Turnover mechanism for wood tray production

Abstract

The invention belongs to the technical field of wood tray processing, and particularly provides a turnover mechanism for wood tray production, which comprises a worktable, and a rectangular groove is formed in the top of the worktable; a rotating shaft is installed in the rectangular groove through a high-precision bearing seat, two overturning arms are perpendicularly fixed to the rotating shaft, one end of the rotating shaft is connected with a first driving motor, the first driving motor is fixed to the side face of the workbench through a motor installation seat, a motor output shaft is connected with the rotating shaft through a high-precision coupler, and a high-precision encoder is installed at the end of the rotating shaft. The encoder is connected with the controller through a high-speed data transmission line, and precise closed-loop control over the overturning angle is achieved. Through automatic clamping and overturning and efficient cooperative work with machining equipment, the machining period of the wood pallets is greatly shortened, and compared with a traditional overturning mechanism, the production efficiency is greatly improved.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of wooden pallet processing, and in particular to a turning mechanism for wooden pallet production. Background Art

[0002] As the core load-bearing equipment in logistics transportation and warehousing turnover, wooden pallets need to go through multiple steps in their production process, including wood cutting, splicing, nailing, polishing, and anti-corrosion treatment. In addition, due to processing requirements (such as double-sided nailing and front and back polishing), wooden pallets need to be frequently flipped. With the surge in demand for wooden pallets in the logistics industry, traditional wooden pallet turning and auxiliary processing equipment can no longer meet the production requirements of large-scale, high-precision and low damage. Specifically, there are the following technical defects: the workbench support structure of existing wooden pallet production equipment is mostly fixed and can only adapt to wooden pallets of a single specification (such as 1200mm×1000mm). Secondly, the center of gravity offset causes vibration: wooden pallets are prone to center of gravity offset (the offset is often 50-100mm) due to uneven distribution of board splicing and scarring. The traditional turning mechanism uses a fixed speed drive (such as a constant 150r / min) and has no dynamic torque compensation function. When flipping to the critical angle of 90°, the torque mutation caused by the center of gravity offset will cause the pallet to shake violently, which may cause the board splicing to loosen at the least and cause the pallet to slip at worst. The equipment downtime and material loss costs caused by flipping instability each year account for about 15% of the company's production costs. On this basis, an intelligent turning mechanism for wooden pallet production is proposed. Summary of the Invention

[0003] The present invention provides a turning mechanism for producing wooden pallets, which is used to solve the technical problems existing in the above-mentioned background technology.

[0004] In order to achieve the above object, the technical solution of the present invention is:

[0005] A kind of turnover mechanism for wood pallet production, including workbench, rectangular recess is equipped on the top of workbench;Rotary shaft is installed in rectangular recess by high-precision bearing seat, two turnover arms are vertically fixed on rotary shaft, rotary shaft one end is connected with first drive motor, first drive motor is fixed to the side of workbench by motor mounting seat, motor output shaft is connected with rotary shaft by high-precision shaft coupling, high-precision encoder is installed at the end of rotary shaft, encoder is connected with controller by high-speed data transmission line, realize the accurate closed-loop control to turnover angle, binocular vision camera is installed above workbench, camera is connected with controller by high-speed data transmission line, binocular vision camera opens work, carries out all-around image acquisition to the wood pallet placed on workbench, obtains the length, width, thickness and board distribution characteristic information of wood pallet quickly by built-in image recognition algorithm, and these data are transmitted to controller in real time, controller is based on the data received, in combination with the preset algorithm model, the best clamping position of movable clamp plate and the best gravity balance point when overturning are automatically calculated.

[0006] In a preferred embodiment of the present application, the static gravity center calculation is based on the board distribution characteristics, and a three-dimensional gravity center model is established:

[0007]

[0008] wherein, m i = ρ·V i represents the mass of the i-th board;

[0009] (x i , y i , z i ) represents the geometric center coordinates of the i-th board.

[0010] In a preferred embodiment of the present application, the gravity center offset caused by uneven thickness during the overturning process is considered, and a compensation coefficient is introduced:

[0011] ΔC x = k p ·∑(ΔH i ·cosθ)ΔC y = k p ·∑(ΔH i ·sinθ)

[0012] ΔH i represents the thickness deviation of the i-th board (actual thickness - average thickness, unit: mm);

[0013] θ represents the current inverse angle (unit: rad);

[0014] k p represents the density unevenness coefficient.

[0015] In a preferred embodiment of the present application, a smart pressure feedback clamping mechanism is installed on the turnover arm, which comprises a fixed clamping plate and a movable clamping plate, a pressure sensor is embedded in the clamping surface of the fixed clamping plate and the movable clamping plate, and the pressure sensor is connected with a controller through a shielded cable; the movable clamping plate is driven by a second driving motor through a bidirectional screw rod, and the output torque of the second driving motor is automatically adjusted by the controller according to the feedback of the pressure sensor and a built-in wood pallet material database.

[0016] In a preferred embodiment of the present application, the controller calculates the maximum safe clamping force that can be borne by the current material according to the built-in wood pallet material database, so as to avoid crushing damage:

[0017] F max com ·S con ·k safe

[0018] Wherein, F max represents the maximum clamping force allowed by the material;

[0019] σ com represents the compressive strength of the wood pallet material;

[0020] S con represents the actual contact area of the clamping plate and the wood pallet, which is calculated by the clamping width of the clamping plate and the thickness of the wood pallet, S con = clamping width * wood pallet thickness;

[0021] k safe represents a safety factor.

[0022] In a preferred embodiment of the present application, the controller dynamically adjusts the motor output torque through a proportional-integral algorithm according to the clamping force F real fed back by the pressure sensor in real time, so as to realize the non-overshoot tracking of the clamping force:

[0023]

[0024] Wherein, T out represents the real-time output torque of the second driving motor;

[0025] F target target clamping force, F max *0.8;

[0026] F real clamping force detected by the pressure sensor in real time;

[0027] K p proportional coefficient (value 5-8 N·m / N);

[0028] K i ​Integration coefficient (value range 0.3~0.5N·m / (N·s);

[0029] T base Basic torque (range 1.2 to 1.5 N·m);

[0030] tClamping time.

[0031] In a preferred embodiment of the present invention, when the flip angle approaches the set value, the controller calculates the motor target speed through the angle deviation fed back by the encoder to achieve a smooth stop:

[0032] n target =n max ·exp(-k dec ·|θ set -θ real )n target Indicates the real-time target speed of the motor;

[0033] n max Indicates the maximum rated speed of the motor (range: 150~200r / min);

[0034] k dec represents the deceleration coefficient;

[0035] θ set Indicates the flip angle set by the operator;

[0036] θ real Indicates the flip angle detected by the high-precision encoder in real time.

[0037] In a preferred embodiment of the present invention, when the center of gravity of the wooden pallet shifts and causes a sudden change in the overturning torque, the controller avoids equipment vibration through torque compensation. The formula is as follows:

[0038] ΔT=k comp ΔM=k comp ·m·g·Δd·sinθ real

[0039] ΔT represents the compensation torque that the first drive motor needs to supplement;

[0040] k comp Indicates the torque compensation coefficient (value ranges from 1.1 to 1.3);

[0041] ΔM is the sudden change value of the overturning torque; m is the mass of the wooden pallet; g is the acceleration due to gravity;

[0042] Δd represents the offset between the actual center of gravity and the theoretical center of gravity; θ real Indicates the current flip angle.

[0043] In a preferred embodiment of the present invention, liftable auxiliary support wheel sets are installed on the adjustment plates on both sides of the workbench, and the flip arm is a retractable structure composed of nested aluminum alloy profiles, and the retraction is controlled by a servo electric cylinder.

[0044] In a preferred embodiment of the present invention, a leakage hole is provided at the bottom of the rectangular groove, a rotary screen is installed below the leakage hole, and an impurity collection box is provided on the bottom surface of the rotary screen.

[0045] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects:

[0046] The present invention significantly shortens the processing cycle of wooden pallets through automated clamping and turning and efficient collaboration with processing equipment. Compared with traditional turning mechanisms, the production efficiency is greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a structural schematic diagram of the present invention;

[0048] Figure 2 This is a schematic diagram of the connection relationship structure of the impurity collection box of the present invention;

[0049] Figure 3 It is a schematic diagram of the local structure of the present invention;

[0050] Figure 4 This is a structural diagram of the intelligent pressure feedback clamping mechanism of the present invention.

[0051] Reference numerals:

[0052] 1-workbench; 2-rectangular groove; 3-rotating axis; 4-flipping arm; 5-first drive motor; 6-high-precision encoder; 7-double-sided vision camera; 8-intelligent pressure feedback clamping mechanism; 81-second drive motor; 82-movable splint; 83-fixed splint; 84-pressure sensor; 9-leakage hole; 10-rotating screen; 11-impurity collection box; 12-auxiliary support wheel set. DETAILED DESCRIPTION

[0053] To facilitate understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. Several embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0054] In the present invention, unless otherwise expressly specified or limited, the terms "installed," "connected," "connected," "fixed," "provided with," and the like should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal connections between two components. Those skilled in the art can understand the specific meanings of the above terms in the present invention based on specific circumstances, and the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0055] Reference Figure 1-4 The present invention provides a turning mechanism for wooden pallet production, and the main components thereof are installed as follows:

[0056] Using high-strength bolts of appropriate specifications, multiple support legs were installed at equal intervals and in a symmetrical pattern on the bottom of workbench 1. During the installation process, a high-precision level was used for real-time calibration. By fine-tuning the adjustment nuts at the bottom of the support legs, the levelness of workbench 1 was strictly controlled within a ±2mm range, laying a solid and stable foundation for the precise installation of subsequent components, completing the installation of workbench 1 and the support legs.

[0057] On the inner walls on both sides of the rectangular groove 2, professional positioning tooling is used to accurately install high-precision bearing seats to ensure that the concentricity error of the two bearing seats does not exceed ±0.05mm. Subsequently, the rotating shaft 3 is smoothly inserted into the bearing in the bearing seat to ensure that the matching accuracy of the rotating shaft 3 and the bearing meets the H7 / g6 standard. Using the argon arc welding process, the two flip arms 4 are vertically welded to the rotating shaft 3. The welds must be uniform and full, and the flaw detection is carried out to ensure that there are no defects such as cracks and pores. The first drive motor 5 is firmly fixed to the side of the workbench 1 with high-strength bolts through a customized motor mounting seat. The motor output shaft and the rotating shaft 3 are rigidly connected by a high-precision coupling. After installation, it is tested by a dial indicator to ensure that the coaxiality deviation is within ±0.03mm to ensure stable power transmission and complete the installation of the flip assembly.

[0058] At the predetermined positions of the fixed splint 83 and the movable splint 82, the pressure sensor 84 is installed using an inlay process to ensure that the sensor is firmly installed and the sensing surface is flush with the clamping surface. The pressure sensor 84 is connected to the controller through a double-shielded cable to reduce electromagnetic interference. The second drive motor 81 is installed in the reserved installation position on the flip arm 4. The motor output shaft is connected to the bidirectional screw through a high-precision coupling. The bidirectional screw is threaded with the movable splint 82. The assembly clearance is controlled between 0.05-0.1mm to ensure that the movable splint 82 moves smoothly and is accurately positioned. Linear guide rails are installed on both sides of the movable splint 82. When installing the guide rails, the parallelism error is ensured to be no more than 0.03mm / m to ensure that the movable splint 82 slides smoothly along the guide rails, completing the installation of the intelligent pressure feedback clamping mechanism 8.

[0059] The adjustable auxiliary support wheels 12 are mounted on the adjustment plates on either side of the workbench 1. The lifting mechanism for the support wheels utilizes electric push rods, securely bolted to the adjustment plates. After installation, commissioning is performed to ensure smooth operation of the push rods. When the pallet's tilt angle exceeds 30 degrees, the auxiliary support wheels 12 are raised promptly and accurately. The height is automatically adjusted in 5mm steps based on the pallet's thickness. The tilt arm 4 is constructed of a retractable structure made of nested aluminum alloy profiles, with a profile fit accuracy of H8 / f7, ensuring smooth and smooth retraction. A servo electric cylinder is installed within the tilt arm 4 and secured to it by bolts. The piston rod of the electric cylinder is connected to the retractable portion via a pin to ensure a secure connection. A controller precisely controls the extension and retraction of the servo electric cylinder, enabling flexible adjustment of the tilt arm 4's length within a range of 60-150 cm. The retraction and retraction accuracy reaches ±0.5 mm, and the retraction speed is controlled at 5-10 cm / s. This completes the installation of the auxiliary support wheels 12 and the retractable tilt arm 4.

[0060] A binocular vision camera 7 is mounted above workbench 1 using a custom mounting bracket. During installation, the bracket's angle and position are adjusted to ensure the camera can clearly and comprehensively capture the wooden pallet placed on workbench 1. The camera's shooting angle is adjustable via a servo motor from -30° to 30° to accommodate pallets of varying heights. The camera and controller are connected via a high-speed data transmission cable, with a data transmission delay of ≤100ms, ensuring real-time and accurate transmission of recognition data. This completes the installation of binocular vision camera 7.

[0061] The present invention will be further explained below with reference to specific operations. Equipment startup and initialization: When the equipment is powered on, the controller automatically performs a system self-test, comprehensively checking the electrical connections, signal transmission, and initial state of mechanical components of various sensors, motors, actuators, and other devices. Simultaneously, binocular vision camera 7 is activated, capturing omnidirectional images of the wooden pallet placed on workbench 1. Using a built-in image recognition algorithm, it rapidly acquires information such as the pallet's length, width, thickness, and board distribution characteristics, and transmits this data to the controller in real time. Based on this received data and a pre-set algorithm model, the controller automatically calculates the optimal clamping position of the movable splint 82, the travel distance of the adjustment plate, and the optimal center of gravity balance point during flipping.

[0062] Among them, the feature parameter extraction of wooden pallets based on visual recognition: the edge point set of wooden pallets p = {(x i ,y i )|i=1,2,...,n};

[0063] Where (x i ,y i ) is the coordinate of the edge point in the image coordinate system:

[0064] Wooden pallet length L=max(x i )-min(x i ); unit: mm

[0065] Wooden pallet width W=max(y i )-max(y i ); unit: mm

[0066] Based on the principle of binocular visual parallax, calculate the depth difference between the upper and lower surfaces of the wooden pallet:

[0067]

[0068] Where B is the binocular camera baseline distance (fixed value, unit mm);

[0069] f is the focal length of the camera (fixed value, unit: mm);

[0070] d 上 d 下 are the disparity values ​​(pixels) of the upper and lower surfaces respectively;

[0071] Quantify weak areas such as plate joints and scars through image texture and edge features:

[0072] S(x,y)=a·G(x,y)+β·(x,y)+γ·W p (x, y)

[0073] Among them, S(x, y), the weakness coefficient at the coordinate (x, y) (the larger the value, the weaker it is);

[0074] G(x, y), edge gradient value (the gradient value is high at the seam, range: 0 to 255)

[0075] T(x, y), texture entropy value (the texture of the scar is chaotic and the entropy value is high, range: 0-8)

[0076] W P (x, y), local plate width (the smaller the width, the weaker it is, unit: mm)

[0077] a, β, γ, weight coefficient (calibrated through experiments, a + β + γ = 1, usually a = 0.4, β = 0.3, γ = 0.3);

[0078] With the goal of "avoiding weak areas + force balance", calculate the optimal clamping point coordinates (x1, y1) and (x2, y2):

[0079] minF=k1·[S(x1,y1)+S(x2,y2)]+k2·|D-(x2-x1)|+k3·|y1

[0080] -y2|

[0081] Among them, F: target optimization value (the smaller the better);

[0082] D: Target clamping distance (dynamically set according to the width W of the wooden pallet, D = 0.6*W);

[0083] k1, k2, k3 weight coefficients (experimental calibration, usually k1 = 0.5, k2 = 0.3, k3 = 0.2) Static center of gravity calculation: Based on the distribution characteristics of the plate, a three-dimensional center of gravity model is established:

[0084]

[0085] m i =ρ·V i represents the mass of the i-th board (ρ is the density of wood, V i is the volume of the plate);

[0086] (x i ,y i , z i ) represents the geometric center coordinates of the i-th plate;

[0087] Dynamic center of gravity calculation: Considering the center of gravity offset caused by uneven thickness during the flipping process, a compensation coefficient is introduced

[0088] ΔC x =k p ·∑(ΔHi ·cosθ)ΔC y =k p ·∑(ΔH i ·sinθ)

[0089] ΔH i represents the thickness deviation of the i-th plate (actual thickness - average thickness, unit: mm); θ represents the current reverse angle (unit: rad); k p Indicates the density unevenness coefficient (0.02 for pine and 0.015 for hardwood);

[0090] Wooden pallet clamping: Based on the results calculated by the controller, the second drive motor 81 is started, and the motor drives the bidirectional lead screw to rotate at high speed. Under the guidance of the linear guide rail, the movable splint 82 moves toward the fixed splint 83 at a steady and precise speed until it reaches the optimal clamping position, tightly clamping the wooden pallet. During the clamping process, the pressure sensors 84 on the clamping surfaces of the fixed splint 83 and the movable splint 82 monitor the clamping force data in real time and quickly transmit the data to the controller through a shielded cable. The controller has a built-in wooden pallet material database that stores the compressive parameters of various common woods such as pine and poplar. According to the data feedback from the pressure sensor 84 and the material database information, the output torque of the second drive motor 81 is automatically adjusted to achieve "soft clamping" of wooden pallets of different materials, which can not only ensure that the wooden pallet is firmly clamped, but also avoid damage to the wooden pallet due to excessive clamping force.

[0091] In this embodiment, the controller first calculates the maximum safe clamping force that the current material can withstand based on the built-in wooden pallet material database to avoid crushing damage:

[0092] F max =σ com ·S con ·k safe

[0093] F max Indicates the maximum clamping force allowed by the material;

[0094] σ com Indicates the compressive strength of the wooden pallet material;

[0095] S con Indicates the actual contact area between the plywood and the wooden pallet (unit: mm 2 ), calculated by visually identifying the clamping width of the plywood and the thickness of the wooden pallet, S con = clamping width * wooden pallet thickness;

[0096] k safe Indicates the safety factor (the value ranges from 0.6 to 0.8, adjusted according to the stability of the material, 0.7 for pine and 0.65 for poplar to avoid material fatigue).

[0097] Flipping of wooden pallets: After the wooden pallet is firmly clamped, the operator can set the flipping angle of the wooden pallet on the controller operation interface according to the processing requirements of the wooden pallet, and the angle range is 0-180 degrees. After the setting is completed, the first drive motor 5 is started, and the motor output shaft rotates at high speed, driving the rotating shaft 3 to rotate synchronously through the high-precision coupling, thereby causing the flipping arm 4 fixed on the rotating shaft 3 and the clamping mechanism holding the wooden pallet to rotate together, thereby realizing the flipping of the wooden pallet. During the flipping process, the high-precision encoder 6 installed at the end of the rotating shaft 3 monitors the rotation angle of the rotating shaft 3 in real time, and feeds back the angle data to the controller through a high-speed data transmission line. When the flipping angle is close to the set value, the controller accurately adjusts the speed of the first drive motor 5 in advance according to the data fed back by the encoder, so that the wooden pallet can stop rotating accurately and smoothly when it reaches the set flipping angle, thereby achieving precise positioning. If during the flipping process, the flipping torque suddenly changes due to factors such as the offset of the center of gravity of the wooden pallet, the high-precision encoder 6 will promptly feed back the abnormal data to the controller, and the controller will then dynamically adjust the output torque of the first drive motor 5 to ensure that the flipping process is smooth and stable, reducing the impact of vibration on the wooden pallet and equipment.

[0098] In order to minimize the turning moment, the optimal starting angle θ0 = argmin(|C x +ΔC x |·cosθ+|C y +ΔC y |·sinθ)

[0099] Among them: the optimization interval is θ∈[-15°,+15°], the step size is 0.5°, and the optimal solution is obtained by traversal calculation.

[0100] The controller is based on the clamping force F fed back in real time by the pressure sensor 84. real , dynamically adjust the motor output torque through the proportional-integral (PI) algorithm to achieve clamping force tracking without overshoot

[0101]

[0102] Among them, T out represents the real-time output torque of the second drive motor 81 (unit: N·m);

[0103] F target Target clamping force (unit: N), take F max *0.8 (to ensure stable clamping and reserve a safety margin);

[0104] F real The clamping force detected in real time by the pressure sensor 84 (unit: N);

[0105] Kp Proportion coefficient (value 5-8 N·m / N, experimental calibration, the role is to quickly reduce the pressure deviation);

[0106] K i Integral coefficient (value 0.3-0.5 N·m / (N·s), the role is to eliminate static pressure deviation and avoid clamping force "under pressure");

[0107] T base Base torque (unit: N·m, value 1.2-1.5 N·m, to ensure the minimum driving force when the motor starts);

[0108] t Clamping time (unit: s).

[0109] When the turning angle approaches the set value, the controller calculates the motor target speed through the angle deviation feedback by the encoder, and realizes early deceleration-stable stop:

[0110] n target = n max · exp(-k dec · |θ set - θ real )

[0111] n target Real-time target speed of the motor (unit: r / min);

[0112] n max Maximum rated speed of the motor (unit: r / min, value 150-200 r / min, set according to the turning efficiency);

[0113] k dec Deceleration coefficient (0.05-0.08 °-1, experimental calibration, the smaller the angle deviation, the faster the speed drops);

[0114] θ set Turning angle set by the operator (unit: °, adjustable 0-180 °);

[0115] θ real Turning angle detected by the high-precision encoder 6 in real time (unit: °, accuracy ±0.1 °)

[0116] Wherein, when the wood pallet center of gravity deviation causes the turning torque to suddenly change, the controller avoids equipment vibration through torque compensation, and the formula is as follows

[0117] ΔT = k comp · ΔM = k comp · m·g· Δd· sin θ real

[0118] Wherein, ΔT represents the compensation torque (unit: N·m) that the first driving motor 5 needs to supplement;

[0119] k comp represents the moment compensation coefficient (value 1.1-1.3, the role is to quickly offset the moment mutation, avoid hysteresis);

[0120] ΔM represents the mutation value of the overturning moment (unit: N·m);

[0121] m represents the mass of the wooden pallet (unit: kg, calculated by the volume identified by visual recognition and the material density)

[0122] g represents the acceleration of gravity (take 9.8 m / s 2 );

[0123] Δd represents the offset of the actual center of gravity and the theoretical center of gravity (unit: m, calculated by the deviation of the plate distribution identified by visual recognition);

[0124] θ real represents the current overturning angle (unit: rad, encoder real-time feedback, the greater the angle, the more significant the center of gravity offset impact);

[0125] At this time, the actual output torque of the first drive motor 5 is:

[0126] T flip = T base-flip + ΔT

[0127] Where, T base-flip is the basic overturning torque without center of gravity offset, unit: N·m.

[0128] Finally, the processing coordination: when the wooden pallet is overturned in place, the controller establishes a stable and efficient linkage control logic with the wooden pallet processing equipment (such as nailers, sanders, etc.) through the industrial bus. The controller monitors the working state of the processing equipment in real time, and when it detects that a processing equipment has completed the current process, it automatically triggers the overturning action of the overturning mechanism. After the overturning mechanism completes the overturning and the wooden pallet is positioned stably, the controller sends a start signal to another processing equipment, realizing seamless collaborative work between the overturning mechanism and the processing equipment, greatly improving the production efficiency of the wooden pallet and effectively shortening the production rhythm. For example, when the nailer completes the nailing process on one side of the wooden pallet, the controller quickly controls the overturning mechanism to overturn the wooden pallet by 180 degrees, and then sends a start instruction to the sander, which immediately starts sanding the other side of the wooden pallet.

[0129] Waste collection and treatment: During the processing of wooden pallets, the wood chip waste generated falls into the collection box under the action of gravity through the leakage hole 9 at the bottom of the rectangular groove 2. The rotary screen 10 below the leakage hole 9 is driven by a special drive motor and rotates at a constant speed of 300r / min. The wood chips and metal impurities (such as nails) mixed therein are effectively separated by centrifugal force. Under the combined action of centrifugal force and gravity, the metal impurities fall into a specially set metal impurity collection box 11. When the metal impurities in the metal impurity collection box 11 accumulate to the sensing range of the proximity switch, the proximity switch is triggered and sends a signal to the sound and light alarm device. The sound and light alarm device is immediately started, and flashing lights and loud sounds remind the operator to clean the metal impurity collection box 11 in time.

[0130] Finally, the pallet is removed and the equipment is reset: After the pallet has completed all processing steps, the controller controls the first drive motor 5 to flip the pallet back to its initial position. The second drive motor 81 is then activated, causing the movable clamp 82 to release the pallet. After the operator removes the processed pallet from the workbench 1, the equipment automatically enters the reset process. The binocular vision camera 7 performs another comprehensive inspection of the workbench 1 to ensure that no residual material remains, preparing for the next pallet to be processed. Simultaneously, all motors, sensors, actuators, and other equipment return to their initial states, awaiting the next work instruction.

[0131] The turning mechanism provided by the present invention significantly improves production efficiency: through automated clamping and turning, and efficient coordination with processing equipment, the processing cycle of wooden pallets is greatly shortened. Compared with traditional turning mechanisms, production efficiency is greatly improved.

[0132] The intelligent pressure-feedback clamping mechanism achieves "soft clamping" for wooden pallets of various materials, effectively preventing damage to the pallets caused by improper clamping force and significantly improving product qualification rates. A high-precision encoder and closed-loop control algorithm ensure precise pallet flipping angles, guaranteeing processing accuracy.

[0133] The equipment has strong versatility: the application of binocular vision cameras and retractable flip arms enables the equipment to quickly and accurately adapt to wooden pallets of different specifications, without the need for frequent manual adjustment of equipment parameters. The equipment can adapt to wooden pallets with a length range of 60cm to 150cm, a width range of 40cm to 100cm, and a thickness range of 10cm to 30cm. It is widely applicable to various wooden pallet production companies, which improves the use value and application range of the equipment.

[0134] The equipment has a high degree of automation. The operator only needs to make simple parameter settings and issue instructions on the controller operation interface, and the equipment can automatically complete a series of work processes such as clamping, flipping, processing coordination, and waste collection of wooden pallets, reducing human operational errors and improving the stability and reliability of the production process.

[0135] The above-mentioned embodiments only express a certain implementation method of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the patent scope of the present invention. It should be pointed out that for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent of the present invention shall be based on the attached claims.

Claims

1. A turning mechanism for producing wooden pallets, comprising a workbench with a rectangular groove formed on the top of the workbench; a rotating shaft mounted in the rectangular groove via a high-precision bearing seat, and two turning arms vertically fixed to the rotating shaft, characterized in that: One end of the rotating shaft is connected to the first drive motor, and the first drive motor is fixed to the side of the workbench through the motor mounting bracket. The motor output shaft and the rotating shaft are connected through a high-precision coupling. A high-precision encoder is installed on the end of the rotating shaft. The encoder and the controller are connected through a high-speed data transmission line to achieve precise closed-loop control of the flipping angle. A binocular vision camera is installed above the workbench, and the camera and the controller are connected through a high-speed data transmission line. The binocular vision camera is turned on to perform all-round image acquisition of the wooden pallet placed on the workbench. Through the built-in image recognition algorithm, the length, width, thickness and board distribution characteristics of the wooden pallet are quickly obtained, and these data are transmitted to the controller in real time. Based on the received data and combined with the preset algorithm model, the controller automatically calculates the optimal clamping position of the movable splint and the optimal center of gravity balance point during flipping.

2. The turning mechanism for wooden pallet production according to claim 1, characterized in that: The static center of gravity calculation is based on the plate distribution characteristics and establishes a three-dimensional center of gravity model: ； in, Indicates the The quality of the board; Indicates the The geometric center coordinates of the plate.

3. The turning mechanism for wooden pallet production according to claim 1, characterized in that: Considering the center of gravity offset caused by uneven thickness during the flipping process, a compensation coefficient is introduced: ； Indicates the Thickness deviation of each plate (actual thickness - average thickness, unit: mm); Indicates the current inverse angle (unit: rad); represents the density unevenness coefficient.

4. The turning mechanism for wooden pallet production according to claim 1, characterized in that: An intelligent pressure feedback clamping mechanism is installed on the flip arm, which includes a fixed splint and a movable splint. Pressure sensors are embedded in the clamping surfaces of the fixed splint and the movable splint, and the pressure sensors are connected to the controller through shielded cables; the movable splint is driven by the second drive motor through a bidirectional lead screw, and the output torque of the second drive motor is automatically adjusted by the controller according to the feedback from the pressure sensor and the built-in wooden pallet material database.

5. The turning mechanism for wooden pallet production according to claim 4, characterized in that: The controller first calculates the maximum safe clamping force that the current material can withstand based on the built-in wooden pallet material database to avoid crushing damage: ； in, Indicates the maximum clamping force allowed by the material; Indicates the compressive strength of the wooden pallet material; Indicates the actual contact area between the plywood and the wooden pallet, calculated by the visually identified plywood clamping width and the thickness of the wooden pallet. =Clamping width*wood pallet thickness; Indicates the safety factor.

6. The turning mechanism for wooden pallet production according to claim 1, characterized in that: The controller uses the clamping force fed back by the pressure sensor in real time , dynamically adjust the motor output torque through the proportional-integral algorithm to achieve zero-overshoot tracking of the clamping force: ； in, Indicates the real-time output torque of the second drive motor; Target clamping force, take *0.8; The clamping force is detected in real time by the pressure sensor; Proportional system (value range 5~8 N・m / N); Integral coefficient (value range 0.3~0.5 N・m / (N・s); Basic torque (range 1.2~1.5 N·m); Clamping time.

7. The turning mechanism for wooden pallet production according to claim 1, characterized in that: When the flip angle approaches the set value, the controller calculates the motor target speed based on the angle deviation fed back by the encoder to achieve a smooth stop: ； Indicates the real-time target speed of the motor; Indicates the maximum rated speed of the motor (range: 150~200 r / min); represents the deceleration coefficient; Indicates the flip angle set by the operator; Indicates the flip angle detected by the high-precision encoder in real time.

8. The turning mechanism for wooden pallet production according to claim 4, characterized in that: When the center of gravity of the wooden pallet shifts and causes a sudden change in the overturning torque, the controller uses torque compensation to avoid equipment vibration. The formula is as follows ； Indicates the compensation torque that the first drive motor needs to supplement; Indicates the torque compensation coefficient (value ranges from 1.1 to 1.3); The sudden change of the flipping torque; Indicates the quality of wooden pallets; represents the acceleration due to gravity; Indicates the offset between the actual center of gravity and the theoretical center of gravity; The current flip angle.

9. The turning mechanism for wooden pallet production according to claim 1, characterized in that: Auxiliary support wheel groups that can be raised and lowered are installed on the adjustment plates on both sides of the workbench, and the flip arm is a retractable structure composed of nested aluminum alloy profiles, and the extension and retraction are controlled by a servo electric cylinder.

10. The turning mechanism for wooden pallet production according to claim 1, characterized in that: A leakage hole is provided at the bottom of the rectangular groove, a rotary screen is installed below the leakage hole, and an impurity collection box is provided on the bottom surface of the rotary screen.

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