A bamboo sawing machine with a pre-feeding device and a bamboo sawing method

Abstract

The application belongs to the technical field of bamboo processing equipment, and particularly relates to a roller sawing bamboo machine with a pre-feeding device and a bamboo sawing method. The roller sawing bamboo machine with the pre-feeding device is provided with a pre-feeding mechanism on one side of a general rack, and is provided with 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-and-down pressing type roller cylinder conveying mechanism, a fixed-length clamping mechanism and a sawing mechanism on the general rack. Under the control of a control box, the mechanisms work cooperatively to realize continuous and highly automatic feeding, positioning, bamboo feeding, fixed-length cutting and other operations of the bamboo, thereby improving the efficiency of bamboo processing. The pre-feeding mechanism is provided, and one bamboo is pre-stored while sawing bamboo through the pre-feeding mechanism. The feeding action is continuous. The bamboo feeding mechanism is provided, and the pre-feeding mechanism cooperates with the bamboo feeding mechanism to improve the processing efficiency and precision.

Description

Technical Field

[0001] This invention belongs to the technical field of bamboo processing equipment, specifically relating to a roller bamboo sawing machine with a pre-feeding device and a bamboo sawing method. Background Technology

[0002] In bamboo product processing, cutting bamboo into sections is the initial step. Current bamboo cutting methods heavily rely on manual operation of cutting machines, resulting in low cutting length accuracy, high labor intensity, and poor safety. Specifically, during bamboo cutting, it's generally necessary to avoid cutting at the nodes. Current methods rely on visual identification and the experience of the operators to avoid nodes, making it difficult to rationally plan the cutting of the entire bamboo stalk and leading to waste. Furthermore, current bamboo cutting equipment suffers from low loading efficiency, primarily because it requires waiting for the previous bamboo stalk to be sawn before loading new ones, slowing down the bamboo cutting process. Summary of the Invention

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

[0004] To achieve the above objectives, the present invention adopts the following technical solution: A roller bamboo sawing machine with a pre-feeding device is provided, including a main frame. A pre-feeding mechanism for temporarily storing and feeding bamboo is provided on the front side of the main frame. A vision mechanism for identifying bamboo nodes is provided on the main frame. A bamboo feeding mechanism, a top centering clamping mechanism, and a top centering auxiliary clamping mechanism are respectively provided on the main frame behind the pre-feeding mechanism. The bamboo feeding mechanism is used to cooperate with the pre-feeding mechanism to feed the temporarily stored bamboo. The top centering clamping mechanism and the top centering auxiliary clamping mechanism are used for... The system includes a centering and clamping mechanism for bamboo; a front pressure roller mechanism and a rear pressure roller 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; a fixed-length clamping mechanism for blocking and positioning the ends of the bamboo after feeding and for clamping and shifting the bamboo, and a sawing mechanism for cutting the bamboo after feeding; and a control box for coordinating and controlling the various related mechanisms.

[0005] Preferably, the pre-feeding mechanism includes a feeding frame, on which a chain drive assembly driven by a first servo power source is provided. The chain of the chain drive assembly is provided with a plurality of slots for placing bamboo. Each slot can be used cyclically through chain drive. A first proximity switch for sensing the position of the slot is provided on the feeding frame.

[0006] Preferably, the vision mechanism includes an industrial camera and a light source, and a focusing cover is provided on the main frame above the pre-feeding mechanism, with the industrial camera and light source located below the focusing cover.

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

[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 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.

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

[0010] Preferably, the upper and lower pressing roller conveying mechanism includes a conveyor frame, an upper roller structure frame and a sixth cylinder are provided on the upper part of the conveyor frame, the rear end of the upper roller structure frame is hinged to the conveyor frame, and the front end of the sixth cylinder is hinged to the middle of the upper roller structure frame; a lower roller structure frame is provided at the lower part of the conveyor frame, and an upper roller and a lower roller are respectively provided on the upper roller structure frame and the lower roller structure frame; The conveyor frame is also equipped with a power distribution assembly, which includes an upper gear and a lower gear that mesh with each other, and a third servo power source that is driven and connected to the lower gear. The upper gear is driven and connected to the upper roller through an upper telescopic ten-pin coupling, and the lower gear is driven and connected to the lower roller through a lower telescopic ten-pin coupling. A rotary encoder is connected to the hinge shaft between the upper roller structure frame and the conveyor frame; a hydraulic buffer is provided on the conveyor frame located below the upper roller structure frame.

[0011] Preferably, the fixed-length gripper mechanism includes a welding frame, on which a left fixed-length plate and a right fixed-length plate are hinged. The mating sides of the left and right fixed-length plates are matching toothed edges. An arc-shaped toothed plate assembly is provided on the front side of the left and right fixed-length plates. A seventh cylinder is also provided on the welding frame and drivenly connected to the left and right fixed-length plates, respectively. The welding frame is also provided with a drive gear and a fourth servo power source connected to the drive gear. A walking support beam is provided on the main frame. A long rack that meshes with the drive 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 includes a support plate frame, on which a saw blade and a fifth servo power source are mounted. The fifth servo power source is driven to the shaft of the saw blade via a crank-slider assembly.

[0013] The present invention also provides a method for sawing bamboo, the method employing a roller bamboo saw with a pre-feeding device as described in any of the preceding claims, the method comprising: Set the sawing specifications for the bamboo using the control box, press the equipment start button, and the equipment will begin running; The bamboo is manually fed to the pre-feeding mechanism, and the large end and root of the bamboo are dragged to the position of the bamboo feeding mechanism. A saw blade reference laser is provided next to the sawing mechanism. Before the part of the bamboo to be cut exceeds the saw blade reference laser line, the bamboo sawing start button on the control box is pressed. The bamboo feeding mechanism and the pre-feeding mechanism simultaneously move the bamboo into the upper and lower pressing roller conveying mechanism. The rear pressure roller mechanism and the front pressure roller mechanism press down to press and position the bamboo, the upper and lower pressing roller conveying mechanism presses the bamboo, and the bamboo feeding mechanism returns to its original position. At this point, another bamboo can be added to the pre-feeding mechanism for 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 vision mechanism to determine whether the cutting position is located at a bamboo node. According to the identification result, the relevant actions are performed by the fixed-length clamping mechanism. If the vision mechanism identifies that the cutting position is located at a bamboo node, the fixed-length clamping mechanism is switched, and the bamboo is clamped by the fixed-length clamping mechanism and moved forward a section and cut by the sawing mechanism. If the vision mechanism detects that the cutting position is not located at a bamboo node, the fixed-length clamping mechanism moves to the designated position for the bamboo cutting length. Then, the upper and lower pressing roller conveying mechanism transports the front end of the bamboo to the position of the fixed-length clamping mechanism and blocks it. The bamboo is clamped by the top centering clamping mechanism and the top centering auxiliary clamping mechanism. The bamboo sawing mechanism cuts the bamboo down, completing the bamboo tube cutting. Then, the fixed-length clamping mechanism returns to the waiting position.

[0014] Compared with the prior art, the beneficial effects of this invention are as follows: This roller bamboo sawing machine with a pre-feeding device has a pre-feeding mechanism on one side of the main frame, and a vision mechanism, a bamboo feeding mechanism, a top centering clamping mechanism, a top centering clamping auxiliary mechanism, a front pressure roller mechanism, a rear pressure roller mechanism, an upper and lower pressing roller conveying mechanism, a fixed-length clamping mechanism, and a sawing mechanism are installed on the main frame. Under the control of the control box, each mechanism works in concert, realizing continuous and highly automated feeding, positioning, bamboo feeding, fixed-length cutting, and other operations on bamboo, thus improving the efficiency of bamboo processing. Specifically, the pre-feeding mechanism allows for the simultaneous feeding and pre-storing of a single bamboo pole while sawing, ensuring continuous feeding without waiting for the previous bamboo pole to be sawn. The bamboo feeding mechanism, in conjunction with the pre-feeding mechanism, increases the feeding speed and efficiency. The upper and lower pressing roller conveying mechanism features fast response, short feeding time, and high conveying speed, which is beneficial for improving sawing efficiency. This roller bamboo saw with a pre-feeding device achieves a high degree of automation in bamboo cutting. By introducing visual assistance and using algorithms to intelligently avoid bamboo nodes, it requires less manual intervention, has high processing efficiency, can cut bamboo to a fixed length, improves cutting accuracy, rationally plans the sawing space, has high processing quality, and minimizes the waste of bamboo materials. Attached Figure Description

[0015] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a three-dimensional structural schematic diagram of an embodiment of the roller bamboo sawing machine with a pre-feeding device of the present invention.

[0016] Figure 2 This is a side view of the pre-feeding mechanism in one embodiment of the roller bamboo saw with pre-feeding device of the present invention.

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

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

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

[0020] Figure 6 This is a front view of the front pressure roller mechanism in one embodiment of the roller bamboo sawing machine with pre-feeding device of the present invention.

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

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

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

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

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

[0026] Figure 12 This is a front view of the upper and lower pressing roller conveyor mechanism in one embodiment of the roller bamboo sawing machine with pre-feeding device of the present invention.

[0027] Figure 13 This is a front view of the top centering clamping mechanism in the open state of an embodiment of the roller bamboo saw with a pre-feeding device of the present invention.

[0028] Figure 14This is a front view of the closed state of the top centering clamping mechanism in an embodiment of the roller bamboo saw with a pre-feeding device of the present invention.

[0029] Figure 15 This is a three-dimensional structural diagram of the open state of the top centering clamping mechanism in an embodiment of the roller bamboo saw with a pre-feeding device of the present invention.

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

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

[0032] Figure 18 This is a front view of the top centering auxiliary clamping mechanism in the open state of an embodiment of the roller bamboo saw with a pre-feeding device of the present invention.

[0033] Figure 19 This is a three-dimensional structural diagram of the top centering auxiliary clamping mechanism in the open state of an embodiment of the roller bamboo saw with a pre-feeding device of the present invention.

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

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

[0036] Figure 22 This is a bottom view of the fixed-length clamping mechanism in one embodiment of the roller bamboo saw with pre-feeding device of the present invention.

[0037] Figure 23 This is a three-dimensional structural diagram of the fixed-length clamping mechanism in one embodiment of the roller bamboo saw with pre-feeding device of the present invention.

[0038] The labels in the diagram are as follows: Main frame 10, focusing cover 101; Pre-feeding mechanism 20, feeding frame 21, first servo power source 22, chain 23, rotating shaft 24, trough 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; Vision mechanism 30, industrial camera 31, light source 32, vision support 33, slider 34; Bamboo feeding mechanism 40, guide wheel groove 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 toothed plate 49, straight toothed plate 4010. Top centering auxiliary clamping mechanism 50; Front pressure roller mechanism 60, first frame connector 61, first pressure roller connecting rod 62, V-shaped pressure roller 63, third cylinder 64, fourth proximity switch 65, fourth proximity switch sensing plate 66, upper adjusting plate 67, lower adjusting plate 68; The rear pressure roller mechanism 70, the second frame connector 71, the second pressure roller connecting rod 72, the pressure roller 73, the fourth cylinder 74, the fifth proximity switch 75, the fifth proximity switch sensing plate 76, and the frame connecting plate 77; Top centering clamping mechanism 80, base 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 conveyor mechanism 90, conveyor 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 ten-way coupling 973, lower telescopic ten-way coupling 974, third servo power source 98, rotary encoder 99; Fixed-length gripper mechanism 100, welding frame 1001, left fixed-length plate 1002, right fixed-length plate 1003, seventh cylinder 1004, drive gear 1005, fourth servo power source 1006, walking wheel assembly 1007, three-axis cylinder 1008, limit block 1009, reinforcing rib 10010, arc-shaped toothed 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 Implementation

[0039] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] In one embodiment, a roller bamboo saw with a pre-feeding device is provided, such as... Figure 1-3As shown, the roller bamboo saw with pre-feeding device includes a main frame 10, which is mainly used to support and install other related components. A pre-feeding mechanism 20 is located at the front of the main frame 10 for temporarily storing and feeding bamboo. When cutting bamboo, it is fed from the pre-feeding mechanism 20. After feeding one bamboo, another can be temporarily stored, allowing sufficient time for feeding and preventing untimely feeding, thus enabling continuous operation of the equipment. A vision mechanism 30 is installed on the main frame 10 to identify bamboo nodes. The vision mechanism 30 photographs and identifies the cutting position of the bamboo, providing a reference for subsequent cutting and ensuring that the bamboo nodes are avoided during cutting. On the main frame 10, a bamboo feeding mechanism 40, a top centering clamping mechanism 80, and a top centering auxiliary clamping mechanism 50 are respectively provided on 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. 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 feeding, bamboo is manually placed on the pre-feeding mechanism 20. The main frame 10 also includes a front pressure roller mechanism 60 and a rear pressure roller mechanism 70 for positioning the fed bamboo. The front pressure roller mechanism 60 presses down on the bamboo to be cut from the front, and the rear pressure roller mechanism 70 presses down on the bamboo to be cut from the rear. When placing the bamboo, the root of the temporarily stored bamboo extends to the top of the centering clamping mechanism 80, while the bamboo is also located at the bamboo feeding mechanism 40. After the bamboo being processed is cut, the temporarily stored bamboo is pushed forward by the bamboo feeding mechanism 40, allowing it to proceed to the next cutting operation. The main frame 10 also includes an upper and lower pressing roller conveyor mechanism 90 for clamping and conveying the fed bamboo. The upper and lower pressing roller conveyor mechanism 90 uses two actively rotating rollers to press the bamboo together. Then, the rollers rotate, and the friction between the rollers and the bamboo transports the bamboo forward. The main frame 1 is also equipped with a fixed-length gripper mechanism 100 for blocking and positioning the ends of the bamboo after loading, and for clamping and shifting the bamboo. The fixed-length gripper mechanism 100 moves back and forth on the main frame 10 to the corresponding position to block the bamboo ends, ensuring the length of the cut bamboo segment is the predetermined length. Secondly, when the cutting point is a bamboo node, the fixed-length gripper mechanism 100 clamps and carries the bamboo back and forth on the main frame 10 to the corresponding position to cut the bamboo ends, so that subsequent cutting points can avoid the bamboo nodes. The main frame 1 is also equipped with a sawing mechanism 110 for cutting the bamboo after loading. The sawing mechanism 110 cuts the bamboo at the designated cutting points. The main frame 10 is equipped with a control box 120 for coordinating and controlling the various related mechanisms. The control box 120 contains controllers and various switches to control the preceding mechanisms, ensuring that the various operating steps of the equipment are coordinated and that the actions of each mechanism are continuous.

[0041] The bamboo sawing process of this roller bamboo sawing machine with pre-feeding 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 running; (2) Manually pre-load the bamboo through the pre-loading mechanism 20, drag the large end of the bamboo to the position of the bamboo feeding mechanism 40 and the top centering clamping mechanism 80. A saw blade reference laser is provided next to the sawing mechanism 110. The part of the bamboo to be cut is before 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 move synchronously, move the bamboo to the upper and lower pressing roller conveyor mechanism 90, the rear pressure roller mechanism 70 and the front pressure roller mechanism 60 press down, the top centering clamping mechanism 80 presses synchronously, and the bamboo is positioned; (4) After the bamboo is positioned, the upper and lower pressing roller conveyor 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 pre-storage, waiting for the next bamboo sawing start. (5) The sawing mechanism 110 saws the bamboo head, and then the vision mechanism 30 identifies the distribution of bamboo nodes. According to the identification result, the fixed-length clamping mechanism 100 switches to the fixed-length plate state and moves to the designated position of the bamboo sawing length. The upper and lower pressing roller conveying mechanism 90 quickly conveys the bamboo to the fixed-length clamping mechanism 100. When the bamboo hits the fixed-length clamping mechanism 100, the sawing mechanism 110 cuts the bamboo and completes the bamboo tube sawing. The fixed-length clamping mechanism 100 returns to the waiting position. (6) If the vision mechanism 30 identifies that the cutting point is located at a bamboo node, the fixed-length clamping mechanism 100 switches to the clamping plate state and moves the bamboo forward a small section and cuts it, so that the subsequent cutting point can avoid the bamboo node.

[0042] This roller bamboo sawing machine with a pre-feeding device has a pre-feeding mechanism 20 on one side of the main frame 10. The main frame 10 also includes a vision mechanism 30, a bamboo feeding mechanism 40, a top centering clamping mechanism 80, a front pressure roller mechanism 60, a rear pressure roller 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. Under the control of the control box 120, these mechanisms work together to achieve continuous and highly automated feeding, positioning, bamboo feeding, fixed-length cutting, and other operations on bamboo, thus improving the efficiency of bamboo processing. Specifically, the pre-feeding mechanism 20 allows for the simultaneous feeding and storage of a single bamboo pole while sawing, ensuring continuous feeding without waiting for the previous bamboo pole to be sawn. The bamboo feeding mechanism 40, working in conjunction with the pre-feeding mechanism 20, further increases the feeding speed and efficiency. The upper and lower pressing roller conveyor mechanism 90 features fast response, short time, and high conveying speed, which helps improve sawing efficiency. This roller bamboo sawing machine with pre-feeding device realizes a high degree of automation in bamboo cutting, with less manual intervention, high processing efficiency, high processing quality, and minimizes waste of bamboo materials.

[0043] Furthermore, in another embodiment, such as Figure 2-3 As shown, the pre-loading mechanism 20 of the roller bamboo sawing machine with pre-loading device includes a loading frame 21. A chain drive assembly driven by a first servo power source 22 is mounted on the loading frame 21. The first servo power source 22 includes a servo motor and a gearbox connected to it. The servo motor is controlled by a control box 120. The chain drive assembly includes chains 23 on both sides and shafts 24 mounted on the chains 23. A sprocket is located at the end of each shaft 24. The gearbox drives one of the shafts 24. Four troughs 25 for placing bamboo are mounted on the two chains 23 of the chain drive assembly. Each trough 25 has arc-shaped stops at its four inner corners to facilitate the sliding of bamboo back and forth within the trough. Each trough 25 can be used cyclically via the chain drive 23. An inclined loading bracket 26 is located on the outer side of the loading frame 21. A vertical fulcrum rod 261 is mounted on the loading bracket 26 to facilitate placing bamboo into the troughs 25. Figure 2 As shown, a first proximity switch 27 for sensing the position of the tank 25 is provided on the feeding frame 21. A first proximity switch sensing plate 271 is provided at the corresponding position at the bottom of each tank 25. The first proximity switch 27 signal is connected to the control box 120 so as to identify the position of the tank 25 and prepare for the corresponding process.

[0044] The pre-feeding mechanism is equipped with a large roller assembly 27 and a small roller assembly 28. The large roller assembly 27 assists in feeding the raw bamboo, while the small roller assembly 28 assists in positioning the cutting position of the bamboo head and reducing the resistance of the bamboo conveying. An auxiliary support plate 29 is also provided at the front of the pre-feeding mechanism. The auxiliary support plate 29 is driven by a cylinder. When the auxiliary support plate 29 descends, it reduces the contact area between the raw bamboo and the frame. In conjunction with the small roller assembly, it reduces the conveying resistance.

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

[0046] Furthermore, in another embodiment, such as Figure 1 and Figure 8 As shown, the vision mechanism 30 in the roller bamboo saw with pre-feeding device includes an industrial camera 31 and a light source 32. The lens of the industrial camera 31 faces the bottom, and the light source 32 includes four light bars distributed next to the industrial camera 31. The industrial camera 31 and the light source 32 are mounted on a vision support 33. Figure 1 A condenser 101 is mounted on the main frame 10, located above the pre-loading mechanism 20. A vision support 33, an industrial camera 31, and a light source 32 are positioned below the condenser 101. The condenser 101 focuses the light to ensure clear imaging. The industrial camera 31 and the light source 32 are mounted on the vision support 33 via sliders 34, allowing them to move along the support. The positions of the industrial camera 31 and the light source 32 are independently adjustable, enabling the vision mechanism 30 to adjust its position on the main frame 10 according to the sawn length of the bamboo.

[0047] Furthermore, in another embodiment, such as Figure 9-10As shown, the bamboo feeding mechanism 40 in the roller bamboo sawing machine with pre-feeding device includes a guide wheel groove 41. Slide grooves are provided on both sides of the guide wheel groove 41. A movable gripper structure 42 is provided on the guide wheel groove 41. The movable gripper structure 42 is a movable slide arranged on the guide wheel groove 41. Two cam bearings 43 are arranged in the guide wheel groove 41 on each side of the movable gripper structure 42. The cam bearings 43 can slide on the guide wheel groove 41. A rack and pinion assembly 44 is provided between the guide wheel groove 41 and the movable gripper structure 42. The rack and pinion assembly 44 includes a rack located at the bottom of the guide wheel groove 41. A second servo power source 45 for driving the movable gripper structure 42 to move along the guide wheel groove 41 is provided on the lower side of the movable gripper structure 42. The second servo power source 45 includes a servo motor. It also includes a gear that is driven and connected to the second servo power source 45. The gear meshes with the rack at the bottom of the guide wheel groove 41. When the second servo power source 45 rotates under the control of the control box 120, the movable gripper structure 42 can move left and right along the guide wheel groove 41. The movable gripper structure 42 is provided with an openable gripper 46 and a first cylinder 47 connected to it. The extension and retraction of the first cylinder 47 drives the opening and closing of the gripper 46. When the gripper 46 is closed, it is used to clamp the bamboo. The inner side of the gripper is provided with an arc-shaped toothed plate 49 and a straight toothed plate 4010 so as to be able to clamp the smooth bamboo. The guide wheel groove 41 is also provided with a second proximity switch 48 for sensing the movable gripper structure 42. The sensing signal of the second proximity switch 48 is sent to the control box 120 to determine the position of the movable gripper structure 42 on the guide wheel groove 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 bamboo, prevent the bamboo head from tilting during the feeding process, and the straight toothed plate and the arc-shaped toothed plate prevent the bamboo head from shifting.

[0049] Furthermore, in another embodiment, such as Figure 6-7As shown, the front pressure roller mechanism 60 of the roller bamboo sawing machine with pre-feeding device includes a first frame connector 61, which is mounted on the main frame 10. A first pressure roller connecting rod 62 is hinged to the bottom of the first frame connector 61 via a bearing with a seat. A bracket is provided at the front end of the first pressure roller connecting rod 62, and a V-shaped pressure roller 63 is provided on the bracket. The V-shaped pressure roller 63 is used to press down the bamboo. The surface of the V-shaped pressure roller 63 is provided with multiple annular protrusions so as to press down the smooth bamboo. The upper part of the connector 61 is provided with a third cylinder 64 that is hinged to the first pressure roller connecting rod 62. The third cylinder 64 drives the first pressure roller connecting rod 62 to rotate up and down, thereby driving the V-shaped pressure roller 63 to rise and fall. A fourth proximity switch 65 is provided on the first frame connector 61, and an arc-shaped fourth proximity switch sensing plate 66 is correspondingly provided on the first pressure roller connecting rod 62. There are two fourth proximity switches 65, both of which can send sensing signals to the control box 120 to sense the height of the V-shaped pressure roller 63 rising and falling.

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

[0051] like Figure 3-4 As shown, the rear pressure roller mechanism 70 includes a second frame connector 71. A frame connector plate 77 is provided on the top of the second frame connector 71. The second frame connector 71 is used to install on the main frame 10. A second pressure roller connecting rod 72 is hinged to the bottom of the second frame connector 71 through a bearing with a seat. A pressure roller 73 is provided at the front end of the second pressure roller connecting rod 72. The pressure roller 73 is used to press down the bamboo. A fourth cylinder 74 is provided on the upper part of the second frame connector 71 and is hinged to the second pressure roller connecting rod 72. The fourth cylinder 74 drives the second pressure roller connecting rod 72 to rotate up and down, thereby driving the pressure roller 73 to rise and fall. A fifth proximity switch 75 is provided on the second frame connector 71, and an arc-shaped fifth proximity switch sensing plate 76 is correspondingly provided on the second pressure roller connecting rod 72. There are two fifth proximity switches 75, both of which can send sensing signals to the control box 120 to sense the height of the pressure roller 73.

[0052] The function of the rear pressure roller mechanism 70 is to press the bamboo from the rear, restrict the bamboo from moving up and down, and to detect whether there is bamboo in the trough 25 of the pre-feeding mechanism 20 by judging the height of the lifting of the pressure roller 73, thus providing a judgment for the bamboo sawing process.

[0053] The proximity switches for the front pressure roller mechanism and the rear pressure roller mechanism are respectively installed in the upper adjusting plate 67 and the lower adjusting plate 68, which can adjust the detection range.

[0054] like Figure 13-15As shown, the top centering clamping mechanism 80 includes a base plate 81, which is used to mount on the main frame 10. A left swing arm 82 and a right swing arm 83 are hinged to the base plate 81 via bearings. A quarter gear 84 meshes between the left swing arm 82 and the right swing arm 83. By setting the quarter gear 84, the left swing arm 82 and the right swing arm 83 can swing synchronously in opposite directions. A left unpowered roller 85 and a right unpowered roller 86 are respectively provided on the upper side 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 to clamp bamboo. A fifth cylinder 87 and a sixth cylinder 88 are respectively hinged to the lower side of the left swing arm 82 and the right swing arm 83. The control box 120 controls the solenoid valve of the pneumatic system to control the operation of the fifth cylinder 87 and the sixth cylinder 88, thereby realizing the closing and opening 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 the bamboo. Synchronous centering is achieved through the meshing of two pairs of quarter gears on two swing arms. The left-side unpowered roller 85 and right-side unpowered roller 86 of the top centering clamping mechanism 80 are semi-toothed unpowered rollers. The upper surface of the semi-toothed unpowered roller is toothed, and the lower surface is smooth. This design restricts the bamboo tube from lifting upwards during centering, resulting in low resistance during conveying by the upper and lower pressing conveyor mechanism. Figure 18-19 The top centering clamping auxiliary mechanism 50 has the same structure as the top centering clamping mechanism 80, so it will not be described in detail here.

[0056] Furthermore, in another embodiment, such as Figure 11-12 As shown, the upper and lower pressing roller conveyor mechanism 90 in the roller bamboo sawing machine with pre-feeding device includes a conveyor frame 91, which is mounted on the main frame 10. An upper roller structure frame 92 and a sixth cylinder 93 are provided on the upper part of the conveyor 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 conveyor frame 91 via a bearing support and a rotating shaft. The cylinder body of the sixth cylinder 93 is hinged to the conveyor frame 91 via a bearing support and a rotating shaft. The front end of cylinder 93 is hinged to the middle of the upper roller structure frame 92. Under the control of control box 120, the upper roller structure frame 92 can be driven to rotate up and down by 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. Multiple annular grooves are provided on the cylinder walls of the upper roller 95 and the lower roller 96 to improve the friction with the bamboo.

[0057] A power distribution assembly 97 is also provided on the conveyor frame 91. The power distribution assembly 97 is used to distribute power to the upper roller 95 and the lower roller 96. The power distribution assembly includes an upper gear 971 and a lower gear 972 that mesh with each other, and a third servo power source 98 that is driven and connected to the lower gear 972. The third servo power source 98 includes a servo motor, which is controlled by the control box 120. The upper gear 971 is driven and connected to the rotating shaft of the upper roller 95 through an upper telescopic ten-pin coupling 973, and the lower gear 972 is driven and connected to the rotating shaft of the lower roller 96 through a lower telescopic ten-pin coupling 974. This enables the upper roller 95 and the lower roller 96 to rotate relative to each other through the third servo power source 98, thereby realizing the conveying 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 and thus determine the lifting height of the upper roller 95, in order to further determine the diameter of the bamboo. A hydraulic buffer 911 is also provided on the conveyor frame 91 below the upper roller structure frame 92. The hydraulic buffer 911 is used to abut against the upper roller structure frame 92, so that the rotation of the upper roller structure frame 92 is buffered, so that the clamping of the bamboo by the upper roller 95 and the lower roller 96 is flexible.

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

[0060] When conveying bamboo, the speed mode of the third servo power source 98 is used to convey bamboo quickly. When the front end of the bamboo is blocked by the fixed-length clamping mechanism 100, the third servo power source 98 uses the force feedback of the bamboo hitting the fixed-length clamping mechanism 100 as the sawing signal of the sawing mechanism 110. That is to say, when the force feedback of the bamboo hitting the fixed-length clamping mechanism 100 is sent 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. 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 pressing roller conveyor mechanism 90. The auxiliary power wheel 961 has a small-angle taper in the middle, presents a small V-shape, and has a mesh knurled surface. The bamboo has two support points between the auxiliary power wheel 961 and the lower roller 96, which makes the bamboo conveying more stable. The power of the servo power source is transmitted to the auxiliary power wheel 961 through the transition gear 962. Together with the toothed V-wheel of the front pressure roller mechanism, it plays a role in limiting the left and right swaying of the bamboo tail conveyor.

[0062] Furthermore, in another embodiment, such as Figure 20-23 As shown, the fixed-length clamping mechanism 100 in the roller bamboo saw with pre-feeding device includes a welding frame 1001, which is used to install on the main support 10. 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 put together to form a whole baffle to block the bamboo head. The left fixed-length plate 1002 and the right fixed-length plate 1003 can also be opened to clamp the bamboo head. The mating sides of the left fixed-length plate 1002 and the right fixed-length plate 1003 are matching toothed edges so as to clamp the bamboo head more securely. The welding frame 1001 is also equipped with a seventh cylinder 1004 that is driven and connected to the left fixed length plate 1002 and the right fixed length plate 1003 respectively. The left fixed length plate 1002 and the right fixed length plate 1003 are each driven and connected to a seventh cylinder 1004 on their rear sides. The seventh cylinder 1004 drives the left fixed length plate 1002 and the right fixed length plate 1003 to close or open.

[0063] The welding frame 1001 is also equipped with a drive gear 1005 and a fourth servo power source 1006 connected to the drive gear 1005. The fourth servo power source 1006 includes a servo motor and a gearbox, and the output shaft of the gearbox is connected to the drive gear 1005. Figure 1As shown, a walking support beam 102 is provided on the main frame 10. A long rack 103 that meshes with the drive gear 1005 is provided on the lower side of the walking support beam 102. A walking wheel assembly 1007 is provided on the welding frame 1001 and installed in the walking support beam 102. The walking wheel assembly 1007 includes a support plate provided on the welding frame 1001 and a plurality of walking wheels arranged on the support plate. The walking support beam 102 has a track corresponding to the walking wheels. After the walking wheel assembly 1007 is assembled in the walking support beam 102, when the drive gear 1005 is driven by the fourth servo power source 1006, the entire fixed-length gripper mechanism 100 can move back and forth along the long rack 103. An arc-shaped toothed plate assembly 10011 is provided on the front side of the left fixed-length plate 1002 and the right fixed-length plate 1003. The outer plate of the arc-shaped toothed plate assembly 10011 is provided with teeth so as to better hold the front end of the bamboo. The arc-shaped toothed plate assembly 10011 is an auxiliary contact plate that is fixed to a specified length according to the bending bamboo and is welded to the fixed-length plate. The distance from the highest point of the arc of the arc-shaped toothed plate to the fixed-length plate gradually increases from the middle to the periphery. Its main function is to fix the length of the bending bamboo and restrict the outward conveyance of the bending bamboo head.

[0064] The left fixed length plate 1002 and the right fixed length plate 1003 of the fixed length clamping mechanism 100 are also provided with reinforcing ribs 10010. The welding frame 1001 is driven by a three-axis cylinder 1008 to connect to a limit block 1009. When the fixed length plate is in the fixed length plate state, the limit block 1009 is engaged in the reinforcing rib 10010 through the two-point movement of the three-axis cylinder 1008. When the bamboo tube hits the fixed length plate, the fixed length clamping arm in the fixed length plate moves within a small range in the limit block. When the bent bamboo hits the arc-shaped toothed plate group of the fixed length plate, the circular proximity switches on both sides can detect the signal of the small displacement of the fixed length clamping arm, thereby triggering the sawing mechanism to saw the bamboo.

[0065] Furthermore, in another embodiment, such as Figure 16-17 As shown, the sawing mechanism 110 of the roller bamboo saw with pre-feeding device includes a support plate frame 1101, which is used to install on the main support 10. The support plate frame 1101 is provided with a saw blade 1102 and a fifth servo power source 1103. 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 driven to the rotating shaft of the saw blade 1102 through a crank-slider assembly 1104. 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 the crank-slider mechanism. The 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, the method employing the roller bamboo sawing machine with a pre-feeding device as described in the previous embodiment, the method comprising: (1) Set the sawing specifications for the bamboo through the control box 120, press the equipment start button, and the equipment will start running; (2) Manually feed the bamboo to the pre-feeding mechanism 20, drag the large end of the bamboo to the bamboo feeding 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 cut exceeds the saw blade reference laser line, press the bamboo sawing start button on the control box 120. The top centering clamping mechanism 80 opens, and the bamboo feeding mechanism 40 and the pre-feeding mechanism 20 move the bamboo to the upper and lower pressing roller conveying mechanism 90 simultaneously. (3) The rear pressure roller mechanism 70 and the front pressure roller mechanism 60 press down, and the top centering clamping mechanism 80 presses down simultaneously to position the bamboo. After positioning, the upper and lower pressing roller conveying mechanism 90 presses the bamboo, and the bamboo feeding mechanism 40 returns to its original position. (4) At this time, another bamboo can be placed into the pre-feeding mechanism 20 for pre-storage, waiting for the next bamboo sawing to start; (5) The bamboo head is sawn by the sawing mechanism 110 and the distribution of bamboo nodes is identified by the vision mechanism 30 to determine whether the cutting position is located at the bamboo node. According to the identification result, the relevant actions are performed by the fixed-length clamping mechanism 100. If the vision mechanism 30 identifies that the cutting position is located at the bamboo node, the fixed-length clamping mechanism 100 is switched, and the bamboo is clamped by the fixed-length clamping mechanism 100 and moved forward a section and cut by the sawing mechanism. (6) If the vision mechanism 30 identifies that the cutting position is not located at the bamboo node, the fixed-length clamping mechanism 100 moves to the position specified by the bamboo sawing length, and then the front end of the bamboo is transported to the position of the fixed-length clamping mechanism 100 and blocked by the upper and lower pressing roller conveying mechanism 90. The bamboo is then centered and pressed by the top centering clamping mechanism 80 and the top centering auxiliary clamping mechanism 50. The bamboo is then cut by the bamboo sawing mechanism 110, and the bamboo tube is cut. The fixed-length clamping mechanism 100 returns to the waiting position.

[0068] This method employs the roller bamboo saw with a pre-feeding device described in the previous embodiment. Under the control of the control box 120, the pre-feeding mechanism 20, as well as the vision mechanism 30, bamboo feeding mechanism 40, top centering clamping mechanism 80, top centering auxiliary clamping mechanism 50, front pressure roller mechanism 60, rear pressure roller mechanism 70, upper and lower pressing roller conveying mechanism 90, fixed length clamping mechanism 100, and sawing mechanism 110 on the main frame 10, all mechanisms work together to achieve continuous and highly automated feeding, positioning, bamboo feeding, fixed length cutting, and other operations on moso bamboo, thereby improving the efficiency of moso bamboo processing. In this method, the pre-feeding mechanism 20 enables the feeding and pre-storing of a single bamboo pole while sawing bamboo, and the feeding action is continuous, without having to wait for the previous bamboo pole to be sawn before feeding. The pre-feeding mechanism 20 works in conjunction with the bamboo feeding mechanism 40 to improve the feeding speed and efficiency. The upper and lower pressing roller conveying mechanism 90 has a fast response speed, short time, and fast conveying speed, which is conducive to improving sawing efficiency.

[0069] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0070] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A roller bamboo saw with a pre-feeding device, characterized in that: The system includes a main frame, with a pre-feeding mechanism on the front side for temporarily storing and feeding bamboo. A vision mechanism for identifying bamboo nodes is also located on the main frame. Behind the pre-feeding mechanism, a bamboo feeding mechanism, a top centering clamping mechanism, and a top centering auxiliary clamping mechanism are respectively located on the main frame. The bamboo feeding mechanism cooperates with the pre-feeding mechanism to feed the temporarily stored bamboo. 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 equipped with a front pressure roller mechanism and a rear pressure roller mechanism for positioning the bamboo on the pre-feeding mechanism, as well as an upper and lower pressing roller conveying mechanism for clamping and conveying the bamboo after feeding; the main frame is also equipped with a fixed-length clamping mechanism for blocking and positioning the ends of the bamboo after feeding and for clamping and shifting the bamboo; the main frame is also equipped with a sawing mechanism for cutting the bamboo after feeding; and the main frame is equipped with a control box for coordinating and controlling the various related mechanisms. The pre-feeding mechanism includes a feeding frame, on which a chain drive assembly driven by a first servo power source is provided. The chain of the chain drive assembly is provided with a plurality of slots for placing bamboo. Each slot can be used cyclically through chain drive. A first proximity switch for sensing the position of the slot is provided on the feeding frame. The vision mechanism includes an industrial camera and a light source. A condenser is provided on the main frame above the pre-feeding mechanism, and the industrial camera and light source are located below the condenser. The bamboo feeding mechanism includes a guide wheel groove, on which a movable gripper structure is provided. The movable gripper structure has a cam bearing arranged within the guide wheel groove. A rack and pinion assembly is provided between the guide wheel groove and the movable gripper structure. A second servo power source for driving the movable gripper structure to move along the guide wheel groove is provided on the lower side of the movable gripper structure. The movable gripper structure has an openable gripper and a first cylinder connected thereto. A second proximity switch for sensing the movable gripper structure is also provided on the guide wheel groove. The top centering clamping mechanism and the top centering auxiliary clamping mechanism are the same mechanism. The top centering clamping mechanism includes a base plate, on which a left swing arm and a right swing arm are hinged. A quarter gear meshing between the left swing arm and the right swing arm is provided. 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. A fifth cylinder and a sixth cylinder are respectively hinged on the lower side of the left swing arm and the right swing arm. The front pressure roller mechanism includes a first frame connector, a first pressure roller connecting rod hinged to the bottom of the first frame connector, a V-shaped pressure roller at the front end of the first pressure roller connecting rod, and a third cylinder hinged to the first pressure roller connecting rod at the upper part of the first frame connector; a fourth proximity switch is provided on the first frame connector, and an arc-shaped fourth proximity switch sensing plate is correspondingly provided on the first pressure roller connecting rod; The rear pressure roller mechanism includes a second frame connector, a second pressure roller connecting rod hinged to the bottom of the second frame connector, a pressure roller at the front end of the second pressure roller connecting rod, and a fourth cylinder hinged to the second pressure roller connecting rod at the upper part of the second frame connector; a fifth proximity switch is provided on the second frame connector, and an arc-shaped fifth proximity switch sensing plate is correspondingly provided on the second pressure roller connecting rod; The fixed-length gripper mechanism includes a welding frame, on which a left fixed-length plate and a right fixed-length plate are hinged. The mating sides of the left and right fixed-length plates are matching toothed edges. An arc-shaped toothed plate group is provided on the front side of the left and right fixed-length plates. A seventh cylinder is also provided on the welding frame and drivenly connected to the left and right fixed-length plates. The left and right length-fixing boards can be combined to form a single baffle to block the bamboo tip, ensuring that the length of the bamboo cutting segment is the predetermined length. The left and right length-fixing boards can also be opened to clamp the bamboo tip so that subsequent cutting points can avoid the bamboo nodes.

2. The roller bamboo saw with pre-feeding device according to claim 1, characterized in that: The upper and lower pressing roller conveying mechanism includes a conveyor frame, an upper roller structure frame and a sixth cylinder are provided on the upper part of the conveyor frame, the rear end of the upper roller structure frame is hinged to the conveyor frame, and the front end of the sixth cylinder is hinged to the middle of the upper roller structure frame; a lower roller structure frame is provided on the lower part of the conveyor frame, and an upper roller and a lower roller are respectively provided on the upper roller structure frame and the lower roller structure frame. The conveyor frame is also equipped with a power distribution assembly, which includes an upper gear and a lower gear that mesh with each other, and a third servo power source that is driven and connected to the lower gear. The upper gear is driven and connected to the upper roller through an upper telescopic ten-pin coupling, and the lower gear is driven and connected to the lower roller through a lower telescopic ten-pin coupling. A rotary encoder is connected to the hinge shaft between the upper roller structure frame and the conveyor frame; a hydraulic buffer is provided on the conveyor frame located below the upper roller structure frame.

3. The roller bamboo saw with pre-feeding device according to claim 1, characterized in that: The welding frame is also provided with a drive gear and a fourth servo power source connected to the drive gear. A walking support beam is provided on the main frame. A long rack that meshes with the drive 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.

4. The roller bamboo saw with pre-feeding device according to claim 1, characterized in that: The sawing mechanism includes a support plate frame, on which a saw blade and a fifth servo power source are mounted. The fifth servo power source is driven and connected to the shaft of the saw blade via a crank-slider assembly.

5. A method for sawing bamboo, characterized in that, This method uses the roller bamboo saw with a pre-feeding device as described in any one of claims 1-4, and the method includes: Set the sawing specifications for the bamboo using the control box, press the equipment start button, and the equipment will begin running; The bamboo is manually fed to the pre-feeding mechanism, and the large end and root of the bamboo are dragged to the position of the bamboo feeding mechanism. A saw blade reference laser is provided next to the sawing mechanism. Before the part of the bamboo to be cut exceeds the saw blade reference laser line, the bamboo sawing start button on the control box is pressed. The bamboo feeding mechanism and the pre-feeding mechanism simultaneously move the bamboo into the upper and lower pressing roller conveying mechanism. The rear pressure roller mechanism and the front pressure roller mechanism press down to press and position the bamboo, the upper and lower pressing roller conveying mechanism presses the bamboo, and the bamboo feeding mechanism returns to its original position. At this point, another bamboo can be added to the pre-feeding mechanism for 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 vision mechanism to determine whether the cutting position is located at a bamboo node. According to the identification result, the relevant actions are performed by the fixed-length clamping mechanism. If the vision mechanism identifies that the cutting position is located at a bamboo node, the fixed-length clamping mechanism is switched, and the bamboo is clamped by the fixed-length clamping mechanism and moved forward a section and cut by the sawing mechanism. If the vision mechanism detects that the cutting position is not located at a bamboo node, the fixed-length clamping mechanism moves to the designated position for the bamboo cutting length. Then, the upper and lower pressing roller conveying mechanism transports the front end of the bamboo to the position of the fixed-length clamping mechanism and blocks it. The bamboo is clamped by the top centering clamping mechanism and the top centering auxiliary clamping mechanism. The bamboo sawing mechanism cuts the bamboo down, completing the bamboo tube cutting. Then, the fixed-length clamping mechanism returns to the waiting position.

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