A robotic stacking device for wood processing

Abstract

The present invention discloses a manipulator-assisted stacking device for wood processing, and relates to the technical field of wood processing equipment. The stacking mechanism comprises a clamping plate rotatably connected to a fixed frame through a rotating shaft, a horizontal bar slidably connected to the fixed frame, and a horizontal plate arranged on the fixed frame, wherein two clamping plates are symmetrically arranged front and back along a through slot, the clamping plate is connected to a roller through a first telescopic mechanism, a convex rod used in conjunction with the horizontal bar is integrally formed on the clamping plate, the horizontal plate and the horizontal bar are both connected to a driving mechanism, and an arc panel is connected to the horizontal plate through a second telescopic mechanism. The present application utilizes the coordinated use of the roller and the arc panel to bring the roller and the arc panel closer to the wooden board, thereby achieving a thrust effect on the wooden board. Under the action of the thrust, the front, back, left, and right sides of the stacked wooden boards can be neatly stacked at one time, and the use is convenient.

Description

Technical Field

[0001] The invention relates to the technical field of wood processing equipment, in particular to a manipulator-assisted stacking device for wood processing. Background Art

[0002] After retrieval, the Chinese patent publication number is CN116812576A, and the publication date is 2023-09-29. It discloses a manipulator-assisted stacking device for wood processing, including a moving beam, a moving mechanism, a connecting frame, a supporting plate, a lifting frame, a lifting mechanism, a lifting assembly, a tightening mechanism and a squeezing mechanism. The present invention sets the moving beam above the wooden boards to be stacked, and then adjusts the distance between the two squeezing mechanisms through the tightening mechanism, so that the rubber rods on the two tightening frames are tightly attached to the sides of the top wooden board and the lower wooden board, and then the moving mechanism drives the entire device to move, and the distance between the rubber rods on the two tightening frames is kept the same as the width of the wooden board, and gradually moves from one end of the wooden board to the other end, gradually pushing the part of the top wooden board protruding from the lower wooden board to be level with the lower wooden board, so that the top wooden board and the lower wooden board are aligned, which plays an auxiliary effect on the manipulator stacking wooden boards. At the same time, the lifting assembly can drive the squeezing mechanism to move up and down, and adjust as the stacking height increases. However, when the device is in use, it can only neatly stack the front and back sides (i.e., long sides) or two sides (i.e., short sides) of the stacked wooden boards, and cannot neatly stack the front and back sides or two sides of the wooden boards at the same time, so its use is limited. Summary of the invention

[0003] The object of the present invention is to provide a manipulator-assisted stacking device for wood processing to solve the problems mentioned in the above background technology.

[0004] The purpose of the present invention can be achieved through the following technical solutions:

[0005] A manipulator-assisted stacking device for wood processing comprises symmetrically arranged fixing frames, two fixing frames are connected by a positioning mechanism, a through slot is penetrated through the top of the fixing frames, a driving mechanism is arranged on the fixing frames, and a stacking mechanism for neatly stacking wooden boards is arranged on the fixing frames.

[0006] The stacking mechanism includes a clamping plate rotatably connected to the fixed frame through a rotating shaft, a horizontal bar slidably connected to the fixed frame, and a horizontal plate arranged on the fixed frame, two of the clamping plates are symmetrically arranged front and back along the through slot, the clamping plate is connected to a roller through a first telescopic mechanism, a convex rod used in conjunction with the horizontal bar is integrally formed on the clamping plate, the horizontal plate and the horizontal bar are both connected to a driving mechanism, and the horizontal plate is connected to an arc panel through a second telescopic mechanism.

[0007] As a further solution of the present invention: the first telescopic mechanism includes a slide groove penetrating through the top of the splint and a connecting plate slidably connected to the bottom of the splint, the top of the connecting plate is respectively fixedly connected with a first screw rod and a vertical rod, the vertical rod is slidably connected to the slide groove, a clamping block is threadedly connected to the first screw rod, and the connecting plate is rotationally connected to the roller.

[0008] As a further solution of the present invention: the second telescopic mechanism includes a groove opened at the bottom of the horizontal plate, a first screw rod is rotatably connected in the groove, one end of the first screw rod passes through the groove and extends to the outside of the horizontal plate, one end of the first screw rod is fixedly connected to a first knob, a T-shaped plate is threadedly connected to the first screw rod, and the T-shaped plate is connected to the arc plate through a movable mechanism.

[0009] As a further solution of the present invention: the movable mechanism includes a spring fixedly connected between the T-shaped plate and the arc panel, and a support bar fixedly connected to the top of the arc panel, the spring is provided in plurality, the support bar is slidably connected to the T-shaped plate, and the support bar is provided with two.

[0010] As a further solution of the present invention: the positioning mechanism includes a frame strip plate connected to the bottom of the fixed frame through an installation mechanism, a movable groove is opened through the front side of the frame strip plate, a positioning plate is slidably connected in the movable groove, an L-shaped plate is fixedly connected to the bottom of the positioning plate, two positioning plates are provided, a convex plate is fixedly connected to the back side of the frame strip plate, two convex plates are symmetrically provided along the movable groove, a second screw rod is rotatably connected to the two convex plates, the second screw rod is threadedly connected to the positioning plate, and a second knob is fixedly connected to one end of the second screw rod.

[0011] As a further solution of the present invention: the installation mechanism includes a connection block fixedly connected to the bottom of the fixing frame, and the connection block is fixedly connected to the frame strip by bolts.

[0012] As a further solution of the present invention: the driving mechanism includes a cylinder fixedly connected to the top of the fixed frame, the output end of the cylinder is fixedly connected to an upper rack, the upper rack is fixedly connected to the cross bar, and the upper rack is connected to the cross plate through a transmission mechanism.

[0013] As a further solution of the present invention: the transmission mechanism includes a gear rotatably connected to the fixed frame and a supporting bent rod fixedly connected to the fixed frame, a lower rack is slidably connected to the supporting bent rod, the gear is respectively meshed with the lower rack and the upper rack, and the lower rack is fixedly connected to the cross plate.

[0014] As a further solution of the present invention: the front and back sides of the upper rack are fixedly connected with support blocks, and the support blocks are slidably connected to the fixing frame.

[0015] The present invention provides a manipulator-assisted stacking device for wood processing. Compared with the prior art, it has the following beneficial effects:

[0016] (1) The present application utilizes the coordinated use of rollers and curved panels to bring the rollers and curved panels closer to the wooden boards, thereby exerting a thrust on the wooden boards. Under the action of the thrust, the wooden boards can be neatly stacked on all four sides at once, which is convenient to use.

[0017] (2) The present application sets up a movable mechanism. Since there are differences in the stacking uniformity of the short sides of the wooden boards, during the stacking process, when the short side of the wooden board with greater stacking uniformity contacts the arc panel, the arc panel moves and compresses the spring and then resets, thereby facilitating the neat stacking of the short sides of the wooden boards under the action of the overall stacking mechanism.

[0018] (3) The present application can adjust the positions of the rollers and the curved panels according to the different lengths of wooden boards through the coordinated use of the first telescopic mechanism and the second telescopic mechanism. When stacking the wooden boards, the rollers and the curved panels can be brought into contact with the optimal parts of the wooden boards, so that the wooden boards can be stacked neatly.

[0019] (4) The present application sets a positioning mechanism, which can be used to make the distance between the two fixing frames and the wooden boards equal, which is conducive to the neat stacking of the short sides of the wooden boards during the stacking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a first perspective stereogram of the present invention;

[0021] Figure 2 It is a second viewing angle stereogram of the present invention;

[0022] Figure 3 For the present invention Figure 2 A partial enlarged view of the middle A;

[0023] Figure 4 is a three-dimensional diagram of the stacking mechanism of the present invention;

[0024] Figure 5 The figure is a disassembled diagram of the splint and the connecting plate of the present invention;

[0025] Figure 6 The figure is a disassembled diagram of the horizontal plate, T-shaped plate and curved plate of the present invention;

[0026] Figure 7 It is a three-dimensional diagram of the positioning mechanism of the present invention.

[0027] In the figure: 1, fixing frame; 2, positioning mechanism; 21, mounting mechanism; 211, connecting block; 212, bolt; 22, frame strip plate; 23, moving groove; 24, positioning plate; 25, L-shaped plate; 26, convex plate; 27, second screw rod; 28, second knob; 3, through groove; 4, driving mechanism; 41, cylinder; 42, upper rack; 43, transmission mechanism; 431, gear; 432, supporting bent rod; 433, lower rack; 5, stacking mechanism; 51, rotating shaft; 5 2. Clamp; 53. Horizontal bar; 54. Horizontal plate; 55. First telescopic mechanism; 551. Slide; 552. Connecting plate; 553. First screw rod; 554. Vertical rod; 555. Pressing block; 56. Roller; 57. Protruding rod; 58. Second telescopic mechanism; 581. Groove; 582. First screw rod; 583. First knob; 584. T-plate; 585. Movable mechanism; 5851. Spring; 5852. Support bar; 59. Arc panel; 6. Support block. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] Embodiment 1

[0030] See also Figure 1-7 As shown, the present invention is a manipulator-assisted stacking device for wood processing, comprising a symmetrically arranged fixed frame 1, a universal wheel is arranged at the bottom of the fixed frame 1, two of the fixed frames 1 are connected by a positioning mechanism 2, a through slot 3 is penetrated through the top of the fixed frame 1, a driving mechanism 4 is arranged on the fixed frame 1, and a stacking mechanism 5 for neatly stacking wooden boards is arranged on the fixed frame 1; the stacking mechanism 5 comprises a clamping plate 52 rotatably connected to the fixed frame 1 through a rotating shaft 51 and a horizontal bar 53 slidably connected to the fixed frame 1, and a horizontal plate 54 arranged on the fixed frame 1, two of the clamping plates 52 are symmetrically arranged along the through slot 3, and the stacking mechanism 5 comprises a clamping plate 52 rotatably connected to the fixed frame 1 through a rotating shaft 51 and a horizontal bar 53 slidably connected to the fixed frame 1, and a horizontal plate 54 arranged on the fixed frame 1, and two of the clamping plates 52 are symmetrically arranged along the through slot 3. The clamping plate 52 is connected to a roller 56 through a first telescopic mechanism 55, and the bottoms of the roller 56 and the curved panel 59 are both located above the frame strip 22. A convex rod 57 used in conjunction with the horizontal bar 53 is integrally formed on the clamping plate 52. The horizontal plate 54 and the horizontal bar 53 are both connected to the driving mechanism 4. The horizontal plate 54 is connected to a curved panel 59 through a second telescopic mechanism 58. By utilizing the coordinated use of the roller 56 and the curved panel 59, the roller 56 and the curved panel 59 are utilized to move closer to the wooden board, thereby achieving a thrust effect on the wooden board. Under the action of the thrust, the stacked wooden boards can be neatly stacked on all four sides at once, which is convenient to use.

[0031] The positioning mechanism 2 includes a frame strip 22 connected to the bottom of the fixed frame 1 through a mounting mechanism 21, a moving groove 23 is formed through the front of the frame strip 22, a positioning plate 24 is slidably connected in the moving groove 23, an L-shaped plate 25 is fixedly connected to the bottom of the positioning plate 24, two positioning plates 24 are provided, a convex plate 26 is fixedly connected to the back of the frame strip 22, two convex plates 26 are symmetrically provided along the moving groove 23, and a second screw rod 27 is rotatably connected to the two convex plates 26, and the second screw rod 27 is a bidirectional screw rod. The second screw rod 27 and the The positioning plates 24 are threadedly connected, and one end of the second screw rod 27 is fixedly connected to the second knob 28. Since the frame strip plate 22 has a certain height, the device is not suitable for thinner wooden boards. One end of the second screw rod 27 passes through one of the convex plates 26 and extends to the outside of the convex plate 26. The other end of the second screw rod 27 is rotatably connected to one side of the other convex plate 26. By setting the positioning mechanism 2, the positioning mechanism 2 can be used to make the distance between the two fixing frames 1 and the wooden boards equal, which is conducive to the neat stacking of the short sides of the wooden boards during the stacking of the wooden boards.

[0032] The mounting mechanism 21 includes a connection block 211 fixedly connected to the bottom of the fixing frame 1 , and the connection block 211 is fixedly connected to the frame strip plate 22 via bolts 212 .

[0033] The driving mechanism 4 includes a cylinder 41 fixedly connected to the top of the fixed frame 1, the cylinder 41 is electrically connected to an external power supply and controlled by an external control program, an upper rack 42 is fixedly connected to the output end of the cylinder 41, the upper rack 42 is fixedly connected to the cross bar 53, and the upper rack 42 is connected to the cross plate 54 through a transmission mechanism 43.

[0034] The transmission mechanism 43 includes a gear 431 rotatably connected to the fixed frame 1 and a support bent rod 432 fixedly connected to the fixed frame 1, and a lower rack 433 is slidably connected to the support bent rod 432. The gear 431 is respectively meshed with the lower rack 433 and the upper rack 42, and the lower rack 433 is fixedly connected to the cross plate 54.

[0035] The front and back sides of the upper rack 42 are fixedly connected with support blocks 6 . The support blocks 6 can support the upper rack 42 . The support blocks 6 are slidably connected to the fixing frame 1 .

[0036] Embodiment 2

[0037] Based on Example 1, see Figure 4-6 shown.

[0038] The first telescopic mechanism 55 includes a slide groove 551 that passes through the top of the clamping plate 52 and a connecting plate 552 that is slidably connected to the bottom of the clamping plate 52. The top of the connecting plate 552 is fixedly connected with a first screw rod 553 and a vertical rod 554 respectively. By setting the vertical rod 554, the connecting plate 552 is limited, and the connecting plate 552 can be prevented from rotating under the clamping plate 52 through the screw rod 553. The vertical rod 554 is slidably connected to the slide groove 551, and a clamping block 555 is threadedly connected to the first screw rod 553. The connecting plate 552 is rotatably connected to the roller 56.

[0039] The second telescopic mechanism 58 includes a groove 581 opened at the bottom of the horizontal plate 54, and a first screw rod 582 is rotatably connected in the groove 581. One end of the first screw rod 582 passes through the groove 581 and extends to the outside of the horizontal plate 54. One end of the first screw rod 582 is fixedly connected to a first knob 583. A T-plate 584 is threadedly connected to the first screw rod 582. The top of the T-plate 584 is set in a convex shape. This part is slidably connected to the groove 581 and is threadedly connected to the first screw rod 582. The T-plate 584 is slidably connected to the horizontal plate 54. The T-plate 584 is connected to the arc plate 59 through a movable mechanism 585. Through the coordinated use of the first telescopic mechanism 55 and the second telescopic mechanism 58, the positions of the roller 56 and the arc plate 59 can be adjusted according to wooden boards of different lengths. When stacking the wooden boards, the roller 56 and the arc plate 59 can be made to contact the best part of the wooden boards so that the wooden boards can be stacked neatly.

[0040] The movable mechanism 585 includes a spring 5851 fixedly connected between the T-shaped plate 584 and the arc panel 59, and a support bar 5852 fixedly connected to the top of the arc panel 59. There are multiple springs 5851, and the support bar 5852 is slidably connected to the T-shaped plate 584. There are two support bars 5852. By setting the movable mechanism 585, due to the difference in the stacking uniformity of the short sides of the wooden boards, during the stacking process, when the short side of the wooden board with greater stacking uniformity contacts the arc panel 59, the arc panel 59 moves and compresses the spring 5851 and then resets it, so that under the overall action of the stacking mechanism 5, it is beneficial to stack the short sides of the wooden boards neatly.

[0041] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0042] The working principle of the present invention is as follows: a wooden board is placed on the ground, and then the second screw rod 27 is rotated by the second knob 28, thereby driving the two positioning plates 24 to move, so that the L-shaped plate 25 is stuck on the wooden board. Then, the two fixing frames 1 are respectively moved to the two sides of the wooden board, and the frame strip 22 and the fixing frame 1 are fixed by bolts 212. Then, according to the size of the wooden board, the position of the roller 56 is telescopically adjusted by the first telescopic mechanism 55, and the position of the arc panel 59 is telescopically adjusted by the second telescopic mechanism 58. Then, the roller 56 is adjusted to fit the long side of the wooden board, and the arc panel 59 is adjusted to fit the short side of the wooden board to ensure that the device can wrap around the wooden board. After debugging, the roller 56 and the arc panel 59 are reset. Then, the robot is used to grab other wooden boards and move them to the board in turn. The wooden boards are stacked on each other. After the stacking is completed, some wooden boards are placed in an inclined state, and the short sides of some wooden boards are greatly different from the end sides of the lowest wooden board. Therefore, by turning on the cylinder 41, the upper rack 42 is driven to move, so that the upper rack 42 is pressed on the protruding rod 57, and the clamping plate 52 is rotated on the fixing frame 1 through the rotating shaft 51, so that the roller 56 is close to the upper side of the wooden board, and the movement of the upper rack 42 will drive the lower rack 433 to move on the supporting bent rod 432 through the gear 431, and then drive the arc panel 59 to move close to the short side of the wooden board through the cross plate 54 and the second telescopic mechanism 58, so that the stacking mechanism 5 on the two fixing frames 1 is used to apply a thrust effect to the long sides and short sides of all the wooden boards. Under the action of the thrust, the front, back, left, and right sides of the stacked wooden boards can be neatly stacked at one time, which is convenient to use.

[0043] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A manipulator-assisted stacking device for wood processing, characterized in that: It comprises symmetrically arranged fixing frames (1), two fixing frames (1) are connected via a positioning mechanism (2), a through slot (3) is provided through the top of the fixing frame (1), a driving mechanism (4) is provided on the fixing frame (1), and a stacking mechanism (5) for neatly stacking wooden boards is provided on the fixing frame (1); The stacking mechanism (5) comprises a clamping plate (52) rotatably connected to the fixing frame (1) via a rotating shaft (51), a horizontal bar (53) slidably connected to the fixing frame (1), and a horizontal plate (54) arranged on the fixing frame (1), two clamping plates (52) are symmetrically arranged along the through slot (3), the clamping plates (52) are connected to rollers (56) via a first telescopic mechanism (55), a convex rod (57) used in conjunction with the horizontal bar (53) is integrally formed on the clamping plate (52), the horizontal plate (54) and the horizontal bar (53) are both connected to the driving mechanism (4), and the horizontal plate (54) is connected to a curved panel (59) via a second telescopic mechanism (58); The first telescopic mechanism (55) comprises a slide groove (551) extending through the top of the clamping plate (52) and a connecting plate (552) slidably connected to the bottom of the clamping plate (52); the top of the connecting plate (552) is respectively fixedly connected with a first screw rod (553) and a vertical rod (554); the vertical rod (554) is slidably connected to the slide groove (551); a pressing block (555) is threadedly connected to the first screw rod (553); and the connecting plate (552) is rotatably connected to the roller (56); The second telescopic mechanism (58) comprises a groove (581) formed at the bottom of the horizontal plate (54); a first screw rod (582) is rotatably connected to the groove (581); one end of the first screw rod (582) passes through the groove (581) and extends to the outside of the horizontal plate (54); one end of the first screw rod (582) is fixedly connected to a first knob (583); a T-shaped plate (584) is threadedly connected to the first screw rod (582); and the T-shaped plate (584) is connected to the arc plate (59) via a movable mechanism (585); The movable mechanism (585) comprises a spring (5851) fixedly connected between the T-shaped plate (584) and the curved plate (59), and a support bar (5852) fixedly connected to the top of the curved plate (59), wherein a plurality of the springs (5851) are provided, and the support bar (5852) is slidably connected to the T-shaped plate (584), and two support bars (5852) are provided; The positioning mechanism (2) comprises a frame strip plate (22) connected to the bottom of the fixed frame (1) through a mounting mechanism (21); a movable groove (23) is formed through the front surface of the frame strip plate (22); a positioning plate (24) is slidably connected in the movable groove (23); an L-shaped plate (25) is fixedly connected to the bottom of the positioning plate (24); two positioning plates (24) are provided; a convex plate (26) is fixedly connected to the back surface of the frame strip plate (22); two convex plates (26) are symmetrically provided along the movable groove (23); a second screw rod (27) is rotatably connected to the two convex plates (26); the second screw rod (27) is threadedly connected to the positioning plate (24); and a second knob (28) is fixedly connected to one end of the second screw rod (27).

2. A wood processing manipulator-assisted stacking device according to claim 1, characterized in that: The mounting mechanism (21) comprises a connection block (211) fixedly connected to the bottom of the fixing frame (1), and the connection block (211) is fixedly connected to the frame strip plate (22) via bolts (212).

3. The manipulator-assisted stacking device for wood processing according to claim 1, characterized in that: The driving mechanism (4) comprises a cylinder (41) fixedly connected to the top of the fixed frame (1); an upper rack (42) is fixedly connected to the output end of the cylinder (41); the upper rack (42) is fixedly connected to a cross bar (53); and the upper rack (42) is connected to a cross plate (54) via a transmission mechanism (43).

4. A wood processing manipulator-assisted stacking device according to claim 3, characterized in that: The transmission mechanism (43) comprises a gear (431) rotatably connected to the fixed frame (1) and a support bent rod (432) fixedly connected to the fixed frame (1); a lower rack (433) is slidably connected to the support bent rod (432); the gear (431) is respectively meshed with the lower rack (433) and the upper rack (42); and the lower rack (433) is fixedly connected to the cross plate (54).

5. The manipulator-assisted stacking device for wood processing according to claim 3, characterized in that: The front and back sides of the upper rack (42) are both fixedly connected to support blocks (6), and the support blocks (6) are slidably connected to the fixing frame (1).

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