A clamping device and a clamping replacement method for repairing wooden pallets

Abstract

The present invention relates to the technical field of clamping equipment, and discloses a clamping device and a clamping replacement method for repairing wooden pallets, including a nailing assembly and a frame for the operation of the nailing assembly, the nailing assembly including a main slide rail, a clamping assembly, a working assembly and a driving assembly, the driving assembly operates to drive the clamping assembly and the working assembly to move on the main slide rail; the clamping assembly includes a plurality of wood strip clamps and a plurality of wood square clamps, the working assembly includes a fixing part and a cleaning part, the fixing part and the cleaning part are respectively located on both sides of the main slide rail and are slidably connected to the main slide rail; the driving assembly includes an upper electric control box and a positioning sensor. The present invention achieves the integration of grabbing, locating, removing and repairing damaged wooden pallets through the cooperation between the driving assembly, the clamping assembly and the working assembly, and solves the problem that the manual repair method of wooden pallets has the disadvantages of being difficult to improve labor efficiency and difficult to achieve consistent quality.

Description

Technical Field

[0001] The invention relates to the technical field of clamping equipment, in particular to a clamping device and a clamping replacement method for repairing a wooden pallet. Background Art

[0002] A gripper is a device that holds an object and then manipulates it. Wooden pallets are used in large quantities in the manufacturing, warehousing, and logistics and transportation industries due to their simple structure, low cost, and easy maintenance. Currently, the production and maintenance of wooden pallets are done manually. When a wooden pallet is damaged, it is not repaired immediately. Instead, the wooden pallets to be repaired are stored and repaired together when a certain number of them are reached. The manual maintenance method of wooden pallets has the disadvantages of being difficult to improve manual efficiency and achieving consistent quality. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0004] A clamping device includes a nailing assembly and a frame for the operation of the nailing assembly, wherein the nailing assembly includes a main slide rail, a clamping assembly, a working assembly and a driving assembly, and the driving assembly operates to drive the clamping assembly and the working assembly to move on the main slide rail;

[0005] The clamping assembly includes a plurality of wood strip clamps and a plurality of wood square clamps, wherein the plurality of wood square clamps are distributed at the four corners of the main slide rail and are slidably connected to the main slide rail, and the plurality of wood strip clamps are evenly arranged on the main slide rail and are slidably connected to the main slide rail;

[0006] The working assembly includes a fixing part and a cleaning part, wherein the fixing part and the cleaning part are respectively located on both sides of the main slide rail and are slidably connected to the main slide rail;

[0007] The driving assembly includes an upper electrical control box and a positioning sensor. The upper electrical control box is electrically connected to the positioning sensor. The positioning sensor transmits the electrical signal into the upper electrical control box so that the upper electrical control box drives multiple wooden square clamps and multiple wooden strip clamps to move on the main slide rail and clamp at the same time. At the same time, the upper electrical control box drives the fixing parts and the cleaning parts to move on the main slide rail.

[0008] Preferably, the main slide rail includes a rectangular frame, both sides of the rectangular frame are fixedly connected with guide rail sliders, the rectangular frame is slidably arranged on the frame through the guide rail sliders, the frame is fixedly connected with a lower electric control box, the lower electric control box controls the movement of the rectangular frame on the frame, both sides of the rectangular frame are fixedly connected with front guide rails and rear guide rails, the cleaning piece is slidably arranged on the rear guide rail, the fixing piece is arranged on one side of the front guide rail, the middle part of the rectangular frame is provided with side guide rails and side guide rails, a plurality of wooden strip clamps and wooden square clamps are slidably arranged on the side guide rails, and a plurality of wooden square clamps are respectively slidably arranged on the side guide rails and the other side of the front guide rail.

[0009] Preferably, the fixing part includes an air nail gun, a front sliding seat is slidably provided on the front guide rail, the air nail gun is fixedly installed at the bottom of the front sliding seat, a front motor is fixedly connected to the top of the front sliding seat, the output end of the front motor is fixedly connected to the air nail gun, and the upper electrical control box is connected to the electrical signal of the front motor.

[0010] Preferably, the cleaning piece includes a milling cutter, a rear sliding seat is slidably provided on the rear guide rail, the milling cutter is fixedly installed at the bottom of the rear sliding seat, a rear motor is fixedly connected to the top of the rear sliding seat, the output end of the rear motor is fixedly connected to the milling cutter, and the upper electrical control box is connected to the electrical signal of the rear motor.

[0011] Preferably, the frame is provided with a station for repair, a finished product station, a maintenance station and a raw material station, the station for repair, the finished product station and the raw material station are all provided with lifting components, the maintenance station is provided with a fixing component and a positioning component, and a plurality of wooden square raw materials and wooden strip raw materials are placed on the raw material station.

[0012] Preferably, the lifting assembly includes a support frame and a servo motor, a support slider is fixedly connected to one side of the support frame, the support slider is slidably arranged on the frame, the servo motor is fixedly installed on the frame, a plurality of electric winches are fixedly connected to the frame, the output end of the servo motor is fixedly connected to the electric winch, the support slider is fixedly connected to a pulley block on the frame, and the traction rope sleeve on the electric winch is arranged on the pulley block.

[0013] Preferably, the fixing assembly includes a pair of clamping plates, a fixed tray is placed on the frame, rotating rods are fixedly connected on both sides of the fixed tray, the rotating rods are rotatably connected to the frame through bearings, two gears are rotatably connected to the frame through bearings, a driving motor is fixedly connected to the frame, the output end of the driving motor is fixedly connected to one of the gears, the other gear is fixedly installed on one of the rotating rods, the two gears are provided with a tooth chain meshing with the two gears, a rectangular seat is fixedly connected to the rotating rod, the clamping plate is installed on the rectangular seat, a servo cylinder is fixedly connected to the rectangular seat, and the output end of the servo cylinder is fixedly connected to the clamping plate.

[0014] Preferably, the positioning assembly includes a maintenance warehouse, on which a detection camera is fixedly installed, and the detection camera is located on the top of a fixed tray so that the fixed tray as a whole is located within the field of view of the detection camera, and multiple area array light sources are horizontally arranged in the maintenance warehouse, and the multiple area array light sources are distributed around the detection camera, and blackout curtains are fixedly connected to the entrances and exits on both sides of the maintenance warehouse.

[0015] Preferably, a waste collection port is fixedly mounted on the frame, and the waste collection port is located at the bottom of the fixed tray.

[0016] A clamping replacement method for repairing a wooden pallet uses a clamping device.

[0017] Beneficial Effects

[0018] Compared with the prior art, the present invention provides a clamping device and a clamping replacement method for wooden pallet repair, which has the following beneficial effects:

[0019] 1. A clamping device and a clamping replacement method for repairing wooden pallets. Through the cooperation between a driving component, a clamping component and a working component, a plurality of wooden square clamps and wooden strip clamps can grasp a damaged wooden pallet while locating and clearing the damaged part on the damaged wooden pallet. At the same time, new wooden square raw materials and wooden strip raw materials are grasped by the wooden square clamps and wooden strip clamps, and the damaged wooden pallet is processed and repaired by a fixing part, thereby achieving the integration of grasping, locating, clearing and repairing the damaged wooden pallet, thereby solving the problem that the manual repair method of wooden pallets has the disadvantages of being difficult to improve the labor efficiency and achieving consistent quality.

[0020] 2. A clamping device and a clamping replacement method for repairing wooden pallets. The maintenance station uses computer vision technology to inspect the wooden pallet. The detection camera used is located directly above the center of the wooden pallet, so that the entire wooden pallet is in the camera's field of view. Array light sources are horizontally arranged around the detection camera to perform necessary shooting fill light. Blackout curtains are provided at both ends of the station entrance and exit to shield external interference light, so that the damaged part of the wooden pallet can be accurately located through the positioning sensor.

[0021] 3. A clamping device and a clamping and replacement method for repairing wooden pallets. The two sides of a damaged pallet are clamped and fixed by setting two clamping plates in a fixing assembly. At the same time, the damaged pallet is driven to rotate by a driving motor, so that the upper and lower surfaces of the damaged pallet can be inspected and repaired by a nailing assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of a clamping device of the present invention;

[0023] Figure 2 This is one of the overall structural schematic diagrams of the nailing assembly of the present invention;

[0024] Figure 3 This is the second schematic diagram of the overall structure of the nailing assembly of the present invention;

[0025] Figure 4 This is one of the schematic diagrams of the overall structure of the rack of the present invention;

[0026] Figure 5This is the second schematic diagram of the overall structure of the rack of the present invention;

[0027] Figure 6 It is a schematic diagram of the overall structure of the positioning assembly of the present invention;

[0028] Figure 7 It is a schematic diagram of the overall structure of the fixing assembly of the present invention;

[0029] Figure 8 For the present invention Figure 7 Schematic diagram of the structure of the middle A part;

[0030] Fig. 9 It is a schematic diagram of the overall structure of the lifting assembly of the present invention;

[0031] Fig.10 For the present invention Fig. 9 Schematic diagram of the structure of part B.

[0032] In the figure: 1. nailing assembly; 2. frame; 3. main slide rail; 4. clamping assembly; 5. working assembly; 6. driving assembly; 41. wood strip clamp; 42. wood square clamp; 51. fixing piece; 52. cleaning piece; 61. upper electric control box; 62. positioning sensor; 31. rectangular frame; 32. guide rail slider; 33. lower electric control box; 34. front guide rail; 35. rear guide rail; 36. side guide rail; 37. side guide rail; 511. air nail gun; 512. front slide seat; 513. front motor; 521. milling cutter; 522. rear slide seat; 523. rear motor; 7. waiting for repair station; 8. finished product station; 9 , maintenance station; 10, raw material station; 11, lifting assembly; 12, fixing assembly; 13, positioning assembly; 14, wooden raw materials; 15, wooden strip raw materials; 110, support frame; 111, servo motor; 112, bracket slider; 113, electric winch; 114, pulley block; 121, splint; 122, fixed tray; 123, rotating rod; 124, gear; 125, drive motor; 126, tooth chain; 127, rectangular seat; 128, servo cylinder; 131, maintenance warehouse; 132, detection camera; 133, array light source; 134, blackout curtain; 135, waste collection port. DETAILED DESCRIPTION

[0033] 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.

[0034] As introduced in the background technology, there are deficiencies in the prior art. In order to solve the above technical problems, the present application proposes a clamping device and a clamping and replacement method for repairing wooden pallets.

[0035] Embodiment 1:

[0036] See also Figure 1-Figure 3 A clamping device includes a nailing assembly 1 and a frame 2 for the operation of the nailing assembly 1. The nailing assembly 1 includes a main slide rail 3, a clamping assembly 4, a working assembly 5 and a driving assembly 6. The driving assembly 6 operates to drive the clamping assembly 4 and the working assembly 5 to move on the main slide rail 3;

[0037] The clamping assembly 4 includes a plurality of wood strip clamps 41 and a plurality of wood square clamps 42. The plurality of wood square clamps 42 are distributed at the four corners of the main slide rail 3 and are slidably connected to the main slide rail 3. The plurality of wood strip clamps 41 are evenly arranged on the main slide rail 3 and are slidably connected to the main slide rail 3.

[0038] The working assembly 5 includes a fixing member 51 and a cleaning member 52, which are respectively located on both sides of the main slide rail 3 and are slidably connected to the main slide rail 3;

[0039] The driving assembly 6 includes an upper electrical control box 61 and a positioning sensor 62. The upper electrical control box 61 is electrically connected to the positioning sensor 62. The positioning sensor 62 transmits the electrical signal into the upper electrical control box 61, so that the upper electrical control box 61 drives multiple wooden square clamps 42 and multiple wooden strip clamps 41 to move on the main slide rail 3 and clamp at the same time. At the same time, the upper electrical control box 61 drives the fixing part 51 and the cleaning part 52 to move on the main slide rail 3.

[0040] Specifically, when repairing a damaged pallet, the upper electric control box 61 controls the wood strip clamp 41 and the wood square clamp 42 to move back and forth on the main slide rail 3, so that the wood square clamp 42 and the wood strip clamp 41 are located on the wood strips and wood squares of the damaged pallet, and the damaged pallet is grabbed through the cooperation of the wood square clamp 42 and the wood strip clamp 41. After the nailing assembly 1 places the damaged pallet into the designated repair position on the frame 2, the nailing assembly 1 releases the damaged pallet, and locates the damaged part on the damaged pallet through the positioning sensor 62, and cleans the damaged part on the damaged pallet through the cleaning member 52, and then the nailing assembly 1 moves forward, and grabs new wood strips and wood squares through the wood strip clamp 41 and the wood square clamp 42, and then returns to the damaged pallet, and fixes the new wood squares and wood strips on the damaged pallet through the fixing member 51, so as to repair the damaged pallet.

[0041] Through the cooperation between the driving component 6, the clamping component 4 and the working component 5, multiple wood square clamps 42 and wood strip clamps 41 can grab the damaged wooden pallet and locate and remove the damaged parts on the damaged wooden pallet at the same time. At the same time, new wood squares and wood strips are grabbed by the wood square clamps 42 and wood strip clamps 41, and the damaged wooden pallet is processed and repaired by the fixing parts 51, so as to achieve the integration of grabbing, locating damage, removing damage and repairing the damaged wooden pallet, thereby solving the problem that the manual repair method of wooden pallets has the disadvantages of difficulty in improving labor efficiency and difficulty in achieving consistent quality.

[0042] Embodiment 2:

[0043] The difference from the above embodiment 1 is that, see Figure 1-Figure 3 For the above-mentioned nailing assembly 1, the main slide rail 3 includes a rectangular frame 31, both sides of the rectangular frame 31 are fixedly connected with guide rail sliders 32, the rectangular frame 31 is slidably arranged on the frame 2 through the guide rail sliders 32, the frame 2 is fixedly connected with a lower electric control box 33, the lower electric control box 33 controls the rectangular frame 31 to move on the frame 2, both sides of the rectangular frame 31 are fixedly connected with a front guide rail 34 and a rear guide rail 35, a cleaning piece 52 is slidably arranged on the rear guide rail 35, a fixing piece 51 is arranged on one side of the front guide rail 34, a side guide rail 36 and a side guide rail 37 are arranged in the middle of the rectangular frame 31, a plurality of wood strip clamps 41 are slidably arranged on the side guide rail 36, and a plurality of wood square clamps 42 are respectively slidably arranged on the side guide rail 37 and the other side of the front guide rail 34;

[0044] The fixing member 51 includes an air nail gun 511, a front sliding seat 512 is slidably provided on the front guide rail 34, the air nail gun 511 is fixedly installed at the bottom of the front sliding seat 512, a front motor 513 is fixedly connected to the top of the front sliding seat 512, an output end of the front motor 513 is fixedly connected to the air nail gun 511, and an upper electric control box 61 is connected to the front motor 513 by electrical signals;

[0045] The cleaning member 52 includes a milling cutter 521. A rear sliding seat 522 is slidably provided on the rear guide rail 35. The milling cutter 521 is fixedly installed at the bottom of the rear sliding seat 522. A rear motor 523 is fixedly connected to the top of the rear sliding seat 522. The output end of the rear motor 523 is fixedly connected to the milling cutter 521. The upper electric control box 61 is connected to the rear motor 523 by electrical signals.

[0046] Specifically, the upper electric control box 61 controls the movement of the wood square clamp 42 and the wood strip clamp 41 on the side guide rail 36 and the side guide rail 37, thereby adjusting the positions of the plurality of wood square clamps 42 and the wood strip clamp 41 on the main slide rail 3, so that the nailing assembly 1 is suitable for grabbing pallets of different sizes. At the same time, the upper electric control box 61 is electrically connected with the wood square clamp 42 and the wood strip clamp 41 to control the wood square clamp 42 and the wood strip clamp 41 to grab the damaged pallet and the wood square and wood strip raw materials 15, so as to realize the unified grabbing of the pallet and the raw materials. At the same time, the positioning sensor 62 in the driving assembly 6 is set to make the nailing assembly 1 suitable for grabbing pallets of different sizes. When the damaged pallet is grabbed by the component 1, the damaged part on the damaged pallet is located, and the damaged part on the damaged pallet is cleaned by the milling cutter 521 in the cleaning component 52, and the damaged wooden strips on the damaged pallet and the nails on the wooden strips are removed, and then the damaged pallet is placed in a designated position, and the damaged pallet is released, and then moved to a position where new raw materials are placed, and the new raw materials are grabbed by the wooden strip clamps 41 and the wooden square clamps 42, and moved to the damaged pallet, and the damaged pallet is repaired by the air nail gun 511, thereby achieving the integration of grabbing, damage positioning, damage removal and repair of the damaged wooden pallet.

[0047] Embodiment three:

[0048] The difference from the above-mentioned embodiment 2 is that, see Figure 4-Figure 10 For the above-mentioned frame 2, a waiting station 7, a finished product station 8, a maintenance station 9 and a raw material station 10 are arranged on the frame 2. A lifting component 11 is arranged on the waiting station 7, the finished product station 8 and the raw material station 10. A fixing component 12 and a positioning component 13 are arranged on the maintenance station 9. A plurality of wooden square raw materials 14 and wooden strip raw materials 15 are placed on the raw material station 10.

[0049] The lifting assembly 11 includes a support frame 110 and a servo motor 111. A support slider 112 is fixedly connected to one side of the support frame 110. The support slider 112 is slidably arranged on the frame 2. The servo motor 111 is fixedly installed on the frame 2. A plurality of electric winches 113 are fixedly connected to the frame 2. The output end of the servo motor 111 is fixedly connected to the electric winch 113. A pulley block 114 is fixedly connected to the support slider 112 and the frame 2. The traction rope sleeve on the electric winch 113 is arranged on the pulley block 114.

[0050] The fixing assembly 12 includes a pair of clamping plates 121, a fixing tray 122 is placed on the frame 2, and rotating rods 123 are fixedly connected on both sides of the fixing tray 122. The rotating rods 123 are rotatably connected to the frame 2 through bearings, and two gears 124 are rotatably connected to the frame 2 through bearings. A driving motor 125 is fixedly connected to the frame 2, and the output end of the driving motor 125 is fixedly connected to one of the gears 124, and the other gear 124 is fixedly installed on one of the rotating rods 123. The two gears 124 are sleeved with a toothed chain 126 that meshes with the two gears 124. A rectangular seat 127 is fixedly connected to the rotating rod 123, and the clamping plate 121 is installed on the rectangular seat 127. A servo cylinder 128 is fixedly connected to the rectangular seat 127, and the output end of the servo cylinder 128 is fixedly connected to the clamping plate 121;

[0051] The positioning assembly 13 includes a maintenance chamber 131, on which a detection camera 132 is fixedly installed. The detection camera 132 is located on the top of the fixed tray 122, so that the fixed tray 122 is located in the field of view of the detection camera 132 as a whole. A plurality of array light sources 133 are horizontally arranged in the maintenance chamber 131, and the plurality of array light sources 133 are distributed around the detection camera 132. Shade curtains 134 are fixedly connected to the entrances and exits on both sides of the maintenance chamber 131.

[0052] A waste collection port 135 is fixedly mounted on the frame 2, and the waste collection port 135 is located at the bottom of the fixed tray 122;

[0053] Specifically, the damaged pallet is placed on the support frame 110 in the lifting assembly 11 on the repair station 7, and then the servo motor 111 controls the electric winch 113 to operate, and the pulley group 114 is driven to operate by the storage of the traction rope in the electric winch 113, thereby driving the support slider 112 to move upward on the frame 2, and then driving the support frame 110 on one side of the support slider 112 and the damaged pallet on the support frame 110 to move upward. When the damaged pallet moves to the bottom of the nailing assembly 1, the damaged pallet is fixed by the wooden strip clamp 41 and the wooden square clamp 42 at the bottom of the nailing assembly 1, and then the nailing assembly 1 is driven by the lower electric control box 33 to move into the repair bin 131 on the repair station 9, and the upper electric control box 61 controls the wooden strip clamp 41 and the wooden square clamp 42 to release the damaged pallet, so that the damaged pallet is located on the fixed pallet 122;

[0054] When the damaged pallet is located on the fixed pallet 122, the servo cylinder 128 operates to drive the two clamps 121 to move synchronously, thereby fixing the damaged pallet on the fixed pallet 122, and then the damaged part of the damaged pallet is located through the cooperation between the positioning sensor 62 and the detection camera 132. The maintenance station 9 uses computer vision technology to inspect the wooden pallet, wherein the detection camera 132 used is located at an appropriate distance height directly above the center of the damaged pallet, so that the entire damaged pallet is in the field of view of the detection camera 132. The area array light source 133 is horizontally arranged around the detection camera 132 to perform necessary shooting fill light. Shade curtains 134 are provided at both ends of the station entrance and exit to shield external interference light. line, after checking and determining the damaged position through the detection camera 132, the milling cutter 521 on the nailing assembly 1 runs, and the milling cutter 521 is used to clean the damaged wood strips and nails, and the cleaned wood strips and nails fall freely and are discharged from the waste collection port 135, and then the nailing assembly 1 moves to the raw material station 10, and the intact wood square raw materials 14 and wood strip raw materials 15 are clamped by the wood strip clamp 41 and the wood square clamp 42 and placed in the cleaned repair position, and the pallet is nailed by the air nail gun 511 to fix the new wood strips, thereby achieving the purpose of repairing the pallet, and finally the repaired pallet is fixed by the nailing assembly 1 and moved to the finished product station 8, and the repaired pallet is stacked by the lifting component 11.

[0055] Embodiment 4:

[0056] See also Figure 1-Figure 10 This embodiment discloses a clamping and replacement method for repairing a wooden pallet, using a clamping device, and the specific steps are:

[0057] The damaged pallet is placed on the support frame 110 in the lifting assembly 11 on the repair station 7, and then the lifting assembly 11 drives the support frame 110 and the damaged pallet on the support frame 110 to move upward. When the damaged pallet moves to the bottom of the nailing assembly 1, the damaged pallet is fixed by the wooden strip clamp 41 and the wooden square clamp 42 at the bottom of the nailing assembly 1, and then the nailing assembly 1 is driven by the lower electric control box 33 to move to the repair bin 131 on the repair station 9, and the upper electric control box 61 controls the wooden strip clamp 41 and the wooden square clamp 42 to release the damaged pallet. The damaged pallet is positioned on the fixed pallet 122. When the damaged pallet is positioned on the fixed pallet 122, the damaged portion of the damaged pallet is positioned through the cooperation between the positioning sensor 62 and the detection camera 132. Subsequently, the nailing assembly 1 is moved to the raw material station 10, and the intact wooden raw materials 14 and 15 are clamped by the wooden strip clamps 41 and the wooden square clamps 42 and placed in the cleaned position to be repaired. The pallet is nailed by the air nail gun 511 to fix the new wooden strips, thereby achieving the purpose of repairing the pallet.

[0058] 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 clamping device, comprising a nailing assembly and a frame for the operation of the nailing assembly, characterized in that: The nailing assembly includes a main slide rail, a clamping assembly, a working assembly and a driving assembly. The driving assembly runs to drive the clamping assembly and the working assembly to move on the main slide rail; The clamping assembly includes a plurality of wood strip clamps and a plurality of wood square clamps, wherein the plurality of wood square clamps are distributed at the four corners of the main slide rail and are slidably connected to the main slide rail, and the plurality of wood strip clamps are evenly arranged on the main slide rail and are slidably connected to the main slide rail; The working assembly includes a fixing part and a cleaning part, wherein the fixing part and the cleaning part are respectively located on both sides of the main slide rail and are slidably connected to the main slide rail; The driving assembly includes an upper electric control box and a positioning sensor, the upper electric control box is connected to the positioning sensor by electrical signals, and the positioning sensor transmits the electrical signals into the upper electric control box, so that the upper electric control box drives a plurality of wood square clamps and a plurality of wood strip clamps to move on the main slide rail while clamping, and the upper electric control box drives the fixing part and the cleaning part to move on the main slide rail; The main slide rail comprises a rectangular frame, both sides of the rectangular frame are fixedly connected with guide rail sliders, the rectangular frame is slidably arranged on the frame through the guide rail sliders, the frame is fixedly connected with a lower electric control box, the lower electric control box controls the rectangular frame to move on the frame, both sides of the rectangular frame are fixedly connected with a front guide rail and a rear guide rail, the cleaning piece is slidably arranged on the rear guide rail, the fixing piece is arranged on one side of the front guide rail, the middle part of the rectangular frame is provided with a side guide rail and a side guide rail, a plurality of the wooden strip clamps are slidably arranged on the side guide rails, and a plurality of the wooden square clamps are respectively slidably arranged on the side guide rails and the other side of the front guide rail; The fixing part includes an air nail gun, a front sliding seat is slidably provided on the front guide rail, the air nail gun is fixedly installed at the bottom of the front sliding seat, a front motor is fixedly connected to the top of the front sliding seat, the output end of the front motor is fixedly connected to the air nail gun, and the upper electric control box is connected to the electrical signal of the front motor; The cleaning member comprises a milling cutter, a rear sliding seat is slidably provided on the rear guide rail, the milling cutter is fixedly installed at the bottom of the rear sliding seat, a rear motor is fixedly connected to the top of the rear sliding seat, an output end of the rear motor is fixedly connected to the milling cutter, and the upper electric control box is connected to the electrical signal of the rear motor; The frame is provided with a station for repair, a finished product station, a maintenance station and a raw material station. The station for repair, the finished product station and the raw material station are all provided with lifting components. The maintenance station is provided with a fixing component and a positioning component. A plurality of wooden square raw materials and wooden strip raw materials are placed on the raw material station.

2. A clamping device according to claim 1, characterized in that: The lifting assembly includes a support frame and a servo motor, a support slider is fixedly connected to one side of the support frame, the support slider is slidably arranged on the frame, the servo motor is fixedly installed on the frame, a plurality of electric winches are fixedly connected to the frame, the output end of the servo motor is fixedly connected to the electric winch, a pulley block is fixedly connected to the support slider and the frame, and the traction rope sleeve on the electric winch is arranged on the pulley block.

3. A clamping device according to claim 2, characterized in that: The fixing assembly includes a pair of clamping plates, a fixed tray is placed on the frame, rotating rods are fixedly connected on both sides of the fixed tray, the rotating rods are rotatably connected to the frame through bearings, two gears are rotatably connected to the frame through bearings, a driving motor is fixedly connected to the frame, the output end of the driving motor is fixedly connected to one of the gears, the other gear is fixedly installed on one of the rotating rods, the two gears are provided with a tooth chain meshing with the two gears, a rectangular seat is fixedly connected to the rotating rod, the clamping plate is installed on the rectangular seat, a servo cylinder is fixedly connected to the rectangular seat, and the output end of the servo cylinder is fixedly connected to the clamping plate.

4. A clamping device according to claim 3, characterized in that: The positioning assembly includes a maintenance warehouse, on which a detection camera is fixedly installed. The detection camera is located on the top of a fixed tray so that the entire fixed tray is located within the field of view of the detection camera. A plurality of area array light sources are horizontally arranged in the maintenance warehouse, and the plurality of area array light sources are distributed around the detection camera. Blackout curtains are fixedly connected to the entrances and exits on both sides of the maintenance warehouse.

5. A clamping device according to claim 4, characterized in that: A waste collection port is fixedly mounted on the frame and is located at the bottom of the fixed tray.

6. A clamping and replacing method for wooden pallet repair, characterized in that: A clamping device as described in any one of claims 1 to 5 is used.

Images