized in that: The basket lifting mechanism is a scissor-type lifting frame (84) arranged in the middle of the basket loading conveyor line.

9. A wooden board basket loading system, characterized by: It comprises the turnover basket conveying system according to claim 1, a robotic arm (15) arranged next to the turnover basket conveying system, and a material picking claw (10) installed at the end of the robotic arm (15); the material picking claw (10) comprises a material picking frame (101) installed on the robotic arm (15) and two claw assemblies symmetrically installed on the material picking frame (101), the claw assembly comprises a fixed material picking plate (102) installed on the material picking frame (101), a fourth guide rail (103) arranged on the material picking frame (101), a material picking cylinder (104) installed on the material picking frame (101), and a movable material picking plate (105) connected to the output end of the material picking cylinder (104) and sliding along the fourth guide rail (103).

10. A method for packing wooden boards into baskets, characterized by: Using the wood board basketing system according to claim 9, the wood board basketing method includes the following steps: S1. At the empty basket loading station, multiple empty baskets are manually stacked together and placed on the basket loading conveyor line; S2, the stacked empty baskets are driven to move to the basket dismantling position (832) by the transmission roller (830), and the bottom turnover basket (9) is separated from the basket dismantling position (832). First, the basket lifting mechanism pushes the stacked turnover baskets (9) to move upward together, and the plug hole (99) of the second turnover basket (9) from bottom to top moves to the position of the tentacles (825) of the inserting basket plate (823). The inserting basket cylinder (822) pushes the inserting basket plate (823) to extend toward the turnover basket (9), so that the tentacles (825) extend into the plug hole ( 99), the upper turnover basket (9) is kept suspended, and then the basket lifting mechanism drives the turnover basket (9) of the lowest layer to move downward to the transmission roller (830). Under the conveying action of the transmission roller (830), the turnover basket (9) of the lowest layer moves to the basket loading position (833). At the same time, the basket lifting mechanism moves upward again to catch the turnover basket (9) above, and then the basket insertion mechanism (82) releases the turnover basket (9). Then, the basket lifting mechanism descends again until the bottom of the turnover basket (9) contacts the transmission roller (830); S3, after the turnover basket (9) moves to the loading position (833), the material-taking claw (10) arranges the whole stack of wooden boards grasped by the claw assembly on one side horizontally and places it in the working position of the turnover basket (9), and then turns 180 degrees to arrange the whole stack of wooden boards grasped by the claw assembly on the other side horizontally and places it in the working position of the turnover basket (9); S4, at the basket stacking position (834), the turnover basket (9) on the transmission roller (830) is lifted by the basket lifting mechanism, and the turnover basket (9) is suspended and inserted by the basket inserting plate (823), and then the basket lifting mechanism is retracted to below the transmission roller (830), at which time the positioning block of the positioning mechanism is lowered so that another turnover basket (9) filled with wooden boards (1) can be transported to the basket stacking position (834) by the transmission roller (830), and the basket lifting mechanism is raised again to support the turnover basket (9) on the transmission roller and to connect it with the suspended turnover basket (9), and then the basket inserting plate (823) is retracted, and the basket lifting mechanism is lowered again to place the stacked turnover basket (9) on the transmission roller (830); S5, the stacked turnover baskets (9) at the stacking position (834) are continuously transported to the discharge position (835).

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