CN112140250B - Wood processing device and processing method - Google Patents
Wood processing device and processing method Download PDFInfo
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- CN112140250B CN112140250B CN202011033907.XA CN202011033907A CN112140250B CN 112140250 B CN112140250 B CN 112140250B CN 202011033907 A CN202011033907 A CN 202011033907A CN 112140250 B CN112140250 B CN 112140250B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
- B27C—PLANING, DRILLING, MILLING, TURNING OR UNIVERSAL MACHINES FOR WOOD OR SIMILAR MATERIAL
- B27C7/00—Wood-turning machines; Equipment therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
- B27C—PLANING, DRILLING, MILLING, TURNING OR UNIVERSAL MACHINES FOR WOOD OR SIMILAR MATERIAL
- B27C7/00—Wood-turning machines; Equipment therefor
- B27C7/04—Devices for centering or chucking work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
- B27C—PLANING, DRILLING, MILLING, TURNING OR UNIVERSAL MACHINES FOR WOOD OR SIMILAR MATERIAL
- B27C7/00—Wood-turning machines; Equipment therefor
- B27C7/06—Arrangements for guiding or supporting the tool, e.g. tool rests
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
- B27F—DOVETAILED WORK; TENONS; SLOTTING MACHINES FOR WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES
- B27F5/00—Slotted or mortised work
- B27F5/02—Slotting or mortising machines tools therefor
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- Engineering & Computer Science (AREA)
- Wood Science & Technology (AREA)
- Mechanical Engineering (AREA)
- Forests & Forestry (AREA)
- Milling, Drilling, And Turning Of Wood (AREA)
- Dovetailed Work, And Nailing Machines And Stapling Machines For Wood (AREA)
Abstract
The embodiment of the invention discloses a wood processing device and a processing method, wherein the wood processing device comprises a bin unit, a tool unit, an upper and lower material loading mechanical arm unit and a processing mechanical arm unit, the bin unit comprises an upper bin and a lower bin, the tool unit comprises a base frame, a driving air chuck and a driven air chuck, the driving air chuck and the driven air chuck are oppositely arranged at the top of the base frame and are connected with the base frame in a sliding manner, the tool is clamped and turned over, the upper and lower material loading mechanical arm unit is arranged between the bin unit and the tool unit, and the processing mechanical arm unit is arranged close to the tool unit. According to the invention, two groups of air chucks are used for clamping square stock or bar stock, one end of a workpiece is driven to rotate by a servo motor, the other end of the workpiece is clamped with a center by a driven air chuck, so that the axis of the workpiece is fixed, the turning and the workpiece turning angle processing are realized, and a stock bin unit and a loading and unloading mechanical arm unit are added, so that the continuous robot processing is realized.
Description
Technical Field
The embodiment of the invention relates to the technical field of wood processing, in particular to a wood processing device and a wood processing method.
Background
The traditional wood processing is divided into a plurality of working procedures such as material cutting, processing, assembling, polishing, painting and the like, and different operation posts finish wood processing according to the flow by means of various equipment such as turning, milling, planing, grinding and the like distributed at different positions in a workshop. However, this process is not efficient due to the high latency. The digital upgrading of the processing industry usually takes a numerical control processing center as a core, and the processing center has the characteristics of high efficiency and strong specificity, is suitable for mass production, and has insufficient cost efficiency under the condition of small batch. Finding a small-batch flexible processing mode suitable for the woodworking industry is an innovative problem to be solved. Industrial robots have gained wide use in various industries, such as machinery, electronics, transportation, storage, etc., for their flexibility and reliability in recent decades, but have been used less frequently and primarily for materials handling in the woodworking industry, and more limited for processing.
The invention patent with publication number of CN209737816U discloses a wood working workstation, in particular a processing system consisting of a console control unit, a tool magazine unit, a manipulator unit, a deflection unit and a clamp unit. The control unit and the execution unit establish a connection relationship through a communication bus, the mechanical arm unit clamps and transfers the cutters stored in the cutter magazine unit, the mechanical arm unit utilizes the cutters to engraving and milling woodware placed in the clamp unit, and general processing of square stock and plate materials can be completed.
Although the system of the patent equipment can realize the machining production of the wood ware by the robot, the clamping chuck cannot rotate when the bar stock is machined, so that the turning function is difficult to realize; because the workpiece is pressed on the table top by the air cylinder to carry out clamping and positioning, 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. The lack of the feeding and discharging mechanism results in insufficient processing continuity.
Disclosure of Invention
Therefore, the embodiment of the invention provides a wood processing device and a processing method, which are used for solving the problems that in the prior art, the wood is inconvenient to turn and turn in the processing and production process.
In order to achieve the above object, the embodiment of the present invention provides the following technical solutions:
according to a first aspect of an embodiment of the present invention, a woodworking device includes:
the feed bin unit comprises an upper feed bin and a lower feed bin, wherein the upper feed bin is used for placing workpieces to be processed, and the lower feed bin is used for storing finished products;
the tool unit is used for clamping and overturning a workpiece to be processed and comprises a base frame, a driving air chuck and a driven air chuck, wherein the driving air chuck and the driven air chuck are oppositely arranged at the top of the base frame and are connected to the base frame in a sliding manner, the driving air chuck is connected with a first servo motor, so that a disc body of the driving air chuck is driven to rotate by the first servo motor, and the disc body of the driven air chuck is arranged in a free rotation manner and is provided with a rotary locking piece;
the feeding and discharging mechanical arm unit is arranged between the stock bin unit and the tooling unit and is used for clamping and transferring the workpiece to be processed placed in the stock bin and the finished workpiece clamped by the tooling 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, processing machinery arm unit includes first base, first carousel, first big arm, first forearm, carpenter's main shaft and cutter, first carousel rotates to connect the face of going up at first base to form waist joint, rotate around the vertical axis in the horizontal plane, first big arm is vertical setting, and the bottom of first big arm passes through the adapter rotation to be installed on first carousel, the perpendicular first big arm setting of first forearm, and the rear end of first forearm passes through the hinge joint with the top of first big arm, in order to form the elbow joint, at the plane internal motion of perpendicular to first base, carpenter's main shaft passes through the front end of three degree of freedom adapter rotation to be installed at the front end of first forearm, the cutter centre gripping is installed at the work end of carpenter's main shaft, treats the processing work piece.
Further, go up unloading arm unit and include second base, second carousel, second big arm, second forearm, cylinder, tongs mounting bracket and tongs, the second carousel rotates to be connected at the last seat surface of second base to form waist joint, rotate around the vertical axis in the horizontal plane, the second big arm is vertical setting, and the bottom of second big arm passes through the switching seat rotation to be installed on the second carousel, the second forearm sets up perpendicularly the second big arm, and the rear end of second forearm passes through the hinge joint with the top of second big arm, in order to form the elbow joint, at the plane internal motion of perpendicular to second base, tongs mounting bracket is through the front end of three degree of freedom switching seat rotation installation at the second forearm, tongs and cylinder are all installed on the tongs mounting bracket, and the tongs is connected with the cylinder, makes the tongs receive the cylinder drive to carry out the centre gripping to the work piece.
Further, two parallel arrangement's guide rail is installed at the top of bed frame, the bottom of initiative air chuck and driven air chuck all is connected with chuck bracket, chuck bracket sliding frame is on two guide rails to chuck bracket connection has actuating mechanism, actuating mechanism includes first lead screw, slide cylinder and second servo motor, first lead screw parallel arrangement is in the outside of guide rail, the slide cylinder cup joints on first lead screw through threaded connection's mode, and slide cylinder's one end and chuck bracket rigid coupling, the second servo motor rigid coupling makes the output shaft rigid coupling of first lead screw and second servo motor, and the other end rotates to be connected on the bed frame, wherein, initiative air chuck and driven air chuck's chuck bracket all connects a set of actuating mechanism, makes initiative air chuck and driven air chuck be relative movement.
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 the mesa of jacking platform, the slip direction perpendicular to of slide rail initiative air chuck and driven air chuck's centre gripping axis, compress tightly cylinder sliding connection on the slide rail, make the clamp plate of compressing tightly the cylinder face the mesa of jacking platform, 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 setting in the clamp plate below of compressing tightly the cylinder.
Further, the jacking platform includes structural frame, deck plate, third servo motor, lift section of thick bamboo and second lead screw, deck plate level sets up in structural frame's top, third servo motor installs on structural frame, the second lead screw is vertical setting, and the bottom of second lead screw and the output shaft rigid coupling of third servo motor, the top at the second lead screw is cup jointed through threaded connection's mode to the lift section of thick bamboo, and the top rigid coupling of lift section of thick bamboo is in the bottom surface of deck plate, the last mesa at deck plate is installed to the slide rail.
Further, guiding mechanisms are arranged on two sides of the table panel, each guiding mechanism comprises a guiding cylinder and a guiding rod, the guiding rods are vertically arranged, the bottom ends of the guiding rods are fixedly connected to bosses horizontally extending out of the outer side wall of the structural frame, the guiding cylinders are sleeved on the top ends of the guiding rods in a sliding mode, the top ends of the guiding cylinders are fixedly connected to the bottom surface of the table panel, and two groups of guiding mechanisms are arranged on the side edges of the table panel.
Further, the jacking platforms are provided with three groups side by side, and two compaction cylinders are respectively arranged on the sliding rails above each group of jacking platforms, so that a plurality of compaction cylinders are transversely and/or longitudinally arranged to compact workpieces in different directions.
According to a second aspect of the embodiment of the present invention, a wood processing method, which is the wood processing device according to the present embodiment, includes the following steps:
s1, a feeding operator places a workpiece to be processed in an upper bin and positions the workpiece;
s2, grabbing the positioned workpiece by a loading and unloading mechanical arm unit, and placing the workpiece on a jacking platform arranged between a driving pneumatic chuck and a driven pneumatic chuck;
s3, running a plurality of compression cylinders on the jacking platform, horizontally leaning the workpiece against the table surface of the jacking platform according to the transverse distribution of the plurality of compression cylinders on the jacking platform, and longitudinally distributing the plurality of compression cylinders on the jacking platform to clamp the workpiece in the vertical direction;
s4, after the workpiece is positioned and clamped, operating a machining mechanical arm unit to work, and tenoning two ends of the workpiece;
s5, after the tenoning of the workpiece is finished, grabbing the workpiece by an upper blanking mechanical arm unit, and placing the workpiece between a driving pneumatic chuck and a driven pneumatic chuck, and operating the chuck to act;
s6, after the workpiece is positioned and clamped again, operating the machining mechanical arm unit to work, and starting contour machining;
s7, after the contour of the workpiece is machined, grabbing by the feeding and discharging mechanical arm unit, placing in the lower bin, returning to the step S1, and repeating the steps S1-S7.
Further, the processing method further comprises: before the workpiece tenoning, two tenon seats matched with the workpiece tenoning are machined according to the structural size of tenoning at two ends of the workpiece, after the workpiece tenoning is finished into a tenon structure, a feeding operator sleeves the manufactured tenon seat on the tenoned workpiece, then the tenon seat is placed in a feeding bin and positioned, and the steps S5-S7 are continued.
The embodiment of the invention has the following advantages: the two groups of air chucks are used for clamping square stock or bar stock, wherein the driving air chucks are connected with the servo motor, the driven air chucks can freely rotate and can be locked and fixed, a workpiece is clamped between the two air chucks, one end of the workpiece is driven to rotate by the servo motor, the other end of the workpiece is clamped to be center through the driven air chucks, and the axis of the workpiece is fixed, so that turning and workpiece overturning angle processing can be realized, a stock bin unit and a loading and unloading mechanical arm unit are added, manual operation can be partially replaced, and continuous robot processing is realized.
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 will be apparent to those of ordinary skill in the art that the drawings in the following description are exemplary only and that other implementations can be obtained from the extensions of the drawings provided without inventive effort.
The structures, proportions, sizes, etc. shown in the present specification are shown only for the purposes of illustration and description, and are not intended to limit the scope of the invention, which is defined by the claims, so that any structural modifications, changes in proportions, or adjustments of sizes, which do not affect the efficacy or the achievement of the present invention, should fall within the scope of the invention.
FIG. 1 is a schematic diagram of the overall structure of a wood processing device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a tooling unit of a wood processing device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a processing mechanical arm unit of a wood processing device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a loading and unloading mechanical arm unit of a woodworking device according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a jacking platform of a wood processing device according to an embodiment of the present invention.
In the figure: 1. a stock bin unit; 11. feeding a bin; 12. discharging the material 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 bracket; 26. a driving mechanism; 261. a sliding cylinder; 262. a second servo motor; 3. a loading and unloading mechanical arm unit; 31. a gripper mounting rack; 32. a grip; 4. machining a mechanical arm unit; 41. a first base; 42. a first turntable; 43. a first large arm; 44. a first forearm; 45. a woodworking main shaft; 46. a cutter; 5. a compacting device; 51. lifting the platform; 511. a structural frame; 512. a deck plate; 513. a lifting cylinder; 514. a second screw rod; 515. a guide cylinder; 516. a guide rod; 52. a compacting cylinder; 53. a slide rail; 54. and a profiling bracket.
Detailed Description
Other advantages and advantages of the present invention will become apparent to those skilled in the art from the following detailed description, which, by way of illustration, is to be read in connection with certain specific embodiments, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
As shown in fig. 1 and 2, the embodiment of the invention provides a wood processing device, which comprises a stock bin unit 1, a tooling unit 2, an upper and lower material feeding mechanical arm unit 3 and a processing mechanical arm unit 4, and is specifically provided as follows:
the stock bin unit 1 comprises an upper stock bin 11 and a lower stock bin 12, wherein the upper stock bin 11 is used for placing workpieces to be processed, and the lower stock bin 12 is used for storing finished workpieces. The tool unit 2 is used for clamping and turning the workpiece to be processed, and comprises a base frame 21, a driving air chuck 22 and a driven air chuck 23, wherein the driving 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 groups of air chucks are kept coaxial, the driving air chuck 22 is connected with a first servo motor 221, and is driven by the first servo motor 221 through a gearbox, so that a disc body of the driving air chuck 22 is driven to rotate by the first servo motor 221, and high-speed rotation and accurate indexing can be realized. The disk body of the driven air chuck 23 is freely rotatably arranged and is provided with a rotary locking piece, so that the driven air chuck 23 can freely rotate and can be locked and fixed, and after a workpiece is clamped, the driven air chuck 23 can rotate along with the driving air chuck 22 and can be locked after being positioned. During machining, one end of a 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 turning or turning angle machining of the workpiece is conveniently realized. Preferably, both groups of air chucks are provided with tapered roller bearings, so that the two groups of air chucks can bear the action of radial force and axial force, the workpiece can be directly clamped by the two groups of air chucks, one end of the workpiece can be fixed by the driving air chuck 22, and then the workpiece is tightly supported in the axial direction by clamping the center by the driven air chuck 23 and inserting the center 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 mounted 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 screw rod, a sliding cylinder 261 and a second servo motor 262, the first screw rod is arranged in parallel on the outer side of the guide rail 24, the sliding cylinder 261 is sleeved on the first screw rod 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 on the base frame 21, one end of the first screw rod is fixedly connected with an output shaft of the second servo motor 262, the other end of the first screw rod is rotatably connected on the base frame 21, and therefore the chuck bracket 25 is controlled by the second servo motor 262 and can move left and right on the guide rail 24 together with the air chuck under the driving of the first screw rod. Wherein, chuck brackets 25 of the driving air chuck 22 and the driven air chuck 23 are connected with a group of driving mechanisms 26, so that the driving air chuck 22 and the driven air chuck 23 move relatively.
Referring to fig. 3, the machining mechanical arm unit 4 is disposed on one side of the tool unit 2, and is used for machining a workpiece to be machined clamped by the tool unit 2, specifically, the machining mechanical arm unit 4 includes a first base 41, a first turntable 42, a first large arm 43, a first small arm 44, a woodworking spindle 45 and a cutter 46, the first turntable 42 is rotationally connected to an upper seat surface of the first base 41 to form a waist joint, the first large arm 43 is vertically disposed in a horizontal plane, a bottom end of the first large arm 43 is rotationally mounted on the first turntable 42 through a transfer seat, the first small arm 44 is vertically disposed in the first large arm 43, a rear end of the first small arm 44 is connected with a top end of the first large arm 43 through a hinge to form an elbow joint, the woodworking spindle 45 is rotationally mounted at a front end of the first small arm 44 through a three-degree-of-freedom transfer seat, and the cutter 46 is rotationally mounted at a working end of the woodworking spindle 45 to machine the workpiece to be machined. The control program of the machining mechanical arm unit 4 is not protected by the technical scheme, belongs to a program method known to a person skilled in the art, simulates a human arm, cooperates with the woodworking main shaft 45 to realize clamping, transferring and controlling of the cutter 46, accords with an ergonomic principle, and has good flexibility and high precision. Preferably, a set of processing mechanical arm units 4 can be arranged with different tooling units 2 in three directions, and the forms of the tooling units can be various, such as a vacuum adsorption platform, a rotary positioner and the like, so that the set of processing mechanical arm units 4 can process workpieces with different sizes or structures, namely, the tooling units 2 in the embodiment of the invention are only one of the implementation modes.
As described above, referring to fig. 3 and 4, the loading and unloading robot arm unit 3 has a similar structure to the processing robot arm unit, and includes a second base, a second turntable, a second large arm, a second small arm, an air cylinder (not shown in the drawings), a gripper mounting frame 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, and a bottom end of the second large arm is rotatably mounted on the second turntable through an adapter, the second small arm is vertically disposed with the second large arm, and a rear end of the second small arm is hinged to a top end of the second large arm to form an elbow joint, and moves in a plane perpendicular to the first base, the gripper mounting frame 31 is rotatably mounted on a front end of the second small arm through a three-degree-of-freedom adapter, both the gripper 32 and the air cylinder are mounted on the gripper mounting frame 31, and the gripper 32 is connected to the air cylinder, so that the gripper 32 is driven by the air cylinder to clamp a workpiece. The feeding and discharging mechanical arm unit 3 is arranged between the bin unit 1 and the tool unit 2, and clamps and transfers the workpiece to be processed placed in the feeding bin 11 and the finished workpiece clamped by the tool unit 2.
According to the embodiment of the invention, two groups of air chucks are used for clamping square stock or bar stock, wherein the driving air chucks 22 are connected with the first servo motor 221, the driven air chucks 23 can rotate freely and can be locked and fixed, so that a workpiece is clamped between the two air chucks, one end of the workpiece is driven to rotate by the first servo motor 221, the other end of the workpiece is clamped with a center through the driven air chucks 23, so that the workpiece axle center is fixed, turning and workpiece overturning angle processing can be realized, the bin unit 1 and the feeding and discharging mechanical arm unit 3 are added, manual operation can be replaced partially, and continuous robot processing can be realized.
Example 2
Unlike embodiment 1, as shown in fig. 2, a compressing device 5 is provided between the driving air chuck 22 and the driven air chuck 23, the compressing device 5 includes a jacking platform 51 and a compressing cylinder 52, a horizontally disposed slide rail 53 is mounted on the table surface of the jacking platform 51, the sliding direction of the slide rail 53 is perpendicular to the axes of the driving air chuck 22 and the driven air chuck 23, and the compressing cylinder 52 is slidably connected to the slide rail 53, so that the compressing plate of the compressing cylinder 52 faces the table surface of the jacking platform 51. The sliding rail 53 is provided with a plane or V-shaped bracket or a profiling bracket 54 matched with the clamping of the special-shaped workpiece, so that the profiling bracket 54 is arranged below a pressing plate of the pressing cylinder 52, and the profiling bracket 54 and the pressing cylinder 52 are positioned at different positions according to different structural forms and processing technologies of the workpiece in the milling process, at the moment, the workpiece is arranged on the profiling bracket 54, the pressing cylinder 52 is opened or pressed according to the running 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 in connection with FIG. 5, lift platform 51 includes structural frame 511, deck plate 512, a third servo motor (not shown), lift drum 513, and 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 the output shaft of the third servo motor, the lifting drum 513 is sleeved on the top end of the second screw rod 514 in a threaded connection mode, and the top end of the lifting drum 513 is fixedly connected to the bottom surface of the deck plate 512, so that the sliding rail 53 is arranged on the upper table surface of the deck plate 512. The jacking platforms 51 are optimized according to the size of a common wood workpiece and are divided into three groups of jacking platforms 51 which independently or cooperatively work, the three groups of jacking platforms 51 are arranged side by side, and two compression cylinders 52 are respectively arranged on sliding rails 53 above each group of jacking platforms 51, so that the compression cylinders 52 are transversely and/or longitudinally arranged, and the compression cylinders can be arranged in the horizontal direction or in the vertical direction for realizing the compression of the workpieces in different directions. Preferably, the two sides of the table top plate 512 are respectively provided with a guiding mechanism, the guiding mechanism comprises a guiding cylinder 515 and a guiding rod 516, the guiding rod 516 is vertically arranged, the bottom end of the guiding rod 516 is fixedly connected to a boss horizontally extending out of the outer side wall of the structural frame 511, the guiding cylinder 515 is sleeved at the top end of the guiding rod 516 in a sliding manner, the top end of the guiding cylinder 515 is fixedly connected to the bottom surface of the table top plate 512, and two groups of guiding mechanisms are arranged on the side edge of the table top plate 512.
Through the above mode, when the workpiece is used for overturning and processing, the pressing cylinder 52 can press the workpiece on the jacking platform 51 when the two ends of the workpiece are clamped by the air chucks as required, so that the elastic deformation of the middle section is eliminated when the two ends of the elongated piece are clamped by the air chucks, the auxiliary positioning and clamping of the workpiece are realized, and after the air chucks clamped at the two ends are withdrawn, the middle part of the workpiece is pressed by the pressing cylinder 52, the processing of the two end faces of the workpiece is realized, and the complete processing technology of the workpiece is realized.
Example 3
As shown in fig. 1, an embodiment of the present invention provides a method for processing a wood, which adopts the wood processing device in the above embodiment, and the processing method includes the following steps:
s1, a feeding operator places a workpiece to be processed in an upper bin 11 and positions the workpiece;
s2, the positioned workpiece is grabbed by the loading and unloading mechanical arm unit 3 and placed on a jacking platform 51 arranged between the driving air chuck 22 and the driven air chuck 23;
s3, operating the compression air cylinders 52 on the jacking platform 51, horizontally leaning the workpiece against the table surface of the jacking platform 51 according to the plurality of transversely distributed compression air cylinders 52 on the jacking platform 51, and longitudinally distributing the plurality of longitudinally distributed compression air cylinders 52 on the jacking platform 51 to clamp the workpiece in the vertical direction;
s4, after the workpiece is positioned and clamped, operating the machining mechanical arm unit 4 to work, and tenoning two ends of the workpiece;
because in the axial direction, certain positioning accuracy can be ensured through the positioning of the feeding bin 11 and the precision of the mechanical arm, and the cutting process is added, the cutter 46 ensures that the axial redundant part is cut off, so that the precision of the cutting process can meet the requirement. Before the workpiece is tenoned, two tenon seats matched with the workpiece are machined according to the structural size of tenons at two ends of the workpiece, after the workpiece is machined into a tenon structure, a feeding operator sleeves the manufactured tenon seat on the tenoned workpiece, and then the tenon seat is placed in the feeding bin 11 and positioned, and the following steps are continued.
S5, after the tenoning of the workpiece is finished, the workpiece is grabbed by the feeding and discharging mechanical arm unit 3 and is arranged between the driving air chuck 22 and the driven air chuck 23, and the chuck is operated, and as the driving air chuck 22 fixes one end of the workpiece along the axial position, the workpiece is ejected and killed by moving from the driven air chuck 23 to the driving air chuck 22, so that the axial positioning of the workpiece is realized;
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, placed in the lower bin 12, returned to the step S1, and the steps S1-S7 are repeated.
Based on step S7, the loading and unloading robot arm unit 3 is circulated in this way until all the material processing in the loading bin 11 is completed, and the production of one work batch is ended, after which the loading operator starts the processing of the next batch.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.
Claims (4)
1. A woodworking device, characterized in that it comprises:
the feed bin unit comprises an upper feed bin and a lower feed bin, wherein the upper feed bin is used for placing workpieces to be processed, and the lower feed bin is used for storing finished products;
the tool unit is used for clamping and overturning a workpiece to be processed and comprises a base frame, a driving air chuck and a driven air chuck, wherein the driving air chuck and the driven air chuck are oppositely arranged at the top of the base frame and are connected to the base frame in a sliding manner, the driving air chuck is connected with a first servo motor, so that a disc body of the driving air chuck is driven to rotate by the first servo motor, and the disc body of the driven air chuck is arranged in a free rotation manner and is provided with a rotary locking piece;
the feeding and discharging mechanical arm unit is arranged between the stock bin unit and the tooling unit and is used for clamping and transferring the workpiece to be processed placed in the stock bin and the finished workpiece clamped by the tooling unit;
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;
the processing mechanical arm unit comprises a first base, a first rotary table, a first big arm, a first small arm, a woodworking main shaft and a cutter, wherein the first rotary table is rotationally connected to the upper seat surface of the first base to form a waist joint, the first big arm is vertically arranged and rotationally arranged on the first rotary table through a switching seat, the bottom end of the first big arm is vertically arranged on the first rotary table, the rear end of the first small arm is connected with the top end of the first big arm through a hinge to form an elbow joint, the woodworking main shaft moves in a plane vertical to the first base, the woodworking main shaft is rotationally arranged at the front end of the first small arm through a three-degree-of-freedom switching seat, and the cutter is installed at the working end of the woodworking main shaft in a clamping mode to process a workpiece to be processed;
the feeding and discharging mechanical arm unit comprises a second base, a second rotary table, a second big arm, a second small arm, an air cylinder, a handle mounting rack and a handle, wherein the second rotary table is rotationally connected to the upper seat surface of the second base to form a waist joint, the waist joint rotates around a vertical axis in a horizontal plane, the second big arm is vertically arranged, the bottom end of the second big arm is rotationally arranged on the second rotary table through a transfer seat, the second small arm is vertical to the second big arm, 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, the elbow mounting rack moves in a plane vertical to the second base, the handle mounting rack is rotationally arranged at the front end of the second small arm through a three-degree-of-freedom transfer seat, and the handle and the air cylinder are both arranged on the handle mounting rack and are connected with the air cylinder, so that the handle is driven by the air cylinder to clamp a workpiece;
the top of the base frame is provided with two parallel guide rails, the bottoms of the driving pneumatic chuck and the driven pneumatic chuck are connected with chuck brackets, the chuck brackets are glidingly arranged on the two guide rails, the chuck brackets are connected with a driving mechanism, the driving mechanism comprises a first screw rod, a sliding cylinder and a second servo motor, the first screw rod is arranged on the outer side of the guide rails 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 brackets, 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, and the other end of the first screw rod is rotationally connected with the base frame, and the chuck brackets of the driving pneumatic chuck and the driven pneumatic chuck are connected with a group of driving mechanism, so that the driving pneumatic chuck and the driven pneumatic chuck move relatively;
the clamping device is arranged between the driving air chuck and the driven air chuck and comprises a jacking platform and a clamping cylinder, a horizontally arranged sliding rail is arranged on the table top of the jacking platform, the sliding direction of the sliding rail is perpendicular to the clamping axes of the driving air chuck and the driven air chuck, the clamping cylinder is connected to the sliding rail in a sliding manner, so that a clamping plate of the clamping cylinder faces the table top of the jacking platform, a profiling bracket is arranged on the sliding rail, and the profiling bracket is arranged below the clamping plate of the clamping cylinder;
the lifting platform comprises a structural frame, a platform panel, a third servo motor, a lifting cylinder and a second screw rod, wherein the platform panel is horizontally arranged above the structural frame, the third servo motor is arranged on the structural frame, the second screw rod is vertically arranged, the bottom end of the second screw rod is fixedly connected with an output shaft of the third servo motor, the lifting cylinder is sleeved at the top end of the second screw rod in a threaded connection mode, the top end of the lifting cylinder is fixedly connected to the bottom surface of the platform panel, and the sliding rail is arranged on the upper table surface of the platform panel;
the guide mechanism comprises a guide cylinder and a guide rod, wherein the guide rod is vertically arranged, the bottom end of the guide rod is fixedly connected to a boss horizontally extending out of the outer side wall of the structural frame, the guide cylinder is sleeved on the top end of the guide rod in a sliding mode, the top end of the guide cylinder is fixedly connected to the bottom surface of the table plate, and two groups of guide mechanisms are arranged on the side edges of the table plate.
2. A woodworking device as claimed in claim 1, wherein: the jacking platforms are provided with three groups side by side, and two compaction cylinders are respectively arranged on the sliding rails above each group of jacking platforms, so that a plurality of compaction cylinders are transversely and/or longitudinally arranged to compact workpieces in different directions.
3. A wood working method using a wood working apparatus according to any one of claims 1 to 2, characterized in that the method comprises the steps of:
s1, a feeding operator places a workpiece to be processed in an upper bin and positions the workpiece;
s2, grabbing the positioned workpiece by a loading and unloading mechanical arm unit, and placing the workpiece on a jacking platform arranged between a driving pneumatic chuck and a driven pneumatic chuck;
s3, running a plurality of compression cylinders on the jacking platform, horizontally leaning the workpiece against the table surface of the jacking platform according to the transverse distribution of the plurality of compression cylinders on the jacking platform, and longitudinally distributing the plurality of compression cylinders on the jacking platform to clamp the workpiece in the vertical direction;
s4, after the workpiece is positioned and clamped, operating a machining mechanical arm unit to work, and tenoning two ends of the workpiece;
s5, after the tenoning of the workpiece is finished, grabbing the workpiece by an upper blanking mechanical arm unit, and placing the workpiece between a driving pneumatic chuck and a driven pneumatic chuck, and operating the chuck to act;
s6, after the workpiece is positioned and clamped again, operating the machining mechanical arm unit to work, and starting contour machining;
s7, after the contour of the workpiece is machined, grabbing by the feeding and discharging mechanical arm unit, placing in the lower bin, returning to the step S1, and repeating the steps S1-S7.
4. A method of wood processing according to claim 3, wherein the method further comprises: before the workpiece tenoning, two tenon seats matched with the workpiece tenoning are machined according to the structural size of tenoning at two ends of the workpiece, after the workpiece tenoning is finished into a tenon structure, a feeding operator sleeves the manufactured tenon seat on the tenoned workpiece, then the tenon seat is placed in a feeding bin and positioned, and the steps S5-S7 are continued.
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| CN113021535B (en) * | 2021-03-23 | 2022-02-18 | 同济大学 | Multifunctional wood processing integrated system |
| RU2760571C1 (en) * | 2021-04-11 | 2021-11-29 | Максим Николаевич Кузнецов | Method for automated production of building beam-to--beam joints |
| CN114683318B (en) * | 2022-04-13 | 2024-01-26 | 深圳市界面科技有限公司 | Soft furniture sponge cutting method |
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