An automatic skid placing robot device and an automatic skid placing method

Abstract

The application discloses an automatic cushion wood placing robot device and method, a conveying line is arranged on the lower side of a frame body, a longitudinally movable mounting frame is arranged on the lower end of the frame body, a mechanical hand is arranged on the left side of the conveying line, a suction disc is arranged at the rear end of the mechanical hand, and the automatic cushion wood placing robot device further comprises a grabbing mechanism and an adjusting mechanism; the grabbing mechanism comprises a fixing seat, a transmission plate, a mounting rod, a driving plate, a cross rod and a clamping plate, the cross rod is rotationally connected to the lower side inside the mounting frame, driving plates and clamping plates are arranged on the left and right sides and the middle of the outer arc surface of the cross rod, and the upper side inside the mounting frame is provided with the vertically movable fixing seat; the automatic cushion wood placing robot device and method improve the centering accuracy, solve the problem of damage to the surface of the cushion wood caused by the cushion wood and the inclined baffle being stuck and rubbed, linkage of the transmission plate and the mounting rod ensures the action synchronization of the two clamping plates, and the defects of the cushion wood being clamped and stressed unevenly caused by action deviation of the double cylinders are effectively avoided.

Description

Technical Field

[0001] This invention relates to the field of material handling technology, specifically to an automatic log-laying robot device and an automatic log-laying method. Background Technology

[0002] The automatic wooden dunnage robot can replace manual labor in the grabbing, transportation and precise placement of wooden dunnage. It can place the wooden dunnage in an orderly manner in the designated position according to the operation requirements, which greatly reduces the labor intensity of manual labor, improves the efficiency and placement accuracy of wooden dunnage, and avoids the safety risks of manual operation. It realizes the automation and continuous operation of the wooden dunnage laying process and is suitable for batch and high-frequency operation scenarios. Steel plates and heat-treated finished products are delivered in bundles. To facilitate hoisting, loading and unloading, each bundle is separated by a wooden block. When placing the wooden blocks onto the steel plate using the placement assembly, the first set of robotic arms grabs the wooden blocks and places them on the conveyor line. Then, the placement assembly moves the wooden blocks along the conveyor line. As the wooden blocks move, they are gradually squeezed to the middle by the inclined baffles at the top of the conveyor line. When the wooden blocks reach the designated position, the second set of robotic arms moves the clamping plates through two sets of cylinders to grab the wooden blocks and finally place them on the steel plate. In existing placement components, although the conveyor line can center and align the wooden blocks during placement using inclined baffles, the baffles have a fixed spacing and are rigid structures. When the wooden blocks are misaligned, placed crookedly, or shake during operation, they will continuously squeeze and rub against the baffles, leading to jamming and surface damage. Although two sets of cylinders can grab the wooden blocks, the independent drive of the two cylinders has poor synchronization, making it easy for the wooden blocks to be clamped off-center and subjected to uneven force. In addition, the air circuit structure is complex, which increases the difficulty of equipment operation and maintenance. To address this, we propose an automatic wooden block placement robot device and an automatic wooden block placement method. Summary of the Invention

[0003] The technical problem this invention aims to solve is to overcome the shortcomings of existing methods and provide an automatic log-laying robot device and method. Through the coordinated arrangement of a fixed rod and an adjusting plate, two sets of push plates can be moved synchronously to center the log. Compared to passive centering using inclined baffles, this structure improves centering accuracy and solves the problem of surface damage caused by jamming and friction between the log and the inclined baffles. It has a wider range of applications and its positioning reliability is relatively superior to the fixed inclined baffle structure. Through the coordinated arrangement of a transmission plate and a mounting rod, two sets of clamping plates can be rotated to grip and grasp the log. Compared to a scheme where the left and right clamps are each driven by an independent cylinder, this not only simplifies the pneumatic circuit and control program, reducing hardware procurement, wiring, and subsequent maintenance costs, but also ensures the synchronous movement of the clamping plates on both sides through the linkage of the transmission plate and the mounting rod. This effectively avoids problems such as uneven clamping and force distribution caused by deviations in the movement of the two cylinders, effectively solving the problems in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: an automatic wooden block placing robot device, wherein a conveyor line is provided on the lower side of the frame, a longitudinally movable mounting frame is provided at the lower end of the frame, a robotic arm is provided on the left side of the conveyor line, a suction cup is provided at the rear end of the robotic arm, and a gripping mechanism and an adjusting mechanism are also included. The gripping mechanism includes a fixed base, a transmission plate, a mounting rod, a drive plate, a crossbar, and a clamping plate. The crossbar is rotatably connected to the lower side inside the mounting frame. The drive plate and clamping plate are respectively provided on the left and right sides and the middle part of the outer arc surface of the crossbar. The upper side inside the mounting frame is provided with a vertically movable fixed base. The middle part of the lower end of the fixed base is rotatably connected to the transmission plate. The lower side inside the transmission plate is rotatably connected to the mounting rod. The mounting rod is rotatably connected between the opposite inner sides of two horizontally adjacent sets of drive plates. Adjustment Mechanism: Located at the lower end of the conveyor line, this mechanism, through the cooperation of a fixed rod and an adjusting plate, drives two sets of push plates to move synchronously, thereby centering the wooden blocks. Compared to the passive centering method relying on inclined baffles, this structure improves centering accuracy and solves the problem of surface damage to the wooden blocks caused by jamming and friction between the wooden blocks and the inclined baffles. It has a wider range of applications and its positioning reliability is relatively better than the fixed inclined baffle structure. Through the cooperation of a transmission plate and a mounting rod, it drives two sets of clamping plates to rotate and clamp the wooden blocks. Compared to the scheme where the left and right clamps are each equipped with an independent cylinder drive, this not only simplifies the pneumatic circuit and control program, reducing hardware procurement, wiring, and subsequent maintenance costs, but also ensures the synchronous movement of the clamping plates on both sides through the linkage of the transmission plate and the mounting rod, effectively avoiding the problem of uneven clamping and force distribution of the wooden blocks caused by the deviation of the double cylinder movement.

[0005] Furthermore, the frame is equipped with a controller on its exterior. The input terminal of the controller is electrically connected to an external power source, and the robotic arm is bidirectionally electrically connected to the controller, enabling the control of the electrical components inside the equipment.

[0006] Furthermore, the gripping mechanism also includes cylinders and connecting plates. The cylinders are respectively disposed in the middle of the top wall of the mounting frame, and the connecting plates are respectively slidably connected to the guide grooves disposed inside the mounting frame. The lower ends of the cylinder extension and retraction ends are respectively fixedly connected to the upper ends of the vertically adjacent connecting plates. The fixed seats are all fixedly connected to the middle of the lower end of the connecting plates, which can drive the adjustment seat to move.

[0007] Furthermore, the adjustment mechanism includes a fixed plate, a guide rail three, a sliding seat, a connecting arm, a push plate, a fixed rod, a vertical rod, an adjustment plate, and a laser rangefinder one. The fixed plate is fixedly connected to the front side of the lower end of the conveyor line. A guide rail three is provided on the front side of the lower end of the fixed plate. Sliding seats are slidably connected to the left and right sides of the outer side of the guide rail three. A connecting arm is provided at the lower end of each sliding seat. A push plate is provided on the upper side of the end of each of the two sets of connecting arms that is close to the center of the mounting frame. Both sets of push plates are located on the upper side of the mounting frame. A fixed rod is provided on the side of the lower end of each of the two sets of connecting arms that is close to the center of the mounting frame. A vertical rod is rotatably connected to the rear side of the lower end of the fixed plate. An adjustment plate is provided on the lower side of the outer arc surface of each of the two sets of vertical rods. An adjustment groove is provided on the front side of the upper end of each of the two sets of adjustment plates. The lower end of the fixed rod is located in the vertically adjacent adjustment groove. A laser rangefinder one is provided on the front side of the right end of the conveyor line. The laser rangefinder one corresponds to the left and right position of the connecting arm on the right side. The laser rangefinder one is bidirectionally electrically connected to the controller and can center and align the wooden blocks.

[0008] Furthermore, a guide rail is provided on the rear side of the lower end of the fixed plate. The guide rail is located between the outer arc surfaces of the two sets of uprights. A slider is slidably connected to the front side of the outer side of the guide rail. A drive rod is provided in the middle of the lower end of the slider. Push plates are provided on the upper side of the outer arc surfaces of the two sets of uprights. The push plate on the left side is located above the push plate on the right side. A drive groove is provided on the upper side of the push plate near the center of the fixed plate. The lower end of the drive rod passes through the two drive grooves and extends to the lower side of the push plate. An upright plate is provided in the middle of the lower end of the fixed plate. The fixed plate is located behind the guide rail. An electric push rod is provided in the middle of the front end of the upright plate. The front end of the telescopic end of the electric push rod is fixedly connected to the rear end of the slider. The input end of the electric push rod is electrically connected to the output end of the controller, which can drive the upright to rotate.

[0009] Furthermore, potentiometers are provided on the rear side of the right end of the mounting frame. The left end of the potentiometer probe is fixedly connected to the right end of the adjacent horizontal bar. The potentiometers are bidirectionally electrically connected to the controller and can detect the rotation angle of the horizontal bar.

[0010] Furthermore, the frame is internally equipped with a connecting seat, and an adjusting seat is slidably connected in a groove opened in the middle of the lower end of the connecting seat. Two sets of mounting frames are fixedly connected to the lower end of the adjusting seat. A bidirectional screw is rotatably connected inside the groove. The upper side of the adjusting seat is provided with threaded holes. The adjusting seats are threaded to the front and rear sides of the outer arc surface of the bidirectional screw through the threaded holes. A first bellows is provided between the front end of the front adjusting seat and the front wall of the groove, and between the rear end of the rear adjusting seat and the rear wall of the groove. A second bellows is provided between the opposite inner sides of the two sets of adjusting seats. Both the first and second bellows are sleeved on the outside of the bidirectional screw. A servo motor is provided in the middle of the front end of the connecting seat. The rear end of the output shaft of the servo motor is fixedly connected to the front end of the bidirectional screw. The input end of the servo motor is electrically connected to the output end of the controller, which can drive the adjusting seat to move.

[0011] Furthermore, it also includes a second laser rangefinder, which is located in the middle of the rear end of the rear adjustment seat. The second laser rangefinder corresponds to the front and rear positions of the front adjustment seat. The second laser rangefinder is bidirectionally electrically connected to the controller and can detect the position of the adjustment seat.

[0012] Furthermore, a second guide rail is placed on the left side of the robotic arm, and the robotic arm is located on the front side of the frame. An electric flatcar that can move longitudinally is provided at the upper end of the second guide rail. A mounting frame is provided on the rear side of the second guide rail. An industrial camera is provided on the front side of the top wall of the mounting frame. The industrial camera is located on the rear side of the upper end of the second guide rail. The input end of the electric flatcar is electrically connected to the output end of the controller. The industrial camera is bidirectionally electrically connected to the controller and can drive the stack of wooden blocks to move.

[0013] The present invention also provides an automatic method for placing wooden blocks using an automatic wooden block placing robot device, comprising the following steps: S1): Transporting the pallet: The overhead crane lifts the pallet stack to the top of the electric flatcar, the straps on the pallet stack are removed manually, and then the electric flatcar transports the pallet stack to the pallet sorting position; S2): Sorting of pads: The robotic arm grabs the pads with a suction cup and places them on the upper end of the conveyor line. Then, the position of the pads on the conveyor line is adjusted by the adjustment mechanism so that they are located in the middle of the upper end of the conveyor line. After the position of the pads on the conveyor line is adjusted, the adjustment mechanism is reset, and the conveyor line moves the placed pads backward. When the conveyor line moves to the specified distance, the conveyor line stops running. Then, the robotic arm repeats the process of grabbing and placing pads with the suction cup to continuously complete the pad loading and sorting operation. S3): Placing the wooden blocks: After the external conveying equipment moves the steel plate to the designated position, the servo motor drives the bidirectional screw to rotate. The bidirectional screw adjusts the spacing between the gripping mechanisms so that the two gripping mechanisms are aligned with the two sets of wooden blocks placed at the top of the conveyor line. Then, the frame moves the gripping mechanisms to the top of the two sets of wooden blocks at the top of the conveyor line. The gripping mechanisms then grip the wooden blocks. After that, the frame moves again and uses the gripping mechanisms to transfer the clamped wooden blocks to the preset position above the steel plate. Finally, the gripping mechanisms release the wooden blocks, thus completing the placement of a single set of wooden blocks.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: The automatic log-laying robot device and the automatic log-laying method have the following advantages: 1. By coordinating the transmission plate and mounting rod, two sets of clamping plates can be rotated to clamp and grip the wooden blocks. Compared with the scheme where the left and right clamps are each equipped with an independent cylinder drive, this not only simplifies the pneumatic circuit and control program, reducing hardware procurement, wiring and subsequent maintenance costs, but also ensures the synchronization of the movement of the clamping plates on both sides by relying on the linkage of the transmission plate and mounting rod, effectively avoiding the problem of uneven clamping and force on the wooden blocks caused by the deviation of the movement of the two cylinders.

[0015] 2. By using a combination of a fixed rod and an adjusting plate, two sets of push plates can be moved synchronously to center and position the pad. Compared with the passive centering method that relies on an inclined baffle, this structure improves the centering accuracy and solves the problem of damage to the pad surface caused by jamming and friction between the pad and the inclined baffle. It has a wider range of applications and its positioning reliability is relatively better than that of a fixed inclined baffle structure. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the upper structure of the guide rail II of the present invention; Figure 3 This is a schematic diagram of the structure of the robotic arm of the present invention; Figure 4 This is a schematic diagram of the lower structure of the frame of the present invention; Figure 5 This is a schematic diagram of the lower structure of the conveyor line of the present invention; Figure 6 This is an exploded view of the adjusting mechanism of the present invention; Figure 7 This is a schematic diagram of the lower structure of the connector of the present invention; Figure 8 This is a schematic diagram of the exploded structure of the lower side of the connector of the present invention; Figure 9 This is a schematic diagram of the internal structure of the mounting frame of the present invention; Figure 10This is a partial exploded structural diagram of the gripping mechanism of the present invention.

[0017] In the diagram: 1. Frame, 2. Controller, 3. Conveyor line, 4. Connecting seat, 5. Adjusting seat, 6. Mounting frame, 7. Gripping mechanism, 71. Cylinder, 72. Connecting plate, 73. Fixed seat, 74. Transmission plate, 75. Mounting rod, 76. Drive plate, 77. Crossbar, 78. Clamping plate, 8. Potentiometer, 9. Adjusting mechanism, 91. Fixed plate, 92. Guide rail three, 93. Sliding seat, 94. Connecting arm, 95. Push plate, 96. Fixed rod, 97. Upright pole, 98. Adjusting plate, 99. Laser rangefinder one, 10. Guide rail one, 11. Slider, 12. Drive rod, 13. Push plate, 14. Upright plate, 15. Electric push rod, 16. Bidirectional screw, 17. Corrugated pipe one, 18. Corrugated pipe two, 19. Robotic arm, 20. Suction cup, 21. Guide rail two, 22. Electric flatcar, 23. Mounting frame, 24. Industrial camera, 25. Laser rangefinder two, 26. Servo motor. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Please see Figure 1-10This embodiment provides a technical solution: an automatic log-laying robot device. A conveyor line 3 is provided on the lower side of the frame 1, and a longitudinally movable mounting frame 6 is provided at the lower end of the frame 1. A robotic arm 19 is provided on the left side of the conveyor line 3. A suction cup 20 is provided at the rear end of the robotic arm 19. An interface is pre-installed at the lower end of the robotic arm 19. During installation, the interface is aligned with the drilled hole marked on the ground. Then, expansion bolts are passed through the interface and inserted into the drilled hole. Subsequently, the nuts are tightened evenly in stages to expand the expansion tube and fit against the hole wall, thus firmly locking the robotic arm 19 to the concrete ground. A flange is provided at the rear end of the robotic arm 19. The flange is then connected to the mounting flange or connecting bracket at the front end of the suction cup 20, and finally secured with connecting bolts. Suction cup 20 is a vacuum sponge suction cup. A standard air port is pre-installed on the outside of the vacuum sponge suction cup. Using a polyurethane air tube with a quick-connect fitting, the air path of suction cup 20 is connected to an external vacuum system. A vacuum pump commonly used in existing technology, such as the VT4.4-BECKER model, can be used. The external conveying equipment is located in the middle of the lower end of the frame 1. The right end of the conveying equipment passes through conveyor line 3 and extends to the right side of conveyor line 3. The conveying equipment can be a roller conveyor commonly used in existing technology. The roller conveyor mainly consists of a frame, roller assembly, drive mechanism, transmission components, tensioning mechanism, auxiliary limiting components, and electrical control system. The frame serves as the load-bearing foundation, the roller assembly is responsible for supporting the conveyed steel plate, and the motor and reducer work together with the transmission components. The rollers rotate, which in turn moves the steel plate. The hoisting equipment can be a commonly used electric hoist, such as the CD1-3T-9M model. A fixed frame can be installed on the left side of frame 1. During installation, the fixed frame is connected to the corresponding workstation's reserved hole by bolts passing through the mounting holes at the lower end of the fixed frame. The fixed frame is located at the rear end of the conveying assembly. A vision system can be installed in the middle of the top wall of the fixed frame. The vision system can be a commonly used industrial camera, such as the HPS-HSC2K model. Frame 1 uses a gantry-type three-axis linear guide, where the X-axis uses an HGR35R linear guide, the Y-axis uses an HGR30R linear guide, and the Z-axis uses an HGR25R linear guide. The guides of each axis are perpendicular to each other. The components are stacked vertically to form a gantry-type three-dimensional motion structure. The frame 1 is connected to the ground mounting holes through the connection holes at its lower end by expansion bolts. The conveyor line 3 is installed on the ground as a whole, and the bottom is fixed to the ground foundation with leveling anchor bolts. The conveyor line 3 is a chain plate conveyor line, which consists of a frame, chain plate conveyor components, drive mechanism, tensioning mechanism, support components, guide and protection components and electrical control system. The frame serves as the load-bearing foundation. The motor and reducer drive the chain plate to circulate through the sprocket. The tensioning mechanism ensures normal chain transmission. The lower idler roller reduces the operating load. The guide structure on both sides limits the offset of the pad wood. In specific implementation, this solution is only for reference and is not the only implementation method. It also includes a gripping mechanism 7 and an adjusting mechanism 9. The gripping mechanism 7 includes a fixed base 73, a transmission plate 74, a mounting rod 75, a drive plate 76, a crossbar 77, and a clamping plate 78. The crossbar 77 is rotatably connected to the lower side inside the mounting frame 6. The drive plate 76 and clamping plate 78 are respectively provided on the left and right sides and the middle part of the outer arc surface of the crossbar 77. The upper side inside the mounting frame 6 is provided with a vertically movable fixed base 73. The middle part of the lower end of the fixed base 73 is rotatably connected to the transmission plate 74. The lower side inside the transmission plate 74 is rotatably connected to the mounting rod 75. The mounting rod 75 is rotatably connected between the opposite inner sides of two horizontally adjacent sets of drive plates 76. During the movement of the fixed base 73, it will exert a downward thrust on the mounting rod 75 through the transmission plate 74, so that the mounting rod 75 drives the crossbar 76 through the drive plate 76. 7. Rotation of the crossbar 77 causes the clamping plate 78 to rotate. The two longitudinally adjacent clamping plates 78 rotate at the same angle. Finally, the clamping plate 78 contacts the outer surface of the pad, thereby gripping and holding the pad. The inner ends of the two longitudinally adjacent clamping plates 78 are provided with anti-slip stripes made of silicone. Through the cooperation of the transmission plate 74 and the mounting rod 75, the two clamping plates 78 can be rotated to complete the gripping and holding of the pad. Compared with the scheme of configuring independent cylinders to drive the left and right clamps, this not only simplifies the pneumatic circuit and control program, reduces hardware procurement, wiring and later maintenance costs, but also ensures the synchronization of the movement of the clamping plates 78 on both sides by relying on the linkage of the transmission plate 74 and the mounting rod 75, effectively avoiding the problem of uneven clamping and force on the pad caused by the deviation of the movement of the two cylinders. Adjustment mechanism 9: It is set at the lower end of the conveyor line 3. Through the cooperation of the fixed rod 96 and the adjustment plate 98, it can drive the two sets of push plates 95 to move synchronously, thereby completing the centering and positioning of the pad. Compared with the passive centering method relying on the inclined baffle, this structure improves the centering accuracy and solves the problem of damage to the surface of the pad caused by the pad jamming and friction between the pad and the inclined baffle. It has a wider range of applications and the positioning reliability is relatively better than the fixed inclined baffle structure.

[0020] The frame 1 is equipped with a controller 2 on its exterior. The input terminal of the controller 2 is electrically connected to an external power source. The robot arm 19 is electrically connected to the controller 2 bidirectionally. The controller 2 can be installed in an external control box, which protects the controller 2. The control box can be a switch cabinet commonly used in the prior art. The controller 2 can regulate the electrical components inside the equipment. The frame 1, the conveyor line 3, the conveying equipment, the hoisting equipment, and the vision system are all connected to the controller 2 through wires. In specific implementation, this solution is only for reference and is not the only implementation method.

[0021] The gripping mechanism 7 includes cylinders 71 and connecting plates 72. Cylinders 71 are located in the middle of the top wall of the mounting frame 6. Connecting plates 72 are slidably connected to guide grooves inside the mounting frame 6. The lower ends of the telescopic ends of cylinders 71 are fixedly connected to the upper ends of vertically adjacent connecting plates 72. Fixed seats 73 are fixedly connected to the middle of the lower ends of connecting plates 72. Standard quick-connect fittings are installed at both ends of the cylinder, and these fittings are connected to the corresponding working interfaces of the solenoid valves via pneumatic hoses. The inlet end of the solenoid valve is connected to an external compressed air pipeline, thereby achieving switching control of cylinder intake and exhaust. The solenoid valve can be a commonly used solenoid valve in existing technology, such as the Q965F-16C model. The valve is connected to the controller 2 via a wire. Through the regulation of the controller 2, the external solenoid valve switches the air path, and compressed air enters the rodless chamber of the cylinder 71, thereby causing the telescopic end of the cylinder 71 to extend. The extension of the telescopic end of the cylinder 71 will cause the connecting plate 72 to move downward, and the connecting plate 72 will cause the fixed seat 73 to move downward. During the movement of the connecting plate 72, the guide groove will provide a guide support, thereby reducing the radial force applied by the connecting plate 72 to the cylinder 71 and preventing the telescopic end of the cylinder 71 from bending and deforming. The radial force of the cylinder 71 is slidably borne by the guide groove, and the cylinder 71 is only subjected to the vertical axial force. In specific implementation, this solution is only for reference and is not the only implementation method.

[0022] The adjustment mechanism 9 includes a fixed plate 91, a guide rail 92, a sliding seat 93, a connecting arm 94, a push plate 95, a fixed rod 96, a vertical rod 97, an adjustment plate 98, and a laser rangefinder 99. The fixed plate 91 is fixedly connected to the front side of the lower end of the conveyor line 3. The guide rail 92 is provided on the front side of the lower end of the fixed plate 91. Sliding seats 93 are slidably connected to the left and right sides of the guide rail 92. The lower end of each sliding seat 93 is provided with a connecting arm 94. Push plates 95 are provided on the upper side of the end of each of the two sets of connecting arms 94 near the center of the interior of the mounting frame 3. Both sets of push plates 95 are located on the upper side of the mounting frame 3. Fixed rods 96 are provided on the lower side of each of the two sets of connecting arms 94 near the center of the interior of the mounting frame 3. The rear side of each end is rotatably connected to a vertical rod 97. Adjustment plates 98 are provided on the lower side of the outer arc surface of each set of vertical rods 97. Adjustment grooves are provided on the front side of the upper end of each set of adjustment plates 98. The lower ends of the fixed rods 96 are located in adjacent vertical adjustment grooves. A laser rangefinder 99 is provided on the front side of the right end of the conveyor line 3. The laser rangefinder 99 corresponds to the left and right positions of the connecting arm 94 on the right side. The laser rangefinder 99 is bidirectionally electrically connected to the controller 2. The distance between the inner sides of the two sets of push plates 95 is 'a', and the length of the pad is 'b'. The distance between the right end of the laser rangefinder 99 and the left end of the connecting plate 94 on the right side is detected by the laser rangefinder 99. If it is set to 'c', during use, the laser rangefinder 99 has a built-in... A laser beam is emitted from the light source to the left end of the right-side connecting plate 94. Upon contact with the left end of the right-side connecting plate 94, the laser beam is reflected, and then the laser rangefinder 99 receives the reflected light. By measuring the round-trip time of the laser beam, the laser rangefinder 99 calculates the distance between its right end and the left end of the right-side connecting plate 94. The laser rangefinder 99 then transmits the detected data to the controller 2 via its built-in data transmission module. The controller 2's built-in signal transceiver module receives the data detected by the laser rangefinder 99. Finally, the distance between the right end of the laser rangefinder 99 and the left end of the right-side connecting plate 94 is subtracted by the distance between the two sets of push plates 95 relative to their inner surfaces, minus the length of the wooden block, divided by 2. By observing the value, we can know that when the push plate 95 centers the wooden block, the distance between the right end of the laser rangefinder 99 and the left end of the connecting plate 94 on the right side, if denoted as d, is: d = c - (ab) ÷ 2. The upright rod 97 drives the adjusting plate 98 to rotate. At this time, the fixed rod 96 will slide inside the adjusting groove and rotate relative to the adjusting groove, so that the adjusting plate 98 drives the connecting arm 94 to move through the fixed rod 85. The connecting arm 94 will drive the push plate 95 to move. After the push plate 95 contacts the wooden block, it continues to advance slightly, pushing the wooden block towards the transverse center of the conveyor line 3. When the distance between the right end of the laser rangefinder 99 and the left end of the connecting plate 94 on the right side is equal to d, it means that the push plate 95 has centered the wooden block.

[0023] The following features: A guide rail 10 is provided on the rear side of the lower end of the fixed plate 91. The guide rail 10 is located between the outer arc surfaces of the two sets of uprights 97. A slider 11 is slidably connected to the front side of the guide rail 10. A drive rod 12 is provided in the middle of the lower end of the slider 11. Push plates 13 are provided on the upper side of the outer arc surfaces of the two sets of uprights 97. The push plate 13 on the left side is located above the push plate 13 on the right side. A drive groove is provided on the side of the upper end of the push plate 13 near the center of the interior of the fixed plate 91. The lower end of the drive rod 12 passes through the two sets of drive grooves and extends to the lower side of the push plate 13. An upright plate 14 is provided in the middle of the lower end of the fixed plate 91. The fixed plate 91 is located behind the guide rail 10. An electric push rod 15 is provided in the middle of the front end of the upright plate 14. The front end of the telescopic end of the electric push rod 15 is connected to the rear end of the slider 11. The input end of the electric push rod 15 is electrically connected to the output end of the controller 2. Under the control of the controller 2, the electric push rod 15 starts to run. The telescopic end of the electric push rod 15 shortens, so that the electric push rod 15 drives the drive rod 12 to move backward through the slider 11. At this time, the drive rod 12 slides inside the drive groove and rotates relative to the drive groove, so that the drive rod 12 drives the upright 97 to rotate through the push plate 13. The upright 97 drives the adjusting plate 98 to rotate. During the movement of the slider 11, the guide rail 10 provides a guiding support, thereby reducing the radial force applied by the slider 11 to the electric push rod 15 and preventing the telescopic end of the electric push rod 15 from bending and deforming. The radial force of the cylinder 71 is slidably borne by the guide rail 10, and the electric push rod 15 is only subjected to the axial force of front and rear.

[0024] Potentiometers 8 are installed on the rear right side of the mounting frame 6. The left end of the probe of potentiometer 8 is fixedly connected to the right end of the adjacent horizontal bar 77. Potentiometer 8 is bidirectionally electrically connected to controller 2. During the rotation of the rear horizontal bar 77, the rear horizontal bar 77 will drive the probe of potentiometer 8 to rotate. The probe will drive the sliding contact inside potentiometer 8 to rotate. At this time, the position of the sliding contact on the resistive body changes. When the sliding contact moves on the resistive body, the resistance value between the sliding contact and the two sets of fixed terminals will change. Then, potentiometer 8 detects the changed resistance value through its internal detection element. Finally, potentiometer 8 calculates the rotation angle of the rear horizontal bar 77 through the known relationship between resistance value and angle. After that, potentiometer 8 will transmit the detected information to controller 2 through the built-in data transmission module. Controller 2 receives the detected data through the built-in serial communication port. When controller 2 detects that the rotation angle of the rear clamp 78 falls into the preset range, it can be determined that the clamp 78 has reliably clamped and fixed the pad.

[0025] The frame 1 has a connecting seat 4 inside. Adjusting seats 5 are slidably connected to a groove in the middle of the lower end of the connecting seat 4. Two sets of mounting frames 6 are fixedly connected to the lower end of the adjusting seats 5. A bidirectional screw 16 is rotatably connected inside the groove. Threaded holes are provided on the upper side of the inside of each adjusting seat 5. Each adjusting seat 5 is threaded to the front and rear sides of the outer arc surface of the bidirectional screw 16 through these threaded holes. A first bellows 17 is installed between the front end of the front adjusting seat 5 and the front wall of the groove, and between the rear end of the rear adjusting seat 5 and the rear wall of the groove. A second bellows 18 is installed between the opposing inner surfaces of the two sets of adjusting seats 5. Both the first and second bellows 18 are sleeved on the outside of the bidirectional screw 16. A servo motor 26 is located in the middle of the front end of the connecting seat 4. The rear end of the output shaft of the servo motor 26 is fixedly connected to the front end of the bidirectional screw 16. The input end of the servo motor 26 is electrically connected to the output end of the controller 2. Under the control of controller 2, servo motor 26 starts running, driving bidirectional screw 16 to rotate. During rotation, bidirectional screw 16 moves adjusting seat 5 through threaded connection. Adjusting seat 5 moves clamping plate 78 through mounting frame 6. Corrugated pipe 17 and corrugated pipe 28 are provided with connecting flanges at their ends. Fixed flanges are provided on the front and rear walls of the slide and the front and rear ends of adjusting seat 5. The connecting flange and fixed flange are detachably connected by bolts. Corrugated pipe 17 and corrugated pipe 28 can be removed later to maintain bidirectional screw 16. A rubber sealing ring is provided at the connection between the connecting flange and the fixed flange. The rubber sealing ring is made of silicone. The rubber sealing ring can improve the sealing between the connecting flange and the fixed flange and facilitate disassembly and maintenance. Corrugated pipe 17 and corrugated pipe 28 can prevent bidirectional screw 16 from direct contact with the external environment.

[0026] This includes a laser rangefinder 25, which is located in the middle of the rear end of the rear adjustment seat 5. The laser rangefinder 25 corresponds to the front adjustment seat 5 in its front-rear position. The laser rangefinder 25 is bidirectionally electrically connected to the controller 2. Initially, the distance between two longitudinally adjacent sets of clamping plates 78 is 'e', ​​which is greater than the width of the pad. The distance between the centers of the two sets of 'e' is 'f'. The distance between the two sets of pads at the very end of the upper end of the conveyor line 3 is 'g'. The laser rangefinder 25 then measures the distance between its front end and the rear end of the front adjustment seat 5, for example, 'h'. The working principle of the laser rangefinder 25 is the same as that of the laser rangefinder 1 99. The laser rangefinder 25 transmits the detected data to the controller 2 through its built-in data transmission module. The controller 2... The built-in signal transceiver module receives the data detected by the laser rangefinder 25. Then, by subtracting the distance between the two sets of e-centers and the distance between the two sets of pads at the last side of the upper end of the conveyor line 3 from the distance between the front end of the laser rangefinder 25 and the rear end of the front adjustment seat 5, we can know the distance between the front end of the laser rangefinder 25 and the rear end of the front adjustment seat 5 when the clamping plate 78 moves to the upper side of the pads. Let's call it i, i = h - (eg). The distance between the placement coordinates of the pads on the steel plate is j. Then, by subtracting ji, we can obtain the distance between the front end of the laser rangefinder 25 and the rear end of the front adjustment seat 5 when the distance between the pads is equal to the distance between the placement coordinates of the pads on the steel plate. Let's call it k, k = ji.

[0027] The robot arm 19 is positioned on the left side of the guide rail 21, with the robot arm 19 located at the front of the frame 1. The upper end of the guide rail 21 is equipped with a longitudinally movable electric flatcar 22. The rear side of the guide rail 21 is equipped with a mounting frame 23, and the front side of the top wall of the mounting frame 23 is equipped with an industrial camera 24, which is located at the rear of the upper end of the guide rail 21. The input end of the electric flatcar 22 is electrically connected to the output end of the controller 2, and the industrial camera 24 is bidirectionally electrically connected to the controller 2. The guide rail 21 is secured to the reserved mounting surface of the external workstation by passing hexagonal bolts through the mounting holes. The electric flatcar 21 is placed entirely on the guide rail 21, and the bottom of the car body is equipped with traveling rollers. During operation, the drive component drives the rollers to rotate, causing the electric flatcar 21 to move linearly back and forth along the guide rail 21, thereby completing the transportation and workstation positioning of the timber stack.

[0028] An automatic log-laying robot device includes the following steps: S1): Transporting the pallet: The overhead crane lifts the pallet stack to the top of the electric flatcar 22, the strapping straps of the pallet stack are removed manually, and then the electric flatcar 22 transports the pallet stack to the pallet sorting position; S2): Sorting of pads: The robot arm 19 grabs the pads with the suction cup 20 and places them on the upper end of the conveyor line 3. Then, the position of the pads placed on the conveyor line 3 is adjusted by the adjustment mechanism 9 so that they are located in the middle of the upper end of the conveyor line 3. After the position of the pads on the conveyor line 3 is adjusted, the adjustment mechanism 9 is reset, and the conveyor line 3 moves the placed pads backward. When the conveyor line 3 moves to the specified distance, the conveyor line 3 stops running. Then, the robot arm 19 repeats the process of grabbing and placing pads with the suction cup 20 to continuously complete the pad loading and sorting operation. S3): Placing the pads: After the external conveying equipment moves the steel plate to the designated position, the servo motor 26 drives the bidirectional screw 16 to rotate. The bidirectional screw 16 adjusts the spacing between the gripping mechanisms 7 so that the two gripping mechanisms 7 are aligned with the two sets of pads placed on the last side of the upper end of the conveyor line 3. Then, the frame 1 moves the gripping mechanism 7 to the upper side of the two sets of pads on the last side. Then, the gripping mechanism 7 grips the pads. After that, the frame 1 moves again and uses the gripping mechanism 7 to transfer the clamped pads to the preset position above the steel plate. Finally, the gripping mechanism 7 releases the pads, thus completing the placement of a single set of pads.

[0029] The working principle of the automatic log-laying robot device and method provided by this invention is as follows: An external overhead crane hoists and places the log stack on the upper end of an electric flatbed cart 22. The binding straps of the log stack are manually removed. After the unbinding operation is completed, the electric flatbed cart 22 starts running under the control of the controller 2. The electric flatbed cart 22 carries the log stack and travels along guide rail 21. During the movement of the electric flatbed cart 22, an industrial camera 24 continuously collects images to obtain the real-time position information of the log stack and sends the image data to the controller 2 via a transmission module. The built-in signal transceiver module of the controller 2 receives the data detected by the industrial camera 24. After receiving the data, the controller 2 calculates the actual coordinates of the log stack. When the actual coordinates fall within the preset allowable error range, the log stack is determined to be a valid log. Once the stack reaches the designated workstation, controller 2 issues a stop command, and the electric flatcar 22 stops operating. Then, under the control of controller 2, robot arm 19 begins operation, moving suction cup 20. During this movement, robot arm 19 fine-tunes its X and Y axis positions based on the coordinate data of the stack output by industrial camera 24, ensuring that suction cup 20 is vertically aligned with the surface of the stack to be removed. Then, robot arm 19 drives its Z axis downwards. When robot arm 19 descends and triggers its internal limit switch, it indicates that suction cup 20 has completely pressed against the surface of the stack. Suction cup 20 can adaptively conform to the surface of the stack using the deformation of its own sponge, eliminating gaps in the contact area. Finally, under the control of controller 2, the external vacuum system starts pumping air. A negative pressure is created inside the suction cup 20, firmly adhering to the wooden pad. Once the external vacuum system detects that the vacuum level has reached a set threshold, the gripping is considered complete. Then, the robotic arm 19 slightly lifts the wooden pad, carrying it in the adsorbed state. The robotic arm 19 fine-tunes its posture and position according to the landing point coordinates on the conveyor frame 3, aligning the wooden pad with the designated landing point on the conveyor line. Subsequently, the robotic arm slowly descends along its Z-axis, smoothly placing the wooden pad on the conveyor line's bearing surface. At this point, the wooden pad is located in the middle between the opposing inner surfaces of the two sets of push plates 95. Following this, the vacuum system releases the negative pressure through the controller 2, the suction cup 20 separates from the wooden pad, and the robotic arm rises and resets, awaiting the next gripping command. Subsequently, through the control of the controller 2, the electric push rod 15 begins operation, and its telescopic end shortens. This causes the electric push rod 15 to drive the drive rod 12 backward via the slider 11. At this time, the drive rod 12 slides inside the drive groove and rotates relative to the drive groove, causing the drive rod 12 to drive the upright 97 to rotate via the push plate 13. The upright 97 will drive the adjusting plate 98 to rotate. At this time, the fixed rod 96 will slide inside the adjusting groove and rotate relative to the adjusting groove, causing the adjusting plate 98 to drive the connecting arm 94 to move via the fixed rod 85. The connecting arm 94 will drive the push plate 95 to move. After the push plate 95 contacts the pad, it continues to advance slightly, pushing the pad towards the transverse center of the conveyor line 3. When the distance between the right end of the laser rangefinder 99 and the left end of the connecting plate 94 on the right side is equal to d, it means that the push plate 95 has centered and aligned the pad.Then, under the control of controller 2, the telescopic end of electric push rod 15 extends, causing electric push rod 15 to drive drive rod 12 forward to reset via slider 11. At this time, drive rod 12 slides and rotates relative to drive groove inside drive groove, causing drive rod 12 to drive upright rod 97 to rotate and reset via push plate 13. Upright rod 97 will drive adjusting plate 98 to rotate and reset. At this time, fixed rod 96 slides and rotates relative to adjusting groove inside adjusting groove, causing adjusting plate 98 to drive connecting arm 94 to move and reset via fixed rod 85. Connecting arm 94 will drive push plate 95 to move and reset. Push plate 95 separates from pad. Then, under the control of controller 2, conveyor line 3 starts running, and conveyor line 3 carries the placed pad. During the operation of conveyor line 3, the encoders or proximity switches installed inside the line continuously monitor the travel distance. When the detected travel distance reaches the preset value, the controller immediately outputs a stop signal, the conveyor line brakes and comes to a stop, and the equipment enters standby mode. This process is then repeated to continuously complete the loading and sorting of the pallets. After the sorting operation is completed, the external conveying and hoisting equipment starts operating under the control of controller 2. The external hoisting equipment places the steel plate on top of the external conveyor equipment. During placement, the operator observes the position of the steel plate in real time. Once the steel plate is on top of the conveyor equipment, it is separated from the hoisting equipment. The external conveyor then moves the steel plate. At this time, the external vision system... The system acquires the position information of the steel plate in real time and sends the image data to the controller 2 via the transmission module. The controller 2's built-in signal transceiver module receives the data detected by the vision system. After receiving the data, the controller 2 calculates the actual coordinates of the steel plate. When the actual coordinates of the steel plate fall within the preset allowable error range, it is determined that the steel plate has arrived at the designated workstation. Then, through the control of the controller 2, the servo motor 26 starts to run, driving the bidirectional screw 16 to rotate. During the rotation, the bidirectional screw 16 drives the adjusting seat 5 to move through the threaded connection. The adjusting seat 5 drives the clamping plate 78 to move through the mounting frame 6. When the distance between the front end of the laser rangefinder 25 and the rear end of the front adjusting seat 5 is equal to i, it represents two longitudinally adjacent clamping plates. Plate 78 is positioned on the same vertical plane as the adjacent vertical pads. Then, under the control of controller 2, frame 1 begins to operate. Frame 1 drives connecting seat 4, which in turn moves adjusting seat 5. Adjusting seat 5, through mounting frame 6, moves clamping plate 78. The encoder inside frame 1 outputs pulse signals in real time. Controller 2 calculates and obtains the current actual coordinates of the X, Y, and Z axes in real time through pulse counting. When the actual coordinates of the three axes match the coordinates of the last two pads at the top of conveyor line 3, frame 1 stops moving, and clamping plate 78 precisely reaches the designated work position. At this time, two sets of longitudinally adjacent clamping plates 78 are located on the front and rear sides of a set of pads, respectively. Then, under the control of controller 2, the external solenoid valve switches the air path, and compressed air enters the rodless chamber of cylinder 71.This causes the telescopic end of cylinder 71 to extend, which in turn causes connecting plate 72 to move downwards. Connecting plate 72 then causes fixed seat 73 to move downwards. During this movement, fixed seat 73 provides a downward thrust to mounting rod 75 via transmission plate 74. This causes mounting rod 75 to rotate crossbar 77 via drive plate 76. Crossbar 77 then rotates clamping plate 78. The rotation angles of two longitudinally adjacent clamping plates 78 are the same. During the rotation of the rear crossbar 77, potentiometer 8 detects the rotation angle of the rear crossbar 77. When controller 2 detects that the rotation angle of the rear clamping plate 78 falls within a preset range, it can be determined that clamping plate 78 has reliably clamped and fixed the pad. Then, the frame 1 drives the connecting seat 4 to move adjusting seat 5. Adjusting seat 5 moves clamping plate 78 via mounting frame 6. Clamping plate 78 moves the pad. The encoder inside frame 1 outputs pulse signals in real time. Controller 2 calculates and obtains the pulses in real time. The X, Y, and Z axes are currently in their actual coordinates. When these three coordinates match the placement coordinates of the wooden blocks on the steel plate, the frame stops moving, and the wooden blocks are placed in the designated positions. This completes the placement of a single set of wooden blocks. During the movement of frame 1, the servo motor 26 starts running under the control of controller 2. The servo motor 26 drives the bidirectional screw 16 to rotate. During rotation, the bidirectional screw 16 moves the adjusting seat 5 through a threaded connection. The adjusting seat 5 moves the clamping plate 78 through the mounting frame 6. The clamping plate 78 moves the wooden blocks. When the distance between the front end of the laser rangefinder 25 and the rear end of the front adjusting seat 5 is equal to k, it means that the distance between the wooden blocks is equal to the distance between the placement coordinates of the wooden blocks on the steel plate. The time spent adjusting the distance between the two sets of wooden blocks is less than the time it takes for frame 1 to move. Therefore, before frame 1 moves the wooden blocks to the placement coordinates of the wooden blocks on the steel plate through clamping plate 78, the distance between the two sets of wooden blocks is already equal to the distance between the placement coordinates of the wooden blocks on the steel plate.

[0030] It is worth noting that the controller 2 disclosed in the above embodiments can be AXC F 3152, the potentiometer 8 can be 3590S-2-502L, the electric actuator 15 can be DYTF20000, the robotic arm 19 can be M-710ic / 7, the industrial camera 24 can be HPS-HSC2K, the laser rangefinder 19 and the laser rangefinder 25 can be HMLDM-UD100A, and the servo motor 26 can be ECMA-C20604RS. The controller 2 controls the operation of the potentiometer 8, the laser rangefinder 19, the electric actuator 15, the robotic arm 19, the industrial camera 24, the laser rangefinder 25, and the servo motor 26 using methods commonly used in the prior art.

[0031] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. An automatic log-laying robot device, wherein a conveyor line (3) is provided on the lower side of a frame (1), a longitudinally movable mounting frame (6) is provided at the lower end of the frame (1), a robot arm (19) is provided on the left side of the conveyor line (3), and a suction cup (20) is provided at the rear end of the robot arm (19), characterized in that: It also includes a gripping mechanism (7) and an adjusting mechanism (9); The gripping mechanism (7) includes a fixed seat (73), a transmission plate (74), a mounting rod (75), a drive plate (76), a crossbar (77), and a clamping plate (78). The crossbar (77) is rotatably connected to the lower side inside the mounting frame (6). The drive plate (76) and the clamping plate (78) are respectively provided on the left and right sides and the middle part of the outer arc surface of the crossbar (77). The upper side inside the mounting frame (6) is provided with a vertically movable fixed seat (73). The middle part of the lower end of the fixed seat (73) is rotatably connected to the transmission plate (74). The lower side inside the transmission plate (74) is rotatably connected to the mounting rod (75). The mounting rod (75) is rotatably connected between the opposite inner sides of two horizontally adjacent sets of drive plates (76). Adjustment mechanism (9): It is located at the lower end of the conveyor line (3).

2. The automatic log-laying robot device according to claim 1, characterized in that: The frame (1) is equipped with a controller (2) on its exterior. The input end of the controller (2) is electrically connected to an external power source. The robotic arm (19) is electrically connected to the controller (2) in both directions.

3. The automatic log-laying robot device according to claim 1, characterized in that: The gripping mechanism (7) also includes a cylinder (71) and a connecting plate (72). The cylinder (71) is respectively located in the middle of the top wall of the mounting frame (6). The connecting plate (72) is slidably connected to the guide groove provided inside the mounting frame (6). The lower end of the telescopic end of the cylinder (71) is fixedly connected to the upper end of the vertically adjacent connecting plate (72). The fixing seat (73) is fixedly connected to the middle of the lower end of the connecting plate (72).

4. The automatic log-laying robot device according to claim 2, characterized in that: The adjustment mechanism (9) includes a fixed plate (91), a guide rail three (92), a sliding seat (93), a connecting arm (94), a push plate (95), a fixed rod (96), a vertical rod (97), an adjustment plate (98), and a laser rangefinder one (99). The fixed plate (91) is fixedly connected to the front side of the lower end of the conveyor line (3). The guide rail three (92) is provided on the front side of the lower end of the fixed plate (91). The left and right sides of the guide rail three (92) are slidably connected to the sliding seats (93). The lower end of each sliding seat (93) is provided with a connecting arm (94). The upper side of the two sets of connecting arms (94) near the center of the mounting frame (3) is provided with a push plate (95). The two sets of push plates (96) are slidably connected to the laser rangefinder one (99). 5) Both are located on the upper side of the mounting frame (3). The lower end of the two sets of connecting arms (94) is provided with a fixed rod (96) on the side close to the center of the mounting frame (3). The lower end of the fixed plate (91) is rotatably connected to the rear side of the fixed plate (97). The lower side of the outer arc surface of the two sets of uprights (97) is provided with an adjustment plate (98). The front side of the upper end of the two sets of adjustment plates (98) is provided with an adjustment groove. The lower end of the fixed rod (96) is located in the vertically adjacent adjustment groove. The front side of the right end of the conveyor line (3) is provided with a laser rangefinder (99). The laser rangefinder (99) corresponds to the left and right position of the connecting arm (94) on the right side. The laser rangefinder (99) is bidirectionally electrically connected to the controller (2).

5. The automatic log-laying robot device according to claim 4, characterized in that: A guide rail (10) is provided on the rear side of the lower end of the fixed plate (91). The guide rail (10) is located between the outer arc surfaces of the two sets of uprights (97). A slider (11) is slidably connected to the front side of the guide rail (10). A drive rod (12) is provided in the middle of the lower end of the slider (11). A push plate (13) is provided on the upper side of the outer arc surface of the two sets of uprights (97). The push plate (13) on the left side is located on the upper side of the push plate (13) on the right side. The upper end of the push plate (13) is close to the inside of the fixed plate (91). A drive groove is provided on one side of the center of the part. The lower end of the drive rod (12) passes through the two sets of drive grooves and extends to the lower side of the push plate (13). A vertical plate (14) is provided in the middle of the lower end of the fixed plate (91). The fixed plate (91) is located behind the guide rail (10). An electric push rod (15) is provided in the middle of the front end of the vertical plate (14). The front end of the telescopic end of the electric push rod (15) is fixedly connected to the rear end of the slider (11). The input end of the electric push rod (15) is electrically connected to the output end of the controller (2).

6. The automatic log-laying robot device according to claim 2, characterized in that: Potentiometers (8) are provided on the rear side of the right end of the mounting frame (6). The left end of the probe of the potentiometer (8) is fixedly connected to the right end of the horizontally adjacent crossbar (77). The potentiometer (8) is bidirectionally electrically connected to the controller (2).

7. The automatic log-laying robot device according to claim 2, characterized in that: The frame (1) is provided with a connecting seat (4) inside. An adjusting seat (5) is slidably connected in a groove opened in the middle of the lower end of the connecting seat (4). Two sets of mounting frames (6) are fixedly connected to the lower end of the adjusting seat (5). A double-acting screw (16) is rotatably connected inside the groove. A threaded hole is provided on the upper side of the inside of the adjusting seat (5). The adjusting seat (5) is threaded to the front and rear sides of the outer arc surface of the double-acting screw (16) through the threaded hole. The front end of the adjusting seat (5) is connected to the front wall of the groove and the rear adjustment seat (5) is connected to the front end of the groove. A bellows first (17) is provided between the rear end of the section seat (5) and the rear wall of the slide groove. A bellows second (18) is provided between the opposite inner sides of the two sets of adjustment seats (5). Both the bellows first (17) and the bellows second (18) are sleeved on the outside of the bidirectional screw (16). A servo motor (26) is provided in the middle of the front end of the connecting seat (4). The rear end of the output shaft of the servo motor (26) is fixedly connected to the front end of the bidirectional screw (16). The input end of the servo motor (26) is electrically connected to the output end of the controller (2).

8. The automatic log-laying robot device according to claim 7, characterized in that: It also includes a laser rangefinder (25), which is located in the middle of the rear end of the rear adjustment seat (5). The laser rangefinder (25) corresponds to the front and rear positions of the front adjustment seat (5). The laser rangefinder (25) is bidirectionally electrically connected to the controller (2).

9. The automatic log-laying robot device according to claim 2, characterized in that: The robot (19) has a guide rail (21) placed on its left side. The robot (19) is located in front of the frame (1). The upper end of the guide rail (21) is equipped with an electric flatbed cart (22) that can move longitudinally. The rear side of the guide rail (21) is equipped with a mounting frame (23). The front side of the top wall of the mounting frame (23) is equipped with an industrial camera (24). The industrial camera (24) is located in the rear side of the upper end of the guide rail (21). The input end of the electric flatbed cart (22) is electrically connected to the output end of the controller (2). The industrial camera (24) is bidirectionally electrically connected to the controller (2).

10. An automatic method for placing wooden blocks using an automatic wooden block placing robot device, characterized in that: The automatic log-laying robot device according to any one of claims 1-8 includes the following steps: S1): Transporting the dunnage: The overhead crane lifts the dunnage stack to the top of the electric flatcar (22), the straps of the dunnage stack are removed manually, and then the electric flatcar (22) transports the dunnage stack to the dunnage sorting position; S2): Sorting pads: The robot (19) grabs the pads with the suction cup (20) and places them on the upper end of the conveyor line (3). Then, the position of the pads placed on the conveyor line (3) is adjusted by the adjustment mechanism (9) so that they are located in the middle of the upper end of the conveyor line (3). After the position of the pads on the conveyor line (3) is adjusted, the adjustment mechanism (9) is reset, and the conveyor line (3) moves the placed pads backward. When the conveyor line (3) moves to the specified distance, the conveyor line (3) stops running. Then, the robot (19) repeats the process of grabbing and placing the pads with the suction cup (20) to continuously complete the pad loading and sorting operation. S3): Placing the pads: After the external conveying equipment moves the steel plate to the designated position, the servo motor (26) drives the bidirectional screw (16) to rotate. The bidirectional screw (16) is used to adjust the spacing between the gripping mechanisms (7) so that the two gripping mechanisms (7) are aligned with the two sets of pads placed on the last side of the upper end of the conveyor line (3). Then the frame (1) moves the gripping mechanism (7) to the upper side of the two sets of pads on the last side. Then the gripping mechanism (7) grips the pads. After that, the frame (1) moves again and uses the gripping mechanism (7) to transfer the clamped pads to the preset position above the steel plate. Finally, the gripping mechanism (7) releases the pads, thus completing the placement of a single set of pads.

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