CN112623777A

CN112623777A - Turnover basket conveying system, wood board basket loading system and basket loading method

Info

Publication number: CN112623777A
Application number: CN202011565576.4A
Authority: CN
Inventors: 鲍伟
Original assignee: Zhejiang Emergen Robot Technology Co ltd
Current assignee: Zhejiang Emergen Robot Technology Co ltd
Priority date: 2020-12-25
Filing date: 2020-12-25
Publication date: 2021-04-09

Abstract

The invention belongs to the technical field of woodwork, and particularly relates to a turnover basket conveying system, a wood board basket loading system and a basket loading method, wherein the turnover basket conveying system comprises an empty basket loading position, a basket disassembling position, a basket loading position, a basket stacking position and a discharging position which are arranged on a basket loading conveying line; each station is provided with a positioning mechanism for blocking the turnover basket, and the basket disassembling position and the basket stacking position realize the basket disassembling and the basket stacking through the matching of the basket inserting mechanism and the basket lifting mechanism; the left and right sides symmetry that tears a basket position open and fold a basket position establishes and inserts a basket mechanism, inserts a basket mechanism and includes: basket inserting supports, basket inserting cylinders and basket inserting plates are arranged on the left side and the right side of a rack of the basket loading conveying line; the front end of the basket inserting plate is provided with two tentacles which stretch into the turnover basket to lift the turnover basket. According to the invention, only the overhead turnover baskets are manually placed at the starting end of the basket-loading conveying line, and the AGV trolley is used at the tail end of the basket-loading conveying line to automatically receive the superposed turnover baskets filled with wood boards, so that the labor is saved.

Description

Turnover basket conveying system, wood board basket loading system and basket loading method

Technical Field

The invention belongs to the technical field of woodworking, and particularly relates to a turnover basket conveying system, a wood board basket loading system and a basket loading method.

Background

When the wood working industry produces the fishplate bar, in order to improve the grade quality of the plate, short semi-finished wood blocks need to be classified according to the color grade through color selection, the semi-finished wood blocks with single category color are spliced into long toothed joint wood strips through comb teeth, and the toothed joint wood strips are spliced into the plate, so that the plate is a pure color plate, and a variegated pattern plate cannot be formed.

At present, the current state of the industry is that materials after color selection and classification are manually arranged, surfaces with marks are arranged in the same direction during color selection, and then the materials are fed to a comb tooth machine for tooth joint production. The manual work inefficiency to manual work continuity of operation can produce visual fatigue, can put the billet positive and negative sometimes and mix, and the panel of putting production behind the billet circulation of mixing is the variegated board, influences the quality of panel, reduces the panel grade, and then the price and the profit of panel decline.

After the wood boards are sorted and stacked into the storage bin, the material taking clamping jaws are needed to put the whole stack of wood boards into the turnover basket in order, the turnover basket needs to be manually put into a specified basket loading position, the turnover basket is transported after being filled with the wood boards, the turnover basket filled with the wood boards is very heavy, and time and labor are wasted in transferring the turnover basket.

Disclosure of Invention

The invention aims to overcome the defects that manual transfer of a turnover basket is time-consuming and labor-consuming in the prior art, and provides a turnover basket conveying system, a wood plate basket loading system and a basket loading method capable of automatically disassembling and stacking baskets.

The technical scheme adopted by the invention for solving the technical problems is as follows:

a turnover basket conveyor system, characterized by: the device comprises an empty basket loading position, a basket disassembling position, a basket loading position, a basket stacking position and a discharge position, wherein the empty basket loading position is arranged on a basket loading conveying line and used for stacking a plurality of turnover baskets together; each station is provided with a positioning mechanism for blocking the turnover basket, and the basket disassembling position and the basket stacking position realize basket disassembling and basket stacking through the matching of a basket inserting mechanism and a basket lifting mechanism; the left and right sides symmetry that tears a basket position open and fold a basket position establishes and inserts a basket mechanism, insert a basket mechanism and include: the basket inserting device comprises basket inserting supports, basket inserting cylinders and basket inserting plates, wherein the basket inserting supports are arranged on the left side and the right side of a rack of the basket loading conveying line; the front end of the basket inserting plate is provided with two tentacles which stretch into the turnover basket to lift the turnover basket.

Furthermore, a basket inserting guide rail is fixed on the basket inserting support, and the basket inserting plate is connected with the basket inserting guide rail in a sliding mode.

Furthermore, the lower end of the turnover basket is provided with sliding plates corresponding to four edges respectively, four corners of the bottom end of the turnover basket are provided with supporting legs, four corners of the top end of the turnover basket are provided with butt joint grooves corresponding to the four supporting legs respectively, the butt joint grooves are spaces formed by two inclined plates inclining outwards, and inserting holes are formed between the sliding plates and the turnover basket.

Furthermore, 8 stations for containing the wood boards are arranged in the turnover basket in a 2 x 4 mode, two stations in each row are separated through a station partition plate, and a material placing space for inserting a movable material taking plate or a fixed material taking plate is formed in the station partition plate.

Furthermore, the turnover basket is also provided with a station width adjusting mechanism, the station width adjusting mechanism comprises a second guide block fixed on the side wall of the turnover basket, a guide rod connected in the second guide block in a sliding manner, a tightening block connected at the end part of the guide rod and an adjusting spring sleeved on the guide rod, and two ends of the adjusting spring are respectively tightly pressed between the tightening block and the second guide block.

Furthermore, the basket-loading conveying line is a plurality of driving rollers driven by chains, and the sliding plates of the turnover baskets are driven to move by the rotation of the driving rollers.

Further, the positioning mechanism includes: location mounting bracket, install location cylinder on the location mounting bracket, connect and be in the locating piece and the setting of location cylinder output are in location guide rail on the location mounting bracket, the locating piece with location guide rail sliding connection.

Furthermore, the basket lifting mechanism is a scissor type lifting frame arranged in the middle of the basket loading conveying line.

The invention also discloses a wood plate basket loading system, which is characterized in that: the material taking device comprises a turnover basket conveying system, a mechanical arm arranged beside the turnover basket conveying system and a material taking clamping jaw arranged at the end part of the mechanical arm; the material taking clamping jaw comprises a material taking frame arranged on the mechanical arm and two clamping jaw assemblies symmetrically arranged on the material taking frame, wherein each clamping jaw assembly comprises a fixed material taking plate arranged on the material taking frame, a fourth guide rail arranged on the material taking frame, a material taking cylinder arranged on the material taking frame and a movable material taking plate which is connected to the output end of the material taking cylinder and slides along the fourth guide rail.

The invention also discloses a method for loading wood plates into baskets, which is characterized by comprising the following steps: the method comprises the following steps:

s1, manually stacking a plurality of empty baskets on a basket-loading conveying line at an empty basket loading station;

s2, driving the stacked empty baskets to move to a basket detaching position through driving rollers, detaching a lowermost turnover basket from the basket detaching position, firstly, pushing the stacked turnover baskets to move upwards by a basket lifting mechanism, moving an inserting hole of a second turnover basket from bottom to top to a tentacle position of a basket inserting plate, pushing the basket inserting plate to extend towards the turnover baskets by a basket inserting cylinder, enabling the tentacle to extend into the inserting hole, keeping the suspended state of the turnover baskets above, then driving the lowermost turnover baskets to move downwards to the driving rollers by the basket lifting mechanism, moving the lowermost turnover baskets to a basket loading position under the conveying action of the driving rollers, and simultaneously, after the basket lifting mechanism moves upwards again to receive the upper turnover baskets, releasing the turnover baskets by the basket inserting mechanism, and then descending the basket lifting mechanism again until the bottoms of the turnover baskets are contacted with the driving rollers;

s3, after the turnover basket moves to a basket loading position, the material taking clamping jaws transversely arrange the whole stack of wood boards grabbed by the clamping jaw assemblies on one side in a station of the turnover basket, and then turn over by 180 degrees to transversely arrange the whole stack of wood boards grabbed by the clamping jaw assemblies on the other side in a station of the turnover basket;

s4, lifting the turnover basket on the conveying roller through the basket lifting mechanism at the basket stacking position, suspending and inserting the turnover basket through a basket inserting plate, then retracting the basket lifting mechanism below the driving roller, descending a positioning block of the positioning mechanism at the moment to enable another turnover basket filled with wood boards to be conveyed to the basket stacking position through the driving roller, lifting the basket lifting mechanism again to jack the turnover basket on the driving roller to be in butt joint with the suspended turnover basket, then retracting the basket inserting plate, descending the basket lifting mechanism again, and placing the stacked turnover basket on the driving roller;

and S5, continuously conveying the stacked turnover baskets to the discharge position.

The turnover basket conveying system, the wood plate basket loading system and the basket loading method have the beneficial effects that:

1. can realize tearing open the basket automatically and fold the basket through inserting basket mechanism and basket hoisting mechanism's cooperation, only need artifical turnover basket of putting the overhead at the initiating terminal of dress basket transfer chain, utilize the AGV dolly to catch a plurality of turnover baskets of filling with the plank together automatically at the end of dress basket transfer chain, it is laborsaving to save trouble.

2. The station width adjusting mechanism of the turnover basket can adapt to whole stacked wood boards with different thicknesses, and prevents the wood boards from shaking or falling in the turnover basket.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

FIG. 1 is an overall structural view of an embodiment of the present invention;

FIG. 2 is a structural diagram of a material receiving machine according to an embodiment of the present invention;

FIG. 3 is a partial structure diagram of a material receiving machine according to an embodiment of the present invention;

FIG. 4 is a block diagram of a receiving machine and a first conveyor line in accordance with an embodiment of the present invention;

FIG. 5 is a partial block diagram of an embodiment of the present invention;

FIG. 6 is an enlarged view of portion A of FIG. 5;

FIG. 7 is a block diagram of a vision system in accordance with an embodiment of the present invention;

FIG. 8 is an overall structure diagram of a sorting bin according to an embodiment of the invention;

FIG. 9 is a diagram of a portion of a sorting bin according to an embodiment of the present invention;

FIG. 10 is a view of a material extraction jaw configuration in accordance with an embodiment of the present invention;

FIG. 11 is a perspective view of a tote conveyor system in accordance with embodiments of the present invention;

FIG. 12 is a front view of a tote conveyor system in accordance with embodiments of the present invention;

FIG. 13 is a structural view of a turnaround basket in accordance with an embodiment of the present invention;

FIG. 14 is a view showing a structure of a basket stacking position according to the embodiment of the present invention;

FIG. 15 is a perspective view of a basket insertion mechanism according to an embodiment of the present invention;

FIG. 16 is a perspective view of a positioning mechanism of an embodiment of the present invention;

fig. 17 is a structural view of a fourth material support table according to the embodiment of the present invention.

In the figure, 1, wood boards, 2, a receiving machine, 21, a receiving machine frame, 22, a first driving motor, 23, a receiving driving sprocket, 24, a receiving driven sprocket, 25, a turning rotating shaft, 26, a turning arm, 27, a basket guide groove, 28, a material guide hopper, 29, a sliding roller, 3, a first conveying line, 31, a conveying partition plate, 32, a receiving section, 33, a material homogenizing section, 34, a discharging section, 35, a material baffle plate, 4, a centrifuge, 42, a first photoelectric sensor, 5, a second conveying line, 6, a third conveying line, 7, a sorting bin, 71, a bin bottom frame, 72, a stacking bin, 73, a material taking bin, 74, a first partition plate, 75, a second driving motor, 76, a lead screw nut pair, 77, a stacking bottom plate, 78, a material pushing plate, 79, a first guide block, 710, a first guide rail, 711, a material pushing cylinder, 713, a second partition plate, 714, a second photoelectric sensor, 715 and a first material supporting table, 716. a second material supporting platform, 718, a third material supporting platform, 719, a second guide rail, 720, a lifting support, 721, a lifting push rod, 722, a fourth material supporting platform, 7221, a material taking groove, 723, a third guide rail, 724, a fifth material supporting platform, 725, a material taking space, 726, a guide sleeve, 8, a turnover basket conveying system, 81, a positioning mechanism, 811, a positioning mounting rack, 812, a positioning cylinder, 813, a positioning guide rail, 814, a positioning block, 82, a basket inserting mechanism, 821, a basket inserting support, 822, a basket inserting cylinder, 823, a basket inserting plate, 824, a basket inserting guide rail, 825, a tentacle, 830, a driving roller, 831, an empty basket loading position, 832, a basket disassembling position, 833, a basket loading position, 834, a basket stacking position, 835, a discharging position, 84, a scissor type lifting rack, 9, a turnover basket, 91, a second guide block, 92, a guide rod, 93, a jacking block, a sliding plate, 95 and a partition plate, 96. the blowing space, 97, the supporting legs, 98, the butt joint groove, 99, the spliced eye, 10, get the material jack catch, 101, get the work or material rest, 102, the fixed flitch of getting, 103, the fourth guide rail, 104, get the material cylinder, 105, the activity is got the flitch, 11, the material basket, 111, basket guide rail, 12, delta robot, 13, gesture guiding mechanism, 131, arc leading truck, 132, the direction rotor, 14, visual system, 141, dark color lamp house, 142, the camera lens, 143, the light source, 15, the arm, 16, the fourth transfer chain.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.

For convenience of explanation and understanding, the direction of material movement is taken as front, and people look at left and right corresponding to the direction of material movement for explanation.

The specific embodiment of the flexible intelligent sorting line for the woodworking industry, which is shown in fig. 1-17, comprises a material receiving machine 2, a first conveying line 3, a centrifuge 4, a second conveying line 5, a third conveying line 6, a fourth conveying line 16, a vision system 14 arranged above the fourth conveying line 16, a robot gripper for gripping boards 1 on the fourth conveying line 16, a sorting bin 7 for stacking the gripped boards 1, a material taking claw 10 for gripping the stacked boards 1 and placing the stacked boards into a turnover basket 9, and a turnover basket conveying system 8 which are arranged in sequence.

The receiving machine 2 is used for receiving the wood board 1 materials which are conveyed by the AGV cart and are classified and marked by color selection, and with reference to fig. 2-4, the receiving machine 2 includes: the material receiving machine comprises a material receiving rack 21, a first driving motor 22 installed on the material receiving rack 21, a material receiving driving sprocket 23 connected to an output shaft of the first driving motor 22, a material receiving driven sprocket 24 connected with the material receiving driving sprocket 23 through chain transmission, a material turning rotating shaft 25 coaxially arranged with the material receiving driven sprocket 24, and two material turning arms 26 fixedly connected to two ends of the material turning rotating shaft 25 and arranged in parallel.

The wood boards 1 after color selection and classification marking are placed in a material basket 11 and conveyed to a material receiving machine 2 through an AGV trolley, basket guide rails 111 are symmetrically arranged outside the left side and the right side of the material basket 11, basket guide grooves 27 corresponding to the basket guide rails 111 are formed in the inner sides of material turning arms 26, and a plurality of sliding rollers 29 used for reducing the motion resistance of the basket guide rails 111 are arranged in the basket guide grooves 27 in a row. The upper side of the material turning arm 26 is also fixedly provided with a material guide hopper 28, the lower side of the material guide hopper 28 is butted with the material basket 11, and the upper end of the material guide hopper 28 is inwardly closed.

With reference to fig. 1 and 4, the front of the material receiving machine 2 is also butted with a first conveying line 3, the first conveying line 3 is a conveying partition plate 31 which is formed on the belt in an integrated manner and is parallel to the width direction, the first conveying line 3 is sequentially divided into a material receiving section 32, an upward inclined material homogenizing section 33 and a material discharging section 34 from back to front, and material blocking plates 35 inclined to the left and right sides are fixedly mounted on the two sides of the material receiving section 32.

Specifically, the material basket 11 with the wood board 1 slides into the basket guide groove 27 through the basket guide rail 111, the first driving motor 22 drives the material receiving driven sprocket 24, the material turning rotating shaft 25 and the material turning arm 26 to rotate through the material receiving driving sprocket 23 to turn the material basket 11, the material turned over by the material basket 11 is butted to the material receiving section 32 of the first conveying line 3 through the material guide hopper 28, and the material baffle 35 stops the wood board 1 and cannot fall from two sides. The wood board 1 is transferred upwards to the material homogenizing section 33 through the conveying partition plate 31 on the first conveying line 3, the wood board 1 is uniformly spread on the belt through the material homogenizing section 33, and the wood board 1 finally enters the discharging section 34 to realize uniform-speed feeding.

Referring to fig. 5, the outlet of the discharging section 34 is butted with a centrifuge 4, under the centrifugal action of the centrifuge 4, the wood board 1 is thrown to the edge of the centrifuge 4, a wood board outlet is arranged on the tangent line of the edge of the centrifuge 4, the second conveying line 5 is over against the wood board outlet, the width and the height of the wood board outlet are adjusted according to the width of the wood board 1, and the width of the wood board outlet is larger than the width of one wood board and smaller than the width of two wood boards; the height of the wood plate outlet is larger than that of one wood plate and smaller than that of two wood plates. Only one board 1 is allowed to be thrown out each time, the boards 1 are arranged in a substantially uniform monolayer after being thrown out from the board outlet, and the boards 1 are arranged in the length direction and conveyed forward on the second conveying line 5. The centrifuge 4 is provided with a first photoelectric sensor 42 for monitoring the amount of wood boards in the centrifuge 4.

Referring to fig. 5 and 6, the end of the second conveyor line 5 is butted with a third conveyor line 6 which is vertically conveyed with the second conveyor line, an attitude adjusting mechanism 13 is arranged on the third conveyor line 6, the attitude adjusting mechanism 13 comprises an arc-shaped guide frame 131 fixed on a support of the third conveyor line 6, a guide rotating body 132 which is arranged above the third conveyor line 6 and is right opposite to the second conveyor line 5, the arc-shaped guide frame 131 extends from the right side of the second conveyor line 5 to the middle of the third conveyor line 6 and the conveying direction of the third conveyor line 6, and the guide rotating body 132 is a steel wire ball brush or a rubber wheel connected to an output shaft of a rotating motor.

In-process that plank 1 shifted on to third transfer chain 6 from second transfer chain 5, after direction rotor 132 was touch to the front end of plank 1, rotated direction after being stirred by rotatory direction rotor 132, plank 1 rear end is guided by arc leading truck 131, moves to the middle of third transfer chain 6 gradually, and because the forward transport of third transfer chain 6 self, the direction of plank 1 changes gradually.

The end of the third conveyor line 6 abuts against a fourth conveyor line 16, the conveying direction of the fourth conveyor line 16 is perpendicular to the conveying direction of the third conveyor line 6, and the boards 1 are conveyed on the fourth conveyor line 16 in a direction substantially in the width direction, or slightly inclined, without affecting the subsequent processes.

The start end of the fourth transport line 16 has a vision system 14 for dynamically monitoring information on the plane angle, front and back sides, length and the like of the board 1 being transported in the lateral direction, and the side having the mark is determined as the front side and the other side as the back side, based on the ink-jet marking performed on the board 1 at the time of color selection. Referring to fig. 7, the vision system 14 is installed in a dark color light box 141, and components such as a lens 142 and a light source 143 are installed in the dark color light box 141, and the information of the picture taken by the lens 142 is transmitted to the robot gripper of the subsequent process.

Two robot grippers are arranged on the side face of the fourth conveying line 16 in parallel, the delta robots 12 are adopted in the embodiment of the invention, each delta robot 12 corresponds to one sorting bin 7, each sorting bin 7 is provided with four stations which are divided into two front stations (with the mark surfaces facing upwards) and two back stations (with the mark surfaces facing downwards), a wood board 1 with an upward color selection mark and a wood board 1 with a downward color selection mark are respectively and correspondingly placed, and two forward stations and two reverse stations are respectively designed to play a role in caching.

Referring to fig. 5, the boards 1 are conveyed one by one in parallel in the length direction on the second conveying line 5, the boards 1 need to be separated by a certain distance when the boards 1 are grabbed by the vision system 14 monitoring data and the delta robot, and the discharging capacity in unit time is improved, so that the boards are conveyed in the width direction instead of the length direction through the cooperation of the second conveying line 5, the third conveying line 6 and the fourth conveying line 16, and the boards are automatically separated by the distance. The delta robot 12 grabs the plank 1 on the fourth conveying line 16 through the sucking disc gripper, and two delta robots 12 are in coordination with each other to grab the plank 1, so that the work efficiency is improved, for example, the first delta robot 12 grabs the 1 st, 3 rd, 5 th, 7 th, 9 th planks 1 to the first sorting bin 7, and the second delta robot 12 grabs the 2 nd, 4 th, 6 th, 8 th, 10 th planks 1 to the second sorting bin 7.

Referring to fig. 8 and 9, each sorting bin 7 includes a bin bottom frame 71, four stations are arranged on the bin bottom frame 71 in parallel, each station includes a stacking bin 72 and a material taking bin 73, the stacking bin 72 is a space formed by two first partition plates 74 arranged oppositely, a second driving motor 75 is installed on the bin bottom frame 71, a screw nut pair 76 is connected to an output shaft of the second driving motor 75, a stacking bottom plate 77 is fixed to a nut of the screw nut pair 76, the stacking bottom plate 77 extends into the stacking bin 72, a first guide block 79 is also fixedly connected to the stacking bottom plate 77, a first guide rail 710 arranged in parallel with a screw of the screw nut pair 76 is further arranged on the bin bottom frame 71, the first guide block 79 is slidably connected to the first guide rail 710, a material pushing cylinder 711 is further installed on the bin bottom frame 71 outside the stacking bin 72, an output end of the material pushing cylinder 711 is connected to a material pushing plate 78, when the stacking base plate 77 is at the lower limit position, the lowest end of the material pushing plate 78 is located above the stacking base plate 77, and the material pushing plate 78 can push the entire stack of wood boards 1 against the upper surface of the stacking base plate 77. Two second partition plates 713 which are oppositely arranged are correspondingly arranged behind the first partition plate 74 on each station, a material taking space 725 for the material taking claw 10 to enter is formed between the first partition plate 74 and the second partition plate 713, a space formed by the rear part of the first partition plate 74 and the second partition plate 713 is the material taking bin 73, so that the material taking claw 10 conveniently enters the material taking space 725, and the height of the material taking bins 73 of the two stations in the middle is 2 times or more than that of the material taking bins 73 of the two stations.

The first partition 74 at the upper end of each of the stacker bins 72 is also provided with a second photoelectric sensor 714 for detecting whether a wood board 1 is placed in the stacker bin 72.

Referring to fig. 8 and 9, the material taking mechanism is divided into a first material taking mechanism for taking materials from stations on two sides and a second material taking mechanism for taking materials from the middle mechanism, and the first material taking mechanism comprises: the first material supporting platform 715 and the second material supporting platform 716 of both sides around getting material space 725 are set up, and the height of first material supporting platform 715 and second material supporting platform 716 is the same with the lower limit position of windrow bottom plate 77, is provided with the tongs in the middle of first material supporting platform 715 and second material supporting platform 716 and dodges the mechanism, and the tongs dodges the mechanism and includes: the material storage device comprises an avoidance cylinder arranged on the stock bin underframe 71, a third material support table 718 arranged at the output end of the avoidance cylinder, a guide sleeve 726 arranged on the stock bin underframe 71 and a second guide rail 719 connected in the guide sleeve 726 in a sliding manner.

The second material taking mechanism comprises: the lifting support 720 is fixedly installed on the stock bin underframe 71 and located behind the second partition 713, a lifting push rod 721 is installed on the lifting support 720, the output end of the lifting push rod 721 is fixedly connected with a fourth material supporting table 722, a third guide rail 723 is vertically arranged on the lifting support 720, and the fourth material supporting table 722 is slidably connected on the third guide rail 723. Referring to fig. 17, a position corresponding to the material taking space 725 in the middle of the fourth material supporting table 722 is a material taking groove 7221 into which the material taking claw 10 enters. The second material taking mechanism further comprises a fifth material supporting platform 724 arranged in the material taking bin 73, and when the fourth material supporting platform 722 is located at the lowest position, the fourth material supporting platform 722 and the fifth material supporting platform 724 are in equal-height butt joint.

In order to meet the stacking and taking requirements of wood boards 1 with different widths, each first partition 74 and each second partition 713 are slidably connected to the bin underframe 71 or the lifting bracket 720 fixedly connected to the bin underframe 71 through a guide rail and slider mechanism.

With reference to fig. 1 and 10, the stacked boards 1 are taken by the taking claw 10 installed on the mechanical arm 15, the mechanical arm 15 in this embodiment is a six-axis mechanical arm, the taking claw 10 includes a taking frame 101 installed on the mechanical arm 15 and two claw assemblies symmetrically installed on the taking frame 101, and each claw assembly includes a fixed taking plate 102 installed on the taking frame 101, a fourth guide rail 103 arranged on the taking frame 101, a taking cylinder 104 installed on the taking frame 101, and a movable taking plate 105 connected to an output end of the taking cylinder 104 and sliding along the fourth guide rail 103.

Specifically, the delta robot 12 grabs the wood boards 1 from the fourth conveying line 16 by means of the suction cup gripper and puts them into the stacking bin 72, in the initial position, all the stacking floors 77 are located at the uppermost end of the stacking bin 72, and each time one wood board 1 is placed on each stacking floor 77, the second photoelectric sensor 714 on the corresponding material piling bin 72 will send the detected result to the controller, and the controller will control the corresponding second driving motor 75 to rotate, so as to drive the material piling bottom plate 77 to move downwards by the thickness of one wood board 1 until the material piling bin 72 is full, the material piling bottom plate 77 is located at the lower limit position, at this time, the material pushing cylinder 711 pushes the material pushing plate 78, the pushing plate 78 pushes the entire stack of wood boards 1 to move towards the material taking bin 73, and the entire stack of wood boards 1 is pushed onto the first material supporting table 715, the second material supporting table 716 and the third material supporting table 718 or the entire stack of wood boards 1 is pushed onto the fourth material supporting table 722 and the fifth material supporting table 724;

when the wood boards 1 on the stations at two sides need to be taken, firstly, the avoidance cylinder drives the third material supporting table 718 to move downwards, the whole stack of wood boards 1 is lapped on the first material supporting table 715 and the second material supporting table 716, a material taking gap into which the fixed material taking plate 102 can extend is formed between the first material supporting table 715 and the whole stack of wood boards 1, the fixed material taking plate 102 of the material taking clamping jaw 10 is inserted into the material taking gap, meanwhile, the movable material taking plate 105 is located above the whole stack of wood boards 1, at the moment, the material taking cylinder 104 drives the movable material taking plate 105 to move downwards to compress the whole stack of wood boards 1, and then the six-axis mechanical arm 15 drives the material taking clamping jaw 10 to convey the whole stack of wood boards 1 to the turnover basket 9 in the subsequent process.

When the wood boards 1 on the two middle stations need to be taken; the material pushing plate 78 pushes the whole stack of wood boards 1 to the fourth material supporting platform 722 and the fifth material supporting platform 724, the lifting push rod 721 drives the fourth material supporting platform 722 to move upwards to a position above the material taking bins 73 of the stations on two sides, then the mechanical arm 15 drives the fixed material taking plate 102 of the material taking clamping jaw 10 to be inserted into the material taking groove 7221 of the fourth material supporting platform 722, meanwhile, the movable material taking plate 105 is located above the whole stack of wood boards 1, the material taking cylinder 104 drives the movable material taking plate 105 to move downwards to press the top of the whole stack of wood boards 1, the material taking cylinder 104 drives the movable material taking plate 105 to move downwards to press the whole stack of wood boards 1, and then the mechanical arm 15 drives the material taking clamping jaw 10 to convey the whole stack of wood boards 1 to the turnover basket 9 in.

The robot gripper alternately places the wood boards 1 with the upward marks in the two front stations and places the wood boards 1 with the downward marks in the two back stations, so that time is reserved for the first motor to drive the stacking bottom plate 77 to move downwards.

Referring to fig. 13, each turnover basket 9 has 8 stations corresponding to 8 stations of the sorting bin 7, and after the six-axis mechanical arm 15 grabs the whole stack of boards 1, the boards 1 are rotated by 90 degrees and are changed from vertical stacking to transverse stacking, the whole stack of boards 1 are transversely arranged in each station of the turnover basket 9, and multiple layers of the whole stack of boards 1 can be arranged in each station.

There are 8 stations that hold plank 1 that 2 x 4 arranged in turnover basket 9, separate through station baffle 95 between two stations of every row, the last blowing space 96 that supplies activity to get flitch 105 or fixed flitch 102 male that gets of station baffle 95 has, the lower extreme of turnover basket 9 has the sliding plate 94 that corresponds respectively with four limits, four angles of the bottom of turnover basket 9 have supporting legs 97, four angles on turnover basket 9 top have the butt joint groove 98 that corresponds respectively with four supporting legs 97, butt joint groove 98 is the space that forms by two swash plates that lean out, still have spliced eye 99 between sliding plate 94 and the turnover basket 9.

The turnover basket 9 further comprises a station width adjusting mechanism, the station width adjusting mechanism comprises a second guide block 91 fixed on the side wall of the turnover basket 9, a guide rod 92 connected in the second guide block 91 in a sliding manner, a jacking block 93 connected to the end part of the guide rod 92 and an adjusting spring sleeved on the guide rod 92, and two ends of the adjusting spring are respectively jacked between the jacking block 93 and the second guide block 91. The width adjusting mechanism can adapt to the whole stack of wood boards 1 with different thicknesses, and the wood boards 1 are prevented from shaking or falling in the turnover basket 9.

Referring to fig. 11-16, the present embodiment further includes a transfer basket conveying system 8, and the transfer basket conveying system 8 is divided into five stations, namely, an empty basket loading station 831 for stacking a plurality of transfer baskets 9, a basket disassembling station 832 for disassembling one of the transfer baskets 9, a basket loading station 833 for loading boards 1 into the transfer baskets 9, a basket stacking station 834 for stacking the transfer baskets 9 filled with boards 1, and an unloading station 835. The basket conveying line of the basket conveying track system is a plurality of driving rollers 830 driven by chains, and the driving rollers 830 rotate to drive the sliding plate 94 of the turnover basket 9 to move, so as to drive the turnover basket 9 to move forwards.

The positioning of each station is realized on the basket-loading roller way line through a positioning mechanism 81, referring to fig. 16, the positioning mechanism 81 comprises: the positioning device comprises a positioning mounting rack 811 arranged on the basket-loading track system, a positioning cylinder 812 arranged on the positioning mounting rack 811, a positioning block 814 connected to the output end of the positioning cylinder 812 and a positioning guide 813 arranged on the positioning mounting rack 811, wherein the positioning block 814 is connected with the positioning guide 813 in a sliding manner. The positioning cylinder 812 pushes the positioning block 814 to be lifted to block the movement of the turnover basket 9, so that the turnover basket 9 can be positioned at different stations.

Referring to fig. 14 and 15, basket splitting position 832 and basket stacking position 834 are realized by matching basket inserting mechanism 82 and basket lifting mechanism to split and stack baskets, the basket lifting mechanism is a scissor type lifting frame 84 arranged in the middle of a basket loading conveying line, the basket lifting mechanism can directly push a turnover basket 9 through an air cylinder, the basket inserting mechanism 82 is symmetrically arranged on the left side and the right side of the basket splitting position 832 and the basket stacking position 834, and the basket inserting mechanism 82 comprises: basket inserting brackets 821 installed on the left side and the right side of a rack of the basket loading conveying line, a basket inserting cylinder 822 installed on the basket inserting brackets 821, a basket inserting plate 823 connected to the output end of the basket inserting cylinder 822 and a basket inserting guide rail 824 fixed on the basket inserting brackets 821, wherein the basket inserting plate 823 is connected with the basket inserting guide rail 824 in a sliding mode. The front end of the insertion basket plate 823 is provided with two tentacles 825, and the tentacles 825 extend into the insertion hole 99 to lift the turnaround basket 9.

Specifically, at the empty basket feeding station, a plurality of empty baskets are stacked together manually and placed on a basket loading conveying line, then the stacked empty baskets are driven by a driving roller 830 to move to a basket detaching position 832, taking stacking of three turnover baskets 9 as an example, a lowermost turnover basket 9 is detached from the basket detaching position 832, firstly, the scissor-type lifting frame 84 pushes the three turnover baskets 9 to move upwards together, so that the plug-in hole 99 of the middle turnover basket 9 moves to the position of the tentacle 825 of the plug-in plate 823, the basket-inserting cylinder 822 pushes the plug-in plate 823 to extend out to the turnover basket 9, so that the tentacle 825 extends into the plug-in hole 99, the suspended state of the uppermost turnover basket 9 and the middle turnover basket 9 is maintained, then, the scissor-type lifting frame 84 drives the lowermost turnover basket 9 to move downwards to the driving roller 830, under the conveying action of the driving roller 830, the lowermost turnover basket 9 moves to the basket 833, and the lifting frame 84 moves upwards again to receive the upper turnover basket 9, basket inserting mechanism 82 releases transfer basket 9 and scissor lift 84 then descends again until the bottom of the middle transfer basket 9 contacts drive roller 830.

The basket stacking process of the basket stacking position 834 is as follows: at a basket stacking position 834, the turnover basket 9 on the conveying roller 830 is lifted by the basket lifting mechanism, the turnover basket 9 is suspended and inserted by a basket inserting plate 823, then the scissor type lifting frame 84 retracts below the driving roller 830, at the moment, the positioning block 814 of the positioning mechanism 81 descends to enable another turnover basket 9 filled with wood boards 1 to be conveyed to the basket stacking position 834 through the driving roller 830, the scissor type lifting frame 84 is lifted to jack the turnover basket 9 on the driving roller to be abutted with the suspended turnover basket 9 again, then the basket inserting plate 823 retracts, the scissor type lifting frame 84 descends again, and the stacked turnover basket 9 is placed on the driving roller 830.

Stacking positions 834 stacked totes 9 continue to be conveyed to discharge position 835.

The sorting and basket loading process of the embodiment of the invention comprises the following steps: firstly, the wood boards 1 are respectively loaded into 2 front stations and 2 back stations of the corresponding sorting bins 7 through two delta robots 12, after the wood boards 1 at a certain station are filled, the six-axis mechanical arm 15 drives the material taking clamping jaws 10 to get the whole stack of wood boards 1 from the sorting bins 7, in order to accelerate the material taking speed of the material taking clamping jaws 10, the material taking clamping jaws 10 are provided with two clamping jaw assemblies, and after the two clamping jaw assemblies take the whole stack of wood boards 1, the whole stack of wood boards 1 are turned by 90 degrees and are respectively placed into the stations in the turnover basket 9.

The flexible intelligent sorting method for the woodworking industry provided by the embodiment of the invention comprises the following steps:

s1, placing the wood board 1 after color selection and classification marking into a receiving machine 2, and turning the wood board 1 to a first conveying line 3 by the receiving machine 2;

s2, the wood boards 1 are conveyed into the centrifuge 4 by the first conveying line 3, the single wood boards 1 are thrown out of the wood board outlet onto the second conveying line 5 through the centrifugal action of the centrifuge 4, and the wood boards 1 are conveyed on the second conveying line 5 along the length direction of the wood boards 1;

s3, the wood board 1 is conveyed to the third conveyor line 6 through the second conveyor line 5 and then to the fourth conveyor line 16, and the wood board 1 is conveyed along the width direction of the wood board 1 on the third conveyor line 6 and the fourth conveyor line 16; dynamically monitoring the plane angle, the front side, the back side and the length dimension of the wood board 1 on a fourth conveying line 16 through a vision system 14, and transmitting the monitored data to a robot gripper;

s4, the robot gripper grips the wood board 1 on the fourth conveying line 16 according to the received monitoring data, adjusts the angle and then puts the wood board into the front side station or the back side station of the sorting bin 7; the two robot grippers alternately grab and place the wood boards 1 on the fourth conveying line 16 into the corresponding sorting bins 7, and two front stations and two back stations are arranged in each sorting bin 7;

s5, the material taking claw 10 takes out the wood boards 1 in the whole stack in the station of the sorting bin 7 and puts the wood boards into the corresponding station in the turnover basket 9.

The flexible intelligent sorting line provided by the embodiment of the invention can finish sorting and arranging 7200 materials every hour, can finish sorting and arranging operation of 57600 materials every 8 hours, greatly improves the sorting efficiency and saves the labor cost compared with manual sorting.

The vision system 14 of the production line adopts a high-definition vision detection system, and a special detection algorithm is applied, so that the error rate of false detection is extremely low.

The running state and data of each sub-device in the production line are fed back in real time, so that centralized management and integral scheduling of an intelligent workshop management system are facilitated.

It should be understood that the above-described specific embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Obvious variations or modifications which are within the spirit of the invention are possible within the scope of the invention.

Claims

1. A turnover basket conveyor system, characterized by: the device comprises an empty basket loading position (831) which is arranged on a basket loading conveying line and used for stacking a plurality of turnover baskets (9), a basket disassembling position (832) used for disassembling one turnover basket (9), a basket loading position (833) used for loading a whole stack of wood boards (1) into the turnover basket (9), a basket stacking position (834) used for stacking the turnover baskets (9) filled with the wood boards (1) and a discharging position (835); each station is provided with a positioning mechanism (81) for blocking the turnover basket (9), and the basket disassembling position (832) and the basket stacking position (834) realize the basket disassembling and the basket stacking through the cooperation of a basket inserting mechanism (82) and a basket lifting mechanism; basket inserting mechanisms (82) are symmetrically arranged on the left side and the right side of the basket disassembling position (832) and the basket stacking position (834), and the basket inserting mechanisms (82) comprise: basket inserting supports (821) arranged on the left side and the right side of a rack of the basket loading conveying line, a basket inserting cylinder (822) arranged on the basket inserting supports (821), and a basket inserting plate (823) connected to the output end of the basket inserting cylinder (822); the front end of the basket inserting plate (823) is provided with two tentacles (825), and the tentacles (825) extend into the turnover basket (9) to lift the turnover basket (9).

2. The transfer basket delivery system of claim 1, wherein: a basket inserting guide rail (824) is fixed on the basket inserting bracket (821), and the basket inserting plate (823) is connected with the basket inserting guide rail (824) in a sliding mode.

3. The transfer basket delivery system of claim 1, wherein: the lower end of the turnover basket (9) is provided with sliding plates (94) corresponding to four sides respectively, four corners of the bottom end of the turnover basket (9) are provided with supporting feet (97), four corners of the top end of the turnover basket (9) are provided with butt joint grooves (98) corresponding to the four supporting feet (97) respectively, the butt joint grooves (98) are spaces formed by two inclined plates inclining outwards, and plug-in holes (99) are further formed between the sliding plates (94) and the turnover basket (9).

4. The transfer basket delivery system of claim 3, wherein: 2-4 arranged 8 stations for containing wood boards are arranged in the turnover basket (9), two stations in each row are separated by a station partition plate (95), and a material placing space (96) for inserting a movable material taking plate (105) or a fixed material taking plate (102) is formed in the station partition plate (95).

5. The transfer basket delivery system of claim 4, wherein: turnover basket (9) still have the station and transfer wide mechanism, the station is transferred wide mechanism and is including fixing second guide block (91), sliding connection on turnover basket (9) lateral wall are in guide bar (92) in second guide block (91), connection be in tight piece (93) and the cover of top of guide bar (92) tip are established adjusting spring on guide bar (92), adjusting spring's both ends are tight in top respectively tight piece (93) with between second guide block (91).

6. The transfer basket delivery system of claim 2, wherein: the basket conveying line is a plurality of driving rollers (830) driven by chains, and the sliding plates (94) of the turnover baskets (9) are driven to move by the rotation of the driving rollers (830).

7. The transfer basket delivery system of claim 6, wherein: the positioning mechanism (81) includes: location mounting bracket (811), install location cylinder (812) on location mounting bracket (811), connect locating piece (814) and setting of location cylinder (812) output are in location guide rail (813) on mounting bracket (811), locating piece (814) with location guide rail (813) sliding connection.

8. The transfer basket delivery system of claim 6, wherein: the basket lifting mechanism is a scissor type lifting frame (84) arranged in the middle of the basket loading conveying line.

9. A wood racking system characterized by: the material taking device comprises a turnover basket conveying system, a mechanical arm (15) arranged beside the turnover basket conveying system and a material taking clamping jaw (10) arranged at the end part of the mechanical arm (15); the material taking clamping jaw (10) comprises a material taking frame (101) arranged on the mechanical arm (15) and two clamping jaw assemblies symmetrically arranged on the material taking frame (101), wherein each clamping jaw assembly comprises a fixed material taking plate (102) arranged on the material taking frame (101), a fourth guide rail (103) arranged on the material taking frame (101), a material taking cylinder (104) arranged on the material taking frame (101) and a movable material taking plate (105) connected to the output end of the material taking cylinder (104) and sliding along the fourth guide rail (103).

10. A method for putting wood plates into a basket is characterized by comprising the following steps: the method comprises the following steps:

s2, the driving roller (830) drives the stacked empty basket to move to a basket detaching position (832), the basket detaching position (832) detaches one transfer basket (9) at the lowest layer, firstly, the basket lifting mechanism pushes the stacked transfer basket (9) to move upwards together, the plug-in hole (99) of the second transfer basket (9) from bottom to top moves to the position of the tentacle (825) of the plug-in basket plate (823), the basket plug-in cylinder (822) pushes the plug-in basket plate (823) to extend towards the transfer basket (9), the tentacle (825) extends into the plug-in hole (99) to keep the suspended state of the transfer basket (9) at the upper layer, then, the basket lifting mechanism drives the transfer basket (9) at the lowest layer to move downwards to the driving roller (830), under the conveying action of the driving roller (830), the transfer basket (9) at the lowest layer moves to a basket installing position (833), and meanwhile, the lifting mechanism moves upwards again to receive the transfer basket (9) at the upper part of the transfer basket, the basket inserting mechanism (82) releases the turnover basket (9), and then the basket lifting mechanism descends again until the bottom of the turnover basket (9) is contacted with the driving roller (830);

s3, after the turnover basket (9) moves to a basket loading position (833), the material taking clamping jaws (10) transversely arrange the whole stack of wood boards grabbed by the clamping jaw assemblies on one side in a station of the turnover basket (9), and then turn over for 180 degrees to transversely arrange the whole stack of wood boards grabbed by the clamping jaw assemblies on the other side in a station of the turnover basket (9);

s4, in a basket stacking position (834), lifting the turnover basket (9) on the conveying roller (830) through the basket lifting mechanism, hanging and inserting the turnover basket (9) through a basket inserting plate (823), then retracting the basket lifting mechanism below the driving roller (830), descending a positioning block of the positioning mechanism at the moment to enable another turnover basket (9) filled with the wood board (1) to be conveyed to the basket stacking position (834) through the driving roller (830), lifting the basket lifting mechanism again to jack up the turnover basket (9) on the driving roller to be in butt joint with the hanging turnover basket (9), then retracting the basket inserting plate (823), and lowering the basket lifting mechanism again to place the stacked turnover basket (9) on the driving roller (830);

s5, the stacked turnover baskets (9) are conveyed to the discharge position (835).