A timber destacking gripper for robot end effector

Abstract

This invention discloses a timber destacking fixture for a robot end effector, comprising: a first fixture layer with a robot flange mounting plate; a second fixture layer slidably connected to the first fixture layer along a first direction and equipped with a clamping component; and a third fixture layer slidably connected to the second fixture layer along a second direction and equipped with a vacuum suction cup. The first and second directions are perpendicular to each other. The clamping component includes a cylinder, a cylinder floating joint, and a timber clamping block. The cylinder is fixedly mounted on the second fixture layer, the cylinder floating joint is connected to the cylinder's output shaft, and the timber clamping block is connected to the cylinder floating joint. The timber is picked up by the vacuum suction cup, and the clamping component clamps the timber, completing the destacking and loading of timber. The slidable connection between the second and first fixture layers along the first direction and the slidable connection between the third and second fixture layers along the second direction allows for timber positioning and fixture reset, solving the problems of timber destacking, loading, and positioning.

Description

Technical Field

[0001] This invention relates to the field of timber clamping technology, and in particular to a timber destacking clamp for a robot end effector. Background Technology

[0002] Timber processing plants need to unstack and load timber stacks during pre-processing. Currently, most loading methods use a three-axis robot with clamps for unstacking and loading. To ensure the accuracy of the next process, the timber usually needs to be positioned. However, existing clamps have the problem of inaccurate positioning. Summary of the Invention

[0003] To overcome the above-mentioned shortcomings of the prior art, the present invention provides a timber destacking clamp for robot end effectors.

[0004] The technical solution adopted by the present invention to solve its technical problem is: a wood destacking clamp for robot end effector, comprising: a first clamping layer on which a robot flange mounting plate is installed; a second clamping layer slidably connected to the first clamping layer along a first direction and on which a clamping component is installed; and a third clamping layer slidably connected to the second clamping layer along a second direction and on which a vacuum suction cup is installed.

[0005] As a further improvement of the present invention: the first direction and the second direction are perpendicular to each other.

[0006] As a further improvement of the present invention: the clamping component includes a cylinder, a cylinder floating joint and a wood clamping block, the cylinder is fixedly installed on the second clamping layer, the cylinder floating joint is connected to the output shaft of the cylinder, and the wood clamping block is connected to the cylinder floating joint.

[0007] As a further improvement of the present invention: the clamping component further includes a linear bearing mounting base B, a linear bearing D, and a guide shaft C. The linear bearing mounting base B is fixedly installed on the second clamping layer, the linear bearing D is fixedly installed on the linear bearing mounting base B, one end of the guide shaft C is fixedly connected to the wood clamping block, the other end of the guide shaft C penetrates vertically through the linear bearing mounting base B, and the linear bearing D is slidably sleeved on the guide shaft C.

[0008] As a further improvement of the present invention: the wood clamping block is L-shaped, the wood clamping block includes a connecting part and a clamping part, the connecting part is connected to the cylinder floating joint, the clamping part is located on the side near the suction cup, and one end of the guide shaft C is fixedly connected to the clamping part.

[0009] As a further improvement of the present invention: the third clamping layer is also equipped with a vacuum switch, which is connected to a vacuum suction cup; the third clamping layer is also equipped with a vacuum generator, which is connected to the vacuum suction cup via an air pipe and connected to the vacuum switch.

[0010] As a further improvement of the present invention: the first clamping layer includes a first aluminum profile, a linear slide rail A is fixedly installed on the bottom of the first aluminum profile, a slider is slidably installed on the linear slide rail, a linear slide rail mounting plate A is fixedly installed on the bottom of the slider, and the linear slide rail mounting plate A is fixedly connected to the second clamping layer; a guide rail limiting block A is fixedly installed on the bottom of the first aluminum profile, and the guide rail limiting block A is used to limit the slider on the linear guide rail.

[0011] As a further improvement of the present invention: a guide shaft fixing seat A is fixedly installed at the bottom of the first aluminum profile, a guide shaft A is installed on the guide shaft fixing seat A, a linear bearing A is provided on the guide shaft A, a linear bearing connector A is fixed on the guide shaft A, and the linear bearing connector A is fixedly connected to the second clamping layer; a compression spring A is also sleeved on the guide shaft A, and the compression spring A is located between the guide shaft fixing seat A and the linear bearing A.

[0012] As a further improvement of the present invention: the second clamping layer includes a second aluminum profile, a linear slide rail B is fixedly installed on the bottom of the second aluminum profile, a slider is slidably installed on the linear slide rail B, a linear slide rail mounting plate B is fixedly installed on the bottom of the slider, and the linear slide rail mounting plate B is fixedly connected to the third clamping layer; a guide rail limiting block B is fixedly installed on the bottom of the second aluminum profile, and the guide rail limiting block B is used to limit the slider on the linear guide rail B.

[0013] As a further improvement of the present invention: a guide shaft fixing seat B is fixedly installed at the bottom of the second aluminum profile, a guide shaft B is installed on the guide shaft fixing seat B, a linear bearing B is provided on the guide shaft B, a linear bearing connector B is fixed on the guide shaft B, and the linear bearing connector B is fixedly connected to the third clamping layer; a compression spring B is also sleeved on the guide shaft B, and the compression spring B is located between the guide shaft fixing seat B and the linear bearing B.

[0014] As a further improvement of the present invention: the third clamping layer includes a third aluminum profile, and the vacuum suction cup, vacuum switch and vacuum generator are mounted on the third aluminum profile; the third aluminum profile is also provided with a guide shaft D, a linear bearing C, a linear bearing mounting seat A, a proximity sensor mounting plate, a proximity sensor and a detection block, the linear bearing C is fixedly connected to the third aluminum profile through the linear bearing mounting seat A, the guide shaft D passes through the linear bearing mounting seat A and is movably sleeved with the linear bearing C, the detection block is mounted on the upper end of the guide shaft D, a contact block is mounted on the bottom end of the guide shaft D, the proximity sensor mounting plate is vertically mounted on one side of the linear bearing mounting seat A, and the proximity sensor is mounted on the proximity sensor mounting plate.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] The wood is picked up by a vacuum suction cup and clamped by a clamping component, thus completing the unstacking and loading of the wood. The second clamping layer is slidably connected to the first clamping layer along the first direction, and the third clamping layer is slidably connected to the second clamping layer along the second direction, which can complete the positioning of the wood and the reset of the clamps, thus solving the problems of unstacking, loading and positioning of the wood.

[0017] With a contact block, guide shaft D, detection block and proximity sensor, when the vacuum suction cup approaches the wood, the contact block at the lower end of the guide shaft D will touch the wood and push the guide shaft D to move upward. When the detection block at the upper end of the guide shaft D reaches the detection range of the proximity sensor, the proximity sensor will send a signal to indicate that the vacuum suction cup has picked up the wood.

[0018] The first clamping layer is connected to the second clamping layer via linear slide rail A and linear bearing connector A. The second clamping layer is connected to the third clamping layer via linear slide rail B and linear bearing connector B. After the vacuum suction cup picks up the wood, the four cylinders of the second clamping layer clamp the wood board, and at the same time drive the third clamping layer and the wood to move on the linear slide rail B to complete the centering positioning of the short side of the wood. At the same time, the spring B will be compressed. There is a blocking block on the loading table. After the clamping completes the centering positioning of the short side, the long side of the wood hits the blocking block to drive the second clamping layer, the third clamping layer and the wood to move together to complete the positioning of the long side of the wood. At the same time, the spring A will be compressed.

[0019] With compression springs A and B, after the wood is positioned on all four sides, the cylinder and vacuum suction cup release the wood. The clamp uses the elastic force of the compression springs A and B to reset the wood stacking clamp. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0021] Figure 2 This is a schematic diagram of the structure of the first clamping layer of the present invention.

[0022] Figure 3 This is a structural schematic diagram of the first clamping layer of the present invention from another angle.

[0023] Figure 4 This is a schematic diagram of the structure of the second clamping layer of the present invention.

[0024] Figure 5 This is a structural schematic diagram of the second clamping layer of the present invention from another angle.

[0025] Figure 6 This is a schematic diagram of the structure of the third clamping layer of the present invention.

[0026] Figure 7 for Figure 1 A magnified schematic diagram of the local structure at point A.

[0027] Reference numerals: 1. Guide shaft mounting base A; 2. Vacuum switch; 3. Cylinder mounting plate; 4. Timber clamping block; 5. Linear bearing A; 6. Guide shaft A; 8. Guide shaft B; 9. Linear bearing mounting base A; 10. Linear bearing B; 11. Proximity sensor mounting plate; 12. Proximity sensor; 13. Detection block; 14. Robot flange mounting plate; 15. Guide shaft C; 16. Cylinder floating joint; 17. Cylinder; 18. First aluminum profile; 19. Linear slide rail A; 20. Second aluminum profile; 21. Linear bearing C; 2 2. Linear slide rail mounting plate A; 23. Vacuum suction cup mounting base; 24. Vacuum switch mounting plate; 25. Profile connector; 26. Guide rail limit block A; 27. Vacuum suction cup buffer support; 28. Linear bearing mounting base B; 29. ​​Vacuum suction cup; 30. Linear bearing connector A; 31. Linear bearing D; 32. Third aluminum profile; 33. Slider; 34. Linear slide rail B; 35. Linear slide rail mounting plate B; 36. Guide rail limit block B; 37. Guide shaft fixing base B; 38. Linear bearing connector B; 39. Guide shaft D. Detailed Implementation

[0028] In this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise expressly and specifically defined.

[0029] Unless otherwise expressly specified and limited, the terms "setup," "socket," "connection," "through," and "plug-in" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0030] Any feature disclosed in this specification (including any appended claims, abstract, and drawings) may be replaced by other equivalent or similar features, unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is merely one example of a series of equivalent or similar features.

[0031] The present invention will now be further described in conjunction with the accompanying drawings and embodiments:

[0032] Please see Figure 1-7 A timber destacking gripper for a robot end effector, comprising:

[0033] The first fixture layer is equipped with a robot flange mounting plate 14;

[0034] The second clamping layer is slidably connected to the first clamping layer along the first direction and is equipped with clamping components;

[0035] The third clamping layer is slidably connected to the second clamping layer along the second direction and is equipped with a vacuum suction cup 29.

[0036] The first direction and the second direction are perpendicular to each other.

[0037] This invention uses a vacuum suction cup to pick up wood, and a clamping component to clamp the wood, thus completing the unstacking and loading of wood. The second clamping layer is slidably connected to the first clamping layer along a first direction, and the third clamping layer is slidably connected to the second clamping layer along a second direction, which can complete the positioning of wood and the reset of the clamps, thus solving the problems of unstacking, loading and positioning of wood.

[0038] The clamping components include a cylinder 17, a cylinder floating joint 16, and a wood clamping block 4. The cylinder 17 is fixedly installed on the second clamping layer, the cylinder floating joint 16 is connected to the output shaft of the cylinder 17, and the wood clamping block 4 is connected to the cylinder floating joint 16.

[0039] The clamping component also includes a linear bearing mounting base B28, a linear bearing D31, and a guide shaft C15. The linear bearing mounting base B28 is fixedly installed on the second clamping layer, the linear bearing D31 is fixedly installed on the linear bearing mounting base B28, one end of the guide shaft C15 is fixedly connected to the wood clamping block 4, and the other end of the guide shaft C15 vertically penetrates the linear bearing mounting base B28. The linear bearing D31 is slidably sleeved on the guide shaft C15.

[0040] The wood clamping block 4 is L-shaped and includes a connecting part and a clamping part. The connecting part is connected to the cylinder floating joint 16, and the clamping part is located on the side close to the suction cup. One end of the guide shaft C15 is fixedly connected to the clamping part.

[0041] The third clamping layer is also equipped with a vacuum switch 2, which is connected to the vacuum suction cup 29; the third clamping layer is also equipped with a vacuum generator, which is connected to the vacuum suction cup 29 through an air pipe and is connected to the vacuum switch 2.

[0042] The first clamping layer includes a first aluminum profile 18, a linear slide rail A19 fixedly mounted on the bottom of the first aluminum profile 18, a slider slidably mounted on the linear slide rail, and a linear slide rail mounting plate A22 fixedly mounted on the bottom of the slider. The linear slide rail mounting plate A22 is fixedly connected to the second clamping layer. The first clamping layer and the second clamping layer are slidably connected along a first direction through the linear slide rail mounting plate.

[0043] A guide rail limiting block A26 is fixedly installed at the bottom of the first aluminum profile 18. The guide rail limiting block A26 is used to limit the slider on the linear guide rail.

[0044] The bottom of the first aluminum profile 18 is fixedly installed with a guide shaft fixing seat A1, the guide shaft fixing seat A1 is installed with a guide shaft A6, the guide shaft A6 is provided with a linear bearing A5, the guide shaft A6 is fixed with a linear bearing connector A30, and the linear bearing connector A30 is fixedly connected to the second clamping layer.

[0045] The guide shaft A6 is also fitted with a compression spring A, which is located between the guide shaft fixing seat A1 and the linear bearing A5.

[0046] After the wood clamped by the fixture has been positioned on all four sides, the cylinder 17 and the vacuum suction cup 29 release the wood, and the second fixture layer uses the elastic force of the compression spring A of the first fixture layer to complete the reset.

[0047] The second clamping layer includes a second aluminum profile 20, with a linear slide rail B34 fixedly mounted on its bottom. A slider is slidably mounted on the linear slide rail B34, and a linear slide rail mounting plate B35 is fixedly mounted on the bottom of the slider. The linear slide rail mounting plate B35 is fixedly connected to the third clamping layer. The second clamping layer is slidably connected to the third clamping layer along a second direction via the linear slide rail mounting plate B35.

[0048] A guide rail limiting block B36 is fixedly installed at the bottom of the second aluminum profile 20. The guide rail limiting block B36 is used to limit the slider on the linear guide rail B.

[0049] The bottom of the second aluminum profile 20 is fixedly installed with a guide shaft fixing seat B37, the guide shaft fixing seat B37 is installed with a guide shaft B8, the guide shaft B8 is provided with a linear bearing B10, the guide shaft B8 is fixed with a linear bearing connector B38, and the linear bearing connector B38 is fixedly connected to the third clamping layer.

[0050] The guide shaft B8 is also fitted with a compression spring B, which is located between the guide shaft fixing seat B37 and the linear bearing B10. After the wood clamped by the fixture has completed the four-sided positioning, the cylinder 17 and the vacuum suction cup 29 release the wood, and the third fixture layer uses the elastic force of the compression spring B of the second fixture layer to complete the reset.

[0051] The clamping components are installed at the four corners of the second aluminum profile 20, and the cylinder 17 is fixedly connected to the second aluminum profile 20 through the cylinder mounting plate 3.

[0052] The third clamping layer includes a third aluminum profile 32, and the vacuum suction cup 29, vacuum switch 2 and vacuum generator are mounted on the third aluminum profile 32.

[0053] The third aluminum profile 32 is also provided with a guide shaft D39, a linear bearing C21, a linear bearing mounting base A9, a proximity sensor mounting plate 11, a proximity sensor 12, and a detection block 13. The linear bearing C21 is fixedly connected to the third aluminum profile 32 through the linear bearing mounting base A9. The guide shaft D39 passes through the linear bearing mounting base A9 and is movably sleeved with the linear bearing C21. The detection block 13 is installed at the upper end of the guide shaft D39, and a contact block is installed at the bottom end of the guide shaft D39. The proximity sensor mounting plate 11 is vertically installed on one side of the linear bearing mounting base A9, and the proximity sensor 12 is installed on the proximity sensor mounting plate 11.

[0054] When the vacuum suction cup 29 approaches the wood, the contact block at the lower end of the guide shaft D39 will touch the wood, thereby pushing the guide shaft D39 to move upward. When the detection block 13 at the upper end of the guide shaft D39 reaches the detection range of the proximity sensor 12, the proximity sensor 12 will send a signal indicating that the vacuum suction cup 29 has picked up the wood.

[0055] The vacuum suction cup 29 is mounted on the lower four corners of the third aluminum profile 32 via the vacuum suction cup mounting base 23. The vacuum switch 2 is mounted on the third aluminum profile 32 via the vacuum switch mounting plate 24. A vacuum suction cup buffer support 27 is also provided between the vacuum suction cup mounting base 23 and the vacuum suction cup 29.

[0056] Because a vacuum suction cup buffer support 27 is provided between the vacuum suction cup mounting base 23 and the vacuum suction cup 29, the buffering performance of the vacuum suction cup is improved, allowing the vacuum suction cup to hold the wood more stably.

[0057] The first aluminum profile is a 40x80 aluminum profile, the second aluminum profile is a 40x40 aluminum profile, and the third aluminum profile is a 40x40 aluminum profile. Profile connectors 25 are installed on the first, second, and third aluminum profiles.

[0058] Working principle of the invention:

[0059] This invention mainly consists of three parts: a first clamping layer, a second clamping layer, and a third clamping layer. It uses a vacuum suction cup 29 to pick up wood, a cylinder 17 to clamp and position the wood, and linear slide rails A and B, linear bearings A and B, compression springs A and B to realize the unstacking, loading, and positioning of wood.

[0060] (1) First clamping layer: such as Figure 2 and Figure 3 The first fixture layer is shown, which is mainly composed of the first aluminum profile 18, linear slide rail A19, robot flange mounting plate 14, linear slide rail mounting plate A22, guide rail limit block A26, guide shaft fixing seat A1, guide shaft A6, linear bearing A5, linear bearing connector A30, compression spring A, etc.

[0061] (2) Second clamping layer: such as Figure 4 and Figure 5 The second clamping layer is shown, mainly composed of the second aluminum profile 20, cylinder 17, cylinder floating joint 16, wood clamping block 4, linear bearing mounting seat B28, linear bearing D31, guide shaft C15, linear slide rail B34, linear slide rail mounting plate B35, guide rail limiting block B36, guide shaft fixing seat B37, guide shaft B8, linear bearing B10, linear bearing connector B38, compression spring B, cylinder mounting plate 3, etc.

[0062] (3) Third clamping layer: such as Figure 6 The third clamping layer is shown, mainly composed of the third aluminum profile 32, vacuum suction cup 29, vacuum switch 2, vacuum generator, guide shaft D39, linear bearing C21, linear bearing mounting base A9, proximity sensor mounting plate 11, proximity sensor 12, detection block 13, vacuum suction cup mounting base 23, vacuum switch mounting plate 24, and vacuum suction cup buffer support 27.

[0063] The first clamping layer is connected to the second clamping layer via linear slide rail A19 and linear bearing connector A30, and the second clamping layer is connected to the third clamping layer via linear slide rail B34 and linear bearing connector B38.

[0064] When the vacuum suction cup 29 approaches the wood, the contact block at the lower end of the guide shaft D39 will touch the wood and push the guide shaft D39 upward. When the detection block 13 at the upper end of the guide shaft D reaches the detection range of the proximity sensor 12, it will send a signal to indicate that the vacuum suction cup 29 has picked up the wood.

[0065] After the vacuum suction cup 29 picks up the wood, the four cylinders 17 of the second clamping layer clamp the wood, simultaneously moving the third clamping layer and the wood along the linear guide rail B34 to center the short side of the wood. This also compresses spring B. A blocking block is installed on the loading platform. After the clamping layer completes the centering of the short side, the long side of the wood hits the blocking block, causing the second and third clamping layers and the wood to move together, completing the long side positioning. This also compresses spring A. Once the wood is positioned on all four sides, the cylinders 17 and the vacuum suction cup 29 release the wood, and the clamping layer uses the elastic force of the compressed springs A and B to reset itself.

[0066] The main functions of this invention are:

[0067] This invention uses a vacuum suction cup to pick up wood, a cylinder to clamp and position the wood, and finally uses linear slide rails A and B, linear bearings A and B, compression springs A and B to complete the wood positioning and clamp reset. The wood unpacking, loading and positioning can be completed in one positioning operation.

[0068] In the description of this invention, it should be understood that the terms "upper end face", "lower end face", "top", "bottom", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention. Therefore, they should not be construed as limiting the actual direction of use of this invention.

[0069] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

Claims

1. A wood de-palletizing gripper for a robot end effector, characterized by: The utility model relates to a wood centering device for wood cutting machine, which comprises: A first clamp layer is provided with a robot flange mounting plate; A second clamp layer is slidably connected with the first clamp layer along a first direction and is provided with clamping components; A third clamp layer is slidably connected with the second clamp layer along a second direction and is provided with a vacuum chuck; The first clamp layer comprises a first aluminum profile, the bottom of the first aluminum profile is fixedly provided with a linear slide rail A, the linear slide rail A is slidably provided with a sliding block, the bottom of the sliding block is fixedly provided with a linear slide rail mounting plate A, the linear slide rail mounting plate A is fixedly connected with the second clamp layer, the bottom of the first aluminum profile is fixedly provided with a guide rail limiting block A, and the guide rail limiting block A is used for limiting the sliding block on the linear guide rail. The second clamp layer comprises a second aluminum profile, the bottom of the second aluminum profile is fixedly provided with a linear slide rail B, the linear slide rail B is slidably provided with a sliding block, the bottom of the sliding block is fixedly provided with a linear slide rail mounting plate B, the linear slide rail mounting plate B is fixedly connected with the third clamp layer, and the bottom of the second aluminum profile is fixedly provided with a guide rail limiting block B. After the wood is sucked by the vacuum chuck, the four air cylinders of the second clamp layer clamp the wood plate, simultaneously driving the third clamp layer and the wood to move on the linear slide rail B to complete the centering positioning of the short side of the wood, and simultaneously compressing the spring B, the loading table is provided with a blocking block, when the clamp completes the centering positioning of the short side, the long side of the wood is used to drive the second clamp layer, the third clamp layer and the wood to move together to complete the long side positioning of the wood, and simultaneously compressing the spring A; after the wood completes the positioning of four sides, the air cylinder and the vacuum chuck are loosened to release the wood, and the clamp resets by using the elastic force of the compressed spring A and the compressed spring B.

2. A wood debunching gripper for the end of a robot according to claim 1, characterized in that: The first direction and the second direction are perpendicular to each other.

3. A wood debunching gripper for the end of a robot as defined in claim 1, wherein: The clamping component comprises an air cylinder, an air cylinder floating joint and a wood clamping block, the air cylinder is fixedly installed on the second clamp layer, the air cylinder floating joint is connected with the output shaft of the air cylinder, and the wood clamping block is connected with the air cylinder floating joint.

4. A wood debunching gripper for the end of a robot according to claim 3, characterized in that: The clamping component further comprises a linear bearing mounting seat B, a linear bearing D and a guide shaft C, the linear bearing mounting seat B is fixedly installed on the second clamp layer, the linear bearing D is fixedly installed on the linear bearing mounting seat B, one end of the guide shaft C is fixedly connected with the wood clamping block, the other end of the guide shaft C penetrates through the linear bearing mounting seat B in a perpendicular mode, and the linear bearing D is slidably sleeved on the guide shaft C.

5. A wood debunching gripper for the end of a robot as defined in claim 4, characterized in that: The wood clamping block is L-shaped, the wood clamping block comprises a connecting portion and a clamping portion, the connecting portion is connected with the air cylinder floating joint, the clamping portion is located on the side close to the vacuum chuck, and one end of the guide shaft C is fixedly connected with the clamping portion.

6. A wood debunching gripper for the end of a robot as defined in claim 1, wherein: The third clamp layer is further provided with a vacuum switch, the vacuum switch is connected with the vacuum chuck, the third clamp layer is further provided with a vacuum generator, the vacuum generator is connected with the vacuum chuck through an air pipe and is connected with the vacuum switch.

7. A wood debunching gripper for the end of a robot as defined in claim 1, wherein: The bottom of the first aluminum profile is fixedly provided with a guide shaft fixing seat A, the guide shaft fixing seat A is provided with a guide shaft A, the guide shaft A is provided with a linear bearing A, the guide shaft A is fixedly provided with a linear bearing connecting piece A, and the linear bearing connecting piece A is fixedly connected with the second clamp layer; the guide shaft A is further provided with a compression spring A, and the compression spring A is arranged between the guide shaft fixing seat A and the linear bearing A.

8. A wood debunching gripper for the end of a robot as defined in claim 1, wherein: The bottom of the second aluminum profile is fixedly provided with a guide shaft fixing seat B, the guide shaft fixing seat B is provided with a guide shaft B, the guide shaft B is provided with a linear bearing B, the guide shaft B is fixedly provided with a linear bearing connecting piece B, and the linear bearing connecting piece B is fixedly connected with the third clamp layer; the guide shaft B is further provided with a compression spring B, and the compression spring B is arranged between the guide shaft fixing seat B and the linear bearing B.

9. A wood debunching gripper for the end of a robot as defined in claim 1, wherein: The third clamp layer comprises a third aluminum profile, the vacuum chuck, the vacuum switch and the vacuum generator are installed on the third aluminum profile; the third aluminum profile is further provided with a guide shaft D, a linear bearing C, a linear bearing mounting seat A, a proximity sensor mounting plate, a proximity sensor and a detection block, the linear bearing C is fixedly connected with the third aluminum profile through the linear bearing mounting seat A, the guide shaft D is arranged in the linear bearing mounting seat A and movably connected with the linear bearing C, the detection block is installed on the upper end of the guide shaft D, the bottom end of the guide shaft D is provided with a contact block, the proximity sensor mounting plate is vertically installed on one side of the linear bearing mounting seat A, and the proximity sensor is installed on the proximity sensor mounting plate.

Images