Manipulator auxiliary stacking device for plywood processing

Abstract

The invention discloses a manipulator-assisted stacking device for plywood processing, and relates to the technical field of manipulator-assisted stacking, the manipulator-assisted stacking device for plywood processing comprises a workbench, supporting legs are fixedly mounted at the bottom of the workbench, a motor is fixedly mounted on the left side of the workbench, and a rotating shaft is fixedly mounted at the output end of the motor; the two rotating shafts are in transmission connection through a conveying belt, a mechanical arm is fixedly installed on the left side of the workbench, a pushing device is arranged at the top of the workbench, a righting device is arranged at the top of the pushing device, and a stacking and leveling device is arranged at the top of the workbench. The pushing device comprises a first transmission shaft, a first transmission belt, a first gear, a rotating column, a second gear, an eccentric disc, a fixing rod, a sliding rod, a push rod and a first push plate, the plywood is pushed towards the middle, the plywood is kept at the center position of the conveying belt, it is ensured that the plywood stably moves along the correct route of the conveying belt, and therefore the operation efficiency of the whole conveying system is improved.

Description

Technical Field

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

[0002] The robot-assisted stacking device for plywood processing is a device that combines a robot arm and an automatic control system and is used to automatically stack the processed plywood according to certain rules.

[0003] The patent with patent announcement number CN116812576B relates to the field of manipulator-assisted stacking technology. The patent provides 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 board 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 bottom 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 bottom wooden board to be level with the bottom wooden board, so that the top wooden board and the bottom wooden board are aligned, which plays an auxiliary effect on the stacking of wooden boards by the manipulator. At the same time, the lifting assembly can drive the squeezing mechanism to move up and down, and adjust as the stacking height increases.

[0004] In the above patent, by gradually moving from one end of the wooden board to the other end, the part of the top wooden board that protrudes from the bottom wooden board is gradually pushed to be level with the bottom wooden board, so that the top wooden board and the bottom wooden board are aligned, which assists the robot in stacking the wooden boards. However, it is difficult to keep the boards stable and in the center during the transportation process, which may cause the boards to shift during transportation and cause accidents. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a manipulator-assisted stacking device for plywood processing, which solves the problems raised in the above-mentioned background technology.

[0006] To achieve the above purpose, the present invention is implemented through the following technical solutions: a manipulator-assisted stacking device for plywood processing, comprising a workbench, a support leg is fixedly installed at the bottom of the workbench, a motor is fixedly installed on the left side of the workbench, two rotating shafts are rotatably installed on the surface of the workbench, the output end of the motor is fixedly connected to the rotating shaft, the two rotating shafts are connected through a conveyor belt transmission, a mechanical arm is fixedly installed on the left side of the workbench, a pushing device is arranged on the top of the workbench, a straightening device is arranged on the top of the pushing device, and a stacking and leveling device is arranged on the top of the workbench; The transmission belt is driven by the transmission belt, the transmission belt drives the transmission shaft to rotate, the transmission shaft drives the gear to rotate, the gear is driven by the transmission shaft to rotate, the gear is driven by the transmission belt, the gear is driven by the transmission shaft to rotate, the gear is driven by the transmission shaft to rotate, the rotation of the gear drives the eccentric disk to rotate, and the rotation of the eccentric disk drives the slide bar to move.

[0007] According to the above technical solution, gear one is meshed with gear two, the eccentric disk is in contact with the slide rod, and a spring one is arranged between the push rod and the slide rod. The meshing ensures that gear one can drive gear two to rotate while rotating, and the contact ensures that the eccentric disk drives the slide rod to move while rotating. The setting of spring one ensures that the push rod can achieve autonomous reset.

[0008] According to the above technical scheme, the straightening device includes a sliding column, a push plate 1, a fixed plate, two transmission shafts 2, a transmission belt 2 and a baffle plate 1. The sliding column slides through the push plate 1, the push plate 2 is fixedly installed at an end of the sliding column away from the push plate 1, the fixed plate is fixedly installed on the top of the push plate 1, the two transmission shafts 2 are rotatably installed on the top of the fixed plate, the two transmission shafts 2 are connected through transmission belt 2, and the baffle plate 1 is fixedly installed on the bottom of the transmission belt 2. When the push plate 1 moves, the sliding column is driven to move, and the movement of the sliding column drives the push plate 2 to move. When the push plate 2 moves, the push plate 2 moves in the opposite direction and drives the transmission belt 2 to start rotating. The rotation of the transmission belt 2 drives the baffle plate 1 to move.

[0009] According to the above technical solution, the straightening device also includes a connecting rod and baffle 2. The connecting rod is fixedly installed on the back of baffle 1, and baffle 2 is fixedly installed on the connecting rod and the end away from baffle 1. When baffle 1 moves, the connecting rod is driven to move, and the movement of the connecting rod drives baffle 2 to move. The movement of baffle 2 blocks the rear plywood from being transported.

[0010] According to the above technical solution, the push plate 2 is in contact with the transmission belt 2, and a spring 2 is arranged between the push plate 2 and the push plate 1. The contact ensures that the push plate 2 can drive the transmission belt 2 to rotate when it moves, and the spring 2 is arranged to ensure that the push plate 2 can achieve self-reset.

[0011] According to the above technical solution, the stacking and leveling device includes two transmission shafts three, a transmission belt three, a splint and a long rod. The two transmission shafts three are rotatably installed on the top of the workbench, and the two transmission shafts three are connected through transmission belt three. The splint is fixedly installed on the top of the transmission belt three, and the long rod is fixedly installed on the top of the baffle one. When the baffle one moves, the long rod is driven to move, and the movement of the long rod pushes the splint to move. The movement of the splint pushes the plywood stacked by the robotic arm to reduce the gap between the plates.

[0012] According to the above technical solution, the stacking and leveling device also includes a bevel rod, a vertical plate, a movable plate, a movable rod and a bevel block. The bevel rod is fixedly mounted on the back of the clamp, the vertical plate is fixedly mounted on the top of the workbench, the movable plate is slidably mounted on the back of the vertical plate, the movable rod is fixedly mounted on the top of the movable plate, and the bevel block is fixedly mounted on the top of the movable rod. The movement of the clamp drives the bevel rod to start moving, the movement of the bevel rod pushes the bevel block to start moving, the movement of the bevel block drives the movable rod to start moving, the movement of the movable rod drives the movable plate to start moving, and the movement of the movable plate lifts the plywood transported to the top of the movable plate.

[0013] According to the above technical solution, the long rod is in contact with the splint, the side of the inclined rod and the inclined block close to each other is set as an inclined plane, and a spring three is arranged between the movable plate and the vertical plate. The contact ensures that the long rod can push the splint to move when it moves, and the setting of the inclined plane ensures that the inclined rod can smoothly push the inclined plane block when it moves. The setting of the spring three ensures that the movable plate can achieve autonomous reset.

[0014] The present invention provides a manipulator-assisted stacking device for plywood processing, which has the following beneficial effects: (1) The invention, by moving the push plate to push the plywood being transported on the conveyor belt toward the middle, can help the plywood to remain in the center position of the conveyor belt and avoid deviation, ensure that the plywood moves smoothly along the correct route of the conveyor belt, and avoid jamming or stagnation, thereby improving the operating efficiency of the entire conveying system. At the same time, when the plywood is in the middle position, it is convenient for the robot arm to grab it. When the push plate contacts the plywood and continues to push, the spring between the slide rod and the push rod is continuously compressed, ensuring that the plywood can be effectively prevented from being over-squeezed or accidentally stuck, thereby reducing the damage rate of materials, improving production efficiency and product quality, and preventing the plywood from being pinched or stuck during transportation, resulting in stagnation of the conveyor belt, equipment failure or jamming.

[0015] (2) The invention, by moving the baffle plate 1 to block one corner of the plywood, gradually straightens the plywood as it continues to move, thereby ensuring that the transportation system can operate more smoothly, avoiding jamming or frequent adjustments due to unstable plywood, improving transportation efficiency, reducing pauses and interference, and ensuring smooth work. By moving the baffle plate 2 to block the rear plywood from being transported, it is ensured that when the plywood is adjusted, the plywood continuously transported at the rear will not come into contact with or collide with the plywood being adjusted, thereby reducing the scrap rate caused by damage, thereby reducing production costs and improving the efficiency of the production line.

[0016] (3) The invention pushes the plywood stacked by the robot arm by moving the clamping plate to reduce the gap between the plates, avoid sliding or tilting of the plates during the stacking process, ensure that the stacking structure is more stable, save storage and transportation space, and improve space utilization efficiency. The plywood transported to the top of the mobile plate is lifted by moving the mobile plate, which can make the distance between the plate and the robot arm grasping device more appropriate, ensure that the robot arm can grasp at the best angle and method, improve the grasping accuracy and efficiency, and prevent grasping failure or instability due to improper position of the plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a cross-sectional schematic diagram of the rotating shaft and the conveyor belt structure of the present invention; Figure 3 It is a schematic cross-sectional view of the structure of the pushing device of the present invention; Figure 4 It is a cross-sectional schematic diagram of the rotating column and the eccentric disk structure of the present invention; Figure 5 It is a schematic cross-sectional view of the structure of the righting device of the present invention; Figure 6 It is a cross-sectional schematic diagram of the connecting rod and the baffle structure of the present invention; Figure 7 It is a schematic cross-sectional view of the structure of the stacking and leveling device of the present invention; Figure 8 It is a schematic cross-sectional view of the vertical plate and the movable plate structure of the present invention.

[0018] In the figure: 1. workbench; 2. supporting leg; 3. motor; 4. rotating shaft; 5. conveyor belt; 6. mechanical arm; 7. transmission shaft 1; 8. transmission belt 1; 9. gear 1; 10. rotating column; 11. gear 2; 12. eccentric disk; 13. fixed rod; 14. sliding rod; 15. push rod; 16. push plate 1; 171. sliding column; 172. push plate 2; 173. fixed plate; 174. transmission shaft 2; 175. transmission belt 2; 176. baffle 1; 177. connecting rod; 178. baffle 2; 181. transmission shaft 3; 182. transmission belt 3; 183. clamping plate; 184. long rod; 185. inclined rod; 186. vertical plate; 187. moving plate; 188. moving rod; 189. inclined block. DETAILED DESCRIPTION

[0019] 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.

[0020] See also Figure 1-Figure 8 , one embodiment of the present invention is: a manipulator-assisted stacking device for plywood processing, comprising a workbench 1, a support leg 2 is fixedly installed at the bottom of the workbench 1, a motor 3 is fixedly installed on the left side of the workbench 1, two rotating shafts 4 are rotatably installed on the surface of the workbench 1, the output end of the motor 3 is fixedly connected to the rotating shaft 4, the two rotating shafts 4 are connected by a conveyor belt 5, a mechanical arm 6 is fixedly installed on the left side of the workbench 1, and a pushing device is arranged on the top of the workbench 1; The pushing device includes a transmission shaft 7, a transmission belt 8, a gear 9, a rotating column 10, a gear 2 11, an eccentric disk 12, a fixed rod 13, a slide bar 14, a push rod 15 and a push plate 16. The transmission shaft 7 is rotatably mounted inside the workbench 1. The transmission shaft 7 is connected to the rotating shaft 4 through a transmission belt 8. The gear 9 is fixedly mounted on the circumferential surface of the transmission shaft 7. The rotating column 10 is rotatably mounted on the top of the workbench 1. The gear 2 11 is fixedly mounted on the circumferential surface of the rotating column 10. The eccentric disk 12 is fixedly mounted on the top of the rotating column 10. The fixed rod 13 is fixedly mounted on the On the top of the workbench 1, the sliding rod 14 slides through the fixed rod 13, and the pushing rod 15 is slidably installed at the end of the sliding rod 14 away from the fixed rod 13. The pushing plate 16 is fixedly installed at the bottom of the pushing rod 15. The pushing plate 16 moves to push the plywood being transported on the conveyor belt 5 to the middle, which can help the plywood to remain in the center position of the conveyor belt 5 to avoid deviation, ensure that the plywood moves smoothly along the correct route of the conveyor belt 5, and avoid jamming or stagnation, thereby improving the operation efficiency of the entire conveying system. At the same time, when the plywood is in the middle position, it is convenient for the robot arm 6 to grab it.

[0021] Gear 1 9 is meshed with gear 2 11, eccentric disk 12 is in contact with slide rod 14, and spring 1 is arranged between push rod 15 and slide rod 14. The meshing ensures that gear 1 9 can drive gear 2 11 to rotate while rotating, and the contact ensures that eccentric disk 12 can drive slide rod 14 to move while rotating. The arrangement of spring 1 ensures that push rod 15 can achieve self-reset.

[0022] When the present embodiment is working: firstly, it is confirmed that the equipment is in good condition and then the motor 3 is started, so that the motor 3 drives the rotating shaft 4 to start rotating, the rotating shaft 4 rotates to drive the conveyor belt 5 to start rotating, the conveyor belt 5 rotates to drive the plywood to start moving, when the plywood is transported to the working range of the mechanical arm 6, the mechanical arm 6 clamps the plywood and stacks it at the specified position, while the rotating shaft 4 rotates, it drives the transmission belt 8 to start rotating, the transmission belt 8 rotates to drive the transmission shaft 7 to start rotating, the transmission shaft 7 rotates to drive the gear 9 to start rotating, the gear 9 rotates to drive the gear 2 11 to start rotating, the gear 2 11 rotates to drive the rotating column 10 to start rotating, the rotating column 10 rotates to drive the eccentric disk 12 to start rotating, the eccentric disk 12 rotates to drive the slide bar 14 to start moving, the movement of the slide bar 14 drives the push rod 15 to start moving, and the push rod 15 The movement drives the push plate 16 to start moving. The movement of the push plate 16 pushes the plywood being transported on the conveyor belt 5 to the middle, which can help the plywood remain in the center position of the conveyor belt 5 to avoid deviation, ensure that the plywood moves smoothly along the correct route of the conveyor belt 5, and avoid jamming or stagnation, thereby improving the operation efficiency of the entire conveying system. At the same time, when the plywood is in the middle position, it is convenient for the robot arm 6 to grab it. When the push plate 16 contacts the plywood and continues to push, the spring 1 between the slide bar 14 and the push rod 15 is continuously compressed, ensuring that the plywood can be effectively prevented from being over-squeezed or accidentally stuck, thereby reducing the damage rate of materials, improving production efficiency and product quality, and preventing the plywood from being pinched or stuck during transportation, resulting in stagnation of the conveyor belt 5, equipment failure or jamming.

[0023] See also Figure 1-Figure 8On the basis of the above embodiment, in another embodiment of the present invention, a straightening device is arranged on the top of the pushing device, and a stacking and leveling device is arranged on the top of the workbench 1. The straightening device includes a slide column 171, a push plate 172, a fixed plate 173, two transmission shafts 174, a transmission belt 175 and a baffle 176. The slide column 171 slides through the push plate 16, the push plate 172 is fixedly mounted on the end of the slide column 171 away from the push plate 16, the fixed plate 173 is fixedly mounted on the top of the push plate 16, the two transmission shafts 174 are rotatably mounted on the top of the fixed plate 173, the two transmission shafts 174 are connected by transmission through the transmission belt 175, and the baffle 176 is fixedly mounted on the bottom of the transmission belt 175. The baffle 176 moves to block a corner of the plywood. When the plywood is continuously moved, the plywood is gradually straightened, ensuring that the transportation system can operate more smoothly, avoiding jamming or frequent adjustment due to instability of the plywood, improving the transportation efficiency, reducing pauses and interference, and ensuring smooth work.

[0024] The straightening device also includes a connecting rod 177 and a second baffle 178. The connecting rod 177 is fixedly mounted on the back of the first baffle 176, and the second baffle 178 is fixedly mounted on the connecting rod 177 and the end away from the first baffle 176. The second baffle 178 moves to block the rear plywood conveyance, ensuring that the plywood continuously conveyed at the rear will not contact or collide with the plywood being adjusted when the plywood is adjusted, thereby reducing the scrap rate caused by damage, thereby reducing production costs and improving the efficiency of the production line.

[0025] The push plate 172 contacts with the transmission belt 175, and a spring 2 is arranged between the push plate 172 and the push plate 1 16, so as to ensure that the push plate 172 can drive the transmission belt 175 to rotate when moving, and the spring 2 is arranged to ensure that the push plate 172 can realize self-reset.

[0026] The stacking and leveling device includes two transmission shafts 3 181, a transmission belt 3 182, a clamping plate 183 and a long rod 184. The two transmission shafts 3 181 are rotatably installed on the top of the workbench 1, and the two transmission shafts 3 181 are connected through the transmission belt 3 182. The clamping plate 183 is fixedly installed on the top of the transmission belt 3 182, and the long rod 184 is fixedly installed on the top of the baffle 1 176. The clamping plate 183 is moved to push the plywood stacked by the robot arm 6 to reduce the gap between the plates, avoid sliding or tilting of the plates during the stacking process, ensure that the stacking structure is more stable, save storage and transportation space, and improve space utilization efficiency.

[0027] The stacking and leveling device also includes a bevel rod 185, a vertical plate 186, a movable plate 187, a movable rod 188 and a bevel block 189. The bevel rod 185 is fixedly mounted on the back of the clamp plate 183, the vertical plate 186 is fixedly mounted on the top of the workbench 1, the movable plate 187 is slidably mounted on the back of the vertical plate 186, the movable rod 188 is fixedly mounted on the top of the movable plate 187, and the bevel block 189 is fixedly mounted on the top of the movable rod 188. The plywood transported to the top of the movable plate 187 is lifted by moving the movable plate 187, so that the distance between the plate and the grasping device of the robot arm 6 can be made more appropriate, ensuring that the robot arm 6 can grasp at the best angle and method, improving the grasping accuracy and efficiency, and preventing grasping failure or instability due to improper position of the plate.

[0028] The long rod 184 is in contact with the splint 183, and the side of the inclined rod 185 and the inclined block 189 that is close to each other is set as an inclined plane. A spring three is arranged between the movable plate 187 and the vertical plate 186. The contact ensures that the long rod 184 can push the splint 183 to move when it moves, and the setting of the inclined plane ensures that the inclined rod 185 can smoothly push the inclined block 189 when it moves. The setting of spring three ensures that the movable plate 187 can achieve self-reset.

[0029] When the present embodiment is working, the push plate 16 moves and the sliding column 171 starts to move, the sliding column 171 moves and the push plate 172 starts to move, the push plate 172 moves. When the position of the plywood is tilted, the push plate 172 moves in the opposite direction and drives the transmission belt 175 to start rotating, the transmission belt 175 rotates and drives the baffle plate 176 to start moving, the baffle plate 176 moves to block a corner of the plywood. When the plywood is constantly moving, the plywood is gradually straightened, ensuring that the transportation system can operate more smoothly to avoid the plywood from being tilted. The plywood is unstable and causes jamming or requires frequent adjustments, which improves the conveying efficiency, reduces pauses and interference, and ensures smooth work. When the baffle 176 moves, the connecting rod 177 starts to move, and the movement of the connecting rod 177 drives the baffle 2 178 to start moving. The movement of the baffle 2 178 blocks the conveying of the rear plywood, ensuring that the plywood continuously conveyed at the rear will not contact or collide with the plywood being adjusted when the plywood is adjusted, thereby reducing the scrap rate caused by damage, thereby reducing production costs and improving the efficiency of the production line.

[0030] When baffle 176 moves, long rod 184 is driven to move, and long rod 184 moves to push clamp 183 to move. Clamp 183 moves to push the plywood stacked by robot arm 6 to reduce the gap between the plates, and avoid sliding or tilting of the plates during stacking, thereby ensuring that the stacking structure is more stable, saving storage and transportation space, and improving space utilization efficiency. When clamp 183 moves, inclined rod 185 is driven to move, and inclined rod 185 moves to push inclined block 189 to move. The inclined block 189 moves to drive moving rod 188 to move, and moving rod 188 moves to drive moving plate 187 to move. Moving plate 187 moves to lift the plywood transported to the top of moving plate 187, so that the distance between the plate and the grasping device of robot arm 6 can be more appropriate, ensuring that robot arm 6 can grasp at the best angle and method, improving the grasping accuracy and efficiency, and preventing grasping failure or instability due to improper position of the plate.

[0031] 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 plywood processing, comprising a workbench (1), characterized in that: A support leg (2) is fixedly mounted on the bottom of the workbench (1); a motor (3) is fixedly mounted on the left side of the workbench (1); two rotating shafts (4) are rotatably mounted on the surface of the workbench (1); the output end of the motor (3) is fixedly connected to the rotating shaft (4); the two rotating shafts (4) are connected by transmission via a conveyor belt (5); a mechanical arm (6) is fixedly mounted on the left side of the workbench (1); a pushing device is arranged on the top of the workbench (1); a straightening device is arranged on the top of the pushing device; and a stacking and leveling device is arranged on the top of the workbench (1); The pushing device comprises a transmission shaft (7), a transmission belt (8), a gear (9), a rotating column (10), a gear (11), an eccentric disk (12), a fixed rod (13), a sliding rod (14), a push rod (15) and a push plate (16); the transmission shaft (7) is rotatably mounted inside the workbench (1); the transmission shaft (7) is connected to the rotating shaft (4) via a transmission belt (8); the gear (9) is fixedly mounted on the circumferential surface of the transmission shaft (7); The rotating column (10) is rotatably mounted on the top of the workbench (1), the gear 2 (11) is fixedly mounted on the circumferential surface of the rotating column (10), the eccentric disk (12) is fixedly mounted on the top of the rotating column (10), the fixed rod (13) is fixedly mounted on the top of the workbench (1), the sliding rod (14) slides through the fixed rod (13), the push rod (15) is slidably mounted on one end of the sliding rod (14) away from the fixed rod (13), and the push plate 1 (16) is fixedly mounted on the bottom of the push rod (15).

2. The manipulator-assisted stacking device for plywood processing according to claim 1, characterized in that: The gear one (9) is meshed with the gear two (11), the eccentric disk (12) is in contact with the slide rod (14), and a spring one is provided between the push rod (15) and the slide rod (14).

3. The manipulator-assisted stacking device for plywood processing according to claim 2, characterized in that: The straightening device comprises a slide column (171), a push plate 1 (172), a fixed plate (173), two transmission shafts 2 (174), a transmission belt 2 (175) and a baffle 1 (176); the slide column (171) slides through the push plate 1 (16); the push plate 2 (172) is fixedly mounted on an end of the slide column (171) away from the push plate 1 (16); the fixed plate (173) is fixedly mounted on the top of the push plate 1 (16); the two transmission shafts 2 (174) are rotatably mounted on the top of the fixed plate (173); the two transmission shafts 2 (174) are connected in transmission via a transmission belt 2 (175); and the baffle 1 (176) is fixedly mounted on the bottom of the transmission belt 2 (175).

4. The manipulator-assisted stacking device for plywood processing according to claim 3, characterized in that: The straightening device also includes a connecting rod (177) and a second baffle (178), wherein the connecting rod (177) is fixedly mounted on the back of the first baffle (176), and the second baffle (178) is fixedly mounted between the connecting rod (177) and an end away from the first baffle (176).

5. The manipulator-assisted stacking device for plywood processing according to claim 4, characterized in that: The second push plate (172) contacts the second transmission belt (175), and a second spring is provided between the second push plate (172) and the first push plate (16).

6. The manipulator-assisted stacking device for plywood processing according to claim 5, characterized in that: The stacking and leveling device comprises two transmission shafts three (181), a transmission belt three (182), a clamping plate (183) and a long rod (184); the two transmission shafts three (181) are rotatably mounted on the top of the workbench (1); the two transmission shafts three (181) are connected by transmission belt three (182); the clamping plate (183) is fixedly mounted on the top of the transmission belt three (182); and the long rod (184) is fixedly mounted on the top of the baffle one (176).

7. The manipulator-assisted stacking device for plywood processing according to claim 6, characterized in that: The stacking and leveling device further comprises a bevel rod (185), a vertical plate (186), a movable plate (187), a movable rod (188) and a bevel block (189); the bevel rod (185) is fixedly mounted on the back of the clamping plate (183); the vertical plate (186) is fixedly mounted on the top of the workbench (1); the movable plate (187) is slidably mounted on the back of the vertical plate (186); the movable rod (188) is fixedly mounted on the top of the movable plate (187); and the bevel block (189) is fixedly mounted on the top of the movable rod (188).

8. The manipulator-assisted stacking device for plywood processing according to claim 7, characterized in that: The long rod (184) is in contact with the clamping plate (183), a surface of the inclined rod (185) and the inclined block (189) close to each other is set as an inclined surface, and a spring three is arranged between the moving plate (187) and the vertical plate (186).

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