A wooden board conveying system

Abstract

The present invention belongs to the field of woodworking technology, and specifically relates to a wood board conveying system, comprising a material receiving machine, a first conveyor line, a centrifuge, and a second conveyor line arranged in sequence; the material receiving machine comprises: a material receiving machine frame, a first drive motor, a material receiving active sprocket, a material receiving driven sprocket, a material turning shaft arranged coaxially with the material receiving driven sprocket, and two mutually parallel turning arms fixedly connected to the ends of the turning shaft; the wood boards are transported through a material basket, and basket guide rails are symmetrically arranged on the left and right sides of the material basket. The inner side of the turning arm has a basket guide groove corresponding to the basket guide rails; the wood boards in the material basket are turned by the turning arm to the first conveyor line, and the first conveyor line transports the wood boards to the centrifuge. Under the centrifugal action of the centrifuge, the wood boards are evenly thrown out to the second conveyor line. The present invention realizes the orderly arrangement of disorganized wood boards on the conveyor line, so as to facilitate the robot gripper to grasp the wood boards and sort and organize them.

Description

Technical Field

[0001] The invention belongs to the technical field of woodworking, and in particular relates to a wooden board conveying system. 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 being color-coded and categorized, the wooden planks are placed randomly in the material bin. However, to achieve automated, intelligent sorting, the planks need to be neatly arranged on a conveyor line for robotic grippers to grab. Manual sorting is still inefficient and doesn't fully achieve automated, intelligent sorting. Summary of the Invention

[0005] The purpose of the present invention is to overcome the defect of low efficiency in manually arranging wooden boards on a conveyor line in the prior art and to provide a wooden board conveying system that can automatically and evenly arrange wooden boards on a conveyor line.

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

[0007] The conveyor belt conveyor of claim 1, wherein the first and second conveyor belt conveyor frames are configured to move the planks relative to each other, and the first and second conveyor belt conveyor frames are configured to move the planks relative to each other, and the first and second conveyor belt conveyor frames are configured to move the planks relative to each other, and the first and second conveyor belt conveyor frames are configured to move the planks relative to each other, and the

[0008] Furthermore, a plurality of sliding rollers are installed in a row in the basket guide groove to reduce the movement resistance of the basket guide track.

[0009] Furthermore, a guide hopper is fixedly mounted on the upper side of the tipping arm, the lower side of the guide hopper is docked with the material basket, and the upper end of the guide hopper is closed inwards.

[0010] Furthermore, the first conveyor line is a belt integrally formed with multiple conveying partitions that are evenly arranged and parallel to the width direction. The first conveyor line is divided into a material receiving section, an upwardly inclined material leveling section, and a material discharging section from back to front. Material baffles inclined to the left and right are fixedly installed on both sides of the material receiving section.

[0011] Furthermore, the outlet of the discharging section is connected to the centrifuge, a wooden board outlet is provided on the tangent line of the edge of the centrifuge, and the second conveying line is directly opposite to the wooden board outlet.

[0012] Furthermore, the width of the wooden board outlet is greater than the width of one wooden board and less than the width of two wooden boards; the height of the wooden board outlet is greater than the height of one wooden board and less than the height of two wooden boards.

[0013] Furthermore, the end of the second conveyor line is connected to the third conveyor line that transmits perpendicularly to it, and the third conveyor line is provided with a posture adjustment mechanism, which includes an arc-shaped guide frame fixed on the bracket of the third conveyor line and a guide rotating body arranged above the third conveyor line facing the second conveyor line. The arc-shaped guide frame extends from the right side of the second conveyor line to the middle of the third conveyor line and the conveying direction of the third conveyor line.

[0014] Furthermore, the guide rotating body is a steel ball brush or a rubber wheel connected to the output shaft of the rotating motor.

[0015] Furthermore, the end of the third conveyor line is connected to the fourth conveyor line, and the conveying direction of the fourth conveyor line is perpendicular to the conveying direction of the third conveyor line.

[0016] The beneficial effects of the wood board conveying system of the present invention are:

[0017] 1. The material receiving machine directly connects to the material frame, flips the material frame, and flips the wood planks onto the first conveyor line. The first conveyor line transports the wood planks to the centrifuge, and the centrifugal action of the centrifuge then ejects the planks individually in rows. This allows the disorganized wood planks to be arranged in an orderly manner on the conveyor line, making it easier for the robot gripper to grab the planks, sort them, and organize them.

[0018] 2. After the guide hopper is turned over, it is docked into the baffle plate on the first conveyor line to ensure that the wooden boards will not fall from both sides after being turned over on the first conveyor line.

[0019] 3. When the wooden board is transferred from the second conveyor line to the third conveyor line, the front end of the wooden board hits the guide rotor and is toggled by the rotating guide rotor to rotate in the direction of rotation. The rear end of the wooden board is guided by the arc-shaped guide frame and gradually moves toward the middle of the third conveyor line. Due to the forward conveying of the third conveyor line itself, the direction of the wooden board gradually changes. After the wooden board is moved to the fourth conveyor line, it is transported along the width direction of the wooden board, which increases the distance between the wooden boards, facilitates visual system monitoring and robot gripper grasping, and also improves the output capacity per unit time. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] Figure 1 It is an overall structural diagram of an embodiment of the present invention;

[0022] Figure 2 This is a structural diagram of a material receiving machine according to an embodiment of the present invention;

[0023] Figure 3 This is a partial structural diagram of a material receiving machine according to an embodiment of the present invention;

[0024] 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;

[0025] Figure 5 It is a partial structural diagram of an embodiment of the present invention;

[0026] Figure 6 yes Figure 5 Enlarged view of part A in the middle;

[0027] Figure 7 is a structural diagram of a visual system according to an embodiment of the present invention;

[0028] Figure 8 This is an overall structural diagram of a sorting silo according to an embodiment of the present invention;

[0029] Figure 9 This is a partial structural diagram of a sorting silo according to an embodiment of the present invention;

[0030] Figure 10 This is a structural diagram of the material retrieving claw according to an embodiment of the present invention;

[0031] Figure 11 This is a three-dimensional structural diagram of a basket loading roller system according to an embodiment of the present invention;

[0032] Figure 12 This is a front view of the basket loading roller system according to an embodiment of the present invention;

[0033] Figure 13 This is a structural diagram of a turnover basket according to an embodiment of the present invention;

[0034] Figure 14 This is a structural diagram of a stacking basket according to an embodiment of the present invention;

[0035] Figure 15 This is a three-dimensional diagram of a basket insertion mechanism according to an embodiment of the present invention;

[0036] Figure 16 is a three-dimensional diagram of a positioning mechanism according to an embodiment of the present invention;

[0037] Figure 17 It is a structural diagram of a fourth material support platform according to an embodiment of the present invention.

[0038] 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, 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, 7 26. Guide sleeve, 8. Basket loading roller 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. Drive 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

[0039] 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.

[0040] 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.

[0041] like Figures 1-17 The specific embodiment of the wooden board conveying system 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 into a turnover basket 9, and a basket loading roller system 8.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 10. See 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 1 in the centrifuge 4.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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 The guide block 79 and the silo base frame 71 are also provided with a first guide rail 710 arranged parallel to the screw of the screw nut pair 76. 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. 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. The pushing plate 78 can just stick to the upper surface of the stacking bottom plate 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.

[0054] 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 .

[0055] 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.

[0056] 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.

[0057] 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.

[0058] Combine Figure 1 and Figure 10 The stacked wooden boards 1 are picked up by the picking claw 10 installed on the robotic arm 15. The robotic arm 15 in this embodiment is a six-axis robotic arm 15. The picking claw 10 includes a picking frame 101 installed on the six-axis 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 arranged 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.

[0059] Specifically, the delta robot 12 grabs the wooden board 1 from the fourth conveyor line 16 and puts it into the stacking bin 72 through the suction cup gripper. At 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 detected 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, and pushes the whole stack of wooden boards 1 to the first material support table 715, the second material support table 716 and the third material support table 71 8 or push the whole stack of wooden boards 1 to the fourth material support platform 722 and the fifth material support platform 724; when it is necessary to pick up the wooden boards 1 on the workstations on both sides, first the avoidance cylinder 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, and the fixed picking plate 102 of the picking claw 10 is inserted into the picking gap, 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 whole stack of wooden boards 1, and then the six-axis robot 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.

[0060] 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 two side workstations, and then the six-axis 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 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.

[0061] 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.

[0062] See also Figure 13Each 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.

[0063] 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.

[0064] The width adjustment mechanism 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 pressing block 93 connected to the end of the guide rod 92, and an adjustment spring sleeved on the guide rod 92. The ends of the adjustment spring are respectively pressed between the pressing block 93 and the second guide block 91. The width adjustment mechanism can accommodate stacks of planks 1 of varying thicknesses and prevent the planks 1 from shaking or tipping over within the turnover basket 9.

[0065] See also Figures 11-16 The embodiment of the present invention further includes a basket loading roller 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 conveyor system 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.

[0066] 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.

[0067] See also Figure 14and Figure 15 Both the basket removal station 832 and the basket stacking station 834 utilize a basket insertion mechanism 82 and a basket lifting mechanism to achieve both removal and stacking. The basket lifting mechanism is a scissor-type lift frame 84 located in the middle of the basket loading roller conveyor. The basket insertion mechanisms 82 are symmetrically located on the left and right sides of the basket removal station 832 and the basket stacking station 834. The basket insertion mechanism 82 comprises: basket insertion brackets 821 mounted on the left and right sides of the rack of the basket loading track system; a basket insertion cylinder 822 mounted on the basket insertion brackets 821; a basket insertion plate 823 connected to the output end of the basket insertion cylinder 822; and a basket insertion guide rail 824 fixed to the basket insertion bracket 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 hole 99 to lift the turnover basket 9.

[0068] 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.

[0069] The stacking process at the stacking position 834 is as follows: at the stacking position 834, the basket lifting mechanism lifts the turnover basket 9 on the conveyor roller 830, and the basket inserting plate 823 holds the turnover basket 9 suspended in the air. The scissor lift frame 84 then retracts below the transmission roller 830. At this time, the positioning block 814 of the positioning mechanism 81 descends to allow another turnover basket 9 filled with wooden boards 1 to be transported to the stacking position 834 via the transmission roller 830. The scissor lift frame 84 then rises again to lift the turnover basket 9 on the transmission roller and dock it with the suspended turnover basket 9. The basket inserting plate 823 then retracts, and the scissor lift frame 84 descends again to place the stacked turnover basket 9 on the transmission roller 830. The turnover baskets 9 stacked at the stacking position 834 are then conveyed to the discharge position 835.

[0070] The turnover baskets 9 stacked at the stacking position 834 are further transported to the discharge position 835 .

[0071] 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.

[0072] The flexible intelligent sorting method for the woodworking industry according to an embodiment of the present invention comprises the following steps:

[0073] 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;

[0074] 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.

[0075] 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.

[0076] 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;

[0077] 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.

[0078] 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.

[0079] The production line's visual system 14 adopts a high-definition visual inspection system and uses a special detection algorithm, with an extremely low false detection error rate.

[0080] 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.

[0081] 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 wood board conveying system, characterized by: The invention comprises a material receiving machine (2), a first conveying line (3), a centrifuge (4) and a second conveying line (5) arranged in sequence; the material receiving machine comprises: a material receiving machine frame (21), a first driving motor (22) installed on the material receiving machine 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 transmission, a material turning shaft (25) coaxially arranged with the material receiving driven sprocket (24), and two mutually parallel turning arms (26) fixedly connected to both ends of the material turning shaft (25), a wooden board (1) The material basket (11) is loaded and shipped, and the left and right sides of the material basket (11) are symmetrically provided with basket guide rails (111), and the inner side of the tipping arm (26) is provided with a basket guide groove (27) corresponding to the basket guide rails (111); the wooden boards in the material basket (11) are flipped by the tipping arm (26) to the first conveyor line (3), and the first conveyor line (3) transports the wooden boards to the centrifuge (4), and the wooden boards (1) are evenly thrown out to the second conveyor line (5) under the centrifugal action of the centrifuge (4); a wooden board outlet is provided on the tangent line of the edge of the centrifuge (4); the end of the second conveyor line (5) is opposite to the first conveyor line (3). A third conveyor line (6) is connected to the third conveyor line (6) for vertical transmission, and the end of the third conveyor line (6) is connected to the fourth conveyor line (16), and the conveying direction of the fourth conveyor line (16) is perpendicular to the conveying direction of the third conveyor line (6); two robot grippers are arranged in parallel on the side of the fourth conveyor line (16); the robot grippers grab the wooden boards through the suction cup grippers and store them in the sorting bin (7); the sorting bin (7) includes a bin bottom frame (71), and four workstations are arranged in parallel on the bin bottom frame (71), including two front workstations and two back workstations, corresponding to the wooden boards with the color selection marks facing upward and the wooden boards with the color selection marks facing downward, respectively, and each workstation includes The material stacking bin (72) and the material taking bin (73) are included. The material stacking bin (72) is a space formed by two first partitions (74) arranged opposite to each other. A second drive motor (75) is installed on the material bin base frame (71). A screw nut pair (76) is connected to the output shaft of the second drive motor (75). A material stacking base plate (77) is fixed to the nut of the screw nut pair (76). The material stacking base plate (77) extends into the material stacking bin (72). A pushing cylinder (711) is also installed on the material bin base frame (71) outside the material stacking bin (72). The output end of the pushing cylinder (711) is connected to a pushing plate (78).Two second partitions (713) are arranged opposite to each other behind the first partition (74) on each workstation. 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). 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 bin base frame (71) or the lifting bracket (720) fixedly connected to the bin base frame (71) through a guide rail slider mechanism. The invention also includes a first material picking mechanism 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 material 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).

2. The wood board conveying system according to claim 1, characterized in that: A plurality of sliding rollers (29) are installed in a row in the basket guide groove (27) to reduce the movement resistance of the basket guide rail (111).

3. The wood board conveying system according to claim 1, characterized in that: A guide hopper (28) is fixedly mounted on the upper side of the tipping arm (26), the lower side of the guide hopper (28) is docked with the material basket (11), and the upper end of the guide hopper (28) is closed inwards.

4. The wood board conveying system according to claim 1, characterized in that: The first conveyor line (3) is a belt integrally formed with a plurality of conveyor baffles (31) evenly arranged and 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. Material blocking plates (35) inclined to the left and right are fixedly installed on both sides of the material receiving section (32).

5. The wood board conveying system according to claim 4, characterized in that: The outlet of the discharging section (34) is connected to the centrifuge (4), and a wooden board outlet is provided on the tangent line of the edge of the centrifuge (4), and the second conveying line (5) is opposite to the wooden board outlet.

6. The wood board conveying system according to claim 5, characterized in that: The width of the wooden board outlet is greater than the width of one wooden board and less than the width of two wooden boards; the height of the wooden board outlet is greater than the height of one wooden board and less than the height of two wooden boards.

7. The wood board conveying system according to claim 1, characterized in that: The third conveyor line (6) is provided with a posture adjustment mechanism (13), the posture adjustment mechanism (13) comprising an arc-shaped guide frame (131) fixed on a bracket of the third conveyor line (6), and a guide rotating body (132) provided above the third conveyor line (6) and facing the second conveyor line (5), wherein the arc-shaped guide frame (131) extends from the right side of the second conveyor line (5) toward the middle of the third conveyor line (6) and in the conveying direction of the third conveyor line (6).

8. The wood board conveying system according to claim 7, characterized in that: The guide rotating body (132) is a steel ball brush or a rubber wheel connected to the output shaft of the rotating motor.

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