CN112871698B

CN112871698B - Flexible intelligent sorting line and sorting method for woodworking industry

Info

Publication number: CN112871698B
Application number: CN202011565620.1A
Authority: CN
Inventors: 鲍伟
Original assignee: Zhichang Technology Group Co ltd
Current assignee: Zhichang Technology Group Co ltd
Priority date: 2020-12-25
Filing date: 2020-12-25
Publication date: 2022-04-05
Anticipated expiration: 2040-12-25
Also published as: CN112871698A

Abstract

The invention belongs to the technical field of woodworking, and particularly relates to a flexible intelligent sorting line and a sorting method in the woodworking industry, wherein the sorting line comprises the following components: the automatic basket loading machine comprises a material receiving machine, a first conveying line, a centrifugal machine, a second conveying line, a third conveying line, a fourth conveying line, a vision system, a robot gripper, a sorting bin, a material taking claw and a basket loading roller way system which are sequentially arranged; the sorting method comprises the following steps: the receiving machine turns over the wood boards to the first conveying line, the single arranged wood boards are thrown out through the centrifugal machine, the conveying direction of the wood boards is changed from length direction conveying to width direction conveying through the third conveying line, the plane angle, the front side, the back side and the length size of the wood boards are monitored through the vision system, the robot gripper places the wood boards into different stations in the sorting bin in a front-back mode, and the material taking gripper takes out the whole stack of wood boards and places the wood boards into the turnover basket. The invention flexibly and intelligently completes the steps of classification and arrangement of the boards after color selection and marking, has high sorting efficiency, is not easy to make mistakes, and can be compatible with the sorting work of boards with various specifications.

Description

Flexible intelligent sorting line and sorting method for woodworking industry

Technical Field

The invention belongs to the technical field of woodworking, and particularly relates to a flexible intelligent sorting line and a sorting method in the woodworking industry.

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.

Disclosure of Invention

The invention aims to overcome the defects of low manual sorting efficiency and easiness in placing and mixing the front and the back of wood blocks in the prior art, and provides a flexible intelligent sorting line and a flexible intelligent sorting method for the woodworking industry, which have high sorting efficiency and low sorting error rate.

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

the utility model provides a flexible intelligent letter sorting line of carpenter's trade which characterized in that: the method comprises the following steps:

the receiving machine is used for receiving the wood board;

the first conveying line is in butt joint with the material receiving machine, and the material receiving machine turns the wood board to the first conveying line;

the centrifugal machine is butted with the first conveying line, and a wood plate outlet is formed in a tangent line of the edge of the centrifugal machine;

the second conveying line is in butt joint with the wood plate outlet of the centrifuge;

the third conveying line is butted with the rear end of the second conveying line and is vertical to the conveying direction of the second conveying line;

the fourth conveying line is butted with the rear end of the third conveying line and is vertical to the conveying direction of the third conveying line;

the vision system is arranged at the rear end of the fourth conveying line and is used for dynamically monitoring the angle, the front and back surface state and the length size of the wood board;

receiving monitoring data of the vision system and grabbing a robot gripper of the wood board on a fourth conveying line according to the monitoring data;

the robot gripper is used for storing the grabbed wood boards into the sorting bin;

the material taking clamping jaw takes out the whole stack of wood boards from the sorting bin and puts the wood boards into the turnover basket.

Further, the robot gripper is two delta robots arranged in parallel.

Furthermore, the basket loading roller way system is used for operating the turnover basket.

Furthermore, each delta robot is correspondingly provided with a sorting bin, and each sorting bin is provided with four stations for storing the whole stack of wood boards, namely two front stations for storing the wood boards with the color selection marks upward and two back stations for storing the wood boards with the color selection marks downward.

Furthermore, set up 8 stations in the turnover basket, it is corresponding with 8 stations of letter sorting feed bin respectively, whole pile of plank in a station of letter sorting feed bin is put into same station in the turnover basket.

Furthermore, 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.

Further, still be provided with gesture guiding mechanism on the third transfer chain, gesture guiding mechanism is in including fixing arc leading truck and the setting on the support of third transfer chain to the direction rotor of second transfer chain just above the third transfer chain, the arc leading truck begins to extend to the direction of delivery of the middle part of third transfer chain and third transfer chain from the right side of second transfer chain.

Furthermore, the automatic wood board loading and unloading device further comprises an AGV trolley used for loading and transporting the wood boards loaded with the color selecting classification marks, wherein the wood boards are placed in the material basket and conveyed to the material receiving machine by the AGV trolley; the outer symmetry of material basket left and right sides is provided with basket guide rail, connect the material machine to include: connect the material frame, install connect first driving motor in the material frame, connect and connect material driving sprocket on the first driving motor output shaft, through chain drive with connect material driving sprocket to connect material driven sprocket, with connect the stirring pivot of the coaxial setting of material driven sprocket and with fixed connection two parallel arrangement's each other stirring arm at stirring pivot both ends, the inboard of stirring arm have with the corresponding basket guide way of basket guide track, the basket guide way becomes to be listed as and installs a plurality of slide rollers that are used for reducing basket guide track motion resistance.

The invention also discloses a flexible intelligent sorting method in the woodworking industry, which is characterized by comprising the following steps: the method comprises the following steps:

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

s2, conveying the wood boards to a centrifuge through the first conveying line, throwing the single wood boards out of the wood board outlet to a second conveying line through the centrifugal action of the centrifuge, and conveying the wood boards along the length direction of the wood boards on the second conveying line;

s3, conveying the wood boards to a third conveying line through a second conveying line, and then conveying the wood boards to a fourth conveying line, wherein the wood boards are conveyed along the width direction of the wood boards on the fourth conveying line; dynamically monitoring the plane angle, the front side, the back side and the length of the wood board on the fourth conveying line through a vision system, and transmitting the monitored data to the robot gripper;

s4, the robot gripper grips the wood board on the fourth conveying line 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;

s5, taking out the wood boards stacked in the sorting bin station by the material taking clamping jaws and putting the wood boards into corresponding stations in the turnover basket.

Further, in step S4, the two robot grippers alternately grip the wood boards on the fourth conveying line and place the wood boards into corresponding sorting bins, and each sorting bin is provided with two front stations and two back stations.

The flexible intelligent sorting line and the sorting method for the woodworking industry have the beneficial effects that:

1. according to the sorting line, the single wood boards are uniformly output in rows through the centrifugal action of the centrifugal machine, the direction of the wood boards is changed through the third conveying line, the wood boards are conveyed along the width direction of the fourth conveying line, meanwhile, the wood boards are separated from one another by a distance, so that the grabbing of a robot gripper and the monitoring of a vision system are facilitated, the discharging capacity in unit time is improved, the front and back sides of the wood boards are placed into the sorting bin through the robot gripper, and the stacked wood boards in the sorting bin are taken out and placed into the turnover basket through the material taking gripper.

2. Accelerate work efficiency through setting up two robot tongs collaborative work, the letter sorting feed bin sets up 8 stations simultaneously and supplies the robot tongs to deposit the plank, and all sets up two positive stations and two reverse side stations through every letter sorting feed bin, realizes the sign and makes progress the plank and the buffer memory of the plank that the sign is down.

3. The invention completes the steps of classification and arrangement of the boards after color selection and marking in an automatic mode, saves partial manpower, has high sorting efficiency and is not easy to make mistakes. The sorting machine can be compatibly applied to sorting work such as front and back sorting and regular sorting of boards with various specifications and sizes, and is high in flexible intelligent degree.

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 three-dimensional structure diagram of a basket-loading roller system according to an embodiment of the present invention;

FIG. 12 is a front view of a basket table system according to an embodiment 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 basket loading roller way 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, a partition plate, 96, a partition plate, a sliding plate, a partition plate, 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 basket loading roller way 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 boards 1 are 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 height of the wood board outlet are adjusted according to the width of the wood board 1, only one wood board 1 is allowed to be thrown out each time, the wood boards 1 are basically uniformly arranged in a single layer after being thrown out from the wood board outlet, and the wood boards 1 are arranged on the second conveying line 5 along the length direction and continuously conveyed forwards. The centrifuge 4 is provided with a first photoelectric sensor 42 for monitoring the amount of the wood boards 1 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 just push the whole stack of wood boards 1 tightly against the upper surface of the stacking base plate. 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 table 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 mounted on the mechanical arm 15, the mechanical arm 15 in this embodiment is a six-axis mechanical arm 15, the taking claw 10 includes a taking frame 101 mounted on the six-axis mechanical arm 15 and two claw assemblies symmetrically mounted on the taking frame 101, and each claw assembly includes a fixed taking plate 102 mounted on the taking frame 101, a fourth guide rail 103 arranged on the taking frame 101, a taking cylinder 104 mounted 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 entire 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 at two sides, then the six-axis mechanical arm 15 drives the fixed material taking plate 102 of the material taking claw 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 entire stack of wood boards 1, the material taking cylinder 104 drives the movable material taking plate 105 to move downwards to compress the upper part of the entire 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 entire stack of wood boards 1, and then the six-axis mechanical arm 15 drives the material taking claw 10 to convey the entire stack of wood boards 1 to the turnover basket 9 in the subsequent process.

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 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 tightening block 93 connected to the end part of the guide rod 92 and an adjusting spring sleeved on the guide rod 92, wherein two ends of the adjusting spring are respectively tightly pressed between the tightening 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 basket loading roller system 8, and the basket loading roller system 8 is divided into five stations, namely an empty basket loading station 831 for stacking a plurality of turnover baskets 9, a basket disassembling station 832 for disassembling one of the turnover baskets 9, a basket loading station 833 for loading the wood boards 1 into the turnover baskets 9, a basket stacking station 834 for stacking the turnover baskets 9 filled with the wood boards 1, and a discharge 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 on the basket-loading conveying line is realized by a positioning mechanism 81, and referring to fig. 16, the positioning mechanism 81 comprises: the positioning device comprises a positioning installation frame 811 arranged on a rack of the basket-loading conveying line, a positioning cylinder 812 arranged on the positioning installation frame 811, a positioning block 814 connected to the output end of the positioning cylinder 812 and a positioning guide rail 813 arranged on the positioning installation frame 811, wherein the positioning block 814 is in sliding connection with the positioning guide rail 813. 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, the basket detaching position 832 and the basket stacking position 834 are realized by matching the basket inserting mechanism 82 and a basket lifting mechanism, the basket lifting mechanism is a shear type lifting frame 84 arranged in the middle of the basket loading roller conveyor line, the basket inserting mechanisms 82 are symmetrically arranged on the left side and the right side of the basket detaching position 832 and the basket stacking position 834, and the basket inserting mechanisms 82 comprise: basket inserting brackets 821 installed on the left side and the right side of a frame of a basket loading rail system, 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.

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. The utility model provides a flexible intelligent letter sorting line of carpenter's trade which characterized in that: the method comprises the following steps:

a receiving machine (2) for receiving the wood board (1);

the first conveying line (3) is in butt joint with the material receiving machine (2), and the material receiving machine (2) turns the wood board (1) onto the first conveying line (3);

the centrifugal machine (4) is butted with the first conveying line (3), and a wood plate outlet is formed in the tangent line of the edge of the centrifugal machine (4);

a second conveying line (5) butted with a wood plate outlet of the centrifuge (4);

the third conveying line (6) is in butt joint with the rear end of the second conveying line (5) and is vertical to the conveying direction of the second conveying line;

a fourth conveying line (16) which is butted with the rear end of the third conveying line (6) and is vertical to the conveying direction of the third conveying line;

the vision system (14) is arranged at the rear end of the fourth conveying line (16) and is used for dynamically monitoring the angle, the front and back surface state and the length size of the wood board (1);

receiving monitoring data of the vision system (14) and grabbing the robot gripper of the wood board (1) on the fourth conveying line (16) according to the monitoring data;

the sorting bin (7) is used for stacking and storing the wood boards (1), and the robot gripper stores the grabbed wood boards (1) into the sorting bin (7);

the wood board sorting machine comprises a mechanical arm (15) and a material taking clamping jaw (10) arranged on the mechanical arm (15), wherein the material taking clamping jaw (10) takes out a whole stack of wood boards (1) from a sorting bin (7) and puts the wood boards into a turnover basket (9);

still be provided with gesture guiding mechanism (13) on third transfer chain (6), gesture guiding mechanism (13) are in including fixing arc leading truck (131) on the support of third transfer chain (6) and setting third transfer chain (6) top just to direction rotor (132) of second transfer chain (5), arc leading truck (131) begin to extend to the direction of delivery of the middle part of third transfer chain (6) and third transfer chain (6) from the right side of second transfer chain (5).

2. The woodworking flexible intelligent sorting line of claim 1, wherein: the robot gripper is two delta robots (12) arranged in parallel.

3. The woodworking flexible intelligent sorting line of claim 1, wherein: and the basket loading roller way system (8) is used for operating the turnover basket (9).

4. The woodworking flexible intelligent sorting line of claim 2, wherein: each delta robot (12) is correspondingly provided with a sorting bin (7), and each sorting bin (7) is provided with four stations for storing the whole stack of wood boards (1), namely two front stations for storing the wood boards (1) with the color selection marks upward and two back stations for storing the wood boards (1) with the color selection marks downward.

5. The woodworking flexible intelligent sorting line of claim 4, wherein: set up 8 stations in turnover basket (9), it is corresponding with 8 stations of letter sorting feed bin (7) respectively, whole pile of plank (1) in a station of letter sorting feed bin (7) is put into same station in turnover basket (9).

6. The woodworking flexible intelligent sorting line of claim 1, wherein: 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).

7. The woodworking flexible intelligent sorting line of claim 1, wherein: the wood board collecting device also comprises an AGV trolley used for shipping the wood boards (1) after the color selecting classification marks, wherein the wood boards (1) are placed in the material basket (11) and are conveyed to the material receiving machine (2) by the AGV trolley; the outward symmetry of charging basket (11) left and right sides is provided with basket guide rail (111), connect material machine (2) to include: connect material frame (21), install connect first driving motor (22), connection on material frame (21) connect material driving sprocket (23), through chain drive with connect material driven sprocket (24) that material driving sprocket (23) are connected, with connect the stirring pivot (25) of the coaxial setting of material driven sprocket (24) and with fixed connection be in two stirring arm (26) of parallel arrangement each other at stirring pivot (25) both ends, the inboard of stirring arm (26) have with the corresponding basket guide way (27) of basket guide track (111), basket guide way (27) are listed as and are installed a plurality of slide rollers (29) that are used for reducing basket guide track (111) moving resistance.

8. The woodworking flexible intelligent sorting method of the woodworking flexible intelligent sorting line of claim 1, wherein: the method comprises the following steps:

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

s2, the wood boards (1) are conveyed into a centrifuge (4) by the first conveying line (3), the wood boards (1) are thrown out of a wood board outlet to a 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, conveying the wood boards (1) to a third conveying line (6) through a second conveying line (5) and then to a fourth conveying line (16), wherein the wood boards (1) are conveyed on the fourth conveying line (16) along the width direction of the wood boards (1); dynamically monitoring the plane angle, the front side, the back side and the length dimension of the wood board (1) on the fourth conveying line (16) through a vision system (14), and transmitting the monitored data to the 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);

s5, taking out the wood boards (1) which are stacked in the station of the sorting bin (7) by the material taking claw (10) and placing the wood boards into the corresponding station in the turnover basket (9).

9. The woodworking flexible intelligent sorting method of claim 8, wherein: in the step S4, 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 each sorting bin (7) is internally provided with two front stations and two back stations.