Electronic cutting saw waste conveying device and control method

Abstract

The invention relates to the technical field of transportation equipment, solves the problems that electronic cutting saw waste transportation treatment is disjointed with an automatic process, and a waste accumulation working condition in a special physical state cannot be coped with, and particularly discloses an electronic cutting saw waste conveying device and a control method. Comprising an electronic cutting saw body, an excess material detection module, an intelligent suspension conveying system, an excess material storage module, a central control module and a conveying path optimization module. The intelligent suspension conveying system is erected above the electronic cutting saw body and comprises a suspension track, a driving assembly, an execution assembly and a positioning assembly, a transmission mechanism is arranged in the suspension track, the driving assembly is connected with the suspension track through the transmission mechanism, and the execution assembly is connected with the driving assembly through a rotating joint; the positioning assembly is arranged on the side of the execution assembly. The intelligent conveying device is used for intelligent conveying of waste generated in the sawing process of the electronic cutting saw, abnormal conveying can be prevented, and operation smoothness is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of transportation equipment technology, and in particular to an electronic panel saw waste conveying device and control method. Background Technology

[0002] In the wood processing industry, electronic panel saws have become core equipment in the board processing stage due to their high cutting accuracy and high operating efficiency. However, when cutting standard-sized boards, electronic panel saws generate multiple scraps at both ends of the board's length and on both sides of its width. Currently, existing electronic panel saws are designed only for cutting and generally lack a matching scrap conveying device, causing the scraps generated during cutting to slide directly down the worktable and accumulate in the enclosed receiving area at the bottom of the equipment.

[0003] This method of handling scrap materials has several drawbacks: Firstly, it requires dedicated operators to clean up the scrap materials after every 5-8 cuts, which is time-consuming per cleaning session, resulting in 1-1.5 hours of downtime per day due to scrap material cleaning. This increases labor costs and significantly reduces effective production time. Secondly, the scrap material receiving area is cramped, requiring operators to bend over and reach under the equipment, increasing the risk of being bumped by the transmission components at the bottom of the equipment or cut by the sharp edges of the scrap materials, leading to poor operational safety. More importantly, while the electronic panel saw itself has achieved numerical control automation, scrap material handling still relies on manual labor, resulting in incomplete process automation and lowering the overall automation efficiency of the production line.

[0004] Furthermore, wood processing often encounters unique working conditions: damp scraps are prone to slipping during gripping or conveying due to reduced surface friction; thin, easily deformable scraps are easily bent and damaged due to concentrated stress; and densely packed scraps are prone to gripping interference or jamming due to mutual compression. These problems cannot be solved by traditional manual handling or simple automation solutions, further limiting the stability and adaptability of the production line. Therefore, there is an urgent need for an intelligent scrap conveying device that can connect to the automated process of electronic panel saws and cope with special working conditions, filling the technological gap in scrap handling. Summary of the Invention

[0005] To address the problems in existing technologies where waste transportation and processing of electronic panel saws are disconnected from automated processes and cannot handle waste accumulation conditions with special physical states, this invention provides an electronic panel saw waste conveying device and control method.

[0006] The technical solution adopted in this invention is:

[0007] An electronic panel saw waste conveying device includes an electronic panel saw body, a waste material detection module, an intelligent overhead conveying system, a waste material storage module, a central control module, and a conveying path optimization module;

[0008] One end of the electronic panel saw body is provided with a scrap material receiving area, and the scrap material detection module is set in the scrap material receiving area. The signal output end of the scrap material detection module is electrically connected to the central control module through a wire.

[0009] The intelligent overhead conveying system is mounted above the electronic panel saw body. The intelligent overhead conveying system includes an overhead track, a drive component, an execution component, and a positioning component. The overhead track is equipped with a transmission mechanism. One end of the overhead track is located above the scrap material drop receiving area and the other end extends to the scrap material storage module. The drive component is connected to the overhead track through the transmission mechanism. The execution component is connected to the drive component through a rotary joint. The positioning component is located on the side of the execution component.

[0010] The central control module is electrically connected to the intelligent suspended conveyor system and the conveyor path optimization module respectively; the conveyor path optimization module is integrated into the central control module; the conveyor path optimization module is used to plan the layered grasping path.

[0011] Furthermore, the execution components of the intelligent suspended conveying system include an electric gripper, a flexible support plate, and a vacuum adsorption unit; the vacuum adsorption unit includes a vacuum suction cup, an air pipe, and a vacuum generator. The vacuum suction cup is connected to both sides of the electric gripper via a bracket, and the vacuum generator is connected to the side of the moving seat of the drive component. One end of the air pipe is connected to the vacuum suction cup, and the other end is connected to the air outlet of the vacuum generator; the top of the electric gripper is fixed to the moving seat of the drive component via a rotary joint, and the rotation axis of the rotary joint is perpendicular to the center line of the electric gripper; the control end of the vacuum generator is electrically connected to the central control module.

[0012] Furthermore, the residual material detection module includes an infrared sensor group, a humidity sensor, and a thickness detection unit; the infrared sensor group includes at least three sets of infrared transmitters and infrared receivers, and the infrared sensor group is symmetrically distributed on the inner wall of the residual material drop receiving area; the humidity sensor is located on the lower part of the inner wall of the residual material drop receiving area; the thickness detection unit is fixed at the entrance of the residual material drop receiving area by a bracket; the signal output terminals of the infrared sensor group, humidity sensor, and thickness detection unit are all electrically connected to the central control module through wires.

[0013] Furthermore, the waste material storage module includes multiple independent storage compartments. The bottom of each storage compartment is equipped with a weight sensor and a stacking status detection unit. The outer wall of the storage compartment is equipped with a vibration leveling unit. The control terminal of the electric compartment door, the weight sensor, the stacking status detection unit, and the vibration leveling unit are all electrically connected to the central control module.

[0014] Furthermore, the positioning component includes a laser positioning device and an image recognition unit; the laser positioning device is mounted on the execution component, with its emitting end facing the waste material receiving area; the image recognition unit includes an industrial camera and an LED ring light, with the industrial camera mounted on one side of the laser positioning device, and its lens axis parallel to the laser axis of the laser positioning device; the LED ring light is fixed to the outside of the lens of the industrial camera by a clip; the signal output end of the industrial camera and the control end of the LED ring light are electrically connected to the central control module via wires.

[0015] A method for controlling the conveying of waste from an electronic panel saw, based on an electronic panel saw waste conveying device, includes the following steps:

[0016] S1. After the electronic panel saw completes one cutting of the board, it sends a cutting completion level signal to the central control module. After receiving the signal, the central control module delays for 0.5 seconds to trigger the residual material detection module. The residual material detection module collects the existence status, surface moisture, thickness and contour information of the residual material and transmits it to the central control module.

[0017] S2. The central control module determines whether there is residual material. If there is, it classifies the residual material level according to the outline information and identifies the damp and thin information in combination with the humidity and thickness information. If there is no residual material, it returns to the standby state.

[0018] S3. The central control module retrieves the signals from the weight sensor and stacking status detection unit of the storage bin, matches the target storage bin with the remaining material level and working condition type, and generates storage bin preprocessing instructions.

[0019] S4. The central control module generates a customized movement path and grabbing parameters through the conveying path optimization module. It controls the drive component to move the execution component to the top of the receiving area. After the positioning component calibrates the position of the remaining material, the execution component grabs the remaining material according to the parameters and conveys it along the path to the top of the target storage bin.

[0020] S5. The central control module controls the target storage bin to execute preprocessing instructions and open the bin door, executes the component to release the remaining material, and closes the bin door after detecting that the remaining material is in place and stacked stably, records the data and returns to the standby state.

[0021] Furthermore, in S2, the central control module determines the damp condition through the humidity sensor signal of the residual material detection module. When the humidity value exceeds the preset benchmark value by more than 30%, it is determined to be damp residual material.

[0022] In S4, the central control module controls the vacuum generator of the execution component to start, and the vacuum suction cup generates negative pressure to adsorb the surface of the residual material. At the same time, the gripping force of the electric gripper is increased to 1.3 times the normal gripping force of residual material, and the gripper closing speed is reduced to 0.7 times the normal closing speed. During the conveying process, the laser positioning device of the positioning component detects the posture of the residual material in real time. If the posture of the residual material deviates beyond the preset value, the central control module controls the rotary joint to finely adjust the angle of the electric gripper, and at the same time extends the length of the smooth section of the conveying path until the posture of the residual material returns to the preset range.

[0023] Furthermore, in S2, the central control module determines the damp condition through the humidity sensor signal of the residual material detection module. When the humidity value exceeds the preset benchmark value by more than 30%, it is determined to be damp residual material.

[0024] In S4, the central control module controls the vacuum generator of the execution component to start, and the vacuum suction cup generates negative pressure to adsorb the surface of the residual material. At the same time, the gripping force of the electric gripper is increased to 1.2-1.5 times that of the normal residual material gripping force, and the gripper closing speed is reduced to 0.6-0.8 times that of the normal closing speed. During the conveying process, the laser positioning device of the positioning component detects the posture of the residual material in real time. If the posture of the residual material deviates beyond the preset value, the central control module controls the rotary joint to finely adjust the angle of the electric gripper, and at the same time extends the length of the smooth section of the conveying path until the posture of the residual material returns to the preset range.

[0025] Furthermore, in S2, the central control module determines the thin working condition through the thickness detection unit signal of the residual material detection module. When the thickness of the residual material is less than the preset thickness threshold, it is determined to be a thin and easily deformable residual material.

[0026] In S4, the central control module controls the flexible support plate of the execution component to unfold, adjusts the gripping point of the electric gripper to the two ends of the 1 / 4 area in the length direction of the leftover material, reduces the gripping force to 0.4-0.6 times the normal gripping force of leftover material, and at the same time controls the moving acceleration of the drive component to reduce it to 0.55-0.7 times the normal moving acceleration.

[0027] In S5, the central control module controls the execution component to slowly release the remaining material at a speed of 0.35-0.5 times the normal release speed, while controlling the vibration leveling unit of the target storage bin to run at a low speed until the remaining material falls smoothly into the storage bin.

[0028] Furthermore, in S2, the central control module analyzes the residual material accumulation density through the image recognition unit of the positioning component. When the amount of residual material per unit area exceeds the preset density threshold and the distance between adjacent residual materials is less than 0.3 times the minimum size of the residual material, it is determined to be a dense accumulation condition.

[0029] In S3, the central control module plans the layered grabbing path through the conveying path optimization module, and sorts the grabbing order according to the priority of upper layer residual material first and outer layer residual material first.

[0030] In S4, the opening angle of the electric gripper of the execution component is expanded to 1.2-1.35 times the normal opening angle. The image recognition unit locates the edge gap of the upper layer of residual material. The central control module controls the electric gripper to insert from the gap to grab the residual material. After grabbing, the residual material is temporarily stored in the preset transition position, and then the execution component is controlled to return to the receiving area to grab the lower layer of residual material.

[0031] Furthermore, in S2, the central control module detects the edge shape of the residual material through the image recognition unit of the positioning component. When the size of the protrusion or depression of the residual material edge exceeds the preset flatness threshold, it is determined to be an irregular edge condition.

[0032] In S4, the central control module generates a multi-point adaptive gripping scheme based on the edge data collected by the image recognition unit. It selects more than three points with flat edges as gripping support points and adjusts the angle of the electric gripper by controlling the rotation joint of the execution component to make the gripper fit with each support point. At the same time, it increases the redundancy of gripping force to 1.4-1.6 times that of conventional scrap material gripping force.

[0033] In S5, the central control module controls the target storage bin to open, allowing the remaining material to slide down the inner wall of the storage bin to the designated storage area. At the same time, combined with the stacking data fed back by the stacking status detection unit, the release position of the subsequent remaining material is adjusted in real time.

[0034] The beneficial effects of this invention are:

[0035] After the electronic panel saw completes the cutting, the central control module of this invention delays the triggering of the scrap detection module to accurately collect information on the presence, surface moisture, thickness, and contour of the scrap, avoiding the need to stop the machine to confirm the scrap condition before manual cleaning. The central control module classifies the scrap according to the collected information and identifies special conditions such as dampness and thinness. It then matches the target storage bin with the weight and stacking status of the scrap storage module. Simultaneously, the conveying path optimization module generates a customized movement path and gripping parameters, controlling the execution components of the intelligent overhead conveyor system to accurately grip the scrap and transport it to the target storage bin. This eliminates the need for manual entry into the confined receiving area for cleaning, saving the manpower required for separate operators. This reduces costs and avoids the safety risks of operators being bumped or scratched. It also eliminates the need to stop the machine for cleaning after each round of cutting, significantly reducing daily downtime and effectively increasing effective production time. The entire waste material conveying process is controlled by a central control module, which is integrated with the CNC automation of the electronic panel saw, improving process automation and avoiding the problem of waste material handling reducing the overall automation efficiency of the production line. At the same time, for special working conditions such as slippery wet waste material, easily deformed thin waste material, and easily interfered and jammed dense waste material, customized capture parameters and path planning ensure the stability of waste material conveying, improve the adaptability of the device to different working conditions, and fill the technical gap in waste material handling. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the device structure of the present invention;

[0037] Figure 2 This is a flowchart of the method of the present invention.

[0038] Figure label:

[0039] 1-Electronic panel saw body, 2-Excess material detection module, 3-Intelligent overhead conveyor system, 4-Excess material storage module, 5-Excess material drop receiving area, 6-Suspension track, 7-Drive component, 8-Execution component, 9-Positioning component, 10-Transmission mechanism, 11-Moving seat, 12-Weight sensor, 13-Stacking status detection unit, 14-Vibration leveling unit. Detailed Implementation

[0040] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0041] Example 1

[0042] The waste conveying device for the electronic panel saw in this embodiment is as follows: Figure 1As shown, the system includes an electronic panel saw body 1, a scrap detection module 2, an intelligent overhead conveying system 3, a scrap storage module 4, a central control module, and a conveying path optimization module. One end of the electronic panel saw body 1 has a scrap drop receiving area 5. The scrap detection module 2 is installed within this receiving area and electrically connected to the central control module. The intelligent overhead conveying system 3 is mounted above the electronic panel saw body 1. One end of its suspension track 6 is located above the receiving area, and the other end extends above the scrap storage module 4. A drive component 7 is connected to the suspension track 6 via a transmission mechanism 10. An execution component 8 is connected to the drive component 7 via a rotary joint. A positioning component 9 is located on the side of the execution component 8. The central control module is electrically connected to the intelligent overhead conveying system 3 and the conveying path optimization module, which is integrated into the central control module and used to plan layered grabbing paths. During operation, after the electronic panel saw body 1 completes the cutting of the board, it sends a cutting completion signal to the central control module. The central control module then triggers the scrap detection module 2 to collect relevant scrap information and transmits it to itself. After determining the presence of scrap, the central control module matches the scrap information with the status of the scrap storage module 4 to the target storage bin. Through the conveying path optimization module, a customized movement path and grabbing parameters are generated. The execution component 8 of the intelligent overhead conveying system 3 grabs the scrap after the positioning component 9 is calibrated, conveys it along the planned path to the target storage bin, and releases it. After completing the scrap conveying, it returns to the standby state. This embodiment, through the coordinated cooperation of various modules, realizes the automated processing of scrap from detection and grabbing to storage, eliminating the need for manual shutdown for cleaning. This reduces labor costs and avoids the safety hazards associated with manual cleaning. At the same time, it connects with the CNC automation process of the electronic panel saw, improving the automation efficiency of the entire production line and filling the technological gap in intelligent transportation of scrap.

[0043] Example 2

[0044] This embodiment is based on the electronic panel saw waste conveying device of Embodiment 1. The execution component 8 of its intelligent suspended conveying system 3 includes an electric gripper, a flexible support plate and a vacuum adsorption unit. The vacuum adsorption unit consists of a vacuum suction cup, an air pipe and a vacuum generator. The vacuum suction cup is connected to both sides of the electric gripper through a bracket. The vacuum generator is connected to the side of the moving seat 11 of the drive component 7. The two ends of the air pipe are respectively connected to the air outlets of the vacuum suction cup and the vacuum generator. The top of the electric gripper is fixed to the moving seat 11 of the drive component 7 through a rotating joint. The rotation axis of the rotating joint is perpendicular to the center line of the electric gripper. The control end of the vacuum generator is electrically connected to the central control module. During operation, after receiving the signal from the residual material detection module 2, the central control module generates corresponding gripping parameters based on the residual material situation through the conveying path optimization module. It then controls the drive component 7 to move the execution component 8 above the residual material drop receiving area 5. After the positioning component 9 calibrates the residual material position, the central control module activates the vacuum generator, causing the vacuum suction cup to generate negative pressure to adsorb the residual material surface. Simultaneously, the electric gripper clamps and fixes the residual material. The rotating joint can adjust the angle of the electric gripper as needed to ensure stable gripping of the residual material. Afterward, the drive component 7 moves the execution component 8 along the suspended track 6, conveying the residual material to the top of the target storage bin for release. This embodiment, through the combined gripping structure of the electric gripper and vacuum adsorption unit, enhances the stability of residual material gripping, preventing residual material from falling off during conveying. The rotating joint design allows for more flexible gripping angles of the execution component 8, adapting to residual materials in different postures, further improving the conveying reliability of the device.

[0045] Example 3

[0046] This embodiment is based on the electronic panel saw waste conveying device of Embodiment 1. The waste material detection module 2 includes an infrared sensor group, a humidity sensor, and a thickness detection unit. The infrared sensor group consists of at least three sets of infrared transmitters and infrared receivers, symmetrically distributed on the inner wall of the waste material drop receiving area 5. The humidity sensor is located at the lower part of the inner wall of the waste material drop receiving area 5. The thickness detection unit is fixed at the entrance of the waste material drop receiving area 5 by a bracket. The signal output terminals of all three are electrically connected to the central control module. During operation, after the electronic panel saw body 1 completes the cutting, the central control module triggers the waste material detection module 2 with a delay. The infrared sensor group emits infrared signals through the infrared transmitters, and the infrared receivers receive the reflected signals, thereby detecting the existence state and contour information of the waste material. The humidity sensor collects the surface humidity information of the waste material in real time. The thickness detection unit detects the thickness of the waste material entering the receiving area. All collected information is transmitted to the central control module, providing data support for the central control module to classify waste material levels and identify special working conditions. This embodiment, through the collaborative detection of multiple types of sensors, can comprehensively and accurately obtain key information about the remaining material, ensuring that the central control module makes accurate judgments. This provides a reliable basis for subsequent grabbing, conveying, and storage processes, improves the device's accuracy in identifying the remaining material's working condition, and ensures the smooth operation of the automated conveying process.

[0047] Example 4

[0048] This embodiment is based on the electronic panel saw waste conveying device of Embodiment 1. The waste material storage module 4 includes multiple independent storage bins. A weight sensor 12 and a stacking status detection unit 13 are provided at the bottom of each bin, and a vibration leveling unit 14 is provided on the outer wall. The weight sensor 12, the stacking status detection unit 13, and the vibration leveling unit 14 are all electrically connected to the central control module. During operation, the central control module retrieves the signals from the weight sensor 12 and the stacking status detection unit 13 to understand the load-bearing capacity and stacking status of each storage bin. It matches the target storage bin with the waste material grade and working condition type and generates a preprocessing instruction. When the execution component 8 conveys the waste material to the top of the target storage bin, the central control module controls the bin door to open. After the execution component 8 releases the waste material, the vibration leveling unit 14 starts to level the waste material in the bin. The stacking status detection unit 13 monitors the stacking status of the waste material in real time. After confirming that the waste material is in place and the stacking is stable, the central control module controls the bin door to close. This embodiment achieves classified storage of surplus materials by setting up multiple independent storage bins. The cooperation between the weight sensor 12 and the stacking status detection unit 13 ensures the reasonable load of the storage bins, and the vibration leveling unit 14 ensures the stability of the surplus material stacking, avoiding storage hazards caused by messy surplus material accumulation, and improving the standardization and safety of surplus material storage.

[0049] Example 5

[0050] This embodiment is based on the electronic panel saw waste conveying device of Embodiment 1. Its positioning component 9 includes a laser positioning device and an image recognition unit. The laser positioning device is mounted on the execution component 8, with its emitting end facing the waste material receiving area 5. The image recognition unit consists of an industrial camera and an LED ring light. The industrial camera is positioned to one side of the laser positioning device, with its lens axis parallel to the laser axis of the laser positioning device. The LED ring light is fixed to the outside of the industrial camera lens by a clip. The signal output terminal of the industrial camera and the control terminal of the LED ring light are both electrically connected to the central control module. During operation, after the execution component 8 moves above the waste material receiving area 5, the central control module controls the LED ring light to turn on, providing sufficient illumination for the industrial camera. The industrial camera acquires image information of the waste material and transmits it to the central control module. Simultaneously, the laser positioning device emits a laser to locate the waste material, accurately obtaining its position coordinates. The central control module combines the image information and positioning data to control the execution component 8 to adjust its posture, ensuring that the gripper accurately aligns with the waste material grabbing position. This embodiment achieves high-precision positioning of the residual material by working in concert with the laser positioning device and the image recognition unit. The LED ring light ensures the clarity of the image acquisition, effectively avoiding grabbing failure or damage to the residual material due to inaccurate positioning, improving the accuracy and reliability of residual material grabbing, and providing a guarantee for subsequent stable conveying.

[0051] Example 6

[0052] The waste conveying control method of the electronic panel saw in this embodiment is as follows: Figure 2As shown, this can be performed based on the aforementioned device. During operation, after the electronic panel saw body 1 completes one cutting of the board, it sends a cutting completion level signal to the central control module. After receiving the signal, the central control module triggers the residual material detection module 2 after a delay. The residual material detection module 2 collects the presence status, surface humidity, thickness, and contour information of the residual material and transmits it to the central control module. After determining that there is residual material, the central control module classifies the residual material level according to the contour information and identifies dampness and thinness information in combination with humidity and thickness information. If there is no residual material, it returns to the standby state. Subsequently, the central control module retrieves the weight sensor 12 from the storage bin. The system, in conjunction with the signal from the stacking status detection unit 13, matches the target storage bin with the residual material level and working condition type, and generates a storage bin pre-processing instruction. A customized movement path and gripping parameters are generated through the conveying path optimization module. The drive component 7 moves the execution component 8 above the receiving area. After the positioning component 9 calibrates the residual material position, the execution component 8 grips the residual material according to the parameters and conveys it along the path to the target storage bin. The central control module controls the target storage bin to execute the pre-processing instruction and open the bin door. The execution component 8 releases the residual material. After detecting that the residual material is in place and the stacking is stable, the bin door closes, data is recorded, and the system returns to standby mode. This control method, through a step-by-step automated process, achieves intelligent control of the entire process of residual material handling, from detection, judgment, and matching to storage bins, to gripping, conveying, and storage. It requires no manual intervention, reducing labor costs and downtime, improving production efficiency, and ensuring the stability of residual material conveying through customized path and parameter settings. This allows for seamless integration of the residual material handling process with the automated process of the electronic panel saw, enhancing the automation level of the entire production line.

[0053] Example 7

[0054] The waste material conveying control method of the electronic panel saw in this embodiment is based on embodiment 6. During operation, in step S2, the central control module judges the damp condition through the humidity sensor signal of the waste material detection module 2. When the detected humidity value meets the preset judgment condition, it is judged as damp waste material. After entering step S4, the central control module controls the vacuum generator of the execution component 8 to start, so that the vacuum suction cup generates negative pressure to adsorb the surface of the waste material. At the same time, the gripping force of the electric gripper is adjusted to be suitable for the damp waste material, and the gripper closing speed is reduced to avoid the waste material surface being slippery and causing poor gripping. During the conveying process, the laser positioning device of the positioning component 9 detects the posture of the waste material in real time. If the deviation of the waste material posture exceeds the preset value, the central control module immediately controls the rotary joint to finely adjust the angle of the electric gripper, and at the same time extends the length of the stable section of the conveying path until the posture of the waste material returns to the preset range. This control method addresses the issue of slippage caused by decreased surface friction of damp waste materials. By combining vacuum adsorption with enhanced gripping force and reduced closing speed, it improves the gripping stability of damp waste materials. Combined with real-time attitude detection, angle fine-tuning, and path optimization, it effectively prevents damp waste materials from falling off or shifting their posture during transportation, ensuring smooth and safe transportation of waste materials under damp conditions and improving the adaptability of the device to damp conditions.

[0055] To address the issue of reduced surface friction in damp scrap materials, the gripping force of the electric grippers has been increased to 1.3 times the conventional value. This value compensates for insufficient friction to prevent slippage while avoiding excessive force that could damage softwood scrap materials. It solves the slippage problem while ensuring the integrity of the scrap materials, reducing the risk of conveying interruptions. Further adjustments can be made based on the scrap material material: 1.4-1.5 times for high-density hardwood and 1.2-1.25 times for low-density softwood, with fine-tuning using vacuum adsorption. The closing speed of the electric grippers has been reduced to 0.7 times the conventional value to prevent slippage or misalignment between the grippers and the scrap materials due to excessively fast closing, while maintaining gripping efficiency. This allows for smooth gripping and improved fit, resulting in a stable gripping effect when combined with increased force. Further adjustments can be made based on the scrap material size: 0.6-0.65 times for large scrap materials to prevent tipping, and 0.75-0.8 times for small scrap materials to balance efficiency and stability.

[0056] Example 8

[0057] The waste material conveying control method of the electronic panel saw in this embodiment is based on embodiment 6. During operation, in step S2, the central control module judges the thin working condition through the thickness detection unit signal of the waste material detection module 2. When the thickness of the waste material meets the preset thickness threshold condition, it is determined to be a thin and easily deformable waste material. After entering step S4, the central control module controls the flexible support plate of the execution component 8 to unfold, providing support for the thin waste material. At the same time, the gripping point of the electric gripper is adjusted to a specific area in the length direction of the waste material, reducing the gripping force and the moving acceleration of the drive component 7, so as to avoid the waste material bending and deforming due to force concentration or excessive movement. In step S5, the central control module controls the execution component 8 to slowly lower the waste material at a low speed, while controlling the vibration leveling unit 14 of the target storage bin to run at a low speed, reducing the impact force during the falling process of the waste material and the squeezing force during stacking, until the waste material falls smoothly into the storage bin. This control method addresses the easily deformable nature of thin scrap materials by employing a series of targeted measures, such as unfolding flexible support plates, optimizing gripping points, reducing gripping force and moving acceleration, and slowing down the material. These measures disperse the stress on the scrap materials, reduce the impact of external forces on the scrap materials, effectively prevent bending damage to thin scrap materials during gripping, conveying, and storage, and improve the integrity and stability of scrap material conveying under thin working conditions.

[0058] Thin scrap materials have low structural strength. The gripping force of the electric gripper is reduced to 0.5 times the conventional force, which reduces the compressive pressure. Combined with flexible support plates, this prevents the scrap material from bending and deforming, protecting its integrity and improving recycling rates. Adjustments can be made according to the type of scrap material: for multi-layer composite boards, the force is reduced to 0.4-0.45 times to prevent interlayer separation; for single-material thin hardwood, the force is increased to 0.55-0.6 times to balance requirements. The driving component 7's moving acceleration is reduced to 0.6 times the conventional force to reduce swaying or falling off thin scrap materials due to inertial impact, ensuring stable material posture during conveying and reducing vibration fatigue. Adjustments can be made according to the conveying path: for long paths, the acceleration is increased to 0.65-0.7 times with a uniform speed buffer section; for short paths, it is maintained or reduced to 0.55 times to increase stability. The release speed of the actuator 8 is reduced to 0.4 times the conventional force. The height can be increased by 10 times to prevent thin scrap materials from drifting and causing loss of control or damage. Combined with the vibration leveling unit 14, it can achieve stable material dropping and ensure neat stacking. The height can be adjusted according to the height of the scrap material in the bin. High stacking can be reduced to 0.35-0.4 times to prevent impact deformation, and empty bins can be increased to 0.45-0.5 times and the vibration unit can be started in advance.

[0059] Example 9

[0060] The waste conveying control method of the electronic panel saw in this embodiment is based on embodiment 6. During operation, in step S2, the central control module analyzes the waste material accumulation density through the image recognition unit of the positioning component 9. When the amount of waste material per unit area and the distance between adjacent waste materials meet the preset density conditions, it is determined to be a dense accumulation condition. After entering step S3, the central control module plans the layered grabbing path through the conveying path optimization module and determines the grabbing order of upper waste material priority and outer waste material priority. In step S4, the electric gripper of the execution component 8 expands the opening angle, the image recognition unit accurately locates the edge gap of the upper waste material, and the central control module controls the electric gripper to insert from the gap to grab the waste material. After grabbing, the waste material is temporarily stored in the preset transition position, and then the execution component 8 is controlled to return to the receiving area to grab the lower waste material. This control method addresses the problem of interference or jamming during the gripping of densely packed waste materials. By planning layered gripping paths and reasonable gripping priorities, combined with expanding the opening angle of the grippers and accurately locating edge gaps, it achieves orderly gripping of waste materials and avoids mutual interference between adjacent waste materials. At the same time, the setting of temporary storage and transition ensures smooth layered gripping, effectively solving the gripping problem under densely packed conditions and improving the device's ability to handle densely packed conditions.

[0061] With small gaps between densely packed scrap materials, the opening angle of the electric gripper is increased to 1.2 times that of the conventional gripper, which increases the entry space, facilitates the insertion of the gripper into the gaps between the edges of the upper scrap materials, reduces interference with the surrounding scrap materials, enables precise gripping, avoids stacking collapse or jamming, and improves gripping efficiency. The gripper can be adjusted according to the stacking shape of the scrap materials. For long strip stacks, the gripper can be expanded to 1.3-1.35 times for increased convenience, while for block stacks, the gripper can be maintained or finely adjusted to 1.25 times. At the same time, image recognition is used to locate the gaps to prevent the gripper from becoming less stable.

[0062] Example 10

[0063] The waste material conveying control method of the electronic panel saw in this embodiment is based on embodiment 6. During operation, in step S2, the central control module detects the edge shape of the waste material through the image recognition unit of the positioning component 9. When the size of the protrusion or depression of the waste material edge meets the preset flatness threshold condition, it is determined to be an irregular edge condition. After entering step S4, the central control module generates a multi-point adaptation gripping scheme based on the edge data collected by the image recognition unit, selects multiple points with flat edges as gripping support points, and adjusts the angle of the electric gripper by controlling the rotation joint of the execution component 8 to make the gripper fit tightly with each support point, while increasing the redundancy of the gripping force to ensure stable gripping of waste material with irregular edges. In step S5, the central control module controls the target storage bin to guide the waste material to slide down the inner wall of the storage bin to the designated storage area. At the same time, combined with the stacking data fed back by the stacking status detection unit 13, the release position of the subsequent waste material is adjusted in real time to avoid the irregular edge waste material from being stacked messily. This control method addresses the challenges of grasping irregular edge scrap and the resulting messy stacking. By employing a multi-point adaptive grasping scheme, angle adjustment, and enhanced grasping force, it ensures stable grasping of irregular edge scrap and guarantees the standardization of scrap stacking through real-time adjustment of the release position. This improves the stability of scrap conveying and storage under irregular edge conditions.

[0064] With irregular edge scrap material, the gripping support points are dispersed and the contact area may be reduced. The gripping force redundancy is increased to 1.5 times that of the conventional method. This can ensure sufficient clamping force while avoiding damage to the scrap material edge. It can achieve stable gripping, reduce the risk of falling off and failure, and improve the processing success rate. It can be adjusted according to the condition of the scrap material edge. When there are sharp protrusions, it can be reduced to 1.4-1.45 times and the gripper angle can be adjusted to avoid the protrusions. When there are smooth depressions, it can be increased to 1.55-1.6 times to enhance stability.

[0065] As a preferred embodiment, the relevant components in this invention can be selected from the following models:

[0066] Humidity sensors: Model SHT30 (Swiss Sensirui) and AHT21 (Auson Electronics) both have high-precision humidity detection capabilities, are suitable for collecting humidity from the surface of residual materials, and have stable signal output and fast response speed.

[0067] Thickness detection unit: Model MT300 (Mike Sensing) and LX1981 (Loongson Sensing), supports non-contact thickness measurement, and the measurement range covers the thickness range of common wood processing scraps, suitable for installation and detection needs at the entrance of the scrap drop receiving area.

[0068] Infrared sensor array (including infrared transmitter and infrared receiver): transmitter model IR333-A (Everlight Electronics) or SFH4715 (Osram), receiver model PT334-6B (Everlight Electronics) or BPW34 (Vishay). After symmetrical installation, it can accurately detect the presence and outline information of residual material and has strong anti-interference ability.

[0069] Weight sensors: Model YZC-133 (AVIC Electromechanical Measurement) and HX711+LOAD CELL (Ruima Sensing), installed at the bottom of the storage bin, can provide real-time feedback on the weight of the remaining material in the bin, adapting to the load monitoring needs of the remaining material storage, and the measurement accuracy meets the matching requirements of classified storage.

[0070] Stacking status detection unit: Model GP2Y0A21YK (Sharp) and VL53L0X (STMicroelectronics), is an infrared ranging sensor that can detect the stacking height and flatness of remaining materials in the storage bin. The signal feedback is timely, ensuring the accuracy of stacking stability judgment.

[0071] Laser positioning device: Model LD-LRS-0050 (Laser Technology), HL-G103-A-C5 (Keyence). The transmitter is pointed at the receiving area where the scrap material falls. It can accurately obtain the position coordinates and attitude information of the scrap material, with high positioning accuracy, and is suitable for the needs of gripping position calibration.

[0072] Industrial cameras: Model MV-CA013-20GM (Hikvision), Basler acA1300-30gc (Basler), support high-resolution image acquisition, can capture the outline, bulk density and edge shape of residual materials, and work with the central control module to realize working condition recognition and grasping positioning.

[0073] LED ring lights: Models RL-100-12W (Rongshi Technology) and Keyence CA-DRW12 (Keyence), are installed on the outside of industrial camera lenses to provide uniform illumination, improve image acquisition clarity in low-light environments, and ensure image recognition accuracy.

[0074] Central control module (core processor): Model STM32F407ZGT6 (STMicroelectronics) and ESP32-WROOM-32 (Espressif Systems). It has multiple interface expansion capabilities, can connect and control various modules simultaneously, has a fast computing speed, supports customized path planning and parameter capture calculation, and is suitable for full-process automated control needs.

[0075] Delivery path optimization module: It can rely on the main chip of the central control module to realize path planning. If independent auxiliary processing is required, it can be matched with FPGA chips of model XC7K325T (Xilinx) and EP4CE10F17C8 (Altra) to improve the efficiency of path planning calculation and adapt to complex path planning requirements such as layered grasping.

[0076] The embodiments described above are merely illustrative of specific implementations of the present invention, and while the descriptions are detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A waste conveying device for an electronic panel saw, characterized in that, It includes the electronic panel saw body, scrap detection module, intelligent overhead conveying system, scrap storage module, central control module and conveying path optimization module; One end of the electronic panel saw body is provided with a scrap material receiving area, and the scrap material detection module is set in the scrap material receiving area. The signal output end of the scrap material detection module is electrically connected to the central control module through a wire. The intelligent overhead conveying system is mounted above the electronic panel saw body. The intelligent overhead conveying system includes an overhead track, a drive component, an execution component, and a positioning component. The overhead track is equipped with a transmission mechanism. One end of the overhead track is located above the scrap material drop receiving area and the other end extends to the scrap material storage module. The drive component is connected to the overhead track through the transmission mechanism. The execution component is connected to the drive component through a rotary joint. The positioning component is located on the side of the execution component. The central control module is electrically connected to the intelligent suspended conveyor system and the conveyor path optimization module respectively; the conveyor path optimization module is integrated into the central control module; the conveyor path optimization module is used to plan the layered grasping path.

2. The waste conveying device for an electronic panel saw according to claim 1, characterized in that, The execution components of the intelligent suspended conveying system include an electric gripper, a flexible support plate, and a vacuum adsorption unit. The vacuum adsorption unit includes a vacuum suction cup, an air pipe, and a vacuum generator. The vacuum suction cup is connected to both sides of the electric gripper via a bracket. The vacuum generator is connected to the side of the moving seat of the drive component. One end of the air pipe is connected to the vacuum suction cup, and the other end is connected to the air outlet of the vacuum generator. The top of the electric gripper is fixed to the moving seat of the drive component via a rotary joint. The rotation axis of the rotary joint is perpendicular to the center line of the electric gripper. The control terminal of the vacuum generator is electrically connected to the central control module.

3. The waste conveying device for an electronic panel saw according to claim 1, characterized in that, The residual material detection module includes an infrared sensor group, a humidity sensor, and a thickness detection unit. The infrared sensor group includes at least three sets of infrared transmitters and infrared receivers, and the infrared sensor group is symmetrically distributed on the inner wall of the residual material drop receiving area. The humidity sensor is located on the lower part of the inner wall of the residual material drop receiving area. The thickness detection unit is fixed at the entrance of the residual material drop receiving area by a bracket. The signal output terminals of the infrared sensor group, humidity sensor, and thickness detection unit are all electrically connected to the central control module through wires.

4. The waste conveying device for an electronic panel saw according to claim 1, characterized in that, The waste material storage module includes multiple independent storage compartments. The bottom of each storage compartment is equipped with a weight sensor and a stacking status detection unit. The outer wall of the storage compartment is equipped with a vibration leveling unit. The weight sensor, stacking status detection unit, and vibration leveling unit are all electrically connected to the central control module.

5. The waste conveying device for an electronic panel saw according to claim 1, characterized in that, The positioning component includes a laser positioning device and an image recognition unit. The laser positioning device is mounted on the execution component, with its emitting end facing the waste material receiving area. The image recognition unit includes an industrial camera and an LED ring light. The industrial camera is positioned to one side of the laser positioning device, with its lens axis parallel to the laser axis of the laser positioning device. The LED ring light is fixed to the outside of the industrial camera lens by clips. The signal output terminal of the industrial camera and the control terminal of the LED ring light are electrically connected to the central control module via wires.

6. A method for controlling the conveying of waste from an electronic panel saw, comprising the electronic panel saw waste conveying device according to any one of claims 1-5, characterized in that, Includes the following steps: S1. After the electronic panel saw completes one cutting of the board, it sends a cutting completion level signal to the central control module. After receiving the signal, the central control module delays for 0.5 seconds to trigger the residual material detection module. The residual material detection module collects the existence status, surface moisture, thickness and contour information of the residual material and transmits it to the central control module. S2. The central control module determines whether there is residual material. If there is, it classifies the residual material level according to the outline information and identifies the damp and thin information in combination with the humidity and thickness information. If there is no residual material, it returns to the standby state. S3. The central control module retrieves the signals from the weight sensor and stacking status detection unit of the storage bin, matches the target storage bin with the remaining material level and working condition type, and generates storage bin preprocessing instructions. S4. The central control module generates a customized movement path and grabbing parameters through the conveying path optimization module. It controls the drive component to move the execution component to the top of the receiving area. After the positioning component calibrates the position of the remaining material, the execution component grabs the remaining material according to the parameters and conveys it along the path to the top of the target storage bin. S5. The central control module controls the target storage bin to execute preprocessing instructions and open the bin door, executes the component to release the remaining material, and closes the bin door after detecting that the remaining material is in place and stacked stably, records the data and returns to the standby state.

7. The method for controlling the conveying of waste material from an electronic panel saw according to claim 6, characterized in that, In S2, the central control module uses the humidity sensor signal of the residual material detection module to determine the damp working condition. When the humidity value exceeds the preset benchmark value by more than 30%, it is determined to be damp residual material. In S4, the central control module controls the vacuum generator of the execution component to start, and the vacuum suction cup generates negative pressure to adsorb the surface of the residual material. At the same time, the gripping force of the electric gripper is increased to 1.2-1.5 times that of the normal residual material gripping force, and the gripper closing speed is reduced to 0.6-0.8 times that of the normal closing speed. During the conveying process, the laser positioning device of the positioning component detects the posture of the residual material in real time. If the posture of the residual material deviates beyond the preset value, the central control module controls the rotary joint to finely adjust the angle of the electric gripper, and at the same time extends the length of the smooth section of the conveying path until the posture of the residual material returns to the preset range.

8. The method for controlling the conveying of waste material from an electronic panel saw according to claim 6, characterized in that, In S2, the central control module determines the thin working condition through the thickness detection unit signal of the residual material detection module. When the thickness of the residual material is less than the preset thickness threshold, it is determined to be a thin and easily deformable residual material. In S4, the central control module controls the flexible support plate of the execution component to unfold, adjusts the gripping point of the electric gripper to the two ends of the 1 / 4 area in the length direction of the leftover material, reduces the gripping force to 0.4-0.6 times the normal gripping force of leftover material, and at the same time controls the moving acceleration of the drive component to reduce it to 0.55-0.7 times the normal moving acceleration. In S5, the central control module controls the execution component to slowly release the remaining material at a speed of 0.35-0.5 times the normal release speed, while controlling the vibration leveling unit of the target storage bin to run at a low speed until the remaining material falls smoothly into the storage bin.

9. The method for controlling the conveying of waste material from an electronic panel saw according to claim 6, characterized in that, In S2, the central control module analyzes the residual material accumulation density through the image recognition unit of the positioning component. When the amount of residual material per unit area exceeds the preset density threshold and the distance between adjacent residual materials is less than 0.3 times the minimum size of the residual material, it is determined to be a dense accumulation condition. In S3, the central control module plans the layered grabbing path through the conveying path optimization module, and sorts the grabbing order according to the priority of upper layer residual material first and outer layer residual material first. In S4, the opening angle of the electric gripper of the execution component is expanded to 1.2-1.35 times the normal opening angle. The image recognition unit locates the edge gap of the upper layer of residual material. The central control module controls the electric gripper to insert from the gap to grab the residual material. After grabbing, the residual material is temporarily stored in the preset transition position, and then the execution component is controlled to return to the receiving area to grab the lower layer of residual material.

10. The method for controlling the conveying of waste material from an electronic panel saw according to claim 6, characterized in that, In S2, the central control module detects the edge shape of the leftover material through the image recognition unit of the positioning component. When the size of the protrusion or depression of the leftover material edge exceeds the preset flatness threshold, it is determined to be an irregular edge condition. In S4, the central control module generates a multi-point adaptive gripping scheme based on the edge data collected by the image recognition unit. It selects more than three points with flat edges as gripping support points and adjusts the angle of the electric gripper by controlling the rotation joint of the execution component to make the gripper fit with each support point. At the same time, it increases the redundancy of gripping force to 1.4-1.6 times that of conventional scrap gripping force. In S5, the central control module controls the opening of the target storage bin, allowing the remaining material to slide down the inner wall of the storage bin to the designated storage area. At the same time, combined with the stacking data fed back by the stacking status detection unit, the release position of the subsequent remaining material is adjusted in real time.

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