Wood small piece free curved surface flexible finishing dual-arm robot

Abstract

The application discloses a wood small free-form surface flexible finishing double-arm robot, and belongs to the technical field of industrial robots, which comprises a double-frame module, a clamp module and a turnover module, two groups of end execution arms are arranged in the double-frame module, and are arranged on the front and back surfaces of a machining plane; the clamp module is slidably arranged in the double-frame module and can rotate around an axis on the working plane; the turnover module is fixed to one end of the double-frame module and movably connected with the clamp module to control the angle rotation of the clamp module, the end execution arms are symmetrically arranged on the two sides of the machining plane, the intersection of the movement tracks of the double execution arms is eliminated, the collision risk of the traditional double-arm cooperation is avoided, the machining program can be automatically interchanged and called after the workpiece is turned over, the trajectory does not need to be repeatedly planned, and the processing efficiency of the special-shaped curved surface is greatly improved; the turnover module is linked with the clamp module, the centering mechanism and the elastic limiting of the gear and the rack are matched, the clamping force is automatically enhanced in the displacement, and the stability of the workpiece is ensured during the whole process.

Description

Technical Field

[0001] This invention belongs to the field of industrial robot technology, specifically relating to a dual-arm robot for flexible precision machining of small wooden parts with free-form surfaces. Background Technology

[0002] In the precision machining of small curved surfaces, a single-arm robot is usually used in conjunction with a special fixture, or multiple independent machines are used to complete the machining of both sides of the workpiece in steps.

[0003] Traditional solutions have significant drawbacks when dealing with irregular curved surface workpieces. Single-arm operation often requires multiple clamping and repeated positioning, which not only makes it difficult to unify the processing datum and increases the cumulative error, but also greatly reduces the processing efficiency and the smoothness of the surface connection due to frequent workpiece disassembly and assembly. In the case of complex curved surfaces that require double-sided processing, traditional equipment is difficult to effectively avoid the motion interference problem of the two actuators in a limited space. It is very easy to cause mechanical collisions due to path conflicts, which also poses safety hazards. When the workpiece needs to be flipped, the complex curved surface processing path needs to be re-identified, which requires the program to be re-optimized, seriously affecting the continuity of irregular curved surface processing. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the purpose of this invention is to provide a dual-arm robot for flexible finishing of free-form wooden parts, thereby solving the problems mentioned in the background.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A dual-arm robot for flexible finishing of free-form wooden parts includes a dual-frame module, a clamping module, and a flipping module; The dual-rack module is equipped with two sets of end effector arms, which are located on the front and back sides of the processing plane, respectively. The clamping module is positioned between two sets of end effector arms and is slidably assembled in the dual-frame module. The clamping module rotates on a fixed axis within the working plane. The flipping module is fixedly installed at one end of the dual-frame module and is movably connected to the clamping module, used to control the fixed-angle rotation of the clamping module.

[0006] As a further embodiment of the present invention, the dual-frame module includes a mold frame assembly, which includes a base plate, side plates, and a cross plate. Two sets of side plates are fixedly mounted on the base plate, and the two sets of side plates are arranged at intervals. A cross plate is fixedly mounted on one end of each side plate.

[0007] As a further embodiment of the present invention, the working plane of the dual-rack module is provided with a first plane and a second plane, and the two sets of end effector arms are respectively set as a first actuator and a second actuator, with the first actuator and the second actuator mirrored on the first plane and the second plane.

[0008] As a further embodiment of the present invention, a guide rail and a guide rod are fixedly arranged on the horizontal plate, one end of the carrier plate is limited and slidably assembled on the guide rail, and the other end of the carrier plate is limited and slidably assembled on the guide rod, and the arrangement direction of the guide rail and the guide rod is related to the position of the first actuator and the second actuator; a servo screw is also provided on one side of the horizontal plate, and a slider is fixedly assembled on one end of the carrier plate, and the slider is engaged with the servo screw.

[0009] As a further embodiment of the present invention, the clamping module includes a clamping component, which includes a side bracket, a sliding sleeve, a clamping frame plate, and a traction rod assembly. The side bracket is fixedly installed on one side of two sets of horizontal plates, the sliding sleeve is arranged on one side of the side bracket, and a traction rod assembly is fixedly assembled at one end of the clamping frame plate. The traction rod assembly is slidably mounted on the sliding sleeve. The clamping component also includes a front sliding plate, a front limiting rod, a front rotating shaft, a front deflection arm, and a front gripper. The front sliding plate is slidably inserted into one side of the clamping frame plate. One end of the front limiting rod is fixedly connected to the clamping frame plate, and the other end of the front limiting rod is elastically connected to the front sliding plate. The front rotating shaft is rotatably mounted on the clamping frame plate and is located on the same side as the front sliding plate. The front deflection arm is slidably inserted into the front rotating shaft. One end of the front deflection arm is rotatably connected to the front sliding plate, and the other end of the front deflection arm is fixedly assembled with a front gripper.

[0010] As a further embodiment of the present invention, the clamping component further includes a rear sliding plate, a rear rotating shaft, a rear deflecting arm, a rear gripper, and a front limiting rod. The rear sliding plate is slidably inserted into the other side of the clamping frame plate. The rear rotating shaft is rotatably mounted on the clamping frame plate and is located on the same side as the rear sliding plate. The rear deflecting arm is slidably inserted into the rear rotating shaft. One end of the rear deflecting arm is rotatably connected to the rear sliding plate, and the other end of the rear deflecting arm is fixedly mounted with a rear gripper. A sliding mechanism is also provided on the rear sliding plate. The clamping component includes a rear limiting rod; the clamping component also includes a linkage rod, a front gear, a rear gear, and a transmission gear. The linkage rod is slidably arranged in a groove on one side of the clamping frame plate and is fixedly connected to the front sliding plate. The linkage rod is provided with a front gear. The rear gear is slidably arranged in a groove on one side of the clamping frame plate and is fixedly connected to the rear sliding plate. The transmission gear is fixedly arranged in a groove on one side of the clamping frame plate, and the transmission gear is meshed with the front gear and the rear gear respectively.

[0011] As a further embodiment of the present invention, the flipping module includes a flipping component, which includes a crossbeam frame, a sleeve, a rotating shaft, a shaft plate, a connecting block, and a cross groove. The crossbeam frame is fixedly installed between two sets of cross plates. A sleeve is provided in the middle of the crossbeam frame. The rotating shaft is rotatably arranged in the sleeve with its axis fixed. The shaft plate and the rotating shaft are fixedly connected. One end of the connecting block is provided with a cross groove, and the other end of the connecting block is elastically slidably inserted into the shaft plate. The flipping component also includes a shaped wheel, a wheel groove, a drive wheel, and a traction pin. The shaped wheel and the rotating shaft are coaxially fixedly connected. The shaped wheel is circumferentially provided with several wheel grooves. The drive wheel is rotatably arranged on one side of the shaped wheel, and one end of the drive wheel is fixedly equipped with a traction pin, which is slidably inserted into the wheel groove.

[0012] In summary, the embodiments of the present invention have the following beneficial effects compared with the prior art: This dual-arm robot symmetrically arranges two sets of end effectors on the front and back of the processing plane, and strictly limits their respective working areas to the first and second processing planes. With the second reference plane set at an angle, it ensures from a mechanical structure that the projections and motion trajectories of the two actuators in the xoz plane never intersect. Through physical spatial separation, it fundamentally eliminates the collision risks common in traditional dual-arm collaboration, providing a reliable guarantee for high-precision and high-safety processing of complex curved surfaces. Furthermore, the control unit can store the surface machining trajectory, and after the workpiece is rotated 180°, it can automatically convert and exchange the path data of the first and second machining surfaces in coordinate system. This allows the actuators that originally corresponded to different machining surfaces to immediately take over the unfinished process without having to re-plan the complex trajectory, which significantly improves the working efficiency of dual-machine collaboration in the machining of irregular curved surfaces. Furthermore, the integrated flipping module and fixture module achieve flexible switching of processing steps and stable clamping of workpieces through mechanical linkage. Through the 90° stepping rotation mechanism of the irregular wheel and drive wheel, the surface to be processed can be precisely switched, enabling the actuator to process different areas in turn, further avoiding interference. At the same time, the fixture adopts a centering mechanism with gear linkage and elastic limit design, which, together with the axial pushing action of the flipping module, can automatically enhance the clamping force during the flipping process, ensuring the spatial stability and positioning accuracy of the workpiece during displacement and the entire processing process. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of a dual-arm robot for flexible finishing of free-form wooden parts, provided in one embodiment of the present invention.

[0014] Figure 2 This is a schematic diagram of the structure of a dual-arm robot for flexible finishing of free-form wooden parts, provided in one embodiment of the present invention.

[0015] Figure 3 This is a schematic diagram of the base plate of a dual-arm robot for flexible precision machining of small wooden parts, provided in one embodiment of the present invention.

[0016] Figure 4 for Figure 3 Enlarged schematic diagram of reference numeral A in the attached figure.

[0017] Figure 5 This is a schematic diagram of the first and second actuators in a dual-arm robot for flexible finishing of free-form wooden parts, provided in one embodiment of the present invention.

[0018] Figure 6 This is a schematic diagram of the structure of the side support and sliding sleeve of the dual-arm robot for flexible finishing of free-form wooden parts provided in one embodiment of the present invention.

[0019] Figure 7 This is a schematic diagram of the clamping component in a dual-arm robot for flexible finishing of free-form wooden parts, provided in one embodiment of the present invention.

[0020] Figure 8 for Figure 6 Enlarged schematic diagram of reference numeral B in the attached figure.

[0021] Figure 9 This is a schematic diagram of the structure of a dual-arm robot for flexible finishing of free-form wooden parts provided in one embodiment of the present invention.

[0022] Figure 10 for Figure 7 Enlarged schematic diagram of the mid-section DD'.

[0023] Figure 11 for Figure 10 Enlarged schematic diagram of the figure marked C in the attached diagram.

[0024] Figure label: Mold frame assembly, 101-base plate, 102-side plate, 103-horizontal plate, 104-guide rail, 105-carrier plate, 106-guide rod, 107-slider, 108-servo lead screw; End effector; Clamping components, 301-side bracket, 302-sliding sleeve, 303-clamping frame plate, 304-traction rod assembly, 305-front sliding plate, 306-front limiting rod, 307-front rotating shaft, 308-front deflection arm, 309-front gripper, 310-linkage rod, 311-front rack, 312-rear sliding plate, 313-rear rotating shaft, 314-rear deflection arm, 315-rear gripper, 316-cross pin, 317-rear limiting rod, 318-rear rack, 319-transmission gear; Tilting component, 401-crossbeam frame, 402-sleeve, 403-rotating shaft, 404-shaft piece, 405-connecting block, 406-cross groove, 407-irregular wheel, 408-wheel groove, 409-drive wheel, 410-traction pin; a1 - First actuator, a2 - Second actuator; b1 - First machining surface, b2 - Second machining surface, b3 - First transition surface, b4 - Second transition surface. Detailed Implementation

[0025] To more clearly illustrate the structural features and effects of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] Please see Figures 1-11 According to one embodiment of the present invention, a dual-arm robot for flexible finishing of free-form surfaces of small wooden parts is provided. The dual-arm robot has a first direction x, a second direction y, and a third direction z. The dual-arm robot includes a dual-frame module, a clamping module, and a flipping module. The dual-frame module is provided with two sets of end effectors 2, which are respectively located on the front and back sides of the processing plane. The clamping module is arranged between the two sets of end effectors 2 and slidably assembled in the dual-frame module. The clamping module rotates on a fixed axis in the working plane. The flipping module is fixedly arranged at one end of the dual-frame module and is movably connected to the clamping module to control the fixed-angle rotation of the clamping module. The working plane of the dual-frame module is provided with a first plane c1 and a second plane c2, which are opposite to each other. The two sets of end effectors 2 are respectively set as a first actuator a1 and a second actuator a2, which are mirror images of each other on the first plane c1 and the second plane c2.

[0027] In practical application, the core structure of the precision machining dual-arm robot in this embodiment is composed of a dual-frame module and a fixture module. The working plane of the dual-frame module is provided with a first reference plane c1 and a second reference plane c2 that correspond to each other. The first reference plane c1 is parallel to the horizontal plane xoy, providing a reference for the initial installation and movement of the actuators. The first actuator a1 and the second actuator a2 are respectively positioned in the positive and negative z-axis regions indicated by the xoy plane, thus forming a symmetrical layout in the vertical direction. The fixture module is fixedly assembled at the position of the first reference plane c1 and is used to clamp and position the workpiece to be processed. The outer surface of the workpiece extends to both sides of the first reference plane c1, ensuring the spatial stability of the workpiece during processing. The second reference plane c2 is inclined relative to the first reference plane c1, thereby constructing a specific processing orientation in space.

[0028] On the cross-section DD' of the workpiece to be processed, there are two opposing machining surfaces, a first machining surface b1 and a second machining surface b2. The first machining surface b1 and the second machining surface b2 are located on both sides of the second reference plane c2, thus forming two independent machining areas. The first actuator a1 and the second actuator a2 are respectively responsible for precision machining operations on the first machining surface b1 and the second machining surface b2. A first transition surface b3 and a second transition surface b4 are further provided between the first machining surface b1 and the second machining surface b2, serving as a separator and connection between the machining areas. Taking the first actuator a1 as an example, when the first actuator a1 moves along the workpiece surface, its working range is strictly limited to the processing of the first processing surface b1, and does not exceed the area defined by the first transition surface b3 and the second transition surface b4. This ensures that the projections and actual motion trajectories of the first actuator a1 and the second actuator a2 in the xoz plane never intersect. The robotic arms of the two sets of actuators move independently in the space on both sides of the first reference plane c1, thereby realizing the spatial separation of the motion path. Through this structural layout and motion planning, the dual-arm robot can effectively avoid mutual interference between the robotic arms during the processing, significantly reducing the risk of actuator collision damage caused by motion conflicts, and ensuring the safety of the processing process and the reliability of equipment operation.

[0029] Furthermore, when the first actuator a1 and the second actuator a2 perform trajectory movements on the curved surfaces of the first machining surface b1 and the second machining surface b2 respectively, the built-in control unit has the function of storing and remembering the machining path. This memory mechanism is based on coordinate mapping and trajectory point parameterization in the xoz plane, so that when the workpiece achieves a 180° rotation in the xoz plane, the control system can automatically identify the spatial correspondence between the machining surfaces and quickly perform coordinate system transformation and interchange recall of the pre-stored machining paths of the first machining surface b1 and the second machining surface b2. After the workpiece completes the flipping operation, the original machining path acting on the first machining surface b1 is no longer needed. The machining trajectory data will be mapped to the curved area of ​​the second machining surface b2, and the trajectory data of the second machining surface b2 will also be transferred to the first machining surface b1. The first actuator a1 can accurately move to the unfinished machining area on the second machining surface b2 according to the swapped path information and perform compensatory machining operations. Similarly, the second actuator a2 can also supplement the unprocessed part left on the first machining surface b1 according to the corresponding path. This path swapping and task allocation mechanism effectively avoids the repeated path planning and trajectory optimization process caused by workpiece flipping, and significantly improves the collaborative efficiency and machining continuity of the two actuators in the machining of irregular curved surfaces.

[0030] Please see Figure 2In a preferred embodiment of the present invention, the dual-frame module includes a mold frame assembly 1, which includes a base plate 101, side plates 102 and a cross plate 103. Two sets of side plates 102 are fixedly mounted on the base plate 101, and the two sets of side plates 102 are arranged at intervals. A cross plate 103 is fixedly mounted on one end of each side plate 102.

[0031] In practical application, the upper surface of the base plate 101 serves as the mounting base. Two sets of side plates 102 are fixedly mounted on this mounting base. These two sets of side plates 102 are parallel to each other along the x-axis and are arranged at a predetermined distance to form a support structure. One end of each set of side plates 102 is fixedly mounted to the corresponding side of the horizontal plate 103, thereby forming a stable frame. The first actuator a1 and the second actuator a2 are respectively mounted on the top and bottom surfaces of the two sets of horizontal plates 103. The first actuator a1 is mounted on the top reference surface of the horizontal plate 103, and the second actuator a2 is mounted on the bottom reference surface of the horizontal plate 103. The two are symmetrically arranged along the z-axis to cooperate in performing a predetermined process.

[0032] Please see Figure 4 In a preferred embodiment of the present invention, a guide rail 104 and a guide rod 106 are fixedly arranged on the horizontal plate 103. One end of the carrier plate 105 is limited and slidably assembled on the guide rail 104, and the other end of the carrier plate 105 is limited and slidably assembled on the guide rod 106. The arrangement direction of the guide rail 104 and the guide rod 106 is related to the position of the first actuator a1 and the second actuator a2. A servo screw 108 is also arranged on one side of the horizontal plate 103. A slider 107 is fixedly assembled on one end of the carrier plate 105, and the slider 107 is engaged with the servo screw 108.

[0033] In practical application, the horizontal plate 103 is fixedly mounted with parallel linear guide rails 104 and guide rods 106. The extension directions of both the linear guide rails 104 and guide rods 106 are aligned with the x-axis. One end of the carrier plate 105 is slidably engaged with the linear guide rails 104 via a slider, and the other end is slidably engaged with the guide rods 106 via a linear bearing. This ensures that the carrier plate 105 can perform smooth reciprocating linear motion along the x-axis. The arrangement of the linear guide rails 104 and guide rods 106 is optimized based on the installation positions of the first actuator a1 and the second actuator a2 on the carrier plate 105 to ensure stable guiding accuracy during movement. A ball screw 108 extending along the x-axis is also provided on one side of the horizontal plate 103. This ball screw 108 is supported by a screw... The support is mounted on the horizontal plate 103, and one end of it is connected to the output shaft of the drive motor, thereby realizing the function of converting rotational motion into linear motion. The linear guide rail 104 and the guide rod 106 together constitute the double guide constraint system of the carrier plate 105, which is used to limit the carrier plate 105 to only have translational freedom in the x-axis direction during the movement, preventing it from deviating in the y-axis direction or deflecting around the z-axis, thereby ensuring that the first actuator a1 and the second actuator a2 fixed on the carrier plate 105 can be precisely positioned and moved along the x-axis direction. The ball screw 108 is driven by an external servo motor. When the servo motor is working, it drives the ball screw 108 to rotate through the coupling, thereby driving the screw nut seat 107 together with the carrier plate 105 to achieve high-precision linear feed motion in the x-axis direction, meeting the strict position control in automated operation.

[0034] Please see Figure 6 and Figure 7In a preferred embodiment of this invention, the clamping module includes a clamping component 3, which includes a side bracket 301, a sliding sleeve 302, a clamping frame plate 303, and a traction rod assembly 304. The side bracket 301 is fixedly installed on one side of two sets of horizontal plates 103, the sliding sleeve 302 is arranged on one side of the side bracket 301, and the traction rod assembly 304 is fixedly assembled at one end of the clamping frame plate 303. The traction rod assembly 304 is slidably mounted on the sliding sleeve 302. The clamping component 3 also includes a front sliding plate 305, a front limiting rod 306, a front rotating shaft 307, and a front... A deflection arm 308 and a front gripper 309 are provided. The front slide plate 305 is slidably inserted into one side of the clamping frame plate 303. One end of the front limiting rod 306 is fixedly connected to the clamping frame plate 303, and the other end of the front limiting rod 306 is elastically connected to the front slide plate 305. The front rotating shaft 307 is rotatably mounted on the clamping frame plate 303 and is located on the same side as the front slide plate 305. The front deflection arm 308 is slidably inserted into the front rotating shaft 307. One end of the front deflection arm 308 is rotatably connected to the front slide plate 305, and the other end of the front deflection arm 308 is fixedly mounted with the front gripper 309.

[0035] In practical application, the side support 301 is fixedly installed on one side of the two sets of horizontal plates 103 by bolts, providing a stable support foundation for the clamping mechanism. The sliding sleeve 302 is arranged in the form of a linear guide rail on the side of the side support 301 facing the workpiece. A linear bearing or sliding bushing is provided inside the sliding sleeve 302 to reduce frictional resistance and improve guiding accuracy. The clamping frame plate 303 serves as the main load-bearing frame, and a traction rod assembly 304 is embedded and fixedly connected to one end. The traction rod assembly 304 includes multiple parallel guide rods, and the traction rod assembly 304 forms a sliding fit with the sliding sleeve 302, allowing the clamping frame plate 303 to slide along the sliding sleeve 302. The guide slide 305 performs a stable reciprocating linear motion in the guiding direction. The front slide plate 305 is limited and slidably inserted into the side of the clamping frame plate 303 facing the workpiece using a clearance fit. The front slide plate 305 can slide within a small range along the x-axis in the guide groove of the clamping frame plate 303. One end of the front limiting rod 306 is fixedly connected to the clamping frame plate 303 by a threaded connection or welding. The other end of the front limiting rod 306 passes through the guide hole provided on the front slide plate 305 and is equipped with a compression spring or elastic washer at the end, so that the front limiting rod 306 and the front slide plate 305 form an elastic connection, thereby realizing the elastic reset function of the front slide plate 305 relative to the clamping frame plate 303.

[0036] Furthermore, the front rotating shaft 307 is rotatably mounted on the clamping frame plate 303 via rolling bearings or sliding bearings, and its installation position is on the same side of the clamping frame plate 303 as the front sliding plate 305. The axial direction of the front rotating shaft 307 is parallel to the y-axis. The front deflection arm 308 is limited and slidably inserted into the central through hole of the front rotating shaft 307 using a spline connection or keyway fit, so that the front deflection arm 308 can slide along the axial direction of the front rotating shaft 307 and rotate together with the front rotating shaft 307. One end of the front deflection arm 308 is rotatably connected to the front sliding plate 305 via a spherical bearing or universal joint, realizing motion transmission while allowing angle changes. The other end of the front deflection arm 308 is equipped with a front gripper 309 by bolt fixing or integral molding. The gripper is designed with a corresponding V-groove or tooth structure according to the shape of the workpiece to be processed to improve clamping stability. When the external drive source drives the clamping frame plate 305... When the 03 moves along the arrangement direction of the sliding sleeve 302, the front sliding plate 305 is elastically connected to the clamping frame plate 303 through the front limiting rod 306. The front sliding plate 305 will follow the clamping frame plate 303 to generate corresponding displacement. During this process, the movement of the front sliding plate 305 drives the front deflection arm 308 to slide axially within the front rotating shaft 307 through its rotational connection point with the front deflection arm 308. At the same time, due to the spline fit between the front deflection arm 308 and the front rotating shaft 307, the front deflection arm 308 will drive the front rotating shaft 307 to generate a rotational motion around its axis. The front gripper 309 at the other end of the front deflection arm 308 will perform a combination of translation and rotation in space, ultimately achieving automatic centering and clamping of the workpiece placed in the working position. The clamping force can be adjusted by controlling the compression of the elastic element on the front limiting rod 306 to ensure stable clamping without damaging the workpiece surface.

[0037] Please see Figure 7 In a preferred embodiment of the present invention, the clamping member 3 further includes a rear sliding plate 312, a rear rotating shaft 313, a rear deflection arm 314, a rear gripper 315, and a rear limiting rod 317. The rear sliding plate 312 is slidably inserted into the other side of the clamping frame plate 303. The rear rotating shaft 313 is rotatably mounted on the clamping frame plate 303 and is located on the same side as the rear sliding plate 312. The rear deflection arm 314 is slidably inserted into the rear rotating shaft 313. One end of the rear deflection arm 314 is rotatably connected to the rear sliding plate 312, and the other end of the rear deflection arm 314 is fixedly mounted with the rear gripper 315. The rear limiting rod 317 is also slidably arranged on the rear sliding plate 312.

[0038] In practical application, the clamping component 3 further includes a rear sliding plate 312, a rear rotating shaft 313, a rear deflection arm 314, a rear gripper 315, and a rear limiting rod 317. The rear sliding plate 312 is fitted and installed inside the other side of the clamping frame plate 303 in a manner that allows it to slide back and forth along the x-axis. Its sliding stroke is limited by the guide groove structure. The rear rotating shaft 313 is rotatably mounted on the clamping frame plate 303. Its installation position is on the same side of the clamping frame plate 303 as the rear sliding plate 312, and its rotation axis is parallel to the y-axis. The rear deflection arm 314 is integrally... The device has a rod-like structure, with one end slidably inserted into the rear rotating shaft 313 via a sliding fit pair. Specifically, the rear rotating shaft 313 has a radially through guide hole through which the rear deflection arm 314 passes and can slide axially relative to the rear rotating shaft 313. The other end of the rear deflection arm 314 is rotatably connected to the rear sliding plate 312 via a rotating joint. A rear gripper 315 is fixedly installed on the rear deflection arm 314 near its free end. A rear limiting rod 317 is also slidably mounted on the rear sliding plate 312, extending horizontally along the negative x-axis. The rear sliding plate 312 has the function of directional linear sliding along the x-axis. A limiting slot corresponding to the shape and position of the rear limiting rod 317 is opened on the end face of the clamping frame plate 303 near the rear limiting rod 317. The limiting slot serves as a positioning and receiving structure, and its axis is parallel to the x-axis. The rear limiting rod 317 is also fixedly mounted to one end of the crossbeam frame 401. When the clamping frame plate 303 is pushed to its movement limit position along the negative x-axis under the drive of external force, the rear limiting rod 317 fixed on the crossbeam frame 401 will move synchronously. And accurately insert into the preset limiting slot on the clamping frame plate 303. At the same time, since one end of the rear deflection arm 314 is rotatably connected to the rear slide plate 312, and the main body of the rear deflection arm 314 passes through the rear rotating shaft 313, the rear deflection arm 314 can not only adjust its extension length in the rear rotating shaft 313 as the rear slide plate 312 slides, but also follow the rear rotating shaft 313 to perform fixed-axis rotation around its own axis. This composite motion allows the rear gripper 315 to rotate in space to adapt to the clamping requirements under different working conditions.

[0039] Furthermore, the clamping component 3 also includes a linkage rod 310, a front gear 311, a rear gear 318, and a transmission gear 319. The linkage rod 310 is slidably arranged in a groove on one side of the clamping frame plate 303 and is fixedly connected to the front sliding plate 305. The linkage rod 310 is provided with the front gear 311. The rear gear 318 is slidably arranged in a groove on one side of the clamping frame plate 303 and is fixedly connected to the rear sliding plate 312. The transmission gear 319 is fixedly arranged in a groove on one side of the clamping frame plate 303, and the transmission gear 319 meshes with the front gear 311 and the rear gear 318 respectively. The front sliding plate 305 and the rear sliding plate 312 are fixedly connected to the front gear 311 and the rear gear 318 respectively. Both the front gear 311 and the rear gear 318... The transmission gear 319 meshes with the transmission gear 319 to form a linkage mechanism. When the front slide plate 305 moves in the positive x-axis direction, the transmission gear 319 is driven to rotate clockwise or counterclockwise through the front rack 311, which in turn drives the rear rack 318 to move in the opposite direction. This achieves synchronous reverse translation of the rear slide plate 312 in the negative x-axis direction. The front slide plate 305 and the rear slide plate 312 form relative motion on the x-axis. The front gripper 309 and the rear gripper 315 move in opposite directions accordingly, achieving centering and clamping or synchronous opening of the workpiece. This linkage mechanism utilizes the precise meshing transmission between the rack and pinion to ensure that the front and rear slide plates move in opposite directions and have equal displacements. Thus, during the clamping process, the preload of the elastic element applies a uniform clamping force to the workpiece, achieving initial elastic positioning and clamping of the workpiece.

[0040] Please see Figure 8 and Figure 11 In a preferred embodiment of the present invention, the flipping module includes a flipping component 4, which includes a crossbeam frame 401, a sleeve 402, a rotating shaft 403, a shaft piece 404, a connecting block 405, and a cross groove 406. The crossbeam frame 401 is fixedly installed between two sets of horizontal plates 103. A sleeve 402 is provided in the middle of the crossbeam frame 401. The rotating shaft 403 is rotatably arranged in the sleeve 402. The shaft piece 404 and the rotating shaft 403 are fixedly connected. One end of the connecting block 405 is provided with a cross groove 406, and the other end of the connecting block 405 is elastically slidably inserted into the shaft piece 404.

[0041] In practical application, the crossbeam frame 401 is fixedly installed between two sets of parallel cross plates 103 by fasteners, forming a stable support structure. A sleeve 402 is provided in the middle of the crossbeam frame 401. The sleeve 402 rotatably supports the rotating shaft 403 through a bearing, realizing the fixed-axis rotation of the rotating shaft 403. The shaft plate 404 is fixedly connected to one end of the rotating shaft 403, and the two rotate synchronously. One end of the docking block 405 is provided with a cross groove 406, and the other end of the docking block 405 is axially slidably inserted into the corresponding slot of the shaft plate 404 through an elastic element. This elastic connection method allows the docking block 405 to generate a certain displacement when subjected to axial force and has the ability to reset. When the clamping frame plate 303 moves along the positive x-axis under the driving action and finally abuts against the rear limit rod 317, the rear deflection arm 314 installed at one end of the rear slide plate 312 moves synchronously. During this process, the rear deflection arm 314 14 first makes sliding contact with the outer end face of the docking block 405, and then slides into the groove of the cross groove 406. Since the docking block 405 is restricted by the guide structure at one end of the shaft plate 404 and can only slide axially and cannot rotate around its own axis, when the end of the rear deflecting arm 314 is fully embedded in the groove of the cross groove 406, the circumferential rotation of the rear deflecting arm 314 relative to the docking block 405 is restricted, thereby ensuring that the workpiece associated with the rear deflecting arm 314 maintains a stable circumferential positioning state during the processing. As the rear slide plate 312 drives the rear deflecting arm 314 to continue to push in along the positive x-axis, before the critical moment when the clamping frame plate 303 is about to contact the side of the rear limit rod 317, the docking block 405 generates an axial elastic compression displacement due to the continuous pushing of the rear deflecting arm 314. This elastic deformation causes the docking block 405 to apply a reaction force along the positive x-axis to the rear deflecting arm 314. This force is transmitted to the rear slide plate 312 through the rear deflection arm 314, which in turn causes the clamping frame plate 303 to drive the front jaw 309 and the rear jaw 315 to produce a slight displacement in opposite directions. Ultimately, the front jaw 309 and the rear jaw 315 work together to apply a tighter clamping force to the workpiece, thereby achieving reliable clamping of the workpiece.

[0042] Furthermore, the flipping component 4 also includes a shaped wheel 407, wheel grooves 408, a drive wheel 409, and a traction pin 410. The shaped wheel 407 and the rotating shaft 403 are coaxially and fixedly connected. The shaped wheel 407 is circumferentially provided with a plurality of wheel grooves 408. The drive wheel 409 is rotatably arranged on one side of the shaped wheel 407, and a traction pin 410 is fixedly mounted on one end of the drive wheel 409. The traction pin 410 slides into the wheel groove 408. During the rotation of the drive wheel 409, the traction pin 410 at one end of the drive wheel 409... The traction pin 410 will slide into the groove 408 located outside the shaped wheel 407 at a specific phase. When the traction pin 410 enters the groove 408 and moves along its trajectory, it will drive the shaped wheel 407 to perform a step-by-step fixed-axis rotation around its own axis of rotation through mechanical coupling with the groove 408. Each rotation angle is precisely controlled to 90°. The rotational motion of the shaped wheel 407 further drives the rigidly connected rotation shaft 403, thereby allowing the deflection angle of the rear deflection arm 314 to be adjusted by the rotation angle position of the shaped wheel 407.

[0043] After the irregular wheel 407 completes a 90° fixed-axis rotation, the spatial orientation of its outer periphery changes. Specifically, the third transition surface b3, which was originally in the initial processing orientation, rotates to the orientation of the first processing surface b1, while the fourth transition surface b4, which was originally in the initial orientation, rotates to the orientation of the second processing surface b2. At this time, the spatial position of the contour surface layout of the irregular wheel 407 is exchanged and repositioned. Based on this change in the orientation of the contour surface, the first actuator a1, which was originally corresponding to the first processing surface b1, can now perform processing operations on the third transition surface b3 in this orientation. Similarly, the second actuator a2, which was originally corresponding to the second processing surface b2, can now perform supplementary processing on the fourth transition surface b4 in this orientation. Through the 90° rotation mechanism of the irregular wheel 407, the switching between the two sets of processing operations on different processing surfaces is realized, thereby effectively avoiding the mechanical interference problem caused by the overlap of spatial positions or the intersection of motion trajectories between the first actuator a1 and the second actuator a2 during the processing, and ensuring the continuity of the processing process.

[0044] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A dual-arm robot for flexible precision machining of free-form wooden parts, characterized in that, include: Dual-rack module, fixture module, and flip module; The dual-rack module is equipped with two sets of end effector arms, which are located on the front and back sides of the processing plane, respectively. The clamping module is positioned between two sets of end effector arms and is slidably assembled in the dual-frame module. The clamping module rotates on a fixed axis within the working plane. The flipping module is fixedly installed at one end of the dual-frame module and is movably connected to the clamping module, and is used to control the fixed-angle rotation of the clamping module. The working plane of the dual-rack module is provided with a first plane and a second plane, and the two sets of end effector arms are respectively set as a first actuator and a second actuator, with the first actuator and the second actuator mirrored on the first plane and the second plane; The clamping module includes a clamping component, which includes a side bracket, a sliding sleeve, a clamping frame plate, and a traction rod assembly. The side bracket is fixedly installed on one side of two sets of horizontal plates, the sliding sleeve is arranged on one side of the side bracket, and a traction rod assembly is fixedly assembled at one end of the clamping frame plate. The traction rod assembly is slidably assembled on the sliding sleeve. The clamping component further includes a front sliding plate, a front limiting rod, a front rotating shaft, a front deflection arm, and a front gripper. The front sliding plate is slidably inserted into one side of the clamping frame plate. One end of the front limiting rod is fixedly connected to the clamping frame plate, and the other end of the front limiting rod is elastically connected to the front sliding plate. The front rotating shaft is rotatably mounted on the clamping frame plate and is located on the same side as the front sliding plate. The front deflection arm is slidably inserted into the front rotating shaft. One end of the front deflection arm is rotatably connected to the front sliding plate, and the other end of the front deflection arm is fixedly mounted with a front gripper. The clamping component further includes a rear sliding plate, a rear rotating shaft, a rear deflection arm, a rear gripper, and a rear limiting rod. The rear sliding plate is slidably inserted into the other side of the clamping frame plate. The rear rotating shaft is rotatably mounted on the clamping frame plate and is located on the same side as the rear sliding plate. The rear deflection arm is slidably inserted into the rear rotating shaft. One end of the rear deflection arm is rotatably connected to the rear sliding plate, and the other end of the rear deflection arm is fixedly mounted with a rear gripper. A rear limiting rod is also slidably arranged on the rear sliding plate. The clamping component further includes a linkage rod, a front gear, a rear gear, and a transmission gear. The linkage rod is slidably arranged in a groove on one side of the clamping frame plate and is fixedly connected to the front slide plate. The linkage rod is provided with a front gear. The rear gear is slidably arranged in a groove on one side of the clamping frame plate and is fixedly connected to the rear slide plate. The transmission gear is fixedly arranged in a groove on one side of the clamping frame plate and meshes with the front gear and the rear gear respectively. The flipping module includes a docking block and a cross groove. One end of the docking block has a cross groove. The rear deflection arm first makes sliding contact with the outer end face of the docking block, and then slides into the groove of the cross groove.

2. The dual-arm robot for flexible precision machining of free-form wooden parts according to claim 1, characterized in that, The dual-frame module includes a mold frame assembly, which includes a base plate, side plates, and a cross plate. Two sets of side plates are fixedly mounted on the base plate, and the two sets of side plates are arranged at intervals. A cross plate is fixedly mounted on one end of each side plate.

3. The dual-arm robot for flexible precision machining of free-form wooden parts according to claim 1, characterized in that, The horizontal plate is fixedly provided with guide rails and guide rods. One end of the carrier plate is limited and slidably assembled on the guide rail, and the other end of the carrier plate is limited and slidably assembled on the guide rod. The arrangement direction of the guide rails and guide rods is related to the position of the first actuator and the second actuator. A servo screw is also provided on one side of the horizontal plate, and a slider is fixedly mounted on one end of the carrier plate. The slider is engaged with the servo screw.

4. A dual-arm robot for flexible precision machining of free-form wooden parts according to claim 1, characterized in that, The flipping module includes a flipping component, which includes a crossbeam frame, a sleeve, a rotating shaft, a shaft piece, a connecting block, and a cross groove. The crossbeam frame is fixedly installed between two sets of cross plates. A sleeve is provided in the middle of the crossbeam frame. The rotating shaft is rotatably arranged in the sleeve. The shaft piece and the rotating shaft are fixedly connected. One end of the connecting block is provided with a cross groove, and the other end of the connecting block is elastically slidably inserted into the shaft piece. The flipping component also includes a shaped wheel, a wheel groove, a drive wheel, and a traction pin. The shaped wheel and the rotating shaft are coaxially and fixedly connected. The shaped wheel has several wheel grooves arranged circumferentially. The drive wheel is rotatably arranged on one side of the shaped wheel, and a traction pin is fixedly assembled at one end of the drive wheel. The traction pin is slidably inserted into the wheel groove.

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