A flexible automatic production device for solid wood pallets and a control operation method

Abstract

The application discloses a kind of flexible automatic production device and control operation method of solid wood pallet, including raw timber loading device, rotary tool fixture device, nail loading and discharging device and control system, automatically suck, automatically move, automatically load, automatically limit, automatically clamp, automatically station conversion, automatic nail loading, finished product automatic unloading, automatic stacking sequence automatic circulation work of pillow and baffle on raw timber loading position, realize flexible automatic production of solid wood pallet, automation is used in the whole process instead of pure manual operation, improve work efficiency, reduce labor intensity, improve the dimensional accuracy of solid wood pallet.

Description

Technical Field

[0001] This invention relates to the production of solid wood pallets, specifically to a flexible automatic production device for solid wood pallets and a control operation method. Background Technology

[0002] As is well known, solid wood pallets are commonly used in the logistics field for handling, packaging, palletizing and transportation. They are mainly used for handling, packaging, palletizing and transporting goods and are widely used in the logistics industry.

[0003] Currently, solid wood pallets are assembled from multiple sleepers and lining boards during manufacturing. This process typically requires manual placement of the lining boards and sleepers. Due to the variety of sizes and models, larger solid wood pallets have heavier sleepers and more lining boards, making manual handling not only time-consuming and labor-intensive but also prone to errors. After the lining boards and sleepers are positioned, they are then nailed together manually using a handheld pneumatic nail gun to quickly connect and secure the boards. Therefore, nailing is required at multiple locations on the lining boards during production, making the process complex, multi-step, and labor-intensive. The finished solid wood pallets, due to their diverse sizes and large size (ranging from tens of kilograms to over a hundred kilograms), also require individual handling, stacking, and storage, further increasing the time and effort required. The current manufacturing process for solid wood pallets is cumbersome and complex, increasing the labor intensity and effort required of workers, causing inconvenience to the manufacturing of solid wood pallets, and seriously affecting processing efficiency. Summary of the Invention

[0004] The technical problem to be solved by this invention is to provide a flexible automatic production device and control operation method for solid wood pallets. Using this device and control operation method, it is possible to replace manual labor with machines and automatically pick up, move, feed, limit, clamp, switch stations, nail, unload finished products, and stack raw materials for solid wood pallets of various specifications. The entire process adopts automation to replace pure manual operation, which improves work efficiency, reduces labor intensity, improves the physical and mental health of employees, and improves the dimensional accuracy of solid wood pallets.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a flexible automatic production device for solid wood pallets, comprising: The log feeding device automatically picks up, moves and grabs pallets of logs, sleepers and liners of various specifications and models at specific locations on the log feeding position and places them on the rotary tooling fixture device. The rotary tooling clamping device positions and clamps the log sleepers and liners grabbed by the log feeding device through automatic limiting, automatic clamping, and automatic station switching. The loading and unloading device automatically loads the logs clamped by the rotary tooling fixture device and picks up the finished solid wood pallets for stacking. The control system controls the entire device to automatically cycle through the following steps: automatic picking up, moving, feeding, limiting, clamping, station switching, nailing, unloading, and stacking of solid wood pallet raw materials.

[0006] The log loading device consists of a movable track support frame on a robot's moving track. The log loading robot and its control cabinet are mounted and fixed on this support frame. The end joint of the log loading robot is connected to a crossbeam support via a robot connecting flange. A vacuum suction cup servo motor is mounted on the mounting plate of the crossbeam support. A linear guide rail is mounted below the crossbeam support, and a linear slider is mounted on the linear guide rail. Below the linear slider, a connecting plate for the vacuum suction cup is mounted. A ball screw nut fixing block is mounted on the connecting plate, and a ball screw nut is mounted on the ball screw. The ball screw nut is mounted on the ball screw, which is then fixed to a bearing seat on the crossbeam support via bearings. The ball screw is connected to the servo motor of the vacuum suction cup via a coupling. The vacuum suction cup is mounted and fixed below the connecting plate on the vacuum suction cup. Two ball screw nut fixing blocks are mounted and fixed on the connecting plate on the vacuum suction cup. Two ball screw nuts, installed in opposite directions, are mounted and fixed on the two ball screw nut fixing blocks. The ball screw nuts are mounted on the ball screw. The 3D vision camera is mounted and fixed on the camera fixing plate, which is mounted and fixed on the crossbeam bracket. The solenoid valve is mounted and fixed on the connecting plate on the vacuum suction cup. The sensor is mounted and fixed on the sensor fixing bracket, which is mounted and fixed on the crossbeam bracket. The robot connecting flange is mounted and fixed below the crossbeam bracket and on the end joint of the log loading robot.

[0007] The mobile ground rail support bracket can move on the robot's mobile ground rail. It consists of a mobile ground rail slider on a linear guide rail on the robot's mobile ground rail, a mobile ground rail support bracket on the mobile ground rail slider, a planetary reducer fixed on the mobile ground rail support bracket, a mobile ground rail servo motor fixed on the planetary reducer, and a gear fixed below the planetary reducer. The gear meshes with a rack fixed on the robot's mobile ground rail. The rotary tooling fixture device consists of a rotary table drive reducer mounted on a rotary table support, a rotary table mounted on the rotary table drive reducer, a tooling fixture base plate fixing frame mounted on the rotary table, two tooling fixture base plates mounted on the tooling fixture base plate fixing frame, and a rotary table servo motor mounted on the rotary table drive reducer. Each tooling fixture base plate has a side-mounted propulsion cylinder and a side-mounted propulsion plate connected to the side-mounted propulsion cylinder on both sides. Two liner limiting plates are provided in the middle of the fixture base plate. The two liner limiting plates are connected to the corresponding liner limiting plate push cylinders. Side sleeper limiting plates are provided between each side push plate and its corresponding liner limiting plate on the fixture base plate. A middle sleeper limiting plate is provided between the two liner limiting plates. Two middle sleeper push cylinders are provided in the middle of the fixture base plate. A bottom fixing baffle is provided at the bottom of the fixture base plate. A top push cylinder and a top push plate connected to the top push cylinder are provided at the top of the fixture base plate.

[0008] The nailing and unloading device is connected to the sixth axis end joint of the nailing and unloading robot via a robot connecting bracket. A crossbeam is fixed in the middle of the robot connecting bracket, and end limit plates are provided at both ends of the crossbeam. A pneumatic nail gun moving frame is installed on both sides of the crossbeam and on the robot connecting bracket. The pneumatic nail gun moving frames on both sides of the crossbeam can move along the crossbeam through bearings and are connected by a model limit plate. The model limit plate is installed in the middle on the robot connecting bracket and forms a whole with the crossbeam. Each pneumatic nail gun moving frame is equipped with a pneumatic nail gun and a pneumatic nail gun nail disc. A fixed fork plate is installed and fixed at the rear of the robot connecting bracket. A guide rod cylinder is fixed on both sides of the fixed fork plate, and a moving fork plate is fixed below the guide rod cylinder.

[0009] The finished solid wood pallet consists of three sleepers, two side third linings, two side second linings, two side first linings, and three middle linings set on the three sleepers.

[0010] The present invention discloses a control operation method for a flexible automatic production device for solid wood pallets, the steps of which are as follows: Step 1. Workers use a manual hydraulic trolley to transport the end linings, side three linings, side two linings, side one lining, middle lining, and sleepers of the entire pallet of logs to the log loading position and place them on the corresponding loading positions; click the start button on the integrated control cabinet, and the control system will start the PLC controller, log loading robot, robot moving rail, vacuum suction cup, 3D vision camera, rotary tooling fixture device, pneumatic fixture, nailing and unloading robot, and nailing and unloading device through the data cable. Step 2. The log loading robot returns to its origin and adjusts its posture. It then scans the pallet of logs of various specifications and models at the log loading position using a 3D vision camera mounted on the crossbeam support. The data is processed quickly by the data processing algorithm software, which performs rapid 3D modeling and spatial position calculation. The results are then fed back to the control system via communication software and data cable. The control system receives the position scanned by the 3D vision camera and calculates the positions of the log loading robot and the vacuum suction cup clamp. Based on the calculated positions, the control system controls the log loading robot to drive the vacuum suction cup clamp to accurately grab the pallet of logs of various specifications and models at the log loading position. Finally, the control system controls the log loading robot to drive the vacuum suction cup clamp to place the grabbed logs of various specifications and models at the log loading position onto the rotary tooling fixture device. Step 3. The log loading device picks up and feeds three sleepers respectively, placing them vertically downwards on the bottom fixed baffle of the tooling fixture base plate. Then, the log loading device picks up and feeds two end liners, two side third liners, two side second liners, two side first liners, and three middle liners respectively, placing them horizontally on the appropriate positions on the tooling fixture base plate. The control system controls the solenoid valve to actuate, thereby controlling the cylinder to actuate and drive the pneumatic fixture. The two side push cylinders drive the two side push plates to push the sleepers on both sides closer to the inward side sleeper limit plate, ensuring the solid wood pallet... The dimensions and positions of the left and right side sleepers and all lining plates are determined by the following: The two middle sleeper push cylinders are activated, pushing the middle sleepers closer to the inner middle sleeper limiting plate to ensure the required dimensions and positions of the middle sleepers on both sides; the top push cylinder drives the top push plate to push the three sleepers closer to the bottom fixed baffle, thus ensuring the required dimensions and positions of the three sleepers at the top and bottom of the solid wood pallet; the two lining plate limiting plate push cylinders are activated, causing the two lining plate limiting plates to move downwards, thus pushing all lining plates downwards to ensure the required dimensions and positions of all lining plates at the top and bottom of the solid wood pallet. Step 4. When the rotary tooling fixture device switches to the nailing station, it will automatically send a signal to the control system. The control system will then send a signal to the nailing and unloading robot to perform the action. The nailing and unloading robot will then carry the nailing and unloading device to perform the nailing work. The control system will automatically control the pneumatic nail gun to perform the nailing. After the nailing work is completed, the solenoid valve of the rotary tooling fixture device will be activated to release all pneumatic clamps. At the same time, the sixth axis end joint of the nailing and unloading robot will automatically rotate 180° to transform into the unloading fixture. The nailing and unloading robot will drive the nailing and unloading device to adjust its angle and posture, and put the fixed fork plates into the fork plate holes on both sides of the tooling fixture base plate. Then the solenoid valve will be activated to drive the guide rod cylinder to move downward, thereby driving the moving fork plate to move downward and clamp the nailed solid wood pallet. The nailing and unloading robot will grab the finished solid wood pallet and automatically place the finished solid wood pallet on the side according to the pre-set stacking program. Step 5. Under the precise control of the control system, the entire device automatically cycles through the following steps: automatic picking up, moving, feeding, limiting, clamping, station switching, nailing, unloading, and stacking of raw materials from the solid wood pallet. When all the logs of various specifications on the pallet are picked up, the system will automatically alarm, prompting the worker to transfer the empty pallet away, replace it with a new pallet of logs of various specifications at the log feeding position, and confirm on the system that the entire pallet of logs has been replaced. The system alarm will then automatically cancel, and the automatic cycle will continue.

[0011] The flexible automatic production device and control operation method for solid wood pallets designed using the above-mentioned technical solution have the following beneficial effects: 1. By combining a six-axis robot with a 3D vision camera, vacuum suction cups, and robot moving rails, it is possible to perform tasks such as positioning, picking up, moving, loading, placing, and clamping of logs of various specifications and models, thereby reducing the labor intensity of workers, improving work efficiency, improving product quality, and saving a lot of manpower and time required by traditional methods. 2. By combining various servo motors, vacuum suction cups, rotary tooling, and pneumatic clamps, it is possible to perform tasks such as picking up, moving, limiting, clamping, and switching of logs of various specifications and models, which can greatly improve work efficiency and ensure the stability and consistency of product quality. 3. By combining a six-axis robot with a loading and unloading device, rotary tooling, and pneumatic clamps, the system can perform tasks such as positioning, clamping, station switching, loading, unloading, and stacking of solid wood pallets of various specifications and models. The entire process is automated, reducing the labor intensity of workers, improving work efficiency, and enhancing product quality. 4. Employing PLC control and 3D vision scanning technology, the system connects via data cables to the PLC, loading robot, robot moving rail, vacuum suction cup, 3D vision camera, rotary fixture, pneumatic clamp, mounting robot, and mounting and unloading device. The 3D vision camera automatically scans the position of the incoming logs. The control system receives the scanned position and calculates the positions based on the loading robot and vacuum suction cup. This assists the robot moving rail, rotary fixture, pneumatic clamp, mounting robot, and mounting and unloading device in forming a unified system with coordinated operation. This system effectively performs automatic picking, moving, loading, limiting, clamping, station switching, mounting, unloading, and stacking of various specifications of solid wood pallets. The entire processing is fully automated, requiring no manual intervention. This significantly improves operational efficiency, enhances the consistency and stability of product processing quality, reduces labor intensity, lowers labor costs, and minimizes environmental pollution. 5. The overall layout is reasonable, enabling intelligent production of the entire production unit and providing an information management system. This effectively frees up manpower, greatly improves product processing efficiency, meets the needs of large-volume product processing, and in the long run, can effectively reduce production costs and increase profits. Furthermore, it eliminates the need for manual intervention, solving the problem of labor shortages in factories and eliminating the safety hazards of manual operation. Attached Figure Description

[0012] Figure 1 This is a schematic diagram showing the overall layout of a flexible automatic production device for solid wood pallets according to the present invention. Figure 2 This is a schematic diagram showing the structure of the log feeding device of the present invention; Figure 3 express Figure 2 Schematic diagram of the connection structure between the vacuum suction cup and the crossbeam support; Figure 4 This is a schematic diagram showing the overall structure of the rotary tooling fixture device of the present invention; Figure 5 express Figure 4 A structural diagram of a single tooling fixture; Figure 6 This is a schematic diagram showing one side of the mounting and unloading device of the present invention; Figure 7 This is a schematic diagram showing the structure of the other side of the mounting and unloading device of the present invention; Figure 8 This is a schematic diagram showing the structure of the finished solid wood pallet of the present invention.

[0013] Figure 1 In the middle: 1-Log loading device; 2-Handling and unloading robot control cabinet; 3-Integrated control cabinet; 4-Finished solid wood pallet; 5-Handling and unloading robot base; 6-Handling and unloading robot; 7-Handling and unloading device; 8-Rotary tooling fixture device; Figure 2 , Figure 3 Components: 201-Log loading position; 202-Robot moving track; 203-Moving track load-bearing bracket; 204-Moving track slider; 205-Planetary reducer; 206-Moving track servo motor; 207-Log loading robot; 230-Log loading robot control cabinet; 208-Vacuum suction cup moving servo motor; 209-Crossbeam bracket; 210-Ball screw; 211-Linear guide rail; 212-Linear slider; 213-Vacuum suction cup upper connecting plate; 214-3D vision camera; 215-Camera mounting plate; 216-Vacuum suction cup; 217-Ball screw nut fixing block; 218-Solenoid valve; 219-Robot connecting flange; 220-Sensor mounting bracket; 221-Sensor; 222-Ball screw nut; Figure 4 , Figure 5 In the middle section: 601-Tooling fixture base plate fixing frame; 602-Turntable; 603-Turntable servo motor; 604-Turntable bracket; 605-Turntable drive reducer; 606-Side propulsion cylinder; 607-Side propulsion plate; 608-Tooling fixture base plate; 609-Bottom fixing baffle; 610-Liner plate limiting plate; 611-Intermediate sleeper propulsion cylinder; 612-Side sleeper limiting plate; 613-Liner plate limiting plate propulsion cylinder; 614-Top propulsion cylinder; 615-Top propulsion plate; Figure 6 , Figure 7 In the middle: 701-End limiting plate; 702-Crossbeam; 703-Pneumatic nail gun moving frame; 704-Pneumatic nail gun; 705-Pneumatic nail gun nail disc; 706-Model limiting indicator plate; 707-Horizontal pin; 708-Spring; 709-Bearing; 710-Pneumatic nail gun fixing plate; 711-Robot connecting bracket; 712-Vertical pin; 713-Guide rod cylinder; 714-Fixed fork plate; 715-Moving fork plate; 716-Robot connecting bracket fixing plate; Figure 8 In the middle: 901-End liner; 902-Side liner 3; 903-Side liner 2; 904-Side liner 1; 905-Intermediate liner; 906-Sleeper. Detailed Implementation

[0014] The following description, in conjunction with the accompanying drawings, details a flexible automatic production device for solid wood pallets and its control operation method according to the present invention.

[0015] This invention relates to a flexible automatic production device for solid wood pallets, see [link / reference]. Figure 1 ,include: The log loading device 1 automatically picks up, moves and grabs pallets of logs, sleepers and liners of various specifications and models at specific locations on the log loading position and places them onto the rotary tooling fixture device. The rotary tooling fixture device 8 is used to position and clamp the log sleepers and liners grabbed by the log feeding device through automatic limiting, automatic clamping, and automatic station switching. The mounting and unloading device automatically mounts the logs clamped by the rotary tooling fixture device and picks up the mounted solid wood pallets for stacking. The mounting and unloading device includes a mounting and unloading robot base 5 set next to the rotary tooling fixture device 8, a mounting and unloading robot 6 set on the mounting and unloading robot base 5, and a mounting and unloading device 7 set on the sixth axis end joint of the mounting and unloading robot 6. The mounting and unloading device is controlled by the mounting and unloading robot control cabinet 2. The system controls the entire device to automatically cycle through the following steps: automatic picking up, automatic movement, automatic feeding, automatic limiting, automatic clamping, automatic station switching, automatic nailing, automatic unloading of finished products, and automatic stacking of raw materials from solid wood pallets. The control system is located in the integrated control cabinet 3.

[0016] The finished solid wood pallet of this invention, see [link / reference]. Figure 8 Specifically, it consists of end liner 901, side third liner 902, side second liner 903, side first liner 904, middle liner 905, sleeper 906, etc.

[0017] The log feeding device 1 of the present invention, see [reference] Figure 1 , Figure 2 and Figure 3 A robot moving track 202 is installed and fixed next to the log loading position 201. A moving track support bracket 203 is installed and fixed on eight moving track sliders 204. The moving track sliders 204 are installed and fixed on linear guide rails on the robot moving track 202. A planetary reducer 205 is installed and fixed on the moving track support bracket 203. A moving track servo motor 206 is installed and fixed on the planetary reducer 205. Gears are installed and fixed below the planetary reducer 205, and the gears mesh with racks installed and fixed on the robot moving track 202. The moving track support bracket 203... The system also includes a log loading robot 207 and a log loading robot control cabinet 230. A servo motor 206 drives a planetary reducer 205 with gears to move along a rack mounted on the robot's moving track 202. This allows the moving track slider 204, carrying the moving track support bracket 203, to move left and right along the linear guide rail on the robot's moving track 202. The moving track support bracket 203, along with the log loading robot 207 and the log loading robot control cabinet 230, can also move left and right along the linear guide rail on the robot's moving track 202. A robot connecting flange 219 is connected to the end joint of the log loading robot 207, and a crossbeam bracket 209 is mounted and fixed below the robot connecting flange 219.

[0018] The vacuum suction cup moving servo motor 208 is mounted and fixed on the mounting plate of the crossbeam bracket 209. The linear guide rail 211 is mounted and fixed below the crossbeam bracket 209. The linear slider 212 is mounted on the linear guide rail 211. The vacuum suction cup upper connecting plate 213 is mounted and fixed below the linear slider 212. Two ball screw nut fixing blocks 217 are mounted and fixed on the vacuum suction cup upper connecting plate 213. Two ball screw nuts 222, which are installed in opposite directions, are mounted on the two ball screw nuts 222. The ball screw nuts 222 are mounted on the ball screw 210. The ball screw 210 is fixed on the bearing seat on the crossbeam bracket 209 through bearings. The ball screw 210 is connected to the vacuum suction cup moving servo motor 208 through a coupling. The vacuum suction cup 216 is mounted and fixed below the vacuum suction cup upper connecting plate 213. The vacuum chuck's moving servo motor 208 drives the coupling to rotate, which in turn drives the ball screw 210 to rotate. This, in turn, drives the two ball screw nuts 222 (positive and negative) to move left and right along the ball screw 210. This, in turn, drives the two ball screw nut fixing blocks 217 to move left and right along the ball screw 210. This, in turn, drives the connecting plate 213, the vacuum chuck 216, and the linear slider 212 on the vacuum chuck to move left and right along the linear guide rail 211, thereby changing the distance of the vacuum chuck 216.

[0019] A 3D vision camera 214 is mounted and fixed on a camera mounting plate 215, which is in turn mounted and fixed on a crossbeam bracket 209. A solenoid valve 218 is mounted and fixed on a vacuum suction cup connecting plate 213. A sensor 221 is mounted and fixed on a sensor mounting bracket 220, which is in turn mounted and fixed on the crossbeam bracket 209. This invention enables the log loading robot 207, carrying the vacuum suction cup 216 clamp, to move arbitrarily. The log loading robot 207 is mounted on a mobile ground rail support bracket 203, allowing it to move left and right along the robot's mobile ground rail 202 with the vacuum suction cup 216 clamp, and to perform arbitrary movements along its six axes.

[0020] The 3D vision camera 214 of this invention is an industrial 3D vision camera with an acquisition speed of not less than 1.5ms, a pixel resolution of not less than 8 million, a spatial positioning accuracy of not less than 0.5mm, and a wide field of view. The 3D vision system consists of a 3D vision camera, an auxiliary light source, communication software with the robot, and data processing algorithm software. It can realize rapid 3D modeling and spatial position extraction, and assist the loading robot in coordinating with vacuum suction cups, robot moving rails, rotary tooling fixtures, pneumatic fixtures, and other devices to form an integrated system and linkage, which can effectively complete the positioning, suction, movement, placement, and clamping of logs of various specifications and models.

[0021] The rotary tooling fixture device 8 of this invention can automatically limit positioning, automatically clamp, and automatically switch machining positions. See [link to related documentation]. Figure 1 , Figure 4 and Figure 5 A rotary table drive reducer 605 is mounted and fixed on the rotary table bracket 604. A rotary table 602 is mounted and fixed on the rotary table drive reducer 605. A tooling fixture base plate fixing frame 601 is mounted and fixed on the rotary table 602. Two tooling fixture base plates 608 are mounted and fixed on the tooling fixture base plate fixing frame 601. Each tooling fixture base plate 608 of this invention is equipped with two side propulsion cylinders 606, two side propulsion plates 607, a bottom fixing baffle 609, two liner limiting plates 610, two intermediate sleeper propulsion cylinders 611, two side sleeper limiting plates 612, two liner limiting plate propulsion cylinders 613, a top propulsion cylinder 614, and a top propulsion plate 615. A rotary table servo motor 603 is mounted and fixed on the rotary table drive reducer 605. The rotary table servo motor 603 provides power to the entire rotary tooling fixture device. The rotary table servo motor 603 drives the rotary table drive reducer 605 to rotate, thereby driving the rotary table 602, the tooling fixture base plate fixing frame 601, the two tooling fixture base plates 608, and the entire tooling fixture to rotate, thereby realizing the automatic conversion between the loading position and the mounting position. The above structure constitutes the pneumatic fixture of the present invention.

[0022] The stapler and unloading device of this invention can automatically staple, automatically unload finished products, and automatically stack. See [link / reference]. Figure 1 , Figure 6 and Figure 7A robot connecting bracket 711 is installed and fixed on the nailing and unloading device 7. The robot connecting bracket 711 is connected to the sixth axis end joint of the nailing and unloading robot 6. A crossbeam 702 is installed and fixed in the middle of the robot connecting bracket 711. Two end limit plates 701 are installed at both ends of the crossbeam 702. A pneumatic nail gun moving frame 703 is installed on each side of the crossbeam 702. A pneumatic nail gun 704, a pneumatic nail gun nail disc 705, four horizontal pins 707, four springs 708, twenty-eight bearings 709, a pneumatic nail gun fixing plate 710, and four vertical pins 712 are installed and fixed on the pneumatic nail gun moving frame 703. A pneumatic nail gun 704 is mounted and fixed on a pneumatic nail gun mounting plate 710. The pneumatic nail gun mounting plate 710 is mounted and fixed on a pneumatic nail gun moving frame 703 via four vertical pins 712 and four springs 708. The pneumatic nail gun moving frame 703 can move left and right along the crossbeam 702 via bearings 709. A robot connecting bracket mounting plate 716 is welded and fixed to the crossbeam 702. A robot connecting bracket 711 is mounted and fixed to the robot connecting bracket mounting plate 716, thus forming a whole with the crossbeam 702. A fixing fork plate 714 is mounted and fixed to the rear of the robot connecting bracket 711. A guide rod cylinder 713 is mounted and fixed to the upper sides of the fixing fork plate 714, and a moving fork plate 715 is mounted and fixed to the lower side of the guide rod cylinder 713. A model limit indicator plate 706 is mounted in the middle on the robot connecting bracket 711 and forms a whole with the crossbeam 702. The model limit label 706 is installed and fixed at both ends on the pneumatic nail gun moving frame 703 on both sides of the crossbeam 702. The pneumatic nail gun moving frame 703 can move left and right along the crossbeam 702. By connecting different models of model limit label 706, the nailing work of different models of solid wood pallets can be realized.

[0023] The control system of this invention is connected via data cables to a PLC, a log loading robot 207, a robot moving track 202, a vacuum suction cup 216, a 3D vision camera 214, a rotary tooling fixture device 8, a pneumatic clamp, a nailing and unloading robot 6, and a nailing and unloading device 7. It receives the position scanned by the 3D vision camera 214 and calculates the positions based on the log loading robot 207 and the vacuum suction cup 216. This assists the robot moving track 202, the rotary tooling fixture device 8, the pneumatic clamp, the nailing and unloading robot 6, and the nailing and unloading device 7 in forming a unified system and integrated linkage. It effectively controls the automatic picking, moving, loading, limiting, clamping, station switching, nailing, unloading, and stacking of various specifications of solid wood pallets.

[0024] The control operation method of the present invention is as follows: Step 1. Workers use a manual hydraulic trolley to transport the end linings 901, side 3 linings 902, side 2 linings 903, side 1 lining 904, middle lining 905, and sleepers 906 of the entire pallet of logs to the log loading position 201, placing them on their respective loading positions. Then, by clicking the start button on the integrated control cabinet, the control system starts the PLC controller, log loading robot 207, robot moving rail 202, vacuum suction cup 216, 3D vision camera 214, rotary tooling fixture device 8, pneumatic clamps, loading and unloading robot 6, loading and unloading device 7, and other devices via data cables. Step 2. The log loading robot 207 returns to its origin and adjusts its posture. It scans the logs of various specifications and models on the pallet at the log loading position 201 using a 3D vision camera 214 mounted on the crossbeam support 209. The scan is then processed quickly by data processing algorithm software, which performs rapid 3D modeling and spatial position calculation. The results are then fed back to the control system via communication software and data cable. The control system receives the scanned position from the 3D vision camera 214 and calculates the position based on the positions of the log loading robot 207 and the vacuum suction cup 216 clamp. The control system then controls the log loading robot 207 to drive the vacuum suction cup 216 clamp to accurately grab the logs of various specifications and models on the pallet at the log loading position 201. Finally, the control system controls the log loading robot 207 to drive the vacuum suction cup 216 to place the grabbed logs of various specifications and models from the log loading position 201 onto the rotary tooling fixture device 8. Step 3. The log feeding device 1 picks up and feeds three sleepers 906 respectively and places them vertically downwards on the appropriate position of the tooling fixture base plate 608 (adjacent sleepers are equally spaced). Under the action of gravity, the three sleepers 906 automatically slide down and contact the bottom fixed baffle 609. Then, the log feeding device 1 picks up and feeds two end liner plates 901, two side third liner plates 902, two side second liner plates 903, two side first liner plates 904, and three middle liner plates 905 respectively and places them horizontally on the appropriate position of the tooling fixture base plate 608 (each liner plate is arranged according to the finished product drawing). The control system activates solenoid valve 218, which in turn controls the cylinders, thereby actuating the pneumatic clamps. Two side-mounted push cylinders 606 move two side-mounted push plates 607, pushing the side sleepers 906 towards the inward side sleeper limiting plate 612, ensuring the dimensional and positional requirements of the sleepers 906 and all liners on the left and right sides of the solid wood pallet. Two middle sleeper push cylinders 611 activate, pushing the middle sleepers 906 towards the inward middle sleeper limiting plate, ensuring the dimensional and positional requirements of the middle sleepers 906 on the left and right sides. Top push cylinder 614 activates top push plate 615, pushing the three sleepers 906 towards the bottom fixed baffle 609, thus ensuring the dimensional and positional requirements of the three sleepers 906 at their upper and lower ends. Two liner limiting plate push cylinders 613 activate, causing two liner limiting plates 610 to move downwards, thus pushing all liners downwards, ensuring the dimensional and positional requirements of all liners at their upper and lower ends. Step 4. When the rotary tooling fixture device 8 switches to the nailing station, it will automatically send a signal to the control system. The control system will then send a signal to the nailing and unloading robot 6 to perform the action. The nailing and unloading robot 6 will then carry the nailing and unloading device 7 to perform the nailing work. The control system will automatically control the pneumatic nail gun 704 to perform the nailing. After the nailing work is completed, the solenoid valve of the rotary tooling fixture device 8 will be activated to release all pneumatic clamps. At the same time, the sixth axis end joint of the nailing and unloading robot 6 will automatically rotate 180° to transform into the unloading fixture. The nailing and unloading robot 6 will drive the nailing and unloading device 7 to adjust its angle and posture, and put the fixed fork plate 714 into the fork plate holes on both sides of the tooling fixture base plate 608. Then the solenoid valve will be activated to drive the guide rod cylinder 713 to move downward, thereby driving the moving fork plate 715 to move downward to clamp the nailed solid wood pallet. The nailing and unloading robot 6 will grab the finished solid wood pallet and automatically place it on the side according to the pre-set stacking program. Step 5. Under the precise control of the control system, the entire device automatically cycles through the following steps: automatic picking up, moving, feeding, limiting, clamping, station switching, nailing, unloading, and stacking of raw materials from the solid wood pallet. When all the logs of various specifications on the pallet's loading position 201 are picked up, the system will automatically alarm, prompting the worker to move the empty pallet away, replace it with a new pallet of logs of various specifications on the loading position 201, and confirm the replacement of the entire pallet of logs on the system. The system alarm will then automatically cancel, and the automatic cycle will continue.

Claims

1. A flexible automatic production device for solid wood pallets, characterized in that: include: The log feeding device automatically picks up, moves and grabs pallets of logs, sleepers and liners of various specifications and models at specific locations on the log feeding position and places them on the rotary tooling fixture device. The rotary tooling clamping device positions and clamps the log sleepers and liners grabbed by the log feeding device through automatic limiting, automatic clamping, and automatic station switching. The loading and unloading device automatically loads the logs clamped by the rotary tooling fixture device and picks up the finished solid wood pallets for stacking. The control system controls the entire device to automatically cycle through the following steps: automatic picking up, automatic movement, automatic feeding, automatic limiting, automatic clamping, automatic station switching, automatic nailing, automatic unloading of finished products, and automatic stacking of solid wood pallet raw materials. The rotary tooling fixture device consists of a rotary table drive reducer (605) mounted and fixed on a rotary table bracket (604), a rotary table (602) mounted and fixed on the rotary table drive reducer (605), a tooling fixture base plate fixing frame (601) mounted and fixed on the rotary table (602), two tooling fixture base plates (608) mounted and fixed on the tooling fixture base plate fixing frame (601), and a rotary table servo motor (603) mounted and fixed on the rotary table drive reducer (605). Side propulsion cylinders (606) and side propulsion plates (607) connected to the side propulsion cylinders (606) are respectively provided on both sides of each tooling fixture base plate (608). Two liner plate limiting plates (610) are provided in the middle of the fixture base plate (608). The two liner plate limiting plates (610) are connected to the corresponding liner plate limiting plate pushing cylinders (613). On each side pushing plate (607) on the fixture base plate (608), a side sleeper limiting plate (612) is provided between each side pushing plate (607) and its corresponding liner plate limiting plate (610). A middle sleeper limiting plate is provided between the two liner plate limiting plates (610). Two middle sleeper pushing cylinders (611) are provided in the middle of the fixture base plate (608). A bottom fixing baffle (609) is provided at the bottom of the fixture base plate (608). A top pushing cylinder (614) and a top pushing plate (615) connected to the top pushing cylinder (614) are provided at the top of the fixture base plate (608).

2. The flexible automatic production device for solid wood pallets according to claim 1, characterized in that: The log loading device consists of a movable track support bracket (203) mounted on a robot track. A log loading robot (207) and a log loading robot control cabinet (230) are mounted and fixed on the movable track support bracket (203). The end joint of the log loading robot (207) is connected to a crossbeam support (209) via a robot connecting flange (219). A vacuum suction cup moving servo motor (208) is mounted on the mounting plate of the crossbeam support (209). A linear guide rail (230) is mounted and fixed below the crossbeam support (209). 11) A linear slider (212) is provided on the linear guide (211). A vacuum suction cup upper connecting plate (213) is installed and fixed below the linear slider (212). A ball screw nut fixing block (217) is installed and fixed on the vacuum suction cup upper connecting plate (213). A ball screw nut (222) is installed and fixed on the ball screw nut fixing block (217). The ball screw nut (222) is installed on the ball screw (210). The ball screw (210) is fixedly installed on the bearing seat on the crossbeam bracket (209) by bearings. (210) is connected to the vacuum chuck moving servo motor (208) via a coupling; the vacuum chuck (216) is mounted and fixed under the upper connecting plate (213) of the vacuum chuck, and two ball screw nut fixing blocks (217) are mounted and fixed on the upper connecting plate (213) of the vacuum chuck, and two ball screw nuts (222) installed in opposite directions are mounted and fixed on the two ball screw nut fixing blocks (217), and the ball screw nuts (222) are mounted on the ball screw (210); the 3D vision camera (214) is mounted and fixed on the camera fixing plate (210). 15) Above, the camera mounting plate (215) is mounted and fixed on the crossbeam bracket (209), the solenoid valve (218) is mounted and fixed on the vacuum suction cup connecting plate (213), the sensor (221) is mounted and fixed on the sensor mounting bracket (220), the sensor mounting bracket (220) is mounted and fixed on the crossbeam bracket (209), the robot connecting flange (219) is mounted and fixed on the crossbeam bracket (209) below, and the robot connecting flange (219) is mounted and fixed on the end joint of the log loading robot (207).

3. The flexible automatic production device for solid wood pallets according to claim 2, characterized in that: The ground rail support bracket (203) can move on the robot moving ground rail (202). A moving ground rail slider (204) is set on the linear guide rail on the robot moving ground rail (202). The moving ground rail support bracket (203) is set on the moving ground rail slider (204). A planetary reducer (205) is fixed on the moving ground rail support bracket (203). A moving ground rail servo motor (206) is installed and fixed on the planetary reducer (205). A gear is installed and fixed below the planetary reducer (205). The gear meshes with the rack installed and fixed on the robot moving ground rail (202).

4. The flexible automatic production device for solid wood pallets according to claim 1, characterized in that: The nailing and unloading device is connected to the sixth axis end joint of the nailing and unloading robot (6) via a robot connecting bracket (711). A crossbeam (702) is fixed in the middle of the robot connecting bracket (711), and end limit plates (701) are provided at both ends of the crossbeam (702). A pneumatic nail gun moving frame (703) is installed on both sides of the crossbeam (702) and on the robot connecting bracket (711). The pneumatic nail gun moving frames (703) on both sides of the crossbeam (702) can move along the crossbeam (702) and pass through the bearing (709). The number limit indicator plate (706) is connected, and the model limit indicator plate (706) is installed in the middle on the robot connecting bracket (711) to form a whole with the crossbeam (702); each pneumatic nail gun moving frame (703) is equipped with a pneumatic nail gun (704) and a pneumatic nail gun nail plate (705); a fixed fork plate (714) is installed and fixed behind the robot connecting bracket (711), and a guide rod cylinder (713) is installed and fixed on both sides of the fixed fork plate (714), and a moving fork plate (715) is installed and fixed below the guide rod cylinder (713).

5. The flexible automatic production device for solid wood pallets according to claim 1, characterized in that: The finished solid wood pallet consists of three sleepers (906), two side third linings (902), two side second linings (903), two side first linings (904) and three middle linings (905) set on the three sleepers (906).

6. A control operation method for a flexible automatic production device for solid wood pallets, characterized by the following steps: Step 1. Workers use a manual hydraulic trolley to transport the end linings (901), side three linings (902), side two linings (903), side one lining (904), middle linings (905), and sleepers (906) of the entire pallet of logs to the log loading position (201) and place them on the corresponding loading positions; click the start button on the integrated control cabinet, and the control system will start the PLC controller, log loading robot (207), robot moving rail (202), vacuum suction cup (216), 3D vision camera (214), rotary tooling fixture device (8), pneumatic fixture, nailing and unloading robot (6), and nailing and unloading device (7) respectively through the data cable. Step 2. The log loading robot (207) returns to the origin and adjusts its posture. It scans the logs of various specifications and models on the whole pallet at the log loading position (201) by using a 3D vision camera (214) installed and fixed on the crossbeam bracket (209). The data is processed quickly by the data processing algorithm software, and the 3D model and spatial position are calculated. The data is then fed back to the control system through the communication software and data line. The control system receives the position scanned by the 3D vision camera (214) and calculates the position based on the position of the log loading robot (207) and the vacuum suction cup (216) clamp. The control system controls the log loading robot (207) to drive the vacuum suction cup (216) clamp to accurately grab the logs of various specifications and models on the whole pallet at the log loading position (201) on the pallet. Then the control system controls the log loading robot (207) to drive the vacuum suction cup (216) to place the grabbed logs of various specifications and models at the log loading position (201) on the rotary tooling fixture device (8). Step 3. The log feeding device (1) picks up and feeds three sleepers (906) respectively and places them vertically downward on the bottom fixed baffle (609) of the tooling fixture base plate (608). Then, the log feeding device (1) picks up and feeds two end liner plates (901), two side third liner plates (902), two side second liner plates (903), two side first liner plates (904), and three middle liner plates (905) respectively and places them horizontally on the appropriate position of the tooling fixture base plate (608). The control system controls the solenoid valve (218) to act, thereby controlling the cylinder to act and driving the pneumatic fixture to act. The two side push cylinders (606) drive the two side push plates (607) to push the sleepers (906) on both sides towards the side sleeper limit plate (61) inward. 2) To ensure the dimensional and positional requirements of the sleepers (906) and all liners on the left and right sides of the solid wood pallet, the two middle sleeper push cylinders (611) are activated, pushing the middle sleeper (906) closer to the inner middle sleeper limiting plate, ensuring the dimensional and positional requirements of the middle sleeper (906) on the left and right sides; the top push cylinder (614) drives the top push plate (615) to push the three sleepers (906) closer to the bottom fixed baffle (609) below, thereby ensuring the dimensional and positional requirements of the three sleepers (906) at the top and bottom ends of the solid wood pallet; the two liner limiting plate push cylinders (613) are activated, driving the two liner limiting plates (610) to move downward, thereby pushing all liners downward, ensuring the dimensional and positional requirements of all liners at the top and bottom ends of the solid wood pallet; Step 4. When the rotary tooling fixture device (8) switches to the nailing station, it will automatically send a signal to the control system. Then, the control system will send a signal to the nailing and unloading robot (6) to perform the action. The nailing and unloading robot (6) will then carry the nailing and unloading device (7) to perform the nailing work. The control system will automatically control the pneumatic nail gun (704) to perform the nailing. When the nailing work is completed, the solenoid valve of the rotary tooling fixture device (8) will be activated to release all the pneumatic clamps. At the same time, the sixth axis end joint of the nailing and unloading robot (6) will automatically rotate 180°. When the tooling is changed to a cutting tool, the cutting robot (6) drives the cutting device (7) to adjust the angle and posture, and puts the fixed fork plate (714) into the fork plate holes on both sides of the tooling fixture base plate (608). Then the solenoid valve is activated to drive the guide rod cylinder (713) to move downward, thereby driving the moving fork plate (715) to move downward and clamp the finished solid wood pallet. The cutting robot (6) grabs the finished solid wood pallet and automatically places the finished solid wood pallet on the side according to the pre-set stacking program. Step 5. Under the precise control of the control system, the entire device automatically cycles through the following steps: automatic picking up, automatic movement, automatic feeding, automatic limiting, automatic clamping, automatic station switching, automatic nailing, automatic unloading of finished products, and automatic stacking of raw materials from the solid wood pallet. When all the raw materials of various specifications and models in the raw material feeding position (201) of the entire pallet are picked up, the system will automatically alarm and prompt the worker to transfer the empty pallet away, replace it with a whole pallet of raw materials of various specifications and models in the raw material feeding position (201), and confirm on the system that the raw materials of the entire pallet have been replaced. The system alarm will be automatically canceled, and then the automatic cycle will continue.

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