Intelligent bamboo cane binding and stacking equipment

Abstract

The invention discloses intelligent bamboo strip binding and stacking equipment which comprises a bamboo strip screening mechanism, a bamboo strip binding mechanism and a bamboo strip stacking mechanism. The bamboo cane screening mechanism comprises a defect recognition system and a defective product removing device. The defect recognition system recognizes whether defects exist on the surfaces of bamboo canes or not. The defective product removing device is used for moving the defective bamboo canes out of the conveying line; the bamboo cane binding mechanism comprises a feeding device, a counting device, a clamping and overturning device, a symmetrical assembly device and a binding device, and a preset value is set for the counting device; the clamping and overturning device is used for clamping and overturning the bamboo canes meeting the preset value and transferring the bamboo canes to the symmetrical assembly device; the symmetrical assembly device is used for splicing two groups of bamboo canes meeting a preset value to form a bamboo cane group and pushing the bamboo cane group to be conveyed forwards; the bamboo strip stacking mechanism comprises a dragging discharging device, a grabbing device and a stacking frame. According to the equipment, automation is comprehensively achieved, the overall production efficiency is improved, the bamboo canes are symmetrically assembled under the condition that the bamboo canes are loose and not tightly bundled, and the flatness of bundled bamboo canes is improved.

Description

Technical Field

[0001] The invention relates to the technical field of bamboo strip processing, in particular to an intelligent bamboo strip bundling and stacking device. Background Art

[0002] Bamboo strip processing occupies an important position in the bamboo industry. A key step in bamboo strip processing is to bundle the bamboo strips into bundles for transportation and subsequent processing. The traditional bamboo strip bundling method mainly relies on manual operation. Manual bundling is not only labor-intensive and inefficient, but also difficult to ensure consistency in bundling quality and firmness. Especially when the bamboo strips are long or in large quantities, the manual bundling process is more cumbersome. Due to human factors, problems such as loose and uneven bundling are very likely to occur, affecting subsequent processing and use. If the bundling is too loose, the bamboo strips will be unstable and prone to collapse, posing a safety hazard; if the bundling is too tight, it will affect the drying or carbonization quality of the bamboo strips. Too tight bundling will hinder the smooth evaporation of moisture between the bamboo strips, resulting in an insufficient drying process, which may cause defects such as black knots and mildew spots on the bamboo strips.

[0003] With the continuous advancement of automation technology, mechanized bundling equipment has gradually been introduced into the field of bamboo strip bundling to improve bundling efficiency and consistency. These devices usually use robotic arms, automatic strapping machines and other devices to achieve automated bundling of bamboo strips. However, the current automated bundling equipment still has certain limitations, and most equipment can only achieve semi-automatic operation. In some processes, manual intervention is still required. For example, the identification of bamboo strip defects usually requires manual visual inspection, which not only reduces the overall level of automation of the operation, but also leads to problems of low efficiency and inconsistent quality.

[0004] Therefore, there is an urgent need for a fully automated bamboo strip bundling and stacking device. Summary of the invention

[0005] In order to solve the above technical problems, the purpose of the present invention is to provide an intelligent bamboo strip bundling and stacking device.

[0006] The technical solution provided by the present invention is as follows: An intelligent bamboo strip bundling and stacking device, comprising: The bamboo strip screening mechanism includes a defect recognition module and a defective rejection device. The defect recognition module is arranged on the bamboo strip conveying line, and recognizes whether there are defects on the surface of the bamboo strip through image acquisition and algorithm analysis. If a defect is recognized, a defect instruction is issued; if no defect is recognized, a qualified instruction is issued; the defective rejection device receives the defect instruction and removes the defective bamboo strips from the conveying line; The bamboo strip bundling mechanism comprises a feeding device, a counting device, a clamping and flipping device, a symmetrical blank assembly device and a bundling device, wherein the feeding device is used to receive and input qualified bamboo strips that have been screened, the counting device counts the input bamboo strips and sets a preset value; when the count value reaches the preset value, the clamping and flipping device clamps and flips the bamboo strips that meet the preset value, and transfers them to the symmetrical blank assembly device; after the symmetrical blank assembly device receives two groups of bamboo strips that meet the preset value, it splices them to form a bamboo strip group, and pushes the bamboo strip group forward for transportation, and the bundling device bundles the bamboo strip group that is transported forward; The bamboo strip stacking mechanism comprises a dragging and discharging device, a grabbing device and a stacking frame, wherein the dragging and discharging device is used to drag the bamboo strip group out from the symmetrical blank assembly device, and the grabbing device is used to transfer the dragged bamboo strip group to the stacking frame.

[0007] Furthermore, a defect recognition station is provided on the bamboo strip conveying line, and the defect recognition module includes: A first industrial camera is installed directly above the defect recognition area and is used to collect image information of the upper surface of the bamboo strips; A second industrial camera is installed directly below the defect recognition area and is used to collect image information of the lower surface of the bamboo strip; The visual recognition server receives the image information collected by the first industrial camera and the second industrial camera, and identifies whether there are defects on the surface of the bamboo strips through algorithm analysis. If defects are identified, a defect instruction is issued.

[0008] Furthermore, the defective product rejection device comprises: A docking plate, which can be overlapped between the discharge port of the bamboo strip screening mechanism and the feeding device of the bamboo strip bundling mechanism; A pneumatic push rod is connected to the docking plate. When a defect instruction is received, the pneumatic push rod drives the docking plate away from the feeding device to move the defective bamboo strips out of the conveyor line; when a qualified instruction is received, the pneumatic push rod drives the docking plate close to the feeding device to input the qualified bamboo strips into the feeding device.

[0009] Furthermore, the bamboo strip bundling mechanism also includes an operating platform, on which a first channel and a second channel are arranged in parallel, the first channel is arranged corresponding to the feeding device, and is used to receive the bamboo strips input by the feeding device, the counting device is arranged between the first channel and the feeding device, the clamping and flipping device is used to clamp and flip the bamboo strips in the first channel and transfer them to the second channel, and the symmetrical assembly device is arranged on the second channel.

[0010] Furthermore, the bamboo strip binding mechanism also includes a mounting frame arranged on the operating platform, and the clamping and flipping device is slidably arranged on the mounting frame and can reciprocate between the first channel and the second channel.

[0011] Furthermore, the operating platform is provided with a first clamping space and a second clamping space at the front end and the rear end of the first channel respectively; The clamping and flipping device includes a rotating shaft, and a first clamping head and a second clamping head are respectively provided at both ends of the rotating shaft. The first clamping head and the second clamping head move synchronously. The first clamping head is used to clamp one end of the bamboo strip at the first clamping space, and the second clamping head is used to clamp the other end of the bamboo strip at the second clamping space.

[0012] Furthermore, a lifting plate is provided between the inlet of the first channel and the outlet of the feeding device, and a side of the lifting plate close to the feeding device is bent downward, and a side close to the first channel can intermittently move up and down; A first pressing device and a second pressing device are arranged on the operating platform, the first pressing device includes a first base, a first pressing plate hinged to the first base, and a first driving member for driving the first pressing plate to move, the first pressing plate is arranged corresponding to the lifting plate; the second pressing device is arranged at the rear end of the first channel, and includes a second base and a second pressing plate hinged to the second base.

[0013] Furthermore, the symmetrical assembly device comprises: A rotary pressing device is arranged on the left and right sides of the front end of the second channel; A propulsion device, slidably arranged in the length direction of the second channel; The lifting and pressing device is arranged at the rear end of the second channel.

[0014] Furthermore, the bamboo strip stacking mechanism further comprises a frame, and the dragging and discharging device is arranged at the rear end of the bundling device, and the dragging and discharging device comprises: A guide rail is arranged along the length direction of the frame; The clamping sliding device is slidably mounted on the guide rail.

[0015] Furthermore, the grabbing device comprises: A movable frame, slidably mounted in the width direction of the frame; A lifting device, slidably mounted in the length direction of the movable frame; The mounting seat is arranged at the bottom end of the lifting device, and a bamboo strip grabbing assembly and a spacer strip grabbing assembly are arranged on the mounting seat.

[0016] Compared with the prior art, the intelligent bamboo strip bundling and stacking equipment provided by the embodiment of the present invention has at least the following technical effects: The defect recognition system of the bamboo strip screening mechanism can accurately identify whether there are defects on the surface of the bamboo strips through image acquisition and algorithm analysis, with a recognition rate of more than 95%; after receiving the defect instruction, the defective rejection device will remove the defective bamboo strips from the conveyor line, and the rejection rate will reach more than 90%, thus improving the screening quality of the bamboo strips and reducing the defective rate in subsequent processing. Furthermore, the counting device in the bamboo strip bundling mechanism can accurately count the input bamboo strips, with a counting accuracy of 100%. When the count value reaches the preset value, the clamping and flipping device and the symmetrical assembly device work together to accurately clamp, flip and splice the bamboo strip group that meets the preset value, ensuring the symmetry and stability of the assembly, and the accuracy of the symmetrical assembly reaches 100%. The bundling device efficiently bundles the bamboo strip group, with an average bundling speed of 2 seconds / turn, which improves the bundling efficiency, and its bundling tightness is moderate. Compared with the uncertainty of manual bundling, it effectively avoids the adverse effects of over-tight bundling on the drying or carbonization quality, and also reduces the risk of unstable and collapsed bamboo strip stacking caused by over-loose bundling. In addition, the bamboo strip stacking mechanism can quickly transfer the bundled bamboo strips to the stacking rack through the dragging discharging device and the grabbing device, realizing automatic stacking. The equipment is fully automated, so that the bundling speed is coordinated with the front-end rough planing speed, improving the overall production efficiency. When the bamboo strips are loose and not tied tightly, they are symmetrically assembled to improve the flatness of the ends of the bamboo strips. It has been verified that the equipment can handle bamboo strips with a length of 2.1 meters, and the capacity of bamboo strip bundling and stacking reaches more than 1,200 pieces per hour, which improves the production efficiency of bamboo processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a schematic diagram of the overall structure of an intelligent bamboo strip bundling and stacking device in one embodiment of the present invention; Figure 2 for Figure 1 A rear view structural diagram of ; Figure 3 for Figure 2 A partial enlarged structural schematic diagram of part A; Figure 4 for Figure 2 A schematic diagram of a partial enlarged structure of part B; Figure 5 It is a schematic diagram of the overall structure corresponding to the bamboo strip bundling mechanism and the bamboo strip stacking mechanism in one embodiment of the present invention; Figure 6 for Figure 5 Schematic diagram of the overall structure from another perspective.

[0019] Reference numerals: 10. Bamboo strip screening mechanism; 11. Defect recognition system; 111. First industrial camera; 112. Second industrial camera; 12. Defective product rejection device; 121. Docking plate; 122. Pneumatic push rod; 20. Bamboo strip binding mechanism; 21. Feeding device; 22. Counting device; 23. Clamping and turning device; 231. Rotating shaft; 232. First clamping head; 233. Second clamping head; 24. Symmetrical assembly device; 241. Rotary pressing device; 242. Propelling device; 243. Lifting and pressing device; 25. Binding device; 26. Operating platform; 261. First pressing device; 262. Second pressing device; 27. Mounting frame; 30. Bamboo strip stacking mechanism; 31. Drag discharging device; 311. Guide rail; 312. Clamping and sliding device; 32. Grasping device; 321. Moving frame; 322. Lifting device; 323. Mounting seat; 324. Bamboo strip pneumatic clamp; 325. Spacer pneumatic clamp; 33. Rack; 34. Spacer placement rack. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention are clearly and completely described below. 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 the field without creative work are within the scope of protection of the present invention.

[0021] It should be noted that when an element is referred to as being "fixed on" or "set on" another element, it can be directly on the other element or indirectly set on the other element; when an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0022] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0023] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" and "several" is two or more, unless otherwise clearly and specifically defined.

[0024] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with this technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantive technical significance. Any structural modification, change in proportion or adjustment of size, without affecting the effects and purposes that can be achieved by the present invention, should still fall within the scope of the technical contents disclosed by the present invention.

[0025] Bamboo strip processing occupies an important position in the bamboo industry. A key step in bamboo strip processing is to bundle the bamboo strips into bundles for transportation and subsequent processing. The traditional bamboo strip bundling method mainly relies on manual operation. Manual bundling is not only labor-intensive and inefficient, but also difficult to ensure consistency in bundling quality and firmness. Especially when the bamboo strips are long or in large quantities, the manual bundling process is more cumbersome, and it is very easy to have problems such as loose and uneven bundling, which affects subsequent processing and use. If the bundling is too loose, the bamboo strips will be unstable and prone to collapse, posing a safety hazard; if the bundling is too tight, it will affect the drying or carbonization quality of the bamboo strips. Too tight bundling will hinder the smooth evaporation of moisture between the bamboo strips, resulting in an insufficient drying process, which may cause defects such as black knots and mildew spots on the bamboo strips.

[0026] With the continuous advancement of automation technology, mechanized bundling equipment has gradually been introduced into the field of bamboo strip bundling to improve bundling efficiency and consistency. These devices usually use robotic arms, automatic strapping machines and other devices to achieve automated bundling of bamboo strips. However, the current automated bundling equipment still has certain limitations, and most equipment can only achieve semi-automatic operation. In some processes, manual intervention is still required. For example, the identification of bamboo strip defects usually requires manual visual inspection, which not only reduces the overall level of automation of the operation, but also leads to problems of low efficiency and inconsistent quality.

[0027] Therefore, please refer to the attached Figure 1 To Attachment Figure 6 As shown, an embodiment of the present invention provides an intelligent bamboo strip bundling and stacking device, including a bamboo strip screening mechanism 10, a bamboo strip bundling mechanism 20 and a bamboo strip stacking mechanism 30; the bamboo strip screening mechanism 10 includes a defect recognition system 11 and a defective rejecting device 12, the defect recognition system 11 is arranged on the bamboo strip conveying line, and identifies whether there are defects on the surface of the bamboo strips through image acquisition and algorithm analysis. If a defect is recognized, a defect instruction is issued; if a defect is not recognized, a qualified instruction is issued; the defective rejecting device 12 receives the defect instruction and moves the defective bamboo strips out of the conveying line; the bamboo strip bundling mechanism 20 includes a feeding device 21, a counting device 22, a clamping and flipping device 23, a symmetrical blank assembly device 24 and a bundling device 25, the feeding device 21 is a counting device 22, a clamping and flipping device 23, a symmetrical blank assembly device 24 and a bundling device 25, and the feeding device 21 is a counting device 22, a clamping and flipping device 23, a symmetrical blank assembly device 24 and a bundling device 25. The device 21 is used to receive and input the qualified bamboo strips after screening, and the counting device 22 counts the input bamboo strips and sets a preset value; when the count value reaches the preset value, the clamping and flipping device 23 clamps and flips the bamboo strips that meet the preset value, and transfers them to the symmetrical assembly device 24; after the symmetrical assembly device 24 receives two groups of bamboo strips that meet the preset value, it splices them to form a bamboo strip group, and pushes the bamboo strip group forward for transportation, and the bundling device 25 bundles the bamboo strip group transported forward; the bamboo strip stacking mechanism 30 includes a dragging and discharging device 31, a grabbing device 32 and a stacking rack, and the dragging and discharging device 31 is used to drag the bamboo strip group out of the symmetrical assembly device 24, and the grabbing device 32 is used to transfer the dragged bamboo strip group to the stacking rack. Further explanation, after the bamboo strip groups are bundled, the bamboo strip stacking mechanism 30 will transport each bamboo strip group to the stacking rack, and according to the preset stacking rack size and the stacking quantity of each layer, the system will automatically stack and stack. When one layer of bamboo strips is stacked, the grabbing device 32 will rise to a new position and start stacking the next layer. Through such a cyclic operation, the bamboo strips are automatically stacked. The bamboo strip stacking mechanism 30 can also be used in conjunction with a forklift to transport the stacked bamboo strips to a drying kiln and other equipment, which facilitates the transportation and storage of bamboo strips, improves the production efficiency of the drying process in bamboo material processing, reduces labor costs, and improves the overall efficiency of the production line.

[0028] In this embodiment, the defect recognition system 11 of the bamboo strip screening mechanism 10 can accurately identify whether there are defects on the surface of the bamboo strips through image acquisition and algorithm analysis, with a recognition rate of more than 95%; after receiving the defect instruction, the defective bamboo strips will be removed from the conveyor line, and the rejection rate will reach more than 90%, thereby improving the screening quality of the bamboo strips and reducing the defective rate in subsequent processing. Furthermore, the counting device 22 in the bamboo strip bundling mechanism 20 can accurately count the input bamboo strips, and the counting accuracy rate reaches 100%. When the count value reaches the preset value, the clamping and flipping device 23 and the symmetrical assembly device 24 work together to accurately clamp, flip and splice the bamboo strip group that meets the preset value, ensuring the symmetry and stability of the assembly, and the accuracy rate of the symmetrical assembly reaches 100%. The bundling device 25 efficiently bundles the bamboo strips, with an average bundling speed of 2 seconds per turn, which improves the bundling efficiency. The bundling tightness can be adjusted according to actual needs to make the bundling tightness moderate, thereby effectively avoiding the adverse effects of over-tight bundling on the drying or carbonization quality, and also reducing the risk of unstable and collapsed bamboo strips caused by over-loose bundling. In addition, the bamboo strip stacking mechanism 30 can quickly transfer the bundled bamboo strips to the stacking rack by dragging the discharging device 31 and the grabbing device 32, thereby realizing automated stacking. The equipment is fully automated, so that the bundling speed is coordinated with the front-end rough planing speed, which improves the overall production efficiency. When the bamboo strips are loose and not tightly bundled, they are symmetrically assembled to improve the flatness of the ends of the bamboo strips. It has been verified that when the equipment processes bamboo strips with a length of 2.1 meters, the production capacity of bamboo strip bundling and stacking reaches more than 1,200 pieces per hour, which improves the production efficiency of bamboo material processing.

[0029] In order to solve the problems of bamboo strips with different shapes, side bending, black flakes due to mold and rot, missing edges, and different thickness of water lines after rough milling, the industrial camera in the defect recognition system 11 is used to take photos of tens of thousands of rough milled bamboo strips under different light sources and conditions. The server in the defect recognition system 11 uses AI algorithms to deeply learn the characteristics of various defects and define different types of defects. During the defect recognition process, the defect recognition system 11 combines with the PLC control system to realize intelligent recognition of defects in rough milled bamboo strips. After defect recognition, the defect recognition system 11 transmits the defect instruction to the PLC control system, and the PLC control system transmits the defect instruction to the servo control system to control the operation of the defective rejection device 12.

[0030] It should be further explained that the counting device 22 is set with a preset value (which can be but is not limited to 6), and the preset value is half of the total number of a group of bundled bamboo strips. Specifically, in the PLC control system, the total number of a group of bundled bamboo strips is first set. When the count value of the counting device 22 reaches half of the total number, the clamping and flipping device 23 clamps, flips and transports this part of the bamboo strips to the channel where the symmetrical assembly device 24 is located to wait. When the count value of the counting device 22 reaches the preset value again, the clamping and flipping device 23 clamps, flips and transports this part of the bamboo strips to the channel where the symmetrical assembly device 24 is located. At this time, the bamboo strips in the waiting area are combined with the bamboo strips just clamped to form a group of bundled bamboo strips with equal numbers on the left and right, and ensure that the green bamboo and the yellow bamboo are in a symmetrical state, providing a good foundation for the next bundling operation. Compared with the conventional semi-automatic bundling equipment (the conventional equipment has the problem of inaccurate counting, and cannot symmetrically assemble the green and yellow sides of equal numbers of bamboo strips, and thus cannot effectively eliminate the internal stress of the bamboo strips, which easily leads to the problem of lateral bending of the bundled bamboo strips), the present invention detects the wide side of the bamboo strips through the precise counting device 22, thereby realizing accurate counting of the bamboo strips. At the same time, the bamboo strips can form a bilaterally symmetrical combination when being bundled, reducing the lateral bending of the bundled bamboo strips and improving the neatness of the bundled bamboo strips.

[0031] In some optional embodiments, a defect recognition station is provided on the bamboo strip conveyor line, and the defect recognition system 11 includes a first industrial camera 111, a second industrial camera 112 and a server; the first industrial camera 111 is installed directly above the defect recognition area, and is used to collect image information of the upper surface of the bamboo strip; the second industrial camera 112 is installed directly below the defect recognition area, and is used to collect image information of the lower surface of the bamboo strip; the server receives the image information collected by the first industrial camera 111 and the second industrial camera 112, and identifies whether there are defects on the surface of the bamboo strip through algorithm analysis, and if a defect is identified, a defect instruction is issued.

[0032] In some optional embodiments, the defective rejection device 12 includes a docking plate 121 and a pneumatic push rod 122; the docking plate 121 can be overlapped between the discharge port of the bamboo strip screening mechanism 10 and the feeding device 21 of the bamboo strip bundling mechanism 20; the pneumatic push rod 122 is connected to the docking plate 121, and when a defect instruction is received, the pneumatic push rod 122 drives the docking plate 121 away from the feeding device 21, and moves the defective bamboo strips out of the conveyor line; when a qualified instruction is received, the docking plate 121 is driven close to the feeding device 21, and the qualified bamboo strips are input into the feeding device 21.

[0033] Specifically, the working principle of the bamboo strip screening mechanism 10 is as follows: when the server in the defect recognition system 11 recognizes that the bamboo strips are defective, it will send a defect signal to the PLC control system, and the PLC control system will generate a corresponding defect instruction. After the servo control system receives the defect instruction from the PLC control system, it will control the pneumatic push rod 122 to move to drive the docking plate 121 away from the feeding device 21, thereby moving the defective bamboo strips out of the conveyor line; when the server in the defect recognition system 11 does not recognize that the bamboo strips are defective, it will send a qualified signal to the PLC control system, and the PLC control system will generate a corresponding qualified instruction. After the servo control system receives the qualified instruction from the PLC control system, it will control the pneumatic push rod 122 to move to drive the docking plate 121 close to the feeding device 21, thereby inputting qualified bamboo strips into the feeding device 21.

[0034] In some optional embodiments, the bamboo strip binding mechanism 20 further includes an operating platform 26, on which a first channel and a second channel are arranged in parallel, the first channel is arranged corresponding to the feeding device 21, and is used to receive the bamboo strips input by the feeding device 21, the counting device 22 is arranged between the first channel and the feeding device 21, the clamping and flipping device 23 is used to clamp and flip the bamboo strips in the first channel, and transfer them to the second channel, and the symmetrical assembly device 24 is arranged on the second channel. Among them, the operating platform 26 is provided with a channel box at the position of the first channel, and the channel box has an inlet and an outlet, allowing the bamboo strips to freely enter and exit the channel box. Further explanation, the width of the channel box matches the width of the bamboo strips, so that the bamboo strips can be firmly confined in the channel box in the width direction, and at the same time, the length of the channel box is less than the length of the bamboo strips, which is convenient for subsequent clamping operations. A cover body that can be opened and closed is provided on the channel box. In the process of lifting the bamboo strips, the cover body will be lifted upward by the action of the bamboo strips, and when the bamboo strips are lifted, the cover body will automatically close downward under the action of its own gravity.

[0035] In some optional embodiments, the bamboo strip binding mechanism 20 further includes a mounting frame 27 disposed on the operating platform 26, and the clamping and flipping device 23 is slidably disposed on the mounting frame 27, and can reciprocate between the first channel and the second channel. It should be further explained that the clamping and flipping device 23 includes a mounting base, and the mounting base is slidably disposed on the top of the mounting frame 27. Under the control of the PLC control system, the sliding base can reciprocate between the first channel and the second channel, thereby realizing the reciprocating movement of the clamping and flipping device 23 between the first channel and the second channel.

[0036] In some optional embodiments, the operating platform 26 is provided with a first clamping space and a second clamping space at the front and rear ends of the first channel, respectively; the clamping and flipping device 23 includes a rotating shaft 231, and the first clamping head 232 and the second clamping head 233 are provided at both ends of the rotating shaft 231, respectively, the first clamping head 232 and the second clamping head 233 move synchronously, the first clamping head 232 is used to clamp one end of the bamboo strip at the first clamping space, and the second clamping head 233 is used to clamp the other end of the bamboo strip at the second clamping space. It should be further explained that the first clamping head 232 and the second clamping head 233 both include a bottom plate and a top plate corresponding to the bottom plate, a clamping cavity is formed between the bottom plate and the top plate, and a baffle is vertically provided between the bottom plate and the top plate, and the clamping cavity is divided into a left clamping cavity and a right clamping cavity by the baffle, and when clamping a group of bundled bamboo strips, the left clamping cavity and the right clamping cavity work alternately. In addition, the top plate is connected to the driving member and is controlled by the PLC control system to achieve the approach and distance of the top plate relative to the bottom plate. When the bamboo strip count in the first channel reaches a preset value, the first pressure plate will be lifted, and then the driving member will receive the clamping instruction and start the clamping operation. After the clamping is completed, the first clamping head 232 and the second clamping head 233 will be lifted upward. After lifting, the rotating shaft 231 will drive the bamboo strip to rotate 90 degrees, and then transfer it to the second channel for release.

[0037] In some optional embodiments, a lifting plate is provided between the entrance of the first channel and the exit of the feeding device 21, and the side of the lifting plate close to the feeding device 21 is bent downward, and the side close to the first channel can intermittently move up and down. Specifically, the lifting plate is similar to a seesaw structure. During operation, when the side of the lifting plate close to the first channel moves upward, the bamboo strips in the first channel will be lifted, and at the same time, the other side of the lifting plate close to the feeding device 21 moves downward, forming a gap with the lower surface of the front end of the bamboo strips. The role of the gap is to provide enough space so that the feeding device 21 can smoothly deliver the newly input bamboo strips into the first channel.

[0038] In some optional embodiments, the operating platform 26 is provided with a first pressing device 261 and a second pressing device 262, wherein the first pressing device 261 comprises a first base, a first pressing plate hinged to the first base, and a first driving member for driving the first pressing plate to move, and the first pressing plate is arranged corresponding to the lifting plate; the second pressing device 262 is arranged at the rear end of the first channel, and comprises a second base and a second pressing plate hinged to the second base. In the process of inputting qualified bamboo strips into the feeding device 21, the first pressing plate and the lifting plate on the side close to the first channel move synchronously, that is, when the lifting plate moves upward on the side close to the first channel, the first pressing plate is also lifted upward accordingly under the action of the first driving member. In the first channel, when the count value of the bamboo strips reaches the preset value, the PLC control system instructs the first pressing plate to lift upward under the action of the first driving member, at which time, the clamping and flipping device 23 starts to work, and the bamboo strips meeting the preset value are clamped and lifted. When the clamping and flipping device 23 is operated, the second pressing plate is also lifted upward to ensure that the bamboo strips can be clamped and lifted smoothly. In this embodiment, by providing the first pressing device 261 and the second pressing device 262, when the feeding device 21 inputs qualified bamboo strips, the bamboo strips are stably limited in the first channel, thereby avoiding the situation where the bamboo strips are not neatly stacked.

[0039] In some optional embodiments, the symmetrical blank assembly device 24 includes a rotary clamping device 241, a propulsion device 242 and a lifting and clamping device 243; the rotary clamping device 241 is arranged on the left and right sides of the front end of the second channel; the propulsion device 242 is slidably arranged in the length direction of the second channel; and the lifting and clamping device 243 is arranged at the rear end of the second channel. It can be explained that the front end of the second channel refers to the end close to the feeding device 21, and the rear end of the second channel refers to the end close to the bundling device 25. Optionally, the rotary clamping device 241 is a rotary downward pressing cylinder. The propulsion device 242 is a pneumatic slide rail propulsion device, and a first partition plate is provided at its propulsion end. The front end of the second channel is divided by the first partition plate to form a left channel away from the first channel and a right channel close to the first channel, and the left channel and the right channel are respectively provided with a rotary clamping device 241. The lifting and clamping device 243 is a pneumatic lifting and clamping device, including a lifting frame and a cylinder connected to the lifting frame. The operating platform 26 is provided with a fixed frame below the lifting frame, and the fixed frame is used to carry the bamboo strip group. A first pneumatic side pressure device is provided on one side of the fixed frame. A second partition plate is provided on the fixed frame, and the fixed frame is divided by the second partition plate into a left bearing channel away from the first channel and a right bearing channel close to the first channel. The left channel is connected to the left bearing channel, and the right channel is connected to the right bearing channel.

[0040] Specifically, the working principle of the symmetrical assembly device 24 is as follows: when the clamping and flipping device 23 transfers the bamboo strips that meet the preset value to the left channel and the left load-bearing channel, the PLC control system will instruct the rotary pressing device 241 of the left channel to start, press the front end of the bamboo strips, and at the same time instruct the lifting and pressing device 243 to press the rear end of the bamboo strips downward (when the clamping and flipping device 23 releases the bamboo strips, the PLC control system will instruct the lifting and pressing device 243 to lift upward). When the to-be-clamped and flipping device 23 transfers the bamboo strips that meet the preset value to the right channel and the right load-bearing channel, the PLC control system instructs the rotary pressing device 241 of the right channel to start, press the front end of the bamboo strips, and at the same time instruct the lifting and pressing device 243 to press the rear end of the bamboo strips downward. When the bamboo strips of the left channel and the right channel form a group of equal bundled bamboo strips on the left and right channels, the PLC control system will instruct the first pneumatic side pressure device to start, and push the bamboo strips of the left channel and the right channel closer. Subsequently, the PLC control system instructs the propulsion device 242 to push the bamboo stick group forward, and when the bamboo stick group reaches the binding device 25, the PLC control system instructs the binding device 25 to bind the bamboo stick group.

[0041] In some optional embodiments, the binding device 25 includes a keel frame, and a second pneumatic side pressure device is provided on one side of the keel frame. Through the provision of the second pneumatic side pressure device, the bamboo strips of the left channel and the right channel are further brought closer to improve the binding firmness.

[0042] In some optional embodiments, the bamboo strip stacking mechanism 30 further includes a frame 33, a dragging and discharging device 31 is arranged at the rear end of the bundling device 25, and the dragging and discharging device 31 includes a guide rail 311 and a clamping sliding device 312, the guide rail 311 is arranged along the length direction of the frame 33, and the clamping sliding device 312 is slidably mounted on the guide rail 311. It should be further explained that the clamping sliding device 312 includes a sliding seat and a bamboo strip pneumatic clamp, the bamboo strip pneumatic clamp is installed at the front end of the sliding seat, and the sliding seat is driven by a power device (such as a cylinder) and can reciprocate along the guide rail 311.

[0043] The working principle of the dragging and discharging device 31 is as follows: when the bundling device 25 completes the bundling process of the rear end of the bamboo strip group, the PLC control system instructs the bamboo strip pneumatic clamp to clamp the rear end of the bamboo strip group. Subsequently, the PLC control system instructs the power device of the sliding seat to drive the sliding seat away from the bundling device 25 and drag the bamboo strip group forward. After all the bamboo strip groups are dragged out, the PLC control system instructs the bamboo strip pneumatic clamp to release the bamboo strip group. Immediately thereafter, the PLC control system instructs the power device of the sliding seat to drive the sliding seat close to the bundling device 25 to prepare for the dragging of the next bamboo strip group. It can be explained that the rear end of the bamboo strip group refers to the end of the bamboo strip group close to the bundling device 25 when the bamboo strip group is located in the second channel and is not dragged. In addition, a side push rod is provided on the frame 33. When the bamboo strip group below the clamping sliding device 312 reaches a preset target value, the PLC control system instructs the side push rod to move, and the bamboo strip group below the clamping sliding device 312 is horizontally pushed to the bamboo strip temporary storage area along the width direction of the frame 33.

[0044] In some optional embodiments, the gripping device 32 includes a moving frame 321, a lifting device 322 and a mounting seat 323; the moving frame 321 is slidably mounted in the width direction of the frame 33; the lifting device 322 is slidably mounted in the length direction of the moving frame 321; the mounting seat 323 is arranged at the bottom end of the lifting device 322, and is provided with a bamboo strip pneumatic clamp 324 and a spacer strip pneumatic clamp 325. Specifically, the top of the frame 33 is provided with a first slide rail on both sides along the width direction thereof, and the moving frame 321 is slidably mounted between the two first slide rails through a slider or other sliding device, and is driven by a power device (such as a cylinder) so that the moving frame 321 can reciprocate along the first slide rail. The moving frame 321 is provided with a second slide rail along the length direction thereof, and the lifting device 322 is installed between the two second slide rails through a slider or other sliding device, and is driven by a power device (such as a cylinder) so that the lifting device 322 can reciprocate along the second slide rail.

[0045] In some optional embodiments, bamboo-bar pneumatic clamps 324 are respectively disposed at both ends of the mounting seat 323 , and a plurality of spacer-bar pneumatic clamps 325 are disposed between the two bamboo-bar pneumatic clamps 324 .

[0046] In some optional embodiments, a strip placement rack 34 is provided on one side of the frame 33, and multiple strip placement cavities are provided on the strip placement rack 34, and multiple strip pneumatic clamps 325 are provided in one-to-one correspondence with the multiple strip placement cavities. It should be further explained that the strip placement rack 34 is provided on one side of the length direction of the frame 33, and the stacking rack is provided opposite to the strip placement rack 34, provided on the other side of the length direction of the frame 33, and provided opposite to the bamboo strip temporary placement area in the width direction of the frame 33.

[0047] The working principle of the grabbing device 32 is as follows: the PLC control system first instructs the mobile frame 321 to move to the top of the bamboo strip temporary storage area along the width direction of the frame 33, and then instructs the lifting device 322 to descend to the bamboo strip temporary storage area, and the two bamboo strip pneumatic clamps 324 clamp the bamboo strip group. Subsequently, the PLC control system instructs the lifting device 322 to rise, and the mobile frame 321 moves to the top of the designated position of the stacking rack along the width direction of the frame 33. At this time, the lifting device 322 is again instructed to descend to the stacking layer of the stacking rack, and the two bamboo strip pneumatic clamps 324 release the bamboo strip group to the stacking layer. This process will continue to cycle until the number of bamboo strip groups in the stacking layer reaches a preset value. After completing the above operations, the PLC control system instructs the lifting device 322 to move to the top of the spacer placement rack 34 along the length direction of the mobile frame 321, and instructs the lifting device 322 to descend to the designated position of the spacer. Then, multiple spacer pneumatic clamps 325 are instructed to clamp multiple spacers at the same time. The lifting device 322 rises again and moves along the length direction of the mobile frame 321 to the top of the designated position of the stacking frame, and then the lifting device 322 is instructed to descend to the stacking layer. At this time, the multiple spacer pneumatic clamps 325 release the spacers to the stacking layer according to the preset spacing. This series of actions will be cyclically performed according to the predetermined process to ensure the accurate stacking and separation of the bamboo strips and the spacers, and finally complete the neat stacking of the bamboo strips.

[0048] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An intelligent bamboo strip bundling and stacking device, characterized in that: include: The bamboo strip screening mechanism includes a defect recognition module and a defective rejection device. The defect recognition module is arranged on the bamboo strip conveying line, and recognizes whether there are defects on the surface of the bamboo strip through image acquisition and algorithm analysis. If a defect is recognized, a defect instruction is issued; if no defect is recognized, a qualified instruction is issued; the defective rejection device receives the defect instruction and removes the defective bamboo strips from the conveying line; The bamboo strip bundling mechanism comprises a feeding device, a counting device, a clamping and flipping device, a symmetrical blank assembly device and a bundling device, wherein the feeding device is used to receive and input qualified bamboo strips that have been screened, the counting device counts the input bamboo strips and sets a preset value; when the count value reaches the preset value, the clamping and flipping device clamps and flips the bamboo strips that meet the preset value, and transfers them to the symmetrical blank assembly device; after the symmetrical blank assembly device receives two groups of bamboo strips that meet the preset value, it splices them to form a bamboo strip group, and pushes the bamboo strip group forward for transportation, and the bundling device bundles the bamboo strip group that is transported forward; The bamboo strip stacking mechanism comprises a dragging and discharging device, a grabbing device and a stacking frame, wherein the dragging and discharging device is used to drag the bamboo strip group out from the symmetrical blank assembly device, and the grabbing device is used to transfer the dragged bamboo strip group to the stacking frame.

2. The intelligent bamboo strip bundling and stacking equipment according to claim 1 is characterized in that: The bamboo strip conveying line is provided with a defect recognition station, and the defect recognition module comprises: A first industrial camera is installed directly above the defect recognition area and is used to collect image information of the upper surface of the bamboo strips; A second industrial camera is installed directly below the defect recognition area and is used to collect image information of the lower surface of the bamboo strip; The visual recognition server receives the image information collected by the first industrial camera and the second industrial camera, and identifies whether there are defects on the surface of the bamboo strips through algorithm analysis. If defects are identified, a defect instruction is issued.

3. The intelligent bamboo strip bundling and stacking equipment according to claim 1 is characterized in that: The defective product rejection device comprises: A docking plate, which can be overlapped between the discharge port of the bamboo strip screening mechanism and the feeding device of the bamboo strip bundling mechanism; A pneumatic push rod is connected to the docking plate. When a defect instruction is received, the pneumatic push rod drives the docking plate away from the feeding device to move the defective bamboo strips out of the conveyor line; when a qualified instruction is received, the pneumatic push rod drives the docking plate close to the feeding device to input the qualified bamboo strips into the feeding device.

4. The intelligent bamboo strip bundling and stacking equipment according to claim 1 is characterized in that: The bamboo strip bundling mechanism also includes an operating platform, on which a first channel and a second channel are arranged in parallel, the first channel is arranged corresponding to the feeding device, and is used to receive the bamboo strips input by the feeding device, the counting device is arranged between the first channel and the feeding device, the clamping and flipping device is used to clamp and flip the bamboo strips in the first channel and transfer them to the second channel, and the symmetrical assembly device is arranged on the second channel.

5. The intelligent bamboo strip bundling and stacking equipment according to claim 4 is characterized in that: The bamboo strip binding mechanism also includes a mounting frame arranged on the operating platform, and the clamping and flipping device is slidably arranged on the mounting frame and can reciprocate between the first channel and the second channel.

6. The intelligent bamboo strip bundling and stacking equipment according to claim 4 is characterized in that: The operating platform is provided with a first clamping space and a second clamping space at the front end and the rear end of the first channel respectively; The clamping and flipping device includes a rotating shaft, and a first clamping head and a second clamping head are respectively provided at both ends of the rotating shaft. The first clamping head and the second clamping head move synchronously. The first clamping head is used to clamp one end of the bamboo strip at the first clamping space, and the second clamping head is used to clamp the other end of the bamboo strip at the second clamping space.

7. The intelligent bamboo strip bundling and stacking equipment according to claim 4 is characterized in that: A lifting plate is provided between the inlet of the first channel and the outlet of the feeding device, the lifting plate is bent downward on a side close to the feeding device, and a side close to the first channel can intermittently move up and down; A first pressing device and a second pressing device are arranged on the operating platform, the first pressing device includes a first base, a first pressing plate hinged to the first base, and a first driving member for driving the first pressing plate to move, the first pressing plate is arranged corresponding to the lifting plate; the second pressing device is arranged at the rear end of the first channel, and includes a second base and a second pressing plate hinged to the second base.

8. The intelligent bamboo strip bundling and stacking equipment according to claim 4 is characterized in that: The symmetrical assembly device comprises: A rotary pressing device is arranged on the left and right sides of the front end of the second channel; A propulsion device, slidably arranged in the length direction of the second channel; The lifting and pressing device is arranged at the rear end of the second channel.

9. The intelligent bamboo strip bundling and stacking equipment according to claim 1 is characterized in that: The bamboo strip stacking mechanism further comprises a frame, and the dragging and discharging device is arranged at the rear end of the bundling device, and the dragging and discharging device comprises: A guide rail is arranged along the length direction of the frame; The clamping sliding device is slidably mounted on the guide rail.

10. The intelligent bamboo strip bundling and stacking equipment according to claim 9, characterized in that: The grabbing device comprises: A movable frame, slidably mounted in the width direction of the frame; A lifting device, slidably mounted in the length direction of the movable frame; The mounting seat is arranged at the bottom end of the lifting device, and a bamboo strip grabbing assembly and a spacer strip grabbing assembly are arranged on the mounting seat.

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