CN213593108U

CN213593108U - Woodware processing device

Info

Publication number: CN213593108U
Application number: CN202022157411.5U
Authority: CN
Inventors: 王怀群; 姜玮
Original assignee: Shenzhen Interface Technology Co ltd
Current assignee: Shenzhen Interface Technology Co ltd
Priority date: 2020-09-27
Filing date: 2020-09-27
Publication date: 2021-07-02
Anticipated expiration: 2030-09-27

Abstract

The embodiment of the utility model discloses woodware processing device, include feed bin unit, frock unit, go up unloading arm unit and processing arm unit, the feed bin unit includes feed bin and lower feed bin, the frock unit includes bed frame, initiative air chuck and driven air chuck are relative setting at the top of bed frame to sliding connection shifts in the bed frame, shifts to frock centre gripping and upset, go up unloading arm unit and set up between feed bin unit and frock unit, processing arm unit closes on the frock unit and arranges. The utility model discloses a two sets of air chuck are used for centre gripping square stock or bar, make work piece one end drive rotatoryly by servo motor, and the other end is top by driven air chuck centre gripping to fixed work piece axle center, in order to realize turning and work piece rotation angle processing, and increase feed bin unit and go up unloading arm unit, realize going on in succession of robot processing.

Description

Woodware processing device

Technical Field

The embodiment of the utility model provides a woodware processing technology field, concretely relates to woodware processing device.

Background

The traditional woodware processing comprises a plurality of procedures such as cutting, processing, assembling, polishing and painting, and different operation posts finish the woodware processing according to the flow by means of various devices such as milling, grinding and drilling vehicles distributed at different positions in a workshop. However, this process has a long waiting time and is inefficient. The digital upgrading of the processing industry usually takes a numerical control processing center as a core, the processing center has the characteristics of high efficiency and strong specificity, and is suitable for mass production, but the cost benefit is insufficient under the condition of small batch. Finding a small-batch flexible processing mode suitable for the woodworking industry is an innovative subject to be solved. In recent decades, industrial robots have been widely used in various industries such as machinery, electronics, transportation, warehousing and the like due to their flexibility and reliability, but are less used in woodworking, mainly used for material handling, and more limited for processing.

The utility model discloses a utility model patent that publication number is CN209737816U discloses a wood working workstation specifically discloses a system of processing of controlling a control unit, tool magazine unit, manipulator unit, shifting unit and anchor clamps unit and constituteing. The control unit and the execution unit are connected through a communication bus, the manipulator unit clamps and transfers the cutter stored in the tool magazine unit, and the manipulator unit utilizes the cutter to carve and mill the woodware placed in the clamp unit, so that the general processing of square materials and plate materials can be completed.

Although the above-mentioned patent equipment system can already realize the processing production of woodware by robot, when processing bar stock, because the clamping chuck can not rotate, it is difficult to realize the function of turning; because the clamping mode that the cylinder compresses the workpiece on the table top for clamping and positioning is adopted, the workpiece cannot be turned over, and therefore the turning-over processing of the workpiece is difficult to realize under the condition of not using secondary clamping. Because of lack of the loading and unloading mechanism, the continuity of processing is not enough.

SUMMERY OF THE UTILITY MODEL

Therefore, the embodiment of the utility model provides a woodware processingequipment to solve among the prior art problem of inconvenient turning and upset processing of woodware in the processing production process.

In order to achieve the above object, the embodiment of the present invention provides the following technical solutions:

according to the utility model discloses an aspect, a wood working device, include:

the storage bin unit comprises an upper storage bin and a lower storage bin, wherein the upper storage bin is used for placing a workpiece to be processed, and the lower storage bin is used for storing a finished workpiece;

the tool unit is used for clamping, overturning and displacing a workpiece to be processed and comprises a base frame, a driving pneumatic chuck and a driven pneumatic chuck, wherein the driving pneumatic chuck and the driven pneumatic chuck are oppositely arranged at the top of the base frame and are connected to the base frame in a sliding manner;

the feeding and discharging mechanical arm unit is arranged between the bin unit and the tool unit and is used for clamping and transferring a workpiece to be processed placed in the feeding bin and a finished workpiece clamped by the tool unit;

and the machining mechanical arm unit is arranged on one side of the tool unit and is used for machining the workpiece to be machined clamped by the tool unit.

Further, the processing mechanical arm unit comprises a first base, a first rotary table, a first large arm, a first small arm, a woodworking main shaft and a cutter, wherein the first rotary table is rotatably connected to the upper seat face of the first base to form a waist joint and rotates around a vertical axis in a horizontal plane, the first large arm is vertically arranged, the bottom end of the first large arm is rotatably installed on the first rotary table through a switching seat, the first small arm is perpendicular to the first large arm, the rear end of the first small arm is connected with the top end of the first large arm through a hinge to form an elbow joint and moves in a plane perpendicular to the first base, the woodworking main shaft is rotatably installed at the front end of the first small arm through a three-degree-of-freedom switching seat, and the cutter is clamped at the working end of the woodworking main shaft to process a workpiece to be processed.

Further, the feeding and discharging mechanical arm unit comprises a second base, a second turntable, a second big arm, a second small arm, a cylinder, a gripper mounting rack and a gripper, the second turntable is rotatably connected to the upper seat surface of the second base to form a waist joint, the second big arm is vertically arranged, the bottom end of the second big arm is rotatably arranged on a second turntable through a switching seat, the second small arm is vertical to the second big arm, and the rear end of the second small arm is connected with the top end of the second big arm through a hinge to form an elbow joint, moving in a plane vertical to the second base, the gripper mounting frame is rotatably mounted at the front end of the second small arm through a three-degree-of-freedom adapter, the gripper and the air cylinder are both arranged on the gripper mounting frame and connected with the air cylinder, so that the gripper is driven by the air cylinder to clamp a workpiece.

Furthermore, two parallel guide rails are arranged at the top of the base frame, chuck brackets are connected with the bottoms of the driving pneumatic chuck and the driven pneumatic chuck respectively, the chuck brackets are arranged on the two guide rails in a sliding way, and the chuck bracket is connected with a driving mechanism which comprises a first screw rod, a sliding cylinder and a second servo motor, the first screw rod is arranged at the outer side of the guide rail in parallel, the sliding cylinder is sleeved on the first screw rod in a threaded connection mode, one end of the sliding cylinder is fixedly connected with the chuck bracket, the second servo motor is fixedly connected on the base frame, one end of the first screw rod is fixedly connected with an output shaft of the second servo motor, the other end of the first screw rod is rotatably connected on the base frame, the chuck brackets of the driving pneumatic chuck and the driven pneumatic chuck are connected with a group of driving mechanisms, so that the driving pneumatic chuck and the driven pneumatic chuck move relatively.

Further, be provided with closing device between initiative air chuck and the driven air chuck, closing device includes jacking platform and compresses tightly the cylinder, install the slide rail that the level set up on jacking platform's the mesa, the slip direction perpendicular to initiative air chuck of slide rail and driven air chuck's centre gripping axis, compress tightly cylinder sliding connection on the slide rail, make the clamp plate that compresses tightly the cylinder towards jacking platform's mesa, wherein, install the profile modeling on the slide rail and hold in the palm the support, the profile modeling holds in the palm the support and sets up in the clamp plate below that compresses tightly the cylinder.

Further, the jacking platform comprises a structural frame, a table board, a third servo motor, a lifting cylinder and a second lead screw, the table board is horizontally arranged above the structural frame, the third servo motor is arranged on the structural frame, the second lead screw is vertically arranged, the bottom end of the second lead screw is fixedly connected with an output shaft of the third servo motor, the lifting cylinder is sleeved on the top end of the second lead screw in a threaded connection mode, the top end of the lifting cylinder is fixedly connected to the bottom surface of the table board, and the sliding rail is arranged on the upper table surface of the table board.

Further, the both sides of deck plate all are equipped with guiding mechanism, guiding mechanism includes guide cylinder and guide bar, the guide bar is vertical setting, and the boss that the bottom rigid coupling of guide bar extends in the structure frame lateral wall upper level, the guide cylinder cup joints on the top of guide bar through gliding mode, and the top rigid coupling of guide cylinder in the bottom surface of deck plate, wherein, the side of deck plate is equipped with two sets of guiding mechanism.

Further, the jacking platforms are provided with three groups side by side, and two compressing cylinders are oppositely installed on the slide rail above each group of jacking platforms, so that the compressing cylinders are transversely and/or longitudinally arranged to compress workpieces in different directions.

The embodiment of the utility model provides a have following advantage: through adopting two sets of air chuck to be used for centre gripping square stock or bar, wherein initiative air chuck connects servo motor, driven air chuck can the free rotation also can be locked fixedly, make the work piece by the centre gripping between two air chuck, one end is driven by servo motor and is rotatory, the other end is top through driven air chuck centre gripping, with fixed work piece axle center, consequently, can realize turning and work piece rotation angle processing, and increased feed bin unit and go up unloading arm unit, can partially replace manual work, go on in succession with the processing of realization robot.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.

The structure, ratio, size and the like shown in the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by people familiar with the technology, and are not used for limiting the limit conditions which can be implemented by the present invention, so that the present invention has no technical essential significance, and any structure modification, ratio relationship change or size adjustment should still fall within the scope which can be covered by the technical content disclosed by the present invention without affecting the efficacy and the achievable purpose of the present invention.

Fig. 1 is a schematic view of an overall structure of a woodware processing device according to an embodiment of the present invention;

fig. 2 is a schematic structural view of a tool unit of a wood processing device according to an embodiment of the present invention;

fig. 3 is a schematic structural view of a processing mechanical arm unit of a woodware processing device according to an embodiment of the present invention;

fig. 4 is a schematic structural view of a feeding and discharging mechanical arm unit of a wood processing device according to an embodiment of the present invention;

fig. 5 is a schematic structural view of a jacking platform of a wood processing device provided by the embodiment of the utility model.

In the figure: 1. a stock bin unit; 11. feeding a bin; 12. discharging a bin; 2. a tooling unit; 21. a base frame; 22. an active air chuck; 221. a first servo motor; 23. a driven air chuck; 24. a guide rail; 25. a chuck holder; 26. a drive mechanism; 261. a sliding cylinder; 262. a second servo motor; 3. a feeding and discharging mechanical arm unit; 31. a gripper mounting frame; 32. a gripper; 4. processing the mechanical arm unit; 41. a first base; 42. a first turntable; 43. a first large arm; 44. a first small arm; 45. a woodworking main shaft; 46. a cutter; 5. a pressing device; 51. jacking a platform; 511. a structural frame; 512. a table top plate; 513. a lifting cylinder; 514. a second lead screw; 515. a guide cylinder; 516. a guide bar; 52. a pressing cylinder; 53. a slide rail; 54. a profiling bracket.

Detailed Description

The present invention is described in terms of specific embodiments, and other advantages and benefits of the present invention will become apparent to those skilled in the art from the following disclosure. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Example 1

As shown in fig. 1 and 2, the embodiment of the utility model provides a woodware processing device, including feed bin unit 1, frock unit 2, go up unloading arm unit 3 and processing arm unit 4, specifically set up as follows:

the magazine unit 1 includes an upper magazine 11 and a lower magazine 12, such that the upper magazine 11 is used to place a workpiece to be processed, and the lower magazine 12 is used to store a finished workpiece. The tool unit 2 is used for clamping and overturning the workpiece to be processed, and comprises a base frame 21, an active air chuck 22 and a driven air chuck 23, the active air chuck 22 and the driven air chuck 23 are oppositely arranged at the top of the base frame 21, and are connected to the base frame 21 in a sliding manner, so that the two sets of air chucks are coaxial, wherein the active air chuck 22 is connected with a first servo motor 221, the first servo motor 221 drives the chuck body of the active air chuck 22 to be driven to rotate by the first servo motor 221, and high-speed rotation and accurate indexing can be realized. The disk body of driven air chuck 23 is the free rotation setting to from being furnished with rotatory locking piece, make driven air chuck 23 can the free rotation also can be locked fixedly, thereby behind the centre gripping work piece, driven air chuck 23 can follow the rotation of initiative air chuck 22, also can fix a position the back lock. When in processing, one end of the workpiece is clamped on the driving air chuck 22, and the other end of the workpiece is clamped on the driven air chuck 23, so that the workpiece is driven by the air chuck 23 to rotate along the axis, and the turning or the turning angle processing of the workpiece is convenient to realize. Preferably, the two groups of air chucks are provided with tapered roller bearings, so that radial force and axial force can be borne, the workpiece can be directly clamped by the two groups of air chucks, and the workpiece can be tightly propped in the axis direction in a mode that the driving air chuck 22 firstly fixes one end of the workpiece, and then the driven air chuck 23 clamps the tip and then inserts the tip into the other end of the workpiece.

Specifically, two parallel guide rails 24 are installed on the top of the base frame 21, chuck brackets 25 are connected to the bottoms of the driving air chuck 22 and the driven air chuck 23, the chuck brackets 25 are slidably installed on the two guide rails 24, and a driving mechanism 26 is connected to the chuck brackets 25. The driving mechanism 26 comprises a first lead screw, a sliding cylinder 261 and a second servo motor 262, the first lead screw is arranged on the outer side of the guide rail 24 in parallel, the sliding cylinder 261 is sleeved on the first lead screw in a threaded connection mode, one end of the sliding cylinder 261 is fixedly connected with the chuck bracket 25, the second servo motor 262 is fixedly connected onto the base frame 21, one end of the first lead screw is fixedly connected with an output shaft of the second servo motor 262, the other end of the first lead screw is rotatably connected onto the base frame 21, the chuck bracket 25 is controlled by the second servo motor 262, and the first lead screw and the pneumatic chuck can be driven to move left and right on the guide rail 24. The chuck brackets 25 of the driving air chuck 22 and the driven air chuck 23 are connected with a set of driving mechanisms 26, so that the driving air chuck 22 and the driven air chuck 23 move relatively.

Referring to fig. 3, the processing robot unit 4 is disposed at one side of the tool unit 2, and processes a workpiece to be processed held by the tool unit 2, specifically, the processing robot unit 4 includes a first base 41, a first turntable 42, a first large arm 43, a first small arm 44, a woodworking main shaft 45, and a tool 46, the first turntable 42 is rotatably connected to an upper seat surface of the first base 41 to form a waist joint, and rotates around a vertical axis in a horizontal plane, the first large arm 43 is vertically disposed, a bottom end of the first large arm 43 is rotatably mounted on the first turntable 42 through a transfer seat, the first small arm 44 is disposed perpendicular to the first large arm 43, a rear end of the first small arm 44 is hinged to a top end of the first large arm 43 to form an elbow joint, and moves in a plane perpendicular to the first base 41, the woodworking main shaft 45 is rotatably mounted at a front end of the first small arm 44 through a three-degree-of-freedom transfer seat, the tool 46 is clamped and mounted at the working end of the woodworking spindle 45 to machine a workpiece to be machined. The control program for machining the mechanical arm unit 4 is not protected by the technical scheme, belongs to a program method known by a person skilled in the art, simulates a human body arm, and is matched with the woodworking main shaft 45 to clamp, transfer and control the cutter 46, so that the method accords with the principle of ergonomics, and is good in flexibility and high in precision. Preferentially, can arrange different frock unit 2 around one set of processing arm unit 4 in three direction, its form can be various, like vacuum adsorption platform, rotary positioner etc to this one set of processing arm unit 4 should the work piece processing of different sizes or structure, promptly the embodiment of the utility model provides a frock unit 2 is only one of them implementation mode.

As described above, referring to fig. 3 and 4, the loading and unloading robot unit 3 has a structure similar to that of the processing robot unit, and includes a second base, a second turntable, a second large arm, a second small arm, a cylinder (not shown), a gripper mounting bracket 31, and a gripper 32, the second turntable is rotatably connected to an upper seat surface of the second base to form a waist joint and rotates around a vertical axis in a horizontal plane, the second large arm is vertically disposed, a bottom end of the second large arm is rotatably mounted on the second turntable through a transfer seat, the second small arm is disposed perpendicular to the second large arm, a rear end of the second small arm is coupled to a top end of the second large arm through a hinge to form an elbow joint and moves in a plane perpendicular to the first base, the gripper mounting bracket 31 is rotatably mounted at a front end of the second small arm through a three-degree-of-freedom transfer seat, the gripper 32 and the cylinder are both mounted on the gripper mounting bracket 31, and the gripper 32 is connected with the cylinder, so that the gripper 32 is driven by the cylinder to clamp the workpiece. Wherein, go up unloading arm unit 3 and set up between feed bin unit 1 and frock unit 2, carry out centre gripping and transfer to the finished product work piece that waits to process work piece and the 2 centre grippings of frock unit that last feed bin 11 was placed.

The embodiment of the utility model provides a be used for centre gripping square stock or bar through adopting two sets of air chuck, wherein initiative air chuck 22 connects first servo motor 221, driven air chuck 23 can the free rotation also can be died by the lock fixed, make the work piece by the centre gripping between two air chuck, one end is driven rotatoryly by first servo motor 221, the other end is top through the 23 centre gripping of driven air chuck, with fixed work piece axle center, consequently, turning and work piece rotation angle processing can be realized, and feed bin unit 1 has been increased and unloading arm unit 3 has been gone up, can partly replace manual work, go on in succession with the realization robot processing.

Example 2

The difference from embodiment 1 is that, as shown in fig. 2, a pressing device 5 is provided between the driving air chuck 22 and the driven air chuck 23, the pressing device 5 includes a jacking platform 51 and a pressing air cylinder 52, a sliding rail 53 horizontally arranged is installed on a table top of the jacking platform 51, the sliding direction of the sliding rail 53 is perpendicular to the axes of the driving air chuck 22 and the driven air chuck 23, the pressing air cylinder 52 is slidably connected to the sliding rail 53, and a pressing plate of the pressing air cylinder 52 faces the table top of the jacking platform 51. The sliding rail 53 is provided with a plane or V-shaped bracket or a profiling support bracket 54 which is matched with a special-shaped workpiece for clamping, the profiling support bracket 54 is arranged below a pressing plate of the pressing cylinder 52, so that the profiling support bracket 54 and the pressing cylinder 52 are positioned at different positions according to different structural forms and processing techniques of the workpiece in the milling process, at the moment, the workpiece is arranged on the profiling support bracket 54, the pressing cylinder 52 is opened or pressed according to the walking position of the cutter and the cutting requirement, and the workpiece is positioned and clamped by matching with the corresponding action of the jacking platform 51.

As described above, referring to fig. 5, the lifting platform 51 includes the structural frame 511, the table panel 512, a third servo motor (not shown), the lifting drum 513 and the second screw 514. The deck plate 512 is horizontally arranged above the structural frame 511, the third servo motor is arranged on the structural frame 511, the second screw rod 514 is vertically arranged, the bottom end of the second screw rod 514 is fixedly connected with an output shaft of the third servo motor, the lifting drum 513 is sleeved at the top end of the second screw rod 514 in a threaded connection mode, the top end of the lifting drum 513 is fixedly connected to the bottom surface of the deck plate 512, and the sliding rail 53 is arranged on the upper deck surface of the deck plate 512. Wherein, carry out size optimization to jacking platform 51 according to common wooden furniture work piece size to divide into three jacking platforms 51 of independent or collaborative work, and three jacking platforms 51 of group set up side by side, and on the slide rail 53 of every jacking platform 51 top of group homogeneous phase relatively installed two and compress tightly cylinder 52, make a plurality of cylinders 52 that compress tightly along horizontal and/or longitudinal arrangement, thereby both can follow the horizontal direction, also can follow the vertical direction and arrange and be used for realizing compressing tightly of the different directions of work piece. Preferably, the both sides of deck plate 512 all are equipped with guiding mechanism, and guiding mechanism includes guide cylinder 515 and guide bar 516, and guide bar 516 is vertical setting, and the boss that the bottom rigid coupling of guide bar 516 extends in structural framework 511 lateral wall level, and guide cylinder 515 cup joints the top at guide bar 516 through gliding mode, and the top rigid coupling of guide cylinder 515 in the bottom surface of deck plate 512, is equipped with two sets of guiding mechanism simultaneously at the side of deck plate 512.

In this way, when the workpiece is overturned, the pressing cylinder 52 can press the workpiece on the jacking platform 51 while the two ends of the workpiece are clamped by the pneumatic chucks as required, so as to eliminate the problem that the slender piece is clamped at the two ends by the pneumatic chucks, the middle section of the slender piece is elastically deformed, so that the auxiliary positioning and clamping of the workpiece are realized, the middle part of the workpiece can be pressed by the pressing cylinder 52 after the pneumatic chucks clamped at the two ends are withdrawn, the processing of the two end faces of the workpiece is realized, and the complete processing technology of the workpiece is realized.

Specifically, the processing method comprises the following steps:

s1, placing the workpiece to be processed in the loading bin 11 and positioning by a loading operator;

s2, grabbing the positioned workpiece by the loading and unloading mechanical arm unit 3, and placing the workpiece on the jacking platform 51 arranged between the driving air chuck 22 and the driven air chuck 23;

s3, operating the pressing cylinders 52 on the jacking platform 51, pressing the workpiece against the table top of the jacking platform 51 along the horizontal direction according to the plurality of pressing cylinders 52 transversely distributed on the jacking platform 51, and clamping the workpiece in the vertical direction according to the plurality of pressing cylinders 52 longitudinally distributed on the lifting platform 51;

s4, after the workpiece is positioned and clamped, operating the machining mechanical arm unit 4 to work, and tenoning two ends of the workpiece;

as a certain positioning accuracy can be ensured through the positioning of the feeding bin 11 and the precision of the robot arm in the axial direction, and the cutter 46 ensures that the redundant part in the axial direction is cut off in the tenoning process, the precision of the tenoning process can meet the requirement. Before tenoning the workpiece, two tenon seats matched with the workpiece are machined according to the structural size of tenoning at two ends of the workpiece, after the workpiece is machined into a tenon structure, a loading operator sleeves the manufactured tenon seat on the workpiece which is tenoned, and then the workpiece is placed in the loading bin 11 and positioned, and the following steps are continued.

S5, after the workpiece is subjected to tenoning, the workpiece is grabbed by the loading and unloading mechanical arm unit 3 and is placed between the driving pneumatic chuck 22 and the driven pneumatic chuck 23, the chuck is operated, and the axial positioning of the workpiece is realized because the driving pneumatic chuck 22 fixes one end of the workpiece along the axial position and the driven pneumatic chuck 23 moves to the driving pneumatic chuck 22 to jack the workpiece;

s6, after the workpiece is positioned and clamped again, operating the machining mechanical arm unit 4 to work, and starting contour machining;

s7, after the contour of the workpiece is machined, the workpiece is grabbed by the feeding and discharging mechanical arm unit 3 and placed in the feeding bin 12, the step S1 is returned, and the steps S1 to S7 are repeated.

Based on step S7, the loading and unloading robot arm unit 3 is cycled until the material processing in all the loading bins 11 is completed, and the production of one job batch is finished, after which the loading operator starts the processing of the next batch.

Although the invention has been described in detail with respect to the general description and the specific embodiments, it will be apparent to those skilled in the art that modifications and improvements can be made based on the invention. Therefore, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims

1. The utility model provides a woodware processingequipment which characterized in that, woodware processingequipment includes:

2. The woodworking device of claim 1, wherein: the processing mechanical arm unit comprises a first base, a first rotary table, a first large arm, a first small arm, a woodworking main shaft and a cutter, wherein the first rotary table is rotatably connected to the upper seat face of the first base to form a waist joint and rotates around a vertical shaft in a horizontal plane, the first large arm is vertically arranged, the bottom end of the first large arm is rotatably installed on the first rotary table through a transfer seat, the first small arm is perpendicular to the first large arm, the rear end of the first small arm is connected with the top end of the first large arm through a hinge to form an elbow joint and moves in a plane perpendicular to the first base, the woodworking main shaft is rotatably installed at the front end of the first small arm through a three-degree-of-freedom transfer seat, and the cutter is clamped at the working end of the woodworking main shaft to process a workpiece.

3. The woodworking device of claim 1, wherein: the feeding and discharging mechanical arm unit comprises a second base, a second rotary table, a second large arm, a second small arm, a cylinder, a gripper mounting frame and a gripper, the second rotary table is rotatably connected to the upper seat surface of the second base to form a waist joint and rotates around a vertical axis in the horizontal plane, the second large arm is vertically arranged, the bottom end of the second large arm is rotatably mounted on the second rotary table through a transfer seat, the second small arm is perpendicular to the second large arm, the rear end of the second small arm is connected with the top end of the second large arm through a hinge to form an elbow joint and moves in the plane perpendicular to the second base, the gripper mounting frame is rotatably mounted at the front end of the second small arm through a three-degree-of-freedom transfer seat, the gripper and the cylinder are both mounted on the gripper mounting frame, and the gripper is connected with the cylinder, so that the gripper is driven by the cylinder to grip a workpiece.

4. The woodworking device of claim 1, wherein: two parallel guide rails are arranged at the top of the base frame, chuck brackets are connected with the bottoms of the driving pneumatic chuck and the driven pneumatic chuck respectively, the chuck brackets are arranged on the two guide rails in a sliding way, and the chuck bracket is connected with a driving mechanism which comprises a first screw rod, a sliding cylinder and a second servo motor, the first screw rod is arranged at the outer side of the guide rail in parallel, the sliding cylinder is sleeved on the first screw rod in a threaded connection mode, one end of the sliding cylinder is fixedly connected with the chuck bracket, the second servo motor is fixedly connected on the base frame, one end of the first screw rod is fixedly connected with an output shaft of the second servo motor, the other end of the first screw rod is rotatably connected on the base frame, the chuck brackets of the driving pneumatic chuck and the driven pneumatic chuck are connected with a group of driving mechanisms, so that the driving pneumatic chuck and the driven pneumatic chuck move relatively.

5. The woodworking device of claim 1, wherein: be provided with closing device between initiative air chuck and the driven air chuck, closing device includes jacking platform and compresses tightly the cylinder, install the slide rail that the level set up on jacking platform's the mesa, the slip direction perpendicular to initiative air chuck of slide rail and driven air chuck's centre gripping axis, compress tightly and press jar sliding connection on the slide rail, make the clamp plate that compresses tightly the cylinder towards jacking platform's mesa, wherein, install the profile modeling on the slide rail and hold in the palm the support, the profile modeling holds in the palm the support and sets up in the clamp plate below that compresses tightly the cylinder.

6. The woodworking device of claim 5, wherein: jacking platform includes structural framework, deck plate, third servo motor, a lift section of thick bamboo and second lead screw, the deck plate level sets up the top at structural framework, third servo motor installs on structural framework, the second lead screw is vertical setting, and the bottom of second lead screw and third servo motor's output shaft rigid coupling, a lift section of thick bamboo cup joints the top at the second lead screw through threaded connection's mode, and the top rigid coupling of a lift section of thick bamboo in the bottom surface of deck plate, the last mesa at deck plate is installed to the slide rail.

7. The woodworking device of claim 6, wherein: the both sides of deck plate all are equipped with guiding mechanism, guiding mechanism includes guide cylinder and guide bar, the guide bar is vertical setting, and the boss that the bottom rigid coupling of guide bar extends in the structure frame lateral wall upper level, the guide cylinder cup joints the top at the guide bar through gliding mode, and the top rigid coupling of guide cylinder in the bottom surface of deck plate, wherein, the side of deck plate is equipped with two sets of guiding mechanism.

8. A woodworking device according to any one of claims 5 to 7, wherein: jacking platforms are provided with three groups side by side, and two compressing cylinders are oppositely installed on the slide rail above each group of jacking platforms, so that the compressing cylinders are transversely and/or longitudinally arranged to compress workpieces in different directions.