Roller bamboo sawing machine with pre-feeding device and bamboo sawing method

Abstract

The invention belongs to the technical field of moso bamboo processing equipment, and particularly relates to a roller bamboo sawing machine with a pre-feeding device and a bamboo sawing method. A visual mechanism, a bamboo feeding mechanism, a top centering clamping mechanism, a front pressing wheel mechanism, a rear pressing wheel mechanism, a top centering auxiliary clamping mechanism, an up-down pressing type roller conveying mechanism, a fixed-length clamping hand mechanism and a saw cutting mechanism are arranged on the main machine frame, and all the mechanisms work cooperatively under the control of a control box. Continuous and highly-automatic operations of feeding, positioning, bamboo conveying, length fixing, cutting and the like of the moso bamboos are achieved, and the moso bamboo processing efficiency is improved. According to the bamboo sawing machine, the pre-feeding mechanism is arranged, one moso bamboo can be fed and pre-stored while bamboo sawing is achieved through the pre-feeding mechanism, the feeding action is continuous, the bamboo conveying mechanism is arranged, and the pre-feeding mechanism is matched with the bamboo conveying mechanism, so that the machining efficiency and precision are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of bamboo processing equipment, and in particular relates to a roller bamboo sawing machine with a pre-feeding device and a bamboo sawing method. Background Art

[0002] In the processing of bamboo products, cutting bamboo into sections is the most initial operation process. The current bamboo cutting process relies heavily on manually operated cutting machines, which has problems such as low cutting length accuracy, high labor intensity, and poor safety performance. In particular, in the process of cutting bamboo, it is generally necessary to avoid cutting from the bamboo joints. The existing cutting operation relies on human eye recognition and the experience of practitioners to avoid bamboo joints, which makes it impossible to reasonably plan the cutting of the entire bamboo, and the cutting of bamboo is prone to waste. In addition, the current related bamboo cutting equipment has the problem of low loading efficiency, mainly because it is necessary to wait for the previous bamboo to be sawed before loading, and the intermediate loading time slows down the bamboo cutting process. Summary of the invention

[0003] The present invention aims to provide a roller bamboo sawing machine with a pre-feeding device and a bamboo sawing method, so as to realize highly automated bamboo cutting operation through the roller bamboo sawing machine with a pre-feeding device, reduce manual participation, improve processing efficiency and quality, and avoid unnecessary waste.

[0004] To achieve the above objectives, the present invention adopts the following technical solutions: A roller bamboo sawing machine with a pre-feeding device is provided, comprising a main frame, a pre-feeding mechanism for temporarily storing bamboo and feeding bamboo is arranged on the front side of the main frame, a visual mechanism for identifying bamboo joints is arranged on the main frame, and a bamboo feeding mechanism, a top centering clamping mechanism and a top centering auxiliary clamping mechanism are respectively arranged on the main frame at the rear side of the pre-feeding mechanism, the bamboo feeding mechanism is used to cooperate with the pre-feeding mechanism to feed the temporarily stored bamboo, and the top centering clamping mechanism and the top centering auxiliary clamping mechanism are used to The main frame is provided with a front pressing wheel mechanism and a rear pressing wheel mechanism for positioning the bamboo on the pre-feeding mechanism, and an upper and lower pressing roller conveying mechanism for clamping and conveying the bamboo after feeding; the main frame is also provided with a fixed-length clamping mechanism for blocking and positioning the end of the bamboo after feeding and capable of clamping and shifting the bamboo, and the main frame is provided with a sawing mechanism for cutting the bamboo after feeding; the main frame is provided with a control box for coordinating and controlling various related mechanisms.

[0005] Preferably, the pre-loading mechanism includes a loading frame, on which is provided a chain drive assembly driven by a first servo power source, a plurality of troughs for placing bamboos are provided on the chain of the chain drive assembly, each of the troughs can be circulated through chain drive, and a first proximity switch for sensing the position of the trough is provided on the loading frame.

[0006] Preferably, the visual mechanism includes an industrial camera and a light source, the main frame is provided with a condenser located on the upper side of the pre-loading mechanism, and the industrial camera and the light source are arranged on the lower side of the condenser.

[0007] Preferably, the bamboo feeding mechanism includes a guide wheel groove body, a mobile clamping hand structure is provided on the guide wheel groove body, and a cam bearing arranged in the guide wheel groove body is provided on the mobile clamping hand structure; a rack and pinion assembly is provided between the guide wheel groove body and the mobile clamping hand structure, and a second servo power source for driving the mobile clamping hand structure to move along the guide wheel groove body is provided on the lower side of the mobile clamping hand structure; an openable and closable clamping hand and a first cylinder connected thereto are provided on the mobile clamping hand structure; and a second proximity switch for sensing the mobile clamping hand structure is also provided on the guide wheel groove body.

[0008] Preferably, the top centering clamping mechanism and the top centering auxiliary clamping mechanism are the same mechanism, wherein the top centering clamping mechanism includes a base plate, a left swing arm and a right swing arm are hinged on the base plate, a meshing quarter gear is provided between the left swing arm and the right swing arm, a left unpowered roller and a right unpowered roller are respectively provided on the upper sides of the left swing arm and the right swing arm, and a fifth cylinder and a sixth cylinder are respectively hinged on the lower sides of the left swing arm and the right swing arm.

[0009] Preferably, the front pressure wheel mechanism comprises a first frame connecting member, a first pressure wheel connecting rod is hingedly connected to the bottom of the first frame connecting member, a V-shaped pressure wheel is arranged at the front end of the first pressure wheel connecting rod, and a third cylinder hingedly connected to the first pressure wheel connecting rod is arranged at the upper part of the first frame connecting member; a fourth proximity switch is arranged on the first frame connecting member, and an arc-shaped fourth proximity switch sensing plate is correspondingly arranged on the first pressure wheel connecting rod; The rear pressure wheel mechanism includes a second frame connecting member, a second pressure wheel connecting rod is hinged at the bottom of the second frame connecting member, a pressure wheel is provided at the front end of the second pressure wheel connecting rod, and a fourth cylinder hinged to the second pressure wheel connecting rod is provided at the upper part of the second frame connecting member; a fifth proximity switch is provided on the second frame connecting member, and an arc-shaped fifth proximity switch sensing plate is correspondingly provided on the second pressure wheel connecting rod.

[0010] Preferably, the upper and lower clamping roller conveying mechanism comprises a conveying frame, an upper roller structure frame and a sixth cylinder are arranged on the upper part of the conveying frame, the rear end of the upper roller structure frame is hinged on the conveying frame, and the front end of the sixth cylinder is hinged to the middle part of the upper roller structure frame; a lower roller structure frame is arranged at the lower part of the conveying frame, and an upper roller and a lower roller are arranged on the upper roller structure frame and the lower roller structure frame respectively; A power distribution assembly is also provided on the conveyor frame, the power distribution assembly includes an upper gear and a lower gear meshing with each other, and a third servo power source drivingly connected to the lower gear, the upper gear is drivingly connected to the upper roller through an upper telescopic cross coupling, and the lower gear is drivingly connected to the lower roller through a lower telescopic cross coupling; A rotary encoder is connected to the hinge shaft between the upper roller structure frame and the conveyor frame; and an oil pressure buffer is provided on the conveyor frame at the lower side of the upper roller structure frame.

[0011] Preferably, the fixed-length gripping mechanism comprises a welding frame, on which a left fixed-length plate and a right fixed-length plate are hinged, the sides of the left fixed-length plate and the right fixed-length plate facing each other are matching toothed edges, an arc-shaped toothed plate group is provided on the front sides of the left fixed-length plate and the right fixed-length plate, and the welding frame is also provided with a seventh cylinder drivingly connected to the left fixed-length plate and the right fixed-length plate respectively; A driving gear and a fourth servo power source connected to the driving gear are also provided on the welding frame. A walking support beam is provided on the main frame. A long rack meshing with the driving gear is provided on the lower side of the walking support beam. A walking wheel assembly installed in the walking support beam is provided on the welding frame.

[0012] Preferably, the sawing mechanism comprises a supporting plate frame, on which a saw blade and a fifth servo power source are provided, and the fifth servo power source is drivingly connected to a rotating shaft of the saw blade via a crank slider assembly.

[0013] The present invention further provides a bamboo sawing method, which adopts the roller bamboo sawing machine with a pre-feeding device as described in any of the above items, and the method comprises: The sawing specifications for the bamboo are set through the control box, and the equipment start button is pressed, and the equipment starts to run; Manually deliver the bamboo to the pre-loading mechanism, drag the big head root of the bamboo to the position of the bamboo delivery mechanism, a saw blade reference laser is provided next to the sawing mechanism, and before the part of the bamboo to be sawed exceeds the saw blade reference laser line, press the bamboo sawing start button on the control box, and the bamboo delivery mechanism and the pre-loading mechanism synchronously move the bamboo to the upper and lower clamping roller conveying mechanism; The rear pressing wheel mechanism and the front pressing wheel mechanism press down to compact and position the bamboo, the upper and lower compacting roller conveying mechanisms compact the bamboo, and the bamboo conveying mechanism returns to its original position; At this time, another bamboo can be put into the pre-feeding mechanism for pre-storage, waiting for the next bamboo sawing to start; The bamboo head is sawed by the sawing mechanism, and the distribution of bamboo nodes is identified by the visual mechanism to determine whether the cutting position is located at the bamboo node. According to the identification result, the fixed-length clamping mechanism performs relevant actions, wherein if the visual mechanism identifies that the cutting position is located at the bamboo node, the fixed-length clamping mechanism is switched, and the bamboo is clamped by the fixed-length clamping mechanism, moved forward a section, and cut by the sawing mechanism; If the visual mechanism recognizes that the cutting position is not located at the bamboo joint, the fixed-length clamping mechanism moves to the specified position of the bamboo sawing length, and then the front end of the bamboo is transported to the position of the fixed-length clamping mechanism through the upper and lower clamping roller conveying mechanisms and blocked, the bamboo is clamped by the top centering clamping mechanism and the top centering auxiliary clamping mechanism, and the bamboo sawing mechanism saws down to cut the bamboo, completing the sawing of the bamboo tube, and then the fixed-length clamping mechanism returns to the waiting position.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: the roller bamboo sawing machine with a pre-feeding device is provided with a pre-feeding mechanism on one side of the main frame, and a visual mechanism, a bamboo feeding mechanism, a top centering clamping mechanism, a top centering clamping auxiliary mechanism, a front pressure wheel mechanism, a rear pressure wheel mechanism, an upper and lower pressing roller conveying mechanism, a fixed length clamping mechanism, and a sawing mechanism are provided on the main frame. Under the control of the control box, each mechanism works in coordination to realize continuous and highly automated feeding, positioning, bamboo feeding, fixed length, cutting and other operations of bamboo, thereby improving the efficiency of bamboo processing. Among them, the roller bamboo sawing machine with a pre-feeding device is provided with a pre-feeding mechanism, through which a bamboo can be pre-loaded while sawing bamboo, and the feeding action is continuous, and there is no need to wait for the previous bamboo to be sawed before loading. By setting the bamboo feeding mechanism, the pre-feeding mechanism cooperates with the bamboo feeding mechanism to improve the feeding speed and the feeding efficiency. The upper and lower pressing roller conveying mechanism has a fast response speed, a short time, and a fast conveying speed, which is conducive to improving the sawing efficiency. The roller bamboo sawing machine with a pre-loading device realizes highly automated cutting operations of bamboo. By introducing visual assistance and using algorithms to intelligently avoid bamboo nodes, it reduces human involvement and has high processing efficiency. The length of bamboo cutting can be fixed, which improves cutting accuracy, rationally plans the sawing space, has high processing quality, and minimizes the waste of bamboo materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 It is a three-dimensional structural schematic diagram of an embodiment of a roller bamboo sawing machine with a pre-loading device of the present invention.

[0016] Figure 2 It is a side view of the pre-loading mechanism of one embodiment of the roller bamboo sawing machine with a pre-loading device of the present invention.

[0017] Figure 3 It is a three-dimensional structural schematic diagram of the pre-feeding mechanism in one embodiment of the roller bamboo sawing machine with a pre-feeding device of the present invention.

[0018] Figure 4 It is a front view of the rear pressure wheel mechanism of one embodiment of the roller bamboo sawing machine with a pre-feeding device of the present invention.

[0019] Figure 5 It is a three-dimensional structural schematic diagram of the rear pressure wheel mechanism in one embodiment of the roller bamboo sawing machine with a pre-feeding device of the present invention.

[0020] Figure 6 It is a front view of the front pressing wheel mechanism of an embodiment of a roller bamboo sawing machine with a pre-feeding device of the present invention.

[0021] Figure 7 It is a three-dimensional structural schematic diagram of the front pressure wheel mechanism in one embodiment of the roller bamboo sawing machine with a pre-feeding device of the present invention.

[0022] Figure 8 It is a three-dimensional structural schematic diagram of the visual mechanism in one embodiment of the roller bamboo sawing machine with a pre-feeding device of the present invention.

[0023] Fig. 9 It is a three-dimensional structural schematic diagram of a bamboo feeding mechanism in one embodiment of a roller bamboo sawing machine with a pre-feeding device of the present invention.

[0024] Fig.10 It is a left view of the bamboo feeding mechanism of one embodiment of the roller bamboo sawing machine with a pre-feeding device of the present invention.

[0025] Fig.11 It is a three-dimensional structural schematic diagram of the upper and lower clamping roller conveying mechanism in one embodiment of the roller bamboo sawing machine with a pre-feeding device of the present invention.

[0026] Fig.12 It is a front view of the upper and lower clamping roller conveying mechanism in one embodiment of the roller bamboo sawing machine with a pre-feeding device of the present invention.

[0027] Fig.13 This is a front view of the open state of the top centering clamping mechanism of an embodiment of the roller bamboo sawing machine with a pre-loading device of the present invention.

[0028] Fig.14It is a front view of the closed state of the top centering clamping mechanism in one embodiment of the roller bamboo sawing machine with a pre-loading device of the present invention.

[0029] Fig.15 It is a three-dimensional structural schematic diagram of the open state of the top centering clamping mechanism in one embodiment of the roller bamboo sawing machine with a pre-loading device of the present invention.

[0030] Fig.16 It is a three-dimensional structural schematic diagram of the sawing mechanism in one embodiment of the roller bamboo sawing machine with a pre-feeding device of the present invention.

[0031] Fig.17 It is a right side view of the sawing mechanism of one embodiment of the roller bamboo sawing machine with a pre-feeding device of the present invention.

[0032] Fig.18 This is a front view of the open state of the top centering auxiliary clamping mechanism in one embodiment of the roller bamboo sawing machine with a pre-loading device of the present invention.

[0033] Fig.19 It is a three-dimensional structural schematic diagram of the open state of the top centering auxiliary clamping mechanism in one embodiment of the roller bamboo sawing machine with a pre-loading device of the present invention.

[0034] Fig. 20 It is a schematic structural diagram of the fixed-length plate state of the fixed-length clamping mechanism in one embodiment of the roller bamboo sawing machine with a pre-feeding device of the present invention.

[0035] Fig.21 It is a schematic diagram of the state structure of the hand clamping plate of the fixed-length hand clamping mechanism in one embodiment of the roller bamboo sawing machine with a pre-feeding device of the present invention.

[0036] Fig. 22 It is a bottom view of the fixed-length clamping mechanism of an embodiment of the roller bamboo sawing machine with a pre-loading device of the present invention.

[0037] Fig.23 It is a three-dimensional structural schematic diagram of a fixed-length clamping mechanism in one embodiment of a roller bamboo sawing machine with a pre-feeding device of the present invention.

[0038] In the figure, each symbol indicates: Main frame 10, condenser 101; Pre-feeding mechanism 20, feeding frame 21, first servo power source 22, chain 23, rotating shaft 24, tank body 25, feeding bracket 26, fulcrum rod 261, first proximity switch 27, first proximity switch sensing plate 271, large roller assembly 27, small roller assembly 28, auxiliary support plate 29; Visual mechanism 30, industrial camera 31, light source 32, visual bracket 33, slider 34; Bamboo feeding mechanism 40, guide wheel groove body 41, movable gripper structure 42, cam bearing 43, rack and pinion assembly 44, second servo power source 45, gripper 46, first cylinder 47, second proximity switch 48, arc-shaped tooth piece 49, straight tooth piece 4010; Top centering auxiliary clamping mechanism 50; Front pressing wheel mechanism 60, first frame connecting member 61, first pressing wheel connecting rod 62, V-shaped pressing wheel 63, third cylinder 64, fourth proximity switch 65, fourth proximity switch sensing plate 66, upper adjusting plate 67, lower adjusting plate 68; Rear pressing wheel mechanism 70, second frame connecting member 71, second pressing wheel connecting rod 72, pressing wheel 73, fourth cylinder 74, fifth proximity switch 75, fifth proximity switch sensing plate 76, frame connecting plate 77; Top centering clamping mechanism 80, bottom plate 81, left swing arm 82, right swing arm 83, quarter gear 84, left unpowered roller 85, right unpowered roller 86, fifth cylinder 87, sixth cylinder 88; Upper and lower pressing roller conveying mechanism 90, conveying frame 91, upper roller structure frame 92, sixth cylinder 93, lower roller structure frame 94, upper roller 95, lower roller 96, auxiliary power wheel 961, transition gear 962, power distribution assembly 97, upper gear 971, lower gear 972, upper telescopic cross coupling 973, lower telescopic cross coupling 974, third servo power source 98, rotary encoder 99; Fixed-length gripping mechanism 100, welding frame 1001, left fixed-length plate 1002, right fixed-length plate 1003, seventh cylinder 1004, driving gear 1005, fourth servo power source 1006, travel wheel assembly 1007, three-axis cylinder 1008, limit block 1009, reinforcing rib 10010, arc-shaped tooth plate assembly 10011; Sawing mechanism 110, support plate frame 1101, saw blade 1102, fifth servo power source 1103, crank slider assembly 1104; Control box 120. DETAILED DESCRIPTION

[0039] 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.

[0040] In one embodiment, a roller bamboo sawing machine with a pre-loading device is provided. Figure 1-3As shown, the roller bamboo sawing machine with a pre-loading device includes a main frame 10, which is mainly used to support and install other related components, wherein a pre-loading mechanism 20 for temporarily storing bamboo and loading bamboo is provided on the front side of the main frame 10. When cutting bamboo, bamboo is loaded from the pre-loading mechanism 20. After loading a bamboo, another bamboo can be temporarily stored, which can reserve enough time for loading and avoid untimely loading, so that the equipment can operate continuously. A visual mechanism 30 for identifying bamboo joints is provided on the main frame 10. The cutting position of the bamboo is photographed and identified by the visual mechanism 30, which provides a reference for subsequent cutting, so that bamboo joints can be avoided during cutting. A bamboo feeding mechanism 40, a top centering clamping mechanism 80 and a top centering auxiliary clamping mechanism 50 are respectively provided on the main frame 10 at the rear side of the pre-feeding mechanism 20. The bamboo feeding mechanism 40 is used to cooperate with the pre-feeding mechanism 20 to feed the temporarily stored bamboo, and the top centering clamping mechanism 80 and the top centering auxiliary clamping mechanism 50 are used to center and clamp the bamboo to facilitate cutting. During loading, bamboo is placed on the pre-loading mechanism 20 manually, and a front pressing wheel mechanism 60 and a rear pressing wheel mechanism 70 are also provided on the main frame 10 for positioning the bamboo after loading. The front pressing wheel mechanism 60 is used to press the bamboo to be cut at the front side, and the rear pressing wheel mechanism 70 is used to press the bamboo to be cut at the rear side. When placing the bamboo, the root of the temporarily stored bamboo extends to the position of the top centering clamping mechanism 80, and the bamboo is also located at the position of the bamboo feeding mechanism 40. When the bamboo being processed is cut, the temporarily stored bamboo is pushed forward by the bamboo feeding mechanism 40, so that the temporarily stored bamboo is cut for the next step. The main frame 10 is also provided with an upper and lower pressing roller conveying mechanism 90 for clamping and conveying the bamboo after loading. The upper and lower pressing roller conveying mechanism 90 presses the bamboo by two upper and lower rollers that can rotate actively, and then the roller rotates, and the bamboo is conveyed forward by the friction between the roller and the bamboo. The main frame 1 is also provided with a fixed-length clamping mechanism 100 for blocking and positioning the end of the bamboo after loading and for clamping and shifting the bamboo. On the one hand, the fixed-length clamping mechanism 100 is used to move forward and backward on the main frame 10 to the corresponding position to block the bamboo head, so that the length of the bamboo cutting section is a predetermined length. On the other hand, when the cutting point is the bamboo joint position, the fixed-length clamping mechanism 100 clamps the bamboo and moves forward and backward on the main frame 10 to the corresponding position to cut the bamboo head, so that the subsequent cutting point can avoid the bamboo joint. The main frame 1 is provided with a sawing mechanism 110 for cutting the bamboo after loading, and the sawing mechanism 110 cuts the cutting point of the bamboo. The main frame 10 is provided with a control box 120 for coordinating and controlling various related mechanisms. The control box 120 is provided with a controller and various switch components to control the previous mechanisms, so that the various operation steps of the equipment are coordinated with each other and the continuity of the actions of each mechanism is controlled.

[0041] The bamboo sawing process of the roller bamboo sawing machine with pre-loading device is as follows: (1) Set the sawing specifications through the control panel of the control box 120, press the equipment start button, and the equipment starts to run; (2) Manually pre-load the bamboo through the pre-loading mechanism 20, drag the big head root of the bamboo to the position of the bamboo feeding mechanism 40 and the top centering clamping mechanism 80, and a saw blade reference laser is provided next to the sawing mechanism 110, and the part of the bamboo to be sawed exceeds the saw blade reference laser line; (3) Press the bamboo sawing start button, the top centering clamping mechanism 80 opens, the bamboo feeding mechanism 40 and the pre-loading mechanism 20 act synchronously, and the bamboo is moved to the upper and lower clamping roller conveying mechanism 90, the rear pressing wheel mechanism 70 and the front pressing wheel mechanism 60 press down, and the top centering clamping mechanism 80 presses synchronously to position the bamboo; (4) After the bamboo is positioned, the upper and lower clamping roller conveying mechanism 90 presses the bamboo, and the bamboo feeding mechanism 40 returns to its original position. At this time, another bamboo can be loaded into the pre-loading mechanism 20 for storage, waiting for the next bamboo sawing start. (5) The sawing mechanism 110 saws the bamboo head, and then identifies the distribution of bamboo joints through the visual mechanism 30. According to the identification result, the fixed-length clamping mechanism 100 switches to the fixed-length board state and moves to the designated position of the bamboo sawing length. The upper and lower pressing roller conveying mechanism 90 then quickly transports the bamboo to the fixed-length clamping mechanism 100 position. The bamboo pushes against the fixed-length clamping mechanism 100, and the sawing mechanism 110 cuts the bamboo down to complete the sawing of the bamboo tube. The fixed-length clamping mechanism 100 returns to the waiting position. (6) If the visual mechanism 30 identifies that the cutting point is located at the bamboo joint, the fixed-length clamping mechanism 100 switches to the clamping board state to move the bamboo forward a short distance and cut it off, so that the subsequent cutting point can avoid the bamboo joint.

[0042] The roller bamboo sawing machine with a pre-feeding device is provided with a pre-feeding mechanism 20 on one side of the main frame 10, and is provided with a visual mechanism 30, a bamboo feeding mechanism 40, a top centering clamping mechanism 80, a front pressure wheel mechanism 60, a rear pressure wheel mechanism 70, a top centering auxiliary clamping mechanism 50, an upper and lower pressing roller conveying mechanism 90, a fixed length clamping mechanism 100, and a sawing mechanism 110 on the main frame 10. Under the control of the control box 120, each mechanism works in coordination to realize continuous and highly automated feeding, positioning, bamboo feeding, fixed length, cutting and other operations of bamboo, thereby improving the efficiency of bamboo processing. Among them, the roller bamboo sawing machine with a pre-feeding device is provided with a pre-feeding mechanism 20, through which a bamboo can be pre-loaded while sawing bamboo, and the feeding action is continuous, and there is no need to wait for the previous bamboo to be sawed before loading. By setting the bamboo feeding mechanism 40, the pre-feeding mechanism 20 cooperates with the bamboo feeding mechanism 40 to improve the feeding speed and the feeding efficiency. The upper and lower pressing roller conveying mechanism 90 has a fast response speed, a short time, and a fast conveying speed, which is conducive to improving sawing efficiency. The roller bamboo sawing machine with a pre-loading device realizes a highly automated cutting operation of bamboo, with less manual participation, high processing efficiency, high processing quality, and minimizes the waste of bamboo materials.

[0043] Further, in another embodiment, Figure 2-3 As shown, the pre-feeding mechanism 20 in the roller bamboo sawing machine with a pre-feeding device includes a feeding frame 21, on which a chain drive assembly driven by a first servo power source 22 is provided. The first servo power source 22 includes a servo motor and a gearbox connected to the servo motor, and the servo motor is controlled by a control box 120. The chain drive assembly includes chains 23 on both sides, and a rotating shaft 24 arranged on the chain 23. A sprocket is provided at the end of the rotating shaft 24. The gearbox drives one of the rotating shafts 24. Four troughs 25 for placing bamboo are provided on the two chains 23 of the chain drive assembly. Arc-shaped baffle bars are provided at the four inner corners of each trough 25 to facilitate the bamboo to slide back and forth in the trough 25. Each trough 25 can be circulated and used through the chain 23 drive. An inclined feeding bracket 26 is provided on the outer side of the feeding frame 21, and an upright fulcrum rod 261 is provided on the feeding bracket 26 to facilitate the placement of the bamboo into the trough 25. As shown in FIG. Figure 2 As shown, a first proximity switch 27 for sensing the position of the trough body 25 is provided on the loading frame 21, and a first proximity switch sensing plate 271 is provided at a corresponding position at the bottom of each trough body 25. The signal of the first proximity switch 27 is connected to the control box 120 so that the position of the trough body 25 can be identified to prepare for the corresponding process.

[0044] The pre-loading mechanism is provided with a large roller assembly 27 and a small roller assembly 28. The large roller assembly 27 is used to assist in the loading of raw bamboo, and the small roller assembly 28 is used to assist in locating the cutting position of the raw bamboo head and reducing the resistance of raw bamboo transportation. An auxiliary support plate 29 is also provided on the front side of the pre-loading mechanism. The auxiliary support plate 29 is driven by a cylinder. When the auxiliary support plate 29 descends, the contact area between the raw bamboo and the frame can be reduced. It cooperates with the small roller assembly to reduce the transportation resistance.

[0045] The pre-loading mechanism 20 here is mainly used to assist in automatic loading of bamboo, pre-store a bamboo and discharge waste from the bamboo tail. The four troughs 25 on the pre-loading mechanism 20 are connected and driven by a chain 23. The troughs 25 can be recycled through the chain 23 to achieve cyclic loading.

[0046] Further, in another embodiment, Figure 1 and Figure 8 As shown, the visual mechanism 30 in the roller bamboo sawing machine with a pre-feeding device includes an industrial camera 31 and a light source 32. The lens of the industrial camera 31 faces the bottom. The light source 32 includes four light bars distributed beside the industrial camera 31. The industrial camera 31 and the light source 32 are installed on a visual bracket 33. Figure 1 , a condenser 101 is provided on the main frame 10 and is located on the upper side of the pre-feeding mechanism 20, and a visual support 33, an industrial camera 31 and a light source 32 are arranged on the lower side of the condenser 101, and the condenser 101 gathers light to ensure clear photography. The industrial camera 31 and the light source 32 are respectively mounted on the visual support 33 through a slider 34, so that the industrial camera 31 and the light source 32 can be moved along the visual support 33, and the positions of the industrial camera 31 and the light source 32 can be adjusted independently, so that the visual mechanism 30 can adjust its shooting position on the main frame 10 according to the sawing length of the bamboo.

[0047] Further, in another embodiment, Figure 9-10As shown, the bamboo feeding mechanism 40 in the roller bamboo sawing machine with a pre-feeding device includes a guide wheel groove body 41, and slide grooves are respectively provided on both sides of the guide wheel groove body 41. A movable clamping hand structure 42 is provided on the guide wheel groove body 41. The movable clamping hand structure 42 is a movable slide arranged on the guide wheel groove body 41. Two cam bearings 43 arranged in the guide wheel groove body 41 are respectively provided on both sides of the movable clamping hand structure 42, and the cam bearings 43 can slide on the guide wheel groove body 41; a rack and pinion assembly 44 is provided between the guide wheel groove body 41 and the movable clamping hand structure 42, and the rack and pinion assembly 44 includes a rack arranged at the bottom of the guide wheel groove body 41, and a second servo power source 45 for driving it to move along the guide wheel groove body 41 is provided on the lower side of the movable clamping hand structure 42, and the second servo power source 45 includes a servo motor, and the rack and pinion assembly 44 It also includes a gear driven by the second servo power source 45, which is meshed with the rack at the bottom of the guide wheel groove body 41. When the second servo power source 45 rotates under the control of the control box 120, the mobile clamping hand structure 42 can move left and right along the guide wheel groove body 41; the mobile clamping hand structure 42 is provided with an openable and closable clamping hand 46 and a first cylinder 47 connected thereto, and the clamping hand 46 is opened and closed by the extension and contraction of the first cylinder 47. The closed clamping hand 46 is used to clamp bamboo, and an arc-shaped tooth piece 49 and a straight tooth piece 4010 are provided on the inner side of the clamping hand so as to be able to clamp the smooth bamboo; a second proximity switch 48 for sensing the mobile clamping hand structure 42 is also provided on the guide wheel groove body 41, and the sensing signal of the second proximity switch 48 is sent to the control box 120 for determining the position of the mobile clamping hand structure 42 on the guide wheel groove body 41.

[0048] The bamboo feeding mechanism 40 is located at the front end of the pre-feeding mechanism 20. The bamboo feeding mechanism 40 is mainly used to cooperate with the pre-feeding mechanism 20 to feed the bamboo to prevent the bamboo heads from tilting during the feeding process. The straight teeth and the arc teeth prevent the bamboo heads from shifting.

[0049] Further, in another embodiment, Figure 6-7As shown, the front pressing wheel mechanism 60 in the roller bamboo sawing machine with a pre-feeding device includes a first frame connecting member 61, the first frame connecting member 61 is used to be installed on the main frame 10, a first pressing wheel connecting rod 62 is hinged at the bottom of the first frame connecting member 61 through a seat bearing, a bracket is provided at the front end of the first pressing wheel connecting rod 62, a V-shaped pressing wheel 63 is provided on the bracket, the V-shaped pressing wheel 63 is used to press the bamboo, and a plurality of annular protrusions are provided on the surface of the V-shaped pressing wheel 63 so that the smooth bamboo can be pressed. A third cylinder 64 is provided on the upper part of the connecting member 61 and is hinged to the first pressure wheel connecting rod 62. The first pressure wheel connecting rod 62 is driven to rotate up and down by the third cylinder 64, thereby driving the V-shaped pressure wheel 63 to move up and down. A fourth proximity switch 65 is provided on the first frame connecting member 61, and an arc-shaped fourth proximity switch sensing plate 66 is correspondingly provided on the first pressure wheel connecting rod 62. Two fourth proximity switches 65 are arranged, both of which can send sensing signals to the control box 120 for sensing the height of the V-shaped pressure wheel 63.

[0050] The function of the front pressing wheel mechanism 60 is to press the bamboo from the front side to restrict the left and right movement of the bamboo, and to detect whether there is bamboo by judging the height of the V-shaped pressing wheel 63 to provide judgment for the bamboo sawing process.

[0051] like Figure 3-4 As shown, the rear pressure wheel mechanism 70 includes a second frame connecting member 71, a frame connecting plate 77 is provided on the top of the second frame connecting member 71, the second frame connecting member 71 is used to be installed on the main frame 10, a second pressure wheel connecting rod 72 is hingedly connected to the bottom of the second frame connecting member 71 through a seat bearing, a pressure wheel 73 is provided at the front end of the second pressure wheel connecting rod 72, the pressure wheel 73 is used to press the bamboo, a fourth cylinder 74 is provided on the upper part of the second frame connecting member 71 and is hinged to the second pressure wheel connecting rod 72, the second pressure wheel connecting rod 72 is driven to rotate up and down by the fourth cylinder 74, thereby driving the pressure wheel 73 to rise and fall, a fifth proximity switch 75 is provided on the second frame connecting member 71, and an arc-shaped fifth proximity switch sensing plate 76 is correspondingly provided on the second pressure wheel connecting rod 72, and two fifth proximity switches 75 are arranged, both of which can send sensing signals to the control box 120 for sensing the height of the pressure wheel 73 rising and falling.

[0052] The function of the rear pressing wheel mechanism 70 is to press the bamboo from the rear side to limit the up and down movement of the bamboo, and to detect whether there is bamboo in the trough 25 of the pre-feeding mechanism 20 by judging the height of the pressing wheel 73, so as to provide judgment for the bamboo sawing process.

[0053] The proximity switches of the front pressing wheel mechanism and the rear pressing wheel mechanism are respectively installed in the upper adjusting plate 67 and the lower adjusting plate 68, so that the detection range can be adjusted.

[0054] like Figure 13-15As shown, the top centering clamping mechanism 80 includes a base plate 81, which is used to be installed on the main frame 10. A left swing arm 82 and a right swing arm 83 are hinged on the base plate 81 through bearings. A meshing quarter gear 84 is provided between the left swing arm 82 and the right swing arm 83. By providing the quarter gear 84, the left swing arm 82 and the right swing arm 83 can swing synchronously in opposite or reverse directions. A left unpowered roller 85 and a right unpowered roller 86 are respectively provided on the upper sides of the left swing arm 82 and the right swing arm 83. V-shaped grooves are distributed on the left unpowered roller 85 and the right unpowered roller 86 respectively so as to clamp the bamboo. A fifth cylinder 87 and a sixth cylinder 88 are respectively hinged on the lower sides of the left swing arm 82 and the right swing arm 83. The solenoid valve of the air pressure system is controlled by the control box 120 to control the action of the fifth cylinder 87 and the sixth cylinder 88, thereby realizing the closing and opening actions of the left unpowered roller 85 and the right unpowered roller 86.

[0055] The top centering clamping mechanism 80 is mainly used for centering and positioning of bamboo, and synchronous centering is achieved through the meshing of two pairs of quarter gears of two swing arms. The left unpowered roller 85 and the right unpowered roller 86 of the top centering clamping mechanism 80 are semi-toothed unpowered rollers, the upper surface of which is a toothed surface and the lower surface is a smooth surface, so that when centering, it can limit the bamboo tube from lifting up, and the upper and lower clamping conveying mechanism has little resistance when conveying. Figure 18-19 The top centering clamping auxiliary mechanism 50 has the same structure as the top centering clamping mechanism 80, which will not be described in detail here.

[0056] Further, in another embodiment, Figure 11-12 As shown, the upper and lower pressing roller conveying mechanism 90 in the roller bamboo sawing machine with pre-feeding device includes a conveying frame 91, and the conveying frame 91 is used to be installed on the main frame 10. An upper roller structure frame 92 and a sixth cylinder 93 are provided on the upper part of the conveying frame 91. The upper roller structure frame 92 is mainly used to install the upper roller. The rear end of the upper roller structure frame 92 is hinged to the conveying frame 91 through a bearing support and a rotating shaft. The cylinder body of the sixth cylinder 93 is hinged to the conveying frame 91 through a bearing support and a rotating shaft. The front end of the cylinder 93 is hinged to the middle part of the upper roller structure frame 92. Under the control of the control box 120, the upper roller structure frame 92 can be driven to rotate up and down through the sixth cylinder 93. A lower roller structure frame 94 is provided at the lower part of the conveyor frame 91. The lower roller structure frame 94 is used to install the lower roller. An upper roller 95 and a lower roller 96 are respectively provided on the upper roller structure frame 92 and the lower roller structure frame 94 through a rotating shaft. A plurality of annular grooves are respectively provided on the cylinder walls of the upper roller 95 and the lower roller 96 to increase the friction between the upper roller 95 and the lower roller 96 and the bamboo.

[0057] A power distribution component 97 is also provided on the conveying frame 91, and the power distribution component 97 is used to distribute power to the upper roller 95 and the lower roller 96, wherein the power distribution component includes an upper gear 971 and a lower gear 972 that mesh with each other, and a third servo power source 98 driven and connected to the lower gear 972. The third servo power source 98 includes a servo motor, which is controlled by a control box 120. The upper gear 971 is driven and connected to the rotating shaft of the upper roller 95 through an upper telescopic cross coupling 973, and the lower gear 972 is driven and connected to the rotating shaft of the lower roller 96 through a lower telescopic cross coupling 974, thereby realizing the third servo power source 98 to drive the upper roller 95 and the lower roller 96 to rotate relative to each other, thereby realizing the transportation of bamboo.

[0058] A rotary encoder 99 is connected to the hinge shaft between the upper roller structure frame 92 and the conveyor frame 91. When the upper roller structure frame 92 is driven to rotate up and down by the sixth cylinder 93, the rotary encoder 99 can sense the rotation angle, thereby judging the lifting height of the upper roller 95, and further judging the diameter of the bamboo. A hydraulic buffer 911 is also provided on the conveyor frame 91 at the lower side of the upper roller structure frame 92. The hydraulic buffer 911 is used to resist the upper roller structure frame 92, so that the rotation of the upper roller structure frame 92 is buffered, so that the upper roller 95 and the lower roller 96 are flexible in clamping the bamboo.

[0059] The upper roller structure frame 92 in the upper and lower pressing roller conveying mechanism 90 is hinged on the conveying frame 91 through a bearing support, which can realize a certain angle of rotational curve motion. The two-point motion of the sixth cylinder 93 is used to control the rotation angle of the upper roller structure frame 92, so that the upper roller 95 and the lower roller 96 can press the bamboo.

[0060] When transporting bamboo, the speed mode of the third servo power source 98 is used to quickly transport the bamboo. When the front end of the bamboo is blocked by the fixed-length clamping mechanism 100, the third servo power source 98 is used to feedback the force of the bamboo hitting the fixed-length clamping mechanism 100 as a sawing signal for the sawing mechanism 110. That is to say, when the force of the bamboo hitting the fixed-length clamping mechanism 100 is fed back to the third servo power source 98, the servo of the third servo power source 98 can sense the signal and send it to the main controller of the control box 120, and then the servo drive system corresponding to the sawing mechanism 110 is used to saw the bamboo.

[0061] An auxiliary power wheel 961 is provided next to the lower roller 96 of the upper and lower clamping roller conveying mechanism 90. The auxiliary power wheel 961 has a small taper in the middle and a small V-shape with a reticulated knurling on the surface. The bamboo has two supporting points between the auxiliary power wheel 961 and the lower roller 96, which makes the bamboo transportation more stable. The power of the servo power source is transmitted to the auxiliary power wheel 961 through the transition gear 962, and the toothed V-wheel of the front pressure wheel mechanism is cooperated to limit the left and right swing of the bamboo tail during transportation.

[0062] Further, in another embodiment, Figure 20-23 As shown, the fixed-length clamping mechanism 100 in the roller bamboo sawing machine with a pre-loading device includes a welding frame 1001, and the welding frame 1001 is used to be installed on the main bracket 10, and a left fixed-length plate 1002 and a right fixed-length plate 1003 are hinged on the welding frame 1001. The left fixed-length plate 1002 and the right fixed-length plate 1003 can be combined together to form a whole baffle for blocking the bamboo head, and the left fixed-length plate 1002 and the right fixed-length plate 1003 can also be opened to clamp the bamboo head; wherein, the side edges of the left fixed-length plate 1002 and the right fixed-length plate 1003 relative to each other are matching toothed edges so that the bamboo head can be clamped more firmly. The welding frame 1001 is also provided with a seventh cylinder 1004 which is driven and connected to the left fixed-length plate 1002 and the right fixed-length plate 1003. The rear sides of the left fixed-length plate 1002 and the right fixed-length plate 1003 are respectively driven and connected with a seventh cylinder 1004, and the left fixed-length plate 1002 and the right fixed-length plate 1003 are driven to close or open by the seventh cylinder 1004.

[0063] A driving gear 1005 and a fourth servo power source 1006 connected to the driving gear 1005 are also provided on the welding frame 1001. The fourth servo power source 1006 includes a servo motor and a gearbox. The gearbox output shaft is connected to the driving gear 1005. Figure 1As shown, a walking support beam 102 is provided on the main frame 10, and a long rack 103 meshing with a driving gear 1005 is provided on the lower side of the walking support beam 102, wherein a walking wheel assembly 1007 installed in the walking support beam 102 is provided on the welding frame 1001, and the walking wheel assembly 1007 includes a support plate set on the welding frame 1001, and a plurality of walking wheels arranged on the support plate, and a track corresponding to the walking wheel is provided inside the walking support beam 102. After the walking wheel assembly 1007 is assembled in the walking support beam 102, when the driving gear 1005 is driven by the fourth servo power source 1006, the entire fixed-length clamping mechanism 100 can move forward and backward along the long rack 103. An arc-shaped tooth plate group 10011 is provided on the front side of the left fixed-length plate 1002 and the right fixed-length plate 1003. The outer plate part of the arc-shaped tooth plate group 10011 is provided with teeth so as to better clamp the front end of the bamboo. The arc-shaped tooth plate group 10011 is an auxiliary contact plate that is fixed in length according to the specified length of the bent bamboo and is welded on the fixed-length plate. The distance from the highest point of the arc of the arc-shaped tooth plate to the fixed-length plate gradually increases from the middle to the surrounding areas. Its main function is to determine the length of the bent bamboo and limit the outward transportation of the bent bamboo head.

[0064] Reinforcing ribs 10010 are also provided on the rear sides of the left fixed-length plate 1002 and the right fixed-length plate 1003 of the fixed-length clamping mechanism 100, and a limit block 1009 is connected on the welding frame 1001 through the drive of the three-axis cylinder 1008. When in the fixed-length plate state, the limit block 1009 is clamped into the reinforcing rib 10010 through the two-point movement of the three-axis cylinder 1008, so that when the bamboo tube hits the fixed-length plate, the fixed-length clamping arm in the fixed-length plate moves in a small range in the limit block, and when the bent bamboo hits the arc-shaped tooth plate group of the fixed-length plate, the circular proximity switches arranged on both sides can detect the signal of the small-range displacement of the fixed-length clamping arm, thereby triggering the sawing mechanism to saw the bamboo.

[0065] Further, in another embodiment, Figure 16-17 As shown, the sawing mechanism 110 in the roller bamboo sawing machine with a pre-loading device includes a support plate frame 1101, and the support plate frame 1101 is used to be installed on the main bracket 10. A saw blade 1102 and a fifth servo power source 1103 are provided on the support plate frame 1101. The fifth servo power source 1103 includes a servo motor and a gearbox. The output shaft of the gearbox in the fifth servo power source 1103 is connected to the rotating shaft of the saw blade 1102 through a crank slider assembly 1104, and the servo motor of the fifth servo power source 1103 is controlled by a control box 120.

[0066] The sawing principle of the sawing mechanism 110 is based on a crank slider mechanism, and the up-down and forward-backward reciprocating sawing motion is achieved by changing the two extreme positions of the crank slider assembly 1104 in the sawing mechanism 110 .

[0067] In one embodiment, a bamboo sawing method is provided, wherein the method uses the roller bamboo sawing machine with a pre-loading device in the previous embodiment, and the method comprises: (1) The sawing specifications for the bamboo are set through the control box 120, and the equipment start button is pressed, and the equipment starts running; (2) The bamboo is manually delivered to the pre-loading mechanism 20, and the big root of the bamboo is dragged to the position of the bamboo delivery mechanism 40 and the top centering clamping mechanism 80. A saw blade reference laser is provided next to the sawing mechanism 110. Before the part of the bamboo to be sawed exceeds the saw blade reference laser line, the bamboo sawing start button on the control box 120 is pressed, the top centering clamping mechanism 80 is opened, and the bamboo delivery mechanism 40 and the pre-loading mechanism 20 synchronously move the bamboo to the upper and lower pressing roller conveying mechanism 90; (3) The rear pressing wheel mechanism 70 and the front pressing wheel mechanism 60 press downward, and the top centering clamping mechanism 80 presses synchronously to position the bamboo. After positioning, the upper and lower pressing roller conveying mechanisms 90 press the bamboo, and the bamboo conveying mechanism 40 returns to its original position; (4) At this time, another bamboo can be loaded into the pre-loading mechanism 20 for pre-storage, waiting for the next bamboo sawing to start; (5) sawing the bamboo head by the sawing mechanism 110, identifying the distribution of bamboo nodes by the visual mechanism 30 to determine whether the cutting position is located at the bamboo node, and performing relevant actions by the fixed-length clamping mechanism 100 according to the identification result, wherein if the visual mechanism 30 identifies that the cutting position is located at the bamboo node, the fixed-length clamping mechanism 100 is switched, the bamboo is clamped by the fixed-length clamping mechanism 100, moved forward a section, and cut by the sawing mechanism; (6) If the visual mechanism 30 recognizes that the cutting position is not located at the bamboo joint, the fixed-length clamping mechanism 100 moves to the specified position of the bamboo sawing length, and then the front end of the bamboo is transported to the position of the fixed-length clamping mechanism 100 through the upper and lower clamping roller conveying mechanism 90 and blocked, and the bamboo is centered and clamped by the top centering clamping mechanism 80 and the top centering auxiliary clamping mechanism 50, and the bamboo is sawed off by the bamboo sawing mechanism 110 to complete the sawing of the bamboo tube, and the fixed-length clamping mechanism 100 returns to the waiting position.

[0068] The method adopts the roller bamboo sawing machine with a pre-loading device in the previous embodiment, through the pre-loading mechanism 20, and the visual mechanism 30, bamboo feeding mechanism 40, top centering clamping mechanism 80, top centering auxiliary clamping mechanism 50, front pressure wheel mechanism 60, rear pressure wheel mechanism 70, upper and lower clamping roller conveying mechanism 90, fixed-length clamping mechanism 100, and sawing mechanism 110 on the main frame 10. Under the control of the control box 120, each mechanism works in coordination to realize continuous and highly automated loading, positioning, bamboo feeding, length fixing, cutting and other operations of bamboo, thereby improving the efficiency of bamboo processing. Among them, in this method, the pre-loading mechanism 20 is used to realize that a bamboo can be pre-loaded while sawing bamboo. The loading action is continuous and there is no need to wait until the previous bamboo is sawed before loading. The pre-loading mechanism 20 cooperates with the bamboo feeding mechanism 40 to increase the loading speed and improve the loading efficiency. The upper and lower clamping roller conveying mechanism 90 has fast response speed, short time and fast conveying speed, which is beneficial to improving the sawing efficiency.

[0069] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0070] 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 roller bamboo sawing machine with a pre-feeding device, characterized in that: The invention comprises a main frame, a pre-loading mechanism for temporarily storing bamboo and loading bamboo is arranged at the front side of the main frame, a visual mechanism for identifying bamboo joints is arranged on the main frame, and a bamboo feeding mechanism, a top centering clamping mechanism and a top centering auxiliary clamping mechanism are arranged on the main frame at the rear side of the pre-loading mechanism, the bamboo feeding mechanism is used to cooperate with the pre-loading mechanism to load the temporarily stored bamboo, and the top centering clamping mechanism and the top centering auxiliary clamping mechanism are used for centering and clamping the bamboo; The main frame is also provided with a front pressing wheel mechanism and a rear pressing wheel mechanism for positioning the bamboo on the pre-loading mechanism, and an upper and lower pressing roller conveying mechanism for clamping and conveying the bamboo after loading; the main frame is also provided with a fixed-length clamping mechanism for blocking and positioning the end of the bamboo after loading and capable of clamping and shifting the bamboo, and the main frame is provided with a sawing mechanism for cutting the bamboo after loading; the main frame is provided with a control box for coordinating and controlling various related mechanisms.

2. The roller bamboo sawing machine with a pre-feeding device according to claim 1, characterized in that: The pre-loading mechanism includes a loading frame, on which is provided a chain transmission assembly driven by a first servo power source, a chain of the chain transmission assembly is provided with a plurality of troughs for placing bamboo, each of which can be circulated through chain drive, and a first proximity switch for sensing the position of the trough is provided on the loading frame.

3. The roller bamboo sawing machine with a pre-feeding device according to claim 1, characterized in that: The visual mechanism comprises an industrial camera and a light source. The main frame is provided with a condenser located on the upper side of the pre-feeding mechanism. The industrial camera and the light source are arranged on the lower side of the condenser.

4. The roller bamboo sawing machine with a pre-feeding device according to claim 1, characterized in that: The bamboo feeding mechanism includes a guide wheel groove body, a mobile clamping hand structure is provided on the guide wheel groove body, and a cam bearing arranged in the guide wheel groove body is provided on the mobile clamping hand structure; a rack and pinion assembly is provided between the guide wheel groove body and the mobile clamping hand structure, and a second servo power source for driving the mobile clamping hand structure to move along the guide wheel groove body is provided on the lower side of the mobile clamping hand structure; an openable and closable clamping hand and a first cylinder connected thereto are provided on the mobile clamping hand structure; a second proximity switch for sensing the mobile clamping hand structure is also provided on the guide wheel groove body.

5. The roller bamboo sawing machine with a pre-feeding device according to claim 1, characterized in that: The top centering clamping mechanism and the top centering auxiliary clamping mechanism are the same mechanism, wherein the top centering clamping mechanism includes a base plate, a left swing arm and a right swing arm are hinged on the base plate, a meshing quarter gear is provided between the left swing arm and the right swing arm, a left unpowered roller and a right unpowered roller are respectively provided on the upper side of the left swing arm and the right swing arm, and a fifth cylinder and a sixth cylinder are respectively hinged on the lower side of the left swing arm and the right swing arm.

6. The roller bamboo sawing machine with a pre-feeding device according to claim 1, characterized in that: The front pressure wheel mechanism comprises a first frame connecting member, a first pressure wheel connecting rod is hinged at the bottom of the first frame connecting member, a V-shaped pressure wheel is arranged at the front end of the first pressure wheel connecting rod, and a third cylinder hinged to the first pressure wheel connecting rod is arranged at the upper part of the first frame connecting member; a fourth proximity switch is arranged on the first frame connecting member, and an arc-shaped fourth proximity switch sensing plate is correspondingly arranged on the first pressure wheel connecting rod; The rear pressure wheel mechanism includes a second frame connecting member, a second pressure wheel connecting rod is hinged at the bottom of the second frame connecting member, a pressure wheel is provided at the front end of the second pressure wheel connecting rod, and a fourth cylinder hinged to the second pressure wheel connecting rod is provided at the upper part of the second frame connecting member; a fifth proximity switch is provided on the second frame connecting member, and an arc-shaped fifth proximity switch sensing plate is correspondingly provided on the second pressure wheel connecting rod.

7. The roller bamboo sawing machine with a pre-feeding device according to claim 1, characterized in that: The upper and lower clamping roller conveying mechanism comprises a conveying frame, an upper roller structure frame and a sixth cylinder are arranged on the upper part of the conveying frame, the rear end of the upper roller structure frame is hinged on the conveying frame, and the front end of the sixth cylinder is hinged to the middle part of the upper roller structure frame; a lower roller structure frame is arranged at the lower part of the conveying frame, and an upper roller and a lower roller are arranged on the upper roller structure frame and the lower roller structure frame respectively; A power distribution assembly is also provided on the conveyor frame, the power distribution assembly includes an upper gear and a lower gear meshing with each other, and a third servo power source drivingly connected to the lower gear, the upper gear is drivingly connected to the upper roller through an upper telescopic cross coupling, and the lower gear is drivingly connected to the lower roller through a lower telescopic cross coupling; A rotary encoder is connected to the hinge shaft between the upper roller structure frame and the conveyor frame; and an oil pressure buffer is provided on the conveyor frame at the lower side of the upper roller structure frame.

8. The roller bamboo sawing machine with a pre-feeding device according to claim 1, characterized in that: The fixed-length gripping mechanism comprises a welding frame, on which a left fixed-length plate and a right fixed-length plate are hinged, the sides of the left fixed-length plate and the right fixed-length plate facing each other are matched toothed edges, an arc-shaped toothed plate group is provided on the front sides of the left fixed-length plate and the right fixed-length plate, and the welding frame is also provided with a seventh cylinder drivingly connected to the left fixed-length plate and the right fixed-length plate respectively; A driving gear and a fourth servo power source connected to the driving gear are also provided on the welding frame. A walking support beam is provided on the main frame. A long rack meshing with the driving gear is provided on the lower side of the walking support beam. A walking wheel assembly installed in the walking support beam is provided on the welding frame.

9. The roller bamboo sawing machine with a pre-feeding device according to claim 1, characterized in that: The sawing mechanism comprises a supporting plate frame, on which a saw blade and a fifth servo power source are arranged, and the fifth servo power source is drivingly connected to the rotating shaft of the saw blade through a crank slider assembly.

10. A bamboo sawing method, characterized in that: The method adopts the roller bamboo sawing machine with a pre-feeding device according to any one of claims 1 to 9, and the method comprises: The sawing specifications for the bamboo are set through the control box, and the equipment start button is pressed, and the equipment starts to run; Manually deliver the bamboo to the pre-loading mechanism, drag the big head root of the bamboo to the position of the bamboo delivery mechanism, a saw blade reference laser is provided next to the sawing mechanism, and before the part of the bamboo to be sawed exceeds the saw blade reference laser line, press the bamboo sawing start button on the control box, and the bamboo delivery mechanism and the pre-loading mechanism synchronously move the bamboo to the upper and lower clamping roller conveying mechanism; The rear pressing wheel mechanism and the front pressing wheel mechanism press down to compact and position the bamboo, the upper and lower compacting roller conveying mechanisms compact the bamboo, and the bamboo conveying mechanism returns to its original position; At this time, another bamboo can be put into the pre-feeding mechanism for pre-storage, waiting for the next bamboo sawing to start; The bamboo head is sawed by the sawing mechanism, and the distribution of bamboo nodes is identified by the visual mechanism to determine whether the cutting position is located at the bamboo node. According to the identification result, the fixed-length clamping mechanism performs relevant actions, wherein if the visual mechanism identifies that the cutting position is located at the bamboo node, the fixed-length clamping mechanism is switched, and the bamboo is clamped by the fixed-length clamping mechanism, moved forward a section, and cut by the sawing mechanism; If the visual mechanism recognizes that the cutting position is not located at the bamboo joint, the fixed-length clamping mechanism moves to the specified position of the bamboo sawing length, and then the front end of the bamboo is transported to the position of the fixed-length clamping mechanism through the upper and lower clamping roller conveying mechanisms and blocked, the bamboo is clamped by the top centering clamping mechanism and the top centering auxiliary clamping mechanism, and the bamboo sawing mechanism saws down to cut the bamboo, completing the sawing of the bamboo tube, and then the fixed-length clamping mechanism returns to the waiting position.

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