Automatic binding machine for wood pallets

Abstract

The invention discloses an automatic binding machine for wood pallets, and relates to the technical field of wood pallet manufacturing. The tray manufacturing equipment adopts a modular integrated design and comprises a belt conveying module, a square block putting module, a batten putting module, a plate putting module, a manipulator assembling module, a numerical control nailing and stacking module and a control cabinet. Wherein each feeding module realizes precise positioning and automatic conveying of materials through cooperation of an air cylinder and a guide rail; the manipulator module is of a multi-axis linkage structure, and a portal frame and a rotating machine head are driven by a servo motor to complete numerical control grabbing and self-adaptive assembling of wood. The nailing and stacking module integrates an upper station nail gun set, a lower station nail gun set and an adjustable tool support and is combined with a lead screw lifting mechanism to achieve multi-point synchronous nailing and intelligent layered stacking. The full-process automatic production of the wood pallets from material feeding, precise assembling, automatic nailing to finished product stacking is achieved for the first time, and the production efficiency and the product consistency are remarkably improved.

Description

Technical Field

[0001] The invention relates to the technical field of wooden pallet manufacturing, in particular to an automatic nailing machine for wooden pallets. Background Art

[0002] As the core carrier of the logistics system, the demand for wooden pallets continues to grow with the upgrading of the global supply chain. However, the traditional manufacturing model relies on manual operation and semi-automatic equipment, and there are the following technical bottlenecks: 1. Low process integration: Most existing equipment adopts a split structure, which requires manual loading, assembly, nailing and other processes, resulting in low production efficiency, high labor costs, and safety hazards.

[0003] 2. Low degree of automation: Among the existing equipment, only nailing is automated, and the rest is manual.

[0004] 3. Limited processing accuracy: Traditional nailing equipment relies on mechanical positioning, which can easily cause the nailing position to shift due to wood deformation, affecting the structural strength of the pallet and reducing the product's service life.

[0005] 4. Poor equipment adaptability: Existing production lines are usually designed for pallets of a single specification, and it is difficult to quickly adjust to meet the customized needs of different sizes and structures (such as two-way forks or four-way forks), which restricts flexible production capabilities. Summary of the invention

[0006] The present invention aims to provide a fully automatic wooden pallet manufacturing equipment, which realizes precise material delivery, adaptive assembly of manipulators, multi-axis linkage nailing and intelligent stacking through a modular architecture, breaking through the technical limitations of production efficiency, processing accuracy and compatibility with multiple specifications.

[0007] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme, including: a belt feeding module (1), a square block delivery module (2), a wood block delivery module (3), a plate material delivery module (4), a robot assembly module (5), a CNC nailing and stacking module (6), and a control cabinet (7).

[0008] The belt conveyor module is used to transport the materials delivered by each delivery module to a suitable position for use by the manipulator. The structure includes: 22 seats 101, which are used as the support frame of the whole mechanism and are installed on the frame platform; 2 rollers 102 are fixed on the seats 101; a conveyor belt 103 is sleeved on the two rollers 102; 2 sets of motors 104 are used to drive the two rollers 102; 8 supporting sheet metals 105 are fixed on the seats 101 and are used to hold up the conveyor belt. After being assembled, Figure 8 As shown below the whole machine function module.

[0009] The four-block delivery module is used to deliver four blocks of wooden materials onto the belt of the belt conveyor module. The structure includes: a frame 201 for supporting other parts of the module, which is installed on the ground when the whole machine is assembled; 4 guide rods 202 are installed above the four corners of the frame and slide up and down with the frame; 4 three-axis cylinders are fixed next to the guide rods for use; a plate 204 is installed at the flange on the guide rod, and the plate 204 serves as a mounting platform for the core part, with 9 square holes as the material delivery port; 4 sets of drive pairs 206 are fixed at the four-way edge positions of the plate 204, and 4 lifting rods 205 are fixed, 2 pieces in a group, corresponding to the XY direction, to lift the material barrel off the plate 204 to reduce friction, and move the position to align with the material delivery port respectively; 9 material barrels 207 are used for workers to stack materials in batches, with materials placed on the top and delivered at the bottom without interfering with each other.

[0010] The wood block delivery module delivers the rectangular wood blocks onto the belt of the belt conveyor module, and the structure includes: a frame 301 for supporting other parts of the module, which is installed on the ground when the whole machine is assembled, a plate frame 302 fixed on the top of the frame, 3 plates 303, one end of the plate 303 is provided with a discharge trough, and both ends are connected to the plate frame 302 with screws and are evenly distributed, 6 blocking grooves 304, every 2 pieces are used in combination and fixed at both ends of the plate 303, which are used to limit the four corners of the rectangular wood blocks, 2 sets of linear guide pairs 305, which are fixed on both sides of the plate frame 302 parallel to the plate 303, the guide pairs are provided with connecting plates 307, and the connecting plates are provided with push plates 308, the push plates are used to push the rectangular wood blocks into the discharge trough, and there are 2 sets of standard cylinders 306 behind the linear guide pairs to drive the push plates.

[0011] The sheet material delivery module is used to deliver four square blocks of wooden materials onto the belt of the belt conveyor module, and its structure includes: a frame 401 for supporting other parts of the module, which is installed on the ground when the whole machine is assembled, a plate frame 402 fixed on the top of the frame, 6 plates 403, one end of the plate 403 is provided with a material discharge trough, and both ends are connected to the plate frame 402 with screws and are evenly distributed, 12 material blocking troughs 404, each 2 pieces are used in combination and fixed at both ends of the plate 403, which are used to limit the four corners of the rectangular wooden square, 2 sets of linear guide pairs 405, which are fixed on both sides of the plate frame 402 parallel to the plate 403, the guide pairs are provided with connecting plates 407, and the connecting plates are provided with push plates 408, the push plates are used to push the rectangular wooden squares into the material discharge trough, and 2 sets of standard cylinders 406 are provided behind the linear guide pairs to drive the push plates.

[0012] The manipulator assembly module is used to grab the materials on the belt of the belt conveyor module and assemble them according to the size set by the touch screen. The structure includes: a frame 501, which is used to support other parts of this module. When the whole machine is assembled, it is installed on the ground. There is a linear guide pair 502, which is fixed on the plane of the frame 501. There is a gantry 503 on the guide pair 502. A servo motor 504 is provided on one side of the gantry to drive the gantry 503 to move axially. There is an axial guide rail 505 in the upper part of the gantry, and an axial head 506 is provided on the guide rail slider. The upper end of the gantry 503 and the axial motor 507 are used to drive an axial The machine head 506 moves up and down, and a two-axis motor 510 is arranged on the inner side of the one-axis machine head 506 for driving the two-axis machine head to rotate. A reducer 508 is arranged on the other side of the one-axis machine head 506, and a two-axis machine head 509 is arranged on the output side of the reducer 508. A three-axis motor 513 is arranged above the two-axis machine head 509 for driving the three-axis rotation, and a reducer 511 is arranged below, and a three-axis machine head 512 is arranged on the output end of the reducer 511. The three-axis machine head 512 is octagonal, and four planes thereof have connecting plates 514. 3-6 material clamps 515 are mounted on the connecting plates 513, which can clamp either square blocks or rectangular strips of wood.

[0013] The CNC nailing and stacking module is used to automatically nail the assembled wooden pallets, and after stacking a certain number of them, they are inserted away by a insertion vehicle. The structure includes: a frame 601, which is used to support other parts of this module. The whole machine is installed on the ground when assembled. There is a linear guide pair 602 on the bottom plate of the frame 601, and there is a guide plate 603 on the guide pair 602. There is a three-axis cylinder 604 at each end of the plate, and there is a lower nail gun group 605 on the cylinder push plate. The lower nail gun group can move up and down when pushed by the three-axis cylinder. There are four sets of linear guide pairs 605, 2 sets as a group, connected by a tooling bracket 607, and there is a work screw pair 608 in the middle of the tooling bracket, and there is a motor 609 next to it, which is used to drive the screw to drive the tooling bracket to rise. Lowering, both sides are synchronous, each of the tooling brackets on both sides has a set of linear guide pairs 610, there is a tooling 612 on the linear guide pairs 610, and a motor 611 is arranged under the tooling bracket for driving the tooling to move axially, and the linear guide pairs 613 are on the upper planes on both sides of the frame, and there is a gantry 614 on the guide pair 613, and a motor 615 is arranged on one side of the gantry for driving the gantry to move axially, there are two sets of linear guide pairs 616, which are fixed on the front and back sides of the gantry, and there is an upper nail gun group 617 on the guide pair 616, and there are 4 sets of pallet lifting modules 618 at one end of the upper plane of the frame 601 for supporting the finished product pallets, and there are 4 sets of pushing modules 619 on both sides of the lifting module to align the edges of the pallets with increasing height.

[0014] The control cabinet is mainly used for installing electric control appliances, including: a box body 701, a touch screen 702, and a control switch 703, which is used for electric control installation and numerical control setting.

[0015] Through the modular design of the functional structure, the present invention can produce different products by any combination according to different needs, and for the first time realizes fully automatic loading and CNC precision assembly of wood by a robot, making product size more precise, quality better, and production efficiency higher and more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of the belt conveyor module of the present invention; Figure 2 It is a schematic diagram of the structure of the four-block delivery module of the present invention; Figure 3 This is a structural schematic diagram of a wood delivery module of the present invention; Figure 4 It is a structural schematic diagram of a sheet material delivery module of the present invention; Figure 5 This is a schematic diagram of the structure of the robot assembly module of the present invention; Figure 6 This is a schematic diagram of the structure of the CNC nailing and stacking module of the present invention; Figure 7 It is a schematic diagram of the control cabinet structure of the present invention; Figure 8 The overall structural diagram of the present invention is Figure 8 In: 1. Belt conveyor module; 2. Square block delivery module; 3. Wood block delivery module; 4. Sheet material delivery module; 5. Robot assembly module; 6. CNC nailing and stacking module; 7. Control cabinet. DETAILED DESCRIPTION

[0018] The following is a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, other embodiments obtained by ordinary technicians in this field without making creative work all belong to the protection scope of the present invention.

[0019] The specific implementation of the fully automatic wood pallet processing equipment of the present invention is as follows:

[0020] like Figure 8 As shown, the whole machine is composed of a belt conveyor module (1), a square block delivery module (2), a wood block delivery module (3), a sheet material delivery module (4), a robot assembly module (5), a CNC nailing and stacking module (6) and a control cabinet (7). Each module is integrated through a rack platform, and the control cabinet (7) coordinates the actions of each module through a PLC and a CNC system.

[0021] Square block delivery module (2): Workers put wooden square blocks into nine material barrels (207) in batches, and the drive pair (206) moves the material barrels through the lifting rod (205), so that the materials are accurately delivered to the conveyor belt (103) of the belt conveyor module (1) through the square holes of the plate (204).

[0022] Wood delivery module (3) and sheet material delivery module (4): Workers stack wood or sheet materials in the delivery trough of the plate (303 / 403), and the standard cylinder (306 / 406) pushes the push plate (308 / 408) to slide along the linear guide pair (305 / 405) to push the material to the conveyor belt (103).

[0023] Belt conveyor module (1): The motor (104) drives the roller (102) to drive the conveyor belt (103) to convey the material to the grabbing station of the robot assembly module (5), and the supporting sheet metal (105) ensures the smooth operation of the conveyor belt.

[0024] The servo motor (504) of the robot assembly module (5) drives the gantry (503) to move along the linear guide rail pair (502) to above the material, and the one-axis motor (507) drives the machine head (506) to descend, and the material clamp (515) grabs the material.

[0025] The two-axis motor (510) and the three-axis motor (513) cooperate to control the rotation and angle of the machine head, and assemble the square blocks, wooden squares and plate materials into a wooden pallet prototype according to preset dimensions.

[0026] Nailing process: The assembled wooden pallets are transported to the CNC nailing and stacking module (6), the lower nail gun group (605) is driven by the three-axis cylinder (604) to move up and down, and the upper nail gun group (617) moves laterally along the linear guide pair (616) to complete multi-point synchronous nailing.

[0027] Palletizing process: The screw pair (608) drives the tooling support (607) to rise and fall through the motor (609), and the tooling (612) clamps the finished wooden pallet and digitally palletizes it according to the preset layers. The pallet lifting module (618) supports the pallet, and the push module (619) ensures that the edges of each layer are aligned. After palletizing, it is transported by forklift.

[0028] The control cabinet (7) integrates a human-machine interface, and the processing size, nailing position and stacking parameters are set through the touch screen. The PLC controls the coordinated actions of the cylinders, servo motors and sensors to achieve fully automatic operation.

[0029] The present invention realizes automatic loading, precise assembly, efficient nailing and intelligent stacking through modular design, which significantly improves the processing efficiency of wooden pallets, reduces manual intervention, and is suitable for large-scale production scenarios.

Claims

1. An automatic stapling machine for wooden pallets, characterized in that: include: A belt conveyor module (1) for conveying materials; A square block delivery module (2) for delivering wooden square blocks to the belt conveyor module; A wood block delivery module (3) for delivering rectangular wood blocks to the belt conveyor module; A sheet material delivery module (4) is used to deliver sheet-shaped wood materials to the belt conveyor module; A manipulator assembly module (5) is used to grab and assemble materials on the belt conveyor module; A numerically controlled nailing and stacking module (6) is used for nailing and stacking the assembled wooden pallets; A control cabinet (7) is used to coordinate the actions of each module; Each module is integrated through a rack platform, and the control cabinet (7) controls the material conveying of the belt conveyor module, the grasping and positioning of the robot assembly module, and the nailing path and stacking logic of the CNC nailing and stacking module through a PLC and a CNC system.

2. The automatic wooden pallet nailing machine according to claim 1 is characterized in that: The belt conveyor module (1) comprises: 22 seats (101) fixed on the rack platform; Two rollers (102) mounted on the seat (101); A conveyor belt (103) sleeved on the roller (102); Two sets of motors (104) driving the roller (102); And 8 supporting sheet metals (105) supporting the conveyor belt (103).

3. The automatic wooden pallet nailing machine according to claim 1 is characterized in that: The four-block delivery module (2) comprises: A frame (201) and four guide rods (202) mounted at four corners thereof; Four three-axis cylinders (203) cooperating with the guide rods (202); A plate (204) fixed to the upper flange of the guide rod, the plate being provided with 9 material delivery ports; Four sets of driving pairs (206) and lifting rods (205) on the four edges of the plate (204) are used to move the material barrel (207) to align with the delivery port; and 9 buckets (207) for stacking four blocks.

4. The automatic wooden pallet nailing machine according to claim 1 is characterized in that: The wood delivery module (3) and the sheet material delivery module (4) both comprise: A frame (301 / 401) and a plate frame (302 / 402) fixed thereon; Plates (303 / 403) with material discharge troughs distributed on the plate rack (302 / 402); Material retaining grooves (304 / 404) at the four corners of the limited material; A linear guide pair (305 / 405) parallel to the plate and a push plate (308 / 408) mounted thereon; And a standard cylinder (306 / 406) to drive the push plate.

5. The automatic wooden pallet nailing machine according to claim 1 is characterized in that: The robot assembly module (5) comprises: A linear guide pair (502) on a frame (501) and a gantry (503) driven by a servo motor (504); An axis guide rail (505) on the gantry (503) and a liftable one-axis machine head (506); A rotating two-axis machine head (509) driven by a two-axis motor (510) inside the one-axis machine head (506); A three-axis machine head (512) driven by a three-axis motor (513) below the two-axis machine head (509); And a material clamp (515) installed on the three-axis machine head (512) is used to clamp a square block or a rectangular wooden block.

6. The automatic wooden pallet nailing machine according to claim 1 is characterized in that: The CNC nailing and palletizing module (6) comprises: A linear guide pair (602) on the frame (601) and a lower nail gun assembly (605) mounted thereon; A lower nail gun assembly (605) driven to rise and fall by a three-axis cylinder (604); A lead screw pair (608) and a drive motor (609) connected to the tooling support (607) are used to synchronously lift the tooling (612); A linear guide pair (616) on the gantry (614) and a laterally movable nail gun assembly (617); And a pallet lifting module (618) and a pushing module (619) are used for stacking alignment.

7. The automatic wooden pallet nailing machine according to claim 1 is characterized in that: The control cabinet (7) comprises: The box body (701), the touch screen (702) and the control switch (703) are used to realize the setting of the size of the wooden pallet, the adjustment of the nailing position and the control of the number of stacking layers through PLC programming.

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