A continuous conveying device for wooden storage box processing

Abstract

This invention belongs to the field of visual alignment conveying technology, and specifically relates to a continuous conveying device for wooden storage boxes. The device includes a conveyor table with multiple air-floating holes arranged in a rectangular pattern on its top. The top of the conveyor table also has multiple V-grooves, with multiple auxiliary conveying air holes on the inner bottom wall of each V-groove to guide the directional flow of air and enhance the driving effect of traveling wave vibration. The V-grooves and air-floating holes are staggered. The bottom of the conveyor table is open, and multiple traveling wave vibration generators are evenly arranged on the inner wall of the conveyor table, spaced apart from the air-floating holes. This invention achieves contactless air-floating conveying of wooden storage boxes, eliminating surface scratches; it offers high visual inspection accuracy, precisely identifying dimensions and posture; it provides flexible alignment and correction, preventing box deformation; and it is adaptable to various storage box specifications, offering strong versatility.

Description

Technical Field

[0001] This invention relates to the field of visual alignment conveying technology, and in particular to a continuous conveying device for wooden storage boxes. Background Technology

[0002] In the processing of wooden storage boxes (such as gift boxes, jewelry boxes, and storage boxes), the boxes need to be continuously conveyed between steps such as cutting, tenoning, drilling, sanding, and gluing. Traditional conveyor systems often use belts or rollers with fixed guide plates. There is constant sliding friction between the storage boxes and the conveyor belt and guide plates, which easily leads to edge wear and surface scratches, affecting the appearance quality of the finished product. Furthermore, fixed guide plates cannot accommodate storage boxes of different widths, requiring manual adjustments during changeovers, which is inefficient and difficult to guarantee accuracy.

[0003] In recent years, air flotation conveying technology has been applied in the transport of precision workpieces such as glass and wafers, but it has not yet been used in the transport of wooden storage boxes. The main reason is that wood has low density and a rough surface, making it difficult for simple air flotation to provide a stable driving force.

[0004] In automated production lines for wooden storage boxes, traditional conveying methods, such as roller conveyors, belt conveyors, or chain conveyors, generally suffer from the following technical defects: Mechanical contact conveying is prone to friction, squeezing, and scratches on the surface of wooden storage boxes, which seriously affects the appearance quality of the finished product; it lacks precise posture detection and automatic correction functions, and the storage boxes are prone to tilting and deviation during the conveying process, resulting in poor positioning accuracy in subsequent processing; centering and correction often use rigid structures such as cylinder pushing and stop limit, which can easily cause box deformation and corner cracking; it cannot adapt to storage boxes of different sizes and specifications, has poor versatility, and requires frequent tooling changes. Summary of the Invention

[0005] To address the aforementioned problems, this invention proposes a continuous conveying device for processing wooden storage boxes, which more precisely solves the problems mentioned in the background art. It achieves integrated control of air-float non-contact support, piezoelectric traveling wave drive, laser precision width measurement, photoelectric attitude detection, air pressure flexible centering, and intelligent dynamic correction, ensuring smooth conveying, accurate positioning, no scratches, and no deformation. It can be adapted to the continuous automated processing of wooden storage boxes of various specifications.

[0006] This invention is achieved through the following technical solution: This invention proposes a continuous conveying device for processing wooden storage boxes, including a conveyor table. The top of the conveyor table has multiple air-floating holes arranged in a rectangular pattern. The top of the conveyor table also has multiple V-grooves, with multiple auxiliary conveying air holes on the inner bottom wall of the V-grooves to guide the directional flow of air and enhance the driving effect of traveling wave vibration. The V-grooves and air-floating holes are staggered. The bottom of the conveyor table is open. Multiple traveling wave vibration generators are evenly arranged on the inner wall of the conveyor table, spaced apart from the air-floating holes. The device also includes: A width detection unit is installed on the top of the conveyor to detect the actual width and edge position of the storage box; Multiple sets of attitude detection support mechanisms are installed on the top of the conveyor. Each set of attitude detection support mechanisms is equipped with two attitude detection units, which are symmetrically arranged to detect the deflection angle of the storage box during the conveying process. Two lateral centering mechanisms are symmetrically installed on the top of the conveyor to level and center the storage box and prevent it from shifting during transport. The sealed air supply mechanism is installed at the bottom of the conveyor table to seal the air flotation holes and traveling wave vibration generator, and to provide a stable air source for the V-groove and air flotation holes. The controller is located on the side of the conveyor and is connected to the traveling wave vibration generator, attitude detection unit, lateral centering mechanism, and sealing air supply mechanism for centralized control. A continuous, precise, and stable conveying system for wooden storage boxes is constructed, integrating air flotation drag reduction, traveling wave drive, width detection, attitude monitoring, automatic centering and correction functions. It is adapted to the continuous conveying requirements in the processing of wooden storage boxes, avoids surface wear of wooden storage boxes, and improves conveying efficiency and accuracy.

[0007] Preferably, the width detection unit consists of two sets of laser displacement sensors, respectively installed on the left and right sides above the feed end of the conveyor. The measurement spot diameter of each set of laser displacement sensors is ≤1mm, and the measurement accuracy is ±0.1mm. The controller calculates the width W=RL of the storage box and the centerline position C=(L+R) / 2 of the storage box based on the measured values ​​L and R of the two sets of laser displacement sensors. The accurate detection of the width and centerline position of the wooden storage box provides precise data support for subsequent centering and correction, ensuring the accuracy of centering and correction actions and adapting to the conveying of wooden storage boxes of different sizes.

[0008] Preferably, the attitude detection support mechanism includes two electric push rods, both of which are fixedly installed on the side of the conveyor table. The output ends of the two electric push rods are equipped with the same lifting plate, and two attitude detection units are symmetrically installed at the bottom of the lifting plate. The height of the lifting plate is adjusted by the electric push rods, thereby adjusting the detection height of the attitude detection unit to adapt to wooden storage boxes of different thicknesses and ensure the accuracy of attitude detection.

[0009] Preferably, the attitude detection unit includes a mounting plate and a photoelectric sensor. The mounting plate is installed at the bottom of the lifting plate, and an adjustment bracket is mounted on the mounting plate. An angle motor is mounted on the outside of the adjustment bracket. The photoelectric sensor is fixedly installed with the output shaft of the angle motor, and the two are symmetrically arranged to detect the time difference between the front end of the storage box reaching the left and right sides. The controller calculates the deflection angle of the storage box based on the time difference. By adjusting the detection angle of the photoelectric sensor through the angle motor, the attitude detection of storage boxes of different sizes can be adapted. The deflection angle is accurately calculated through the time difference, providing a reliable basis for active correction.

[0010] Preferably, the lateral alignment mechanism includes a lateral cavity mounted on the top of the conveyor platform. Multiple lateral air pipes are provided inside the lateral cavity, each equipped with a regulating valve. A first air source pipe is connected to the lateral cavity, and a pressure valve is installed on the first air source pipe. A first air pump is also connected to the first air source pipe and mounted on the outside of the conveyor platform. Air is supplied by the first air pump and blown onto the side of the storage box through the first air source pipe, the lateral cavity, and the lateral air pipes. The pressure valve and regulating valve precisely control the air pressure, achieving self-adaptive alignment of the storage box and avoiding mechanical damage to the wooden storage box.

[0011] Preferably, the sealing air supply mechanism includes a sealing box installed on the inner wall of the conveyor table. A second air source pipe is provided inside the sealing box. Multiple air outlets are opened on the top side of the second air source pipe. A second air pump is connected to the second air source pipe and installed on the outside of the sealing box. The second air source pipe is arranged in a curved shape. The sealing box achieves the sealing of the bottom of the conveyor table to prevent air leakage. The curved second air source pipe supplies air evenly through the air outlets, providing a stable airflow for the air flotation holes and auxiliary conveying air holes, ensuring the formation of the air film and the directional flow of airflow.

[0012] Preferably, the bottom of the sealed box is equipped with four support legs, and a pressure detection tube is connected to the sealed box, with a pressure gauge connected to the pressure detection tube. The support legs provide stable support for the sealed box and the entire device, and the pressure gauge detects the internal air pressure of the sealed box in real time through the pressure detection tube, which facilitates the controller to adjust the air pressure, ensures a stable air source, and avoids air film rupture affecting the delivery.

[0013] Preferably, the traveling wave vibration generator includes multiple piezoelectric ceramic vibrators arranged along the conveying direction, each piezoelectric ceramic vibrator being controlled by an independent drive signal; the controller controls the excitation phase of each piezoelectric ceramic vibrator in a timing sequence to synthesize a traveling wave on the surface of the conveyor table; by independently controlling the excitation phase of the piezoelectric ceramic vibrators, a traveling wave propagating along the conveying direction is synthesized, providing a stable driving force for the wooden storage box, and cooperating with the air membrane to achieve contactless, low-wear conveying, protecting the surface integrity of the wooden storage box.

[0014] Preferably, the outlet of the air flotation hole is provided with a conical flare, the cone angle of which is 60°-120°, to reduce the airflow outlet speed and improve the uniformity of the air film; by buffering the airflow through the conical flare, the outlet speed is reduced, so that the airflow is evenly distributed on the surface of the conveyor table, forming a uniform and stable air film, reducing the impact of concentrated airflow at the air flotation hole on the storage box, and ensuring that the storage box is transported smoothly and suspends.

[0015] Preferably, the controller is pre-configured with an adaptive fuzzy PID control algorithm, a deviation quantization module, a fuzzy inference module, a parameter self-tuning module, and an output module. The adaptive fuzzy PID control algorithm enables precise control of lateral alignment, traveling wave drive, and attitude correction. The deviation quantization and fuzzy inference modules improve the control response speed, and the parameter self-tuning module adapts to different working conditions, ensuring the stability and accuracy of the conveying process without the need for frequent manual parameter adjustments.

[0016] Compared with the prior art, the present invention provides a continuous conveying device for processing wooden storage boxes, which has the following beneficial effects: 1. Adopting air flotation and piezoelectric traveling wave non-contact drive, zero contact and zero wear: The storage box does not come into contact with any solid surface during the entire conveying process, completely eliminating the friction and wear between the storage box and the guide plate and conveyor belt in traditional conveying devices, perfectly protecting the surface quality and edge integrity of the wooden storage box, and is especially suitable for the processing of high-end storage boxes.

[0017] 2. High detection accuracy and reliable attitude judgment; the laser displacement sensor has high detection accuracy and can accurately identify the box width and lateral offset; the photoelectric sensor calculates the deflection angle through time difference, with fast detection response and small error, providing high-precision data support for correction.

[0018] 3. Flexible centering and correction without box deformation or damage; non-contact centering is achieved through the air pressure difference in the lateral air chambers, automatically adapting to storage boxes of different widths without any moving parts. During production changes, only the width parameters need to be updated in the controller or automatically identified by the detection unit, without the need for machine shutdown and manual adjustment, significantly improving flexible production efficiency.

[0019] 4. The air film is uniform and stable, and the conveying process is smooth; the curved air distribution pipe combined with the conical flare structure forms a uniform air film of 0.1-0.5mm, without local airflow impact or box jumping, and the conveying posture is stable and controllable.

[0020] 5. Intelligent closed-loop control with a high degree of automation; adopts an adaptive fuzzy PID algorithm to automatically adjust the centering air pressure, traveling wave frequency and correction phase difference without manual intervention; equipped with over-limit emergency stop and alarm protection, ensuring safe and reliable operation.

[0021] This device enables contactless air-floating conveying of wooden storage boxes, eliminating surface scratches; it features high visual inspection accuracy, precisely identifying size and posture; flexible centering and correction prevent box deformation; it is compatible with various storage box specifications, offering strong versatility; the air film is stable, with intelligent closed-loop control, a high degree of automation, continuous and efficient operation with low energy consumption, making it suitable for automated production line requirements. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of a continuous conveying device for processing wooden storage boxes, as proposed in this invention. Figure 2 This is a side view of a continuous conveying device for processing wooden storage boxes, as proposed in this invention. Figure 3 This is a bottom view of a continuous conveying device for processing wooden storage boxes, as proposed in this invention. Figure 4 The present invention provides a structural schematic diagram of the conveyor, width detection unit, and lateral alignment mechanism; Figure 5 This invention presents a structural schematic diagram of a conveyor, a traveling wave vibration generator, and a lateral centering mechanism. Figure 6 A schematic diagram of the sealing gas supply mechanism is provided for this invention; Figure 7 This is a bottom view of the structure of the sealed air supply unit proposed in this invention; Figure 8 This invention provides a structural schematic diagram of the attitude detection support mechanism and the attitude detection unit. Figure 9 The diagram below shows the upward view of the posture detection support mechanism and posture detection unit proposed in this invention.

[0023] In the diagram: 1. Conveyor table; 11. V-groove; 111. Auxiliary conveying air hole; 12. Air float hole; 121. Conical flare; 13. Traveling wave vibration generator; 2. Width detection unit; 3. Controller; 4. Attitude detection support mechanism; 41. Electric push rod; 42. Lifting plate; 5. Attitude detection unit; 52. Mounting plate; 53. Adjustment bracket; 54. Angle motor; 55. Photoelectric sensor; 6. Lateral centering mechanism; 61. Lateral cavity; 62. First air source pipe; 63. First pressure valve; 64. First air pump; 65. Lateral air hole; 7. Sealing air supply mechanism; 71. Support leg; 72. Sealing box; 73. Second air source pipe; 74. Second air pump; 75. Pressure gauge. Detailed Implementation

[0024] To more clearly and completely illustrate the technical solution of the present invention, the present invention will be further described below with reference to the accompanying drawings.

[0025] Example like Figures 1-9 As shown in the figure, an embodiment of the present invention provides a continuous conveying device for processing wooden storage boxes, including a conveyor table 1, a width detection unit 2, a controller 3, an attitude detection mechanism, a lateral centering mechanism 6, a sealing air supply mechanism 7, and a traveling wave drive mechanism; the top of the conveyor table 1 is provided with a plurality of air float holes 12 arranged in a rectangular array and a plurality of staggered V-shaped grooves 11, the bottom of the V-shaped grooves 11 is provided with a plurality of auxiliary conveying air holes 111, and a plurality of traveling wave vibration generators 13 are evenly arranged on the inner wall of the conveyor table 1; Width detection unit 2 is set above the feed end of conveyor 1 to detect the edge position of the storage box in real time and calculate the width and lateral offset; attitude detection mechanism is symmetrically set above conveyor 1 to detect the deflection angle of the storage box during the conveying process. The lateral centering mechanism 6 is symmetrically installed on both sides of the top of the conveyor 1 to flexibly center the storage box through the air pressure difference; the sealing air supply mechanism 7 is sealed and installed at the bottom of the conveyor 1 to provide stable air pressure for the air flotation hole 12 and the auxiliary conveying air hole 111 and form a uniform air flotation support. The controller 3 is electrically connected to the width detection unit 2, the posture detection mechanism, the lateral centering mechanism 6, the sealing air supply mechanism 7, and the traveling wave vibration generator 13, respectively, to complete air flotation pressure stabilization, size recognition, automatic centering, dynamic correction and conveying speed control; the whole system realizes contactless conveying of wooden storage boxes, adaptive size matching, intelligent posture correction and continuous and stable conveying, avoiding scratches, bumps and deformation of the wooden surface.

[0026] Among them, controller 3 completes system self-test and sets initial parameters: traveling wave vibration frequency f0=300Hz, amplitude A0=40μm, initial conveying speed V0=0.2m / s, lateral deviation threshold ΔC0=1mm, deflection threshold α0=0.5°, abnormal protection threshold θ=5°, ΔC=15mm.

[0027] In this invention, the width detection unit 2 consists of two sets of laser displacement sensors with a spot diameter ≤ 1 mm and a detection accuracy of ± 0.1 mm; Among them, the wooden storage box enters the feeding end of the conveyor 1, and two sets of laser displacement sensors collect the left edge position L and the right edge position R in real time. Controller 3 calculates: Box width W=RL The actual centerline of the box is C = (L + R) / 2 Lateral deviation ΔC=C-C0 Complete the identification of box size and determination of lateral offset to provide accurate data for subsequent adaptive centering.

[0028] In this invention, the attitude detection support mechanism 4 includes two electric push rods 41, both of which are fixedly installed on the side of the conveyor table 1. The output ends of the two electric push rods 41 are equipped with the same lifting plate 42, and two attitude detection units 5 are symmetrically installed at the bottom of the lifting plate 42.

[0029] The height of the lifting plate 42 is adjusted by the electric push rod 41, thereby adjusting the detection height of the posture detection unit 5 to adapt to wooden storage boxes of different thicknesses, ensuring the accuracy of posture detection and guaranteeing the matching of posture detection height.

[0030] In this invention, the attitude detection unit 5 includes a mounting plate 52 and a photoelectric sensor 55. The mounting plate 52 is installed at the bottom of the lifting plate 42, and an adjustment bracket 53 is installed on the mounting plate 52. An angle motor 54 is installed on the outside of the adjustment bracket 53. The photoelectric sensor 55 is fixedly installed with the output shaft of the angle motor 54 and is symmetrically arranged on the left and right sides to detect the time difference between the front end of the storage box reaching the left and right sides. The controller 3 calculates the deflection angle of the storage box based on the time difference.

[0031] Among them, the angle motor 54 adjusts the detection angle of the photoelectric sensor 55 to adapt to the attitude detection of storage boxes of different sizes. The deflection angle is accurately calculated through the time difference, providing a reliable basis for active correction. It is used to detect the time difference Δt between the front end of the storage box and the left and right measuring points. The controller 3 calculates the deflection angle θ based on the time difference, providing accurate attitude data for dynamic correction.

[0032] In this invention, the lateral centering mechanism 6 includes a lateral cavity 61, which is installed on the top of the conveyor platform 1. Multiple lateral air pipes 65 are provided on the inner side of the lateral cavity 61, and each lateral air pipe 65 is equipped with a regulating valve. A first air source pipe 62 is connected to the lateral cavity 61, and a pressure valve 63 is installed on the first air source pipe 62. A first air pump 64 is connected to the first air source pipe 62 and is installed on the outer side of the conveyor platform 1. Air is supplied by the first air pump 64 and blown onto the side of the storage box through the first air source pipe 62, the lateral cavity 61, and the lateral air pipes 65. The pressure valve 63 and the regulating valve precisely control the air pressure to achieve adaptive centering of the storage box, avoiding mechanical damage to the wooden storage box. The controller 3 uses an adaptive fuzzy PID algorithm to adjust the left and right air pressure difference, which is used to flexibly push the storage box back to the center without mechanical rigid contact, thus avoiding damage to the edges and corners of the wooden box.

[0033] Among them, adaptive pressure flexible centering If |ΔC|>1mm, the controller will activate the adaptive fuzzy PID control algorithm: Adjust the left and right first air pumps 64 and pressure valve 63 to form a controllable lateral air pressure difference; The air pressure difference acts on the side of the box through the lateral air pipe 65, generating a flexible thrust that smoothly pushes the storage box towards the center of the platform. Read the laser sensor feedback data in real time until |ΔC|≤1mm, then the centering is complete; Based on the box width W, only open the lateral air pipe regulating valve in the area covered by the box, and keep the uncovered area closed to save air.

[0034] In this invention, the sealing air supply mechanism 7 includes a sealing box 72, which is installed on the inner wall of the conveyor platform 1. A second air source pipe 73 is disposed inside the sealing box 72. Multiple air outlets 731 are opened on the top side of the second air source pipe 73. A second air pump 74 is connected to the second air source pipe 73 and is installed on the outside of the sealing box 72. The second air source pipe 73 is arranged in a curved shape. The sealing box 72 achieves a seal at the bottom of the conveyor platform 1 to prevent air leakage. The curved second air source pipe 73 supplies air evenly through the air outlets 731, providing a stable airflow to the air flotation holes 12 and the auxiliary conveying air holes 111, ensuring the formation of an air film and directional airflow. It is used to evenly supply air to the air flotation holes 12 and form a stable air film of 0.1mm-0.5mm. A pressure gauge 75 monitors the internal air pressure of the sealing box 72 in real time to achieve closed-loop control of the air source pressure stabilization.

[0035] The sealing box 72 is equipped with four support legs 71 at its bottom. A pressure detection tube 751 is connected to the sealing box 72, and a pressure gauge 75 is connected to the pressure detection tube 751. The support legs 71 provide stable support for the sealing box 72 and the entire device. The pressure gauge 75 detects the internal air pressure of the sealing box 72 in real time through the pressure detection tube 751, which facilitates the controller 3 to adjust the air pressure, ensure a stable air source, and avoid the air film from rupturing and affecting the delivery.

[0036] In this invention, the traveling wave vibration generator 13 is a piezoelectric ceramic oscillator array with independent left and right partition control; the controller 3 controls the excitation phase of each oscillator in sequence to synthesize a directional traveling wave, and forms a velocity difference by adjusting the phase difference between the left and right oscillator arrays to achieve flexible correction of the deflection attitude of the storage box.

[0037] In this invention, the outlet of the air flotation hole 12 is provided with a conical flare 121 with a cone angle of 60°-120°, which is used to reduce the airflow ejection speed, uniformly diffuse the airflow, improve the uniformity of the air film, and prevent the storage box from jumping due to the impact of the airflow.

[0038] In this invention, the controller 3 incorporates an adaptive fuzzy PID control module, a deviation quantization module, a fuzzy inference module, and a parameter self-tuning module. These modules automatically adjust the centering air pressure, traveling wave frequency, and correction phase difference based on the storage box size, offset, and deflection angle, achieving full-process adaptive intelligent control. An emergency stop alarm is triggered when the deflection angle is greater than 5° or the lateral deviation is greater than 15mm.

[0039] Working principle: Controller 3 controls the second air pump 74 to work, which inflates the sealed box 72 through the second air source pipe 73. The pressure gauge 75 detects the internal air pressure of the sealed box 72 in real time. The airflow blows through the air float hole 12 and the auxiliary conveying air hole 111, so that a stable air film with a thickness of 0.1mm-0.5mm is formed on the surface of the conveyor table 1. The traveling wave vibration generator 13 is set with an initial frequency f0=300Hz and an initial amplitude A0=40μm. The deflection threshold α0=0.5° and the lateral deviation threshold ΔC0=1mm are set. After the equipment is started and the initial parameters are set, a stable air film is formed to realize the suspension and conveying of the storage box, reduce conveying friction, and protect the surface of the wooden storage box.

[0040] Feeding detection: When the two sets of laser displacement sensors of the width detection unit 2 detect the wooden storage box entering, the left edge position L and the right edge position R of the storage box are recorded. The controller 3 calculates the width W=RL, the center line C=(L+R) / 2, and the lateral deviation ΔC=C-C0, where C0 is the center line position of the conveyor 1. The size and position information of the storage box entering the conveying system are accurately obtained, providing data support for subsequent adaptive centering and ensuring that the centering action is adapted to the size of the storage box.

[0041] Adaptive centering: If |ΔC|>ΔC0, the lateral centering mechanism 6 starts the adaptive fuzzy PID control algorithm, and the controller 3 adjusts the air pressure difference between the two lateral centering mechanisms 6 so that the thrust generated by the lateral air pressure difference pushes the storage box towards the center line; during the control process, the feedback data of the width detection unit 2 is read in real time until |ΔC|≤ΔC0; at the same time, the controller 3 opens only the lateral cavity 61 section corresponding to the coverage area of ​​the storage box according to the width W of the storage box, and keeps the pressure regulating valve of the uncovered section closed; thus realizing the automatic centering of the storage box, avoiding lateral displacement during transportation, and at the same time shutting off the air source of the uncovered section to save energy and adapt to the centering requirements of storage boxes of different widths.

[0042] Start-up drive: Controller 3 starts traveling wave vibration generator 13, drives piezoelectric ceramic oscillator according to the set traveling wave frequency and amplitude, generates traveling wave propagating along the conveying direction, and the wooden storage box begins to move forward under the action of air film drag reduction and traveling wave driving force; set initial conveying speed V0=0.2m / s; provide stable and controllable driving force for storage box, cooperate with air film to achieve contactless conveying, avoid wear on the surface of wooden storage box, and set initial speed to ensure smooth conveying.

[0043] After the attitude detection unit 5 completes the alignment, the controller 3 outputs in-phase excitation signals to the left and right piezoelectric ceramic oscillator arrays to synthesize a stable traveling wave along the conveying direction on the surface of the conveyor table 1. The traveling wave and air buoyancy support work together to propel the storage box forward smoothly at a set speed of V0=0.2m / s, with no mechanical contact and no friction noise throughout the process.

[0044] Real-time yaw attitude detection; Five photoelectric sensors, symmetrically arranged on the left and right sides, synchronously monitor the arrival time of the front end of the storage box and record the time difference Δt between the left and right sides. i ; The controller calculates the deflection angle for a single group: θ i =arctan(V0·Δt i / W) The average value of multiple sets of detection results is taken to obtain the current true deflection angle θ, thus eliminating the error of a single detection and improving the accuracy of attitude judgment.

[0045] Intelligent dynamic correction If |θ|>0.5°, the system enters closed-loop dynamic correction mode: Correction direction judgment θ>0: The front end of the box deflects to the left (clockwise) → reduces the traveling wave velocity of the left oscillator array and increases the velocity of the right side; θ < 0: The front end of the box deflects to the right (counterclockwise) → increases the traveling wave speed of the left oscillator array and decreases the speed of the right side.

[0046] Correction amount calculation The velocity difference Δv = K·θ (K = 0.1 - 0.5) Phase difference Δφ=2π·Δv / (f·λ) Corrective Implementation The controller outputs the phase difference between the left and right arrays, and the box slowly returns to its original position under the action of the left and right driving force difference. The deflection angle is monitored in real time. When |θ|≤0.25°, Δv is gradually reduced to 0 to restore linear conveying.

[0047] It achieves automatic and precise correction of storage box deflection by adjusting the traveling wave speed difference and phase difference to gently adjust the posture of the storage box, avoiding damage to the wooden storage box caused by mechanical correction, and ensuring that the storage box is transported smoothly in the correct direction.

[0048] The controller 3 adjusts the frequency and amplitude of the traveling wave of the traveling wave generator 13, increases or decreases the driving force, and controls the conveying speed of the storage box; according to the processing requirements of the wooden storage box, the conveying speed is flexibly adjusted to adapt to the rhythm of different processing steps and improve the overall processing efficiency.

[0049] Once the storage box has completely left conveyor 1, the system resets to standby mode, waiting for the next storage box to enter; this enables continuous cyclical operation of the equipment, adapting to the batch continuous processing needs of wooden storage boxes and reducing manual intervention.

[0050] If a deflection angle θ > 5° or a lateral deviation ΔC > 15mm is detected, the controller determines it to be a serious deviation, jamming, or other abnormal state. Controller 3 determines it to be a serious abnormality, immediately stops the operation of the traveling wave vibration generator 13, and issues an alarm signal, awaiting manual handling. This timely detection of serious conveying abnormalities prevents the storage box from falling, being damaged, or malfunctioning, ensuring the safety of equipment and materials and reducing losses.

[0051] The traveling wave vibration generator 13 employs a piezoelectric ceramic resonator array. Forty piezoelectric ceramic resonators (model: PSt150 / 5 / 20) are installed at equal intervals along the conveying direction below the conveyor platform 1. Each resonator is 50mm long and 20mm wide, with a maximum output force of 150N and a resonant frequency of approximately 500Hz. The resonators are divided into a left resonator array and a right resonator array, corresponding to the left and right halves of the conveyor platform 1, respectively. Each resonator is driven by an independent power amplifier, and the controller 3 outputs sinusoidal wave signals of different phases. The specific structure and parameters of the traveling wave vibration generator 13 are clearly defined to ensure the stability and controllability of the traveling wave drive, providing a basis for the actual manufacturing and debugging of the equipment and adapting to the driving force requirements of the wooden storage box.

[0052] Working principle of piezoelectric ceramic oscillator: 1. Vibration is generated by piezoelectric ceramic oscillators. Piezoelectric ceramic oscillators are materials that "deform when electricity is applied". When a controller applies a high-frequency AC voltage (e.g., 300~500Hz) to the oscillator, the oscillator will rapidly elongate and shorten at the same frequency (the vibration amplitude is very small, usually only tens of micrometers, which is almost invisible to the naked eye).

[0053] 2. Multiple oscillators combined to generate a "traveling wave". The key is that instead of using a single oscillator, a row of oscillators (like an array) is arranged below the conveyor platform along the direction the storage box is moving. The controller triggers each oscillator to vibrate sequentially according to a time difference (phase difference): The first oscillator first bulges upward, then retracts; Then the second oscillator bulges upward and then retracts; Then the third, the fourth... This creates a wave-like pattern on the platform's surface that propagates forward continuously, similar to water ripples. Imagine the effect of wind blowing through wheat fields: the wheat itself doesn't move forward, but the shape of the wave appears to be moving forward.

[0054] 3. Traveling waves propel the storage box forward. The storage box is supported by an air film and suspended about 0.1 to 0.5 mm above the platform, with almost no contact with the platform surface. However, when the traveling wave propagates, the crests and troughs cause slight pressure changes and airflow in the air at the bottom of the storage box.

[0055] More importantly, the traveling wave causes the storage box to undergo a slight "jump-and-land" motion. When the wave crest passes, a portion of the storage box is slightly lifted; after the crest passes, the storage box falls back down. This rapid alternating "tilt-and-recovery" process, combined with the inertial force and minute friction between the storage box and the traveling wave (although air buoyancy greatly reduces friction, the extremely rarefied gas still has viscosity), creates a net forward thrust.

[0056] This can be understood in this way: Imagine you're standing on a surfboard, waves are spreading forward from your feet, and you're being propelled forward by them. Here, the traveling waves generated by piezoelectric ceramics are the "artificial waves," and the storage box is the "surfboard."

[0057] 4. Because traveling waves propagate in one direction, the firing sequence of the oscillator determines that the wave can only move forward and not backward. The storage box experiences a greater forward force than a backward force in each oscillation cycle, thus achieving a stable forward velocity.

[0058] 5. Speed ​​adjustment: Increasing the vibration frequency or amplitude of the oscillator will make the traveling wave propagate faster, and the forward speed of the storage box will also increase accordingly.

[0059] Correction: If the storage box is tilted (for example, the front is tilted to the left), the controller can make the traveling wave generated by the left oscillator array slower and the right side faster. In this way, the right side of the storage box is pushed faster and the left side is pushed slower, and the storage box will automatically straighten itself - just like a tank turning by differential speed between its two tracks.

[0060] Finally, it should be noted that the basic concepts have been described above. Obviously, for those skilled in the art, the detailed disclosure above is merely illustrative and does not constitute a limitation of this specification. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this specification. Such modifications, improvements, and corrections are suggested in this specification, and therefore remain within the spirit and scope of the exemplary embodiments of this specification. Furthermore, this specification uses specific terms to describe embodiments of this specification. For example, "an embodiment," "one embodiment," and / or "some embodiments" refer to a feature, structure, or characteristic associated with at least one embodiment of this specification. Therefore, it should be emphasized and noted that "an embodiment," "one embodiment," or "an alternative embodiment" mentioned twice or more in different locations in this specification do not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of this specification can be appropriately combined. Moreover, unless expressly stated in the claims, the order of processing elements and sequences, the use of numbers and letters, or other names described in this specification are not intended to limit the order of the processes and methods of this specification.

[0061] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A continuous conveying device for processing wooden storage boxes, comprising a conveyor table (1), wherein the top of the conveyor table (1) is provided with a plurality of air flotation holes (12), characterized in that, The top of the conveyor platform (1) is provided with multiple V-shaped grooves (11), and the bottom inner wall of the V-shaped grooves (11) is provided with multiple auxiliary conveying air holes (111). The multiple V-shaped grooves (11) and multiple air flotation holes (12) are arranged alternately. Multiple traveling wave vibration generators (13) are evenly arranged on the inner wall of the conveyor platform (1). The multiple traveling wave vibration generators (13) and multiple air flotation holes (12) are spaced apart. The platform also includes: Width detection unit (2) is set on top of conveyor (1) to detect the actual width and edge position of the storage box; Multiple attitude detection support mechanisms (4) are installed on the top of the conveyor (1). Each attitude detection support mechanism (4) has two attitude detection units (5). The two attitude detection units (5) are symmetrically arranged and used to detect the deflection angle of the storage box during the conveying process. Two lateral centering mechanisms (6) are symmetrically installed on the top of the conveyor (1) to level and center the storage box and prevent it from shifting during transport. The sealing air supply mechanism (7) is installed at the bottom of the conveyor (1) to seal the air flotation hole (12) and the traveling wave vibration generator (13) and to provide a stable air source for the V-groove (11) and the air flotation hole (12); The controller (3) is located on the side of the conveyor (1) and is connected to the traveling wave vibration generator (13), attitude detection unit (5), lateral centering mechanism (6), and sealing air supply mechanism (7) for centralized control.

2. The continuous conveying device for processing wooden storage boxes according to claim 1, characterized in that, The width detection unit (2) consists of two sets of laser displacement sensors, which are installed on the left and right sides above the feed end of the conveyor (1).

3. A continuous conveying device for processing wooden storage boxes according to claim 2, characterized in that, The attitude detection support mechanism (4) includes two electric push rods (41), both of which are fixedly installed on the side of the conveyor (1). The output ends of the two electric push rods (41) are equipped with the same lifting plate (42), and two attitude detection units (5) are symmetrically installed at the bottom of the lifting plate (42).

4. A continuous conveying device for processing wooden storage boxes according to claim 3, characterized in that, The attitude detection unit (5) includes a mounting plate (52) and a photoelectric sensor (55). The mounting plate (52) is installed at the bottom of the lifting plate (42). An adjustment bracket (53) is installed on the mounting plate (52). An angle motor (54) is installed on the outside of the adjustment bracket (53). The photoelectric sensor (55) and the output shaft of the angle motor (54) are fixedly installed and symmetrically arranged on the left and right sides to detect the time difference between the front end of the storage box and the left and right sides. The controller (3) calculates the deflection angle of the storage box based on the time difference.

5. A continuous conveying device for processing wooden storage boxes according to claim 4, characterized in that, The lateral centering mechanism (6) includes a lateral cavity (61), which is installed on the top of the conveyor (1). Multiple lateral air pipes (65) are provided on the inner side of the lateral cavity (61), and each of the multiple lateral air pipes (65) is equipped with a regulating valve. A first air source pipe (62) is connected to the lateral cavity (61), and a pressure valve (63) is installed on the first air source pipe (62). A first air pump (64) is connected to the first air source pipe (62), and the first air pump (64) is installed on the outer side of the conveyor (1).

6. A continuous conveying device for processing wooden storage boxes according to claim 5, characterized in that, The sealing gas supply mechanism (7) includes a sealing box (72), which is installed on the inner wall of the conveyor (1). A second gas source pipe (73) is provided inside the sealing box (72). Multiple air outlets (731) are opened on the top side of the second gas source pipe (73). A second air pump (74) is connected to the second gas source pipe (73). The second air pump (74) is installed on the outside of the sealing box (72). The second gas source pipe (73) is arranged in a curved shape.

7. A continuous conveying device for processing wooden storage boxes according to claim 6, characterized in that, The bottom of the sealing box (72) is equipped with four support legs (71), and the sealing box (72) is connected to a pressure detection tube (751), and the pressure detection tube (751) is connected to a pressure gauge (75).

8. A continuous conveying device for processing wooden storage boxes according to claim 7, characterized in that, The traveling wave vibration generator (13) includes multiple piezoelectric ceramic oscillators arranged along the conveying direction, each piezoelectric ceramic oscillator being controlled by an independent drive signal.

9. A continuous conveying device for processing wooden storage boxes according to claim 8, characterized in that, The outlet of the air flotation hole (12) is provided with a conical flare (121), and the cone angle of the conical flare (121) is 60°-120°.

10. A continuous conveying device for processing wooden storage boxes according to claim 1, characterized in that, The controller (3) is pre-configured with an adaptive fuzzy PID control algorithm, a deviation quantization module, a fuzzy inference module, a parameter self-tuning module, and an output module.

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