CN113735023B - Timber carrying robot and timber carrying operation method - Google Patents

Abstract

A timber conveying robot and a timber conveying operation method relate to the technical field of robots. The timber transfer robot comprises a lower frame assembly, an upper frame assembly, a timber clamping assembly and a camera; the lower rack assembly comprises a lower rack and an electric roller; the upper rack assembly comprises an upper rack and a lifting driving mechanism; the wood clamping assembly comprises a translation driving mechanism, a clamping turnover mechanism and a wood pushing mechanism; the three cameras are fixedly arranged at the front end and two sides of the upper frame respectively to acquire the visual fields at the front end and two sides of the upper frame. A timber transporting operation method is applied to a timber transporting robot and comprises four operations of clamping high-position timber, unloading the high-position timber, picking up low-position timber and unloading the low-position timber. The invention is used for automatic carrying and unloading operation of wood, greatly lightens the labor intensity of workers compared with manual operation, can realize four operations, and can be applied to most use scenes.

Description

Wood handling robot and wood handling operation method

technical field

The invention relates to the technical field of robots, in particular to a wood handling robot and a wood handling operation method.

Background technique

In furniture manufacturers or wood processing workshops, rod-shaped wood (cylindrical rod or prismatic rod) is the most common production raw material or processed product, which will bring a lot of wood handling operations, and the wood handling operations usually include the process The transfer of wood between rooms and the warehousing and storage of processed wood products, etc.

At present, the above-mentioned wood handling operation is to manually load the rod-shaped wood into the trolley, and then manually push the trolley to the target location for unloading. The above-mentioned wood handling operation has the following deficiencies: 1. The wood is loaded and unloaded manually, which is labor-intensive and time-consuming. When the initial position or target position of the wood to be transferred is at a high position, manual loading/unloading labor The strength is particularly high, and there is still a safety risk of wood falling and injuring people during the loading/unloading process; 2. When the length of the wood exceeds the width of the cart, both ends of the wood will protrude from both sides of the cart , In the process of moving the cart, the porter needs to take into account the surrounding obstacles all the time, so as to avoid bumping at both ends of the wood, which is troublesome.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies of the prior art, and provide a wood handling robot, which solves the problem of manual loading and unloading of the existing wood handling operations, and the problem of high labor intensity, and also solves the problem of the existing wood handling robot. The operation is easy to bump the two ends of the wood during the handling process.

The technical solution of the present invention is: a wood handling robot, including a lower frame assembly, an upper frame assembly, a wood clamping assembly and a camera;

The lower frame assembly includes the lower frame and electric rollers; the lower frame is a rectangular frame with roller installation areas at the four corners of the lower end, and vertically arranged guide rods at the four corners of the upper part; the four electric rollers are respectively rotatable Installed in the four roller mounting areas of the lower rack;

The upper frame assembly includes the upper frame and the lifting drive mechanism; the upper frame is a rectangular frame with sliders at the four corners of the lower end, and the upper frame is slidably installed on the four corners of the lower frame through the sliders at the four corners of the lower end. On the guide rod; the lifting drive mechanism is located between the lower frame and the upper frame, and is used to drive the lower frame to move vertically along the guide rod;

The wood clamping assembly includes a translational drive mechanism, a clamping turning mechanism and a wood push-out mechanism; the translational drive mechanism includes a horizontal rail, a carriage and a cylinder A; two horizontal rails are fixedly installed on both sides of the upper end of the upper frame and arranged parallel to each other ;The slide frame includes a frame, a wood placement seat fixedly installed in the frame, a component mounting plate fixedly connected to one end of the frame, and sliders fixedly installed on both sides of the frame. The slide frame is slidably installed on two horizontal rails through two sliders Between; the two cylinders A are fixedly installed on the two rails, the piston rods of the two cylinders A protrude in the same horizontal direction, and are fixedly connected with the two sliders respectively, and the piston rods of the two cylinders A expand and contract synchronously The carriage is driven to reciprocate and linearly move along two horizontal rails; the clamping and turning mechanism includes a turning frame, a rotating shaft, a motor B, an L-shaped clamp arm, a cylinder B, a motor C, a rubber block and a pressure sensor; the turning frame is T-shaped, It includes a single arm and two oppositely arranged symmetrical arms. The flip frame is rotatably installed on the component mounting plate through the rotating shaft at the end of the single arm; the motor B is fixedly mounted on the component mounting plate, and the motor B’s shaft and the rotating shaft Connect to drive the turning frame to rotate around the shaft; one end of the L-shaped clamp arm is a connecting part, and the other end is a clamping part, the connecting part is provided with a socket, and the clamping part is provided with a mounting hole; the two L-shaped clamping arms are respectively Through the sliding connection between the connecting part and the two symmetrical arms, the clamping parts of the two L-shaped clamping arms are arranged facing each other; the two cylinders B are respectively fixed on the two symmetrical arms, and the piston rods of the two cylinders B are respectively connected to the two The L-shaped clamp arms are connected to drive the L-shaped clamp arms to move along the corresponding symmetrical arms, so that the clamping parts of the two L-shaped clamp arms move away from or approach each other; two motors C are fixedly installed on the two L-shaped clamps respectively. On the clamping part of the arm; two rubber blocks are fixedly connected to the shafts of the two motors C respectively, and are arranged facing each other, and a wood clamping area is formed between the two rubber blocks; two pressure sensors are embedded in the Inside the rubber block; the wood pushing mechanism includes a cylinder C and a push plate; the cylinder C is fixedly installed on the single arm, the piston rod of the cylinder C is arranged parallel to the single arm, and is located directly below the single arm, and the push plate is fixedly connected to the cylinder C On the end of the piston rod, facing the middle of the wood clamping area, it is driven by the cylinder C to extend into or out of the wood clamping area;

Three cameras are fixedly installed on the front end and both sides of the upper frame respectively, so as to obtain the field of view of the front end and both sides of the upper frame.

The further technical solution of the present invention is: the lifting drive mechanism includes a motor A, a nut, a screw, a driving wheel, a driven wheel and a synchronous belt; the motor A is fixedly installed on the lower frame, and the nut is rotatably installed on the lower end of the upper frame , the screw is vertically arranged, the lower end of the screw is rotatably mounted on the lower frame, the upper end is screwed with the nut, the driving wheel is fixed on the shaft of the motor A, and the driven wheel is fixed on the lower end of the screw. The belt is wound between the driving wheel and the driven wheel; there are two groups of lifting driving mechanisms, and the two groups of lifting driving mechanisms jointly provide lifting driving force for the upper frame.

A further technical solution of the present invention is: a component placement plate is provided in the middle of the upper frame, and a component placement area is provided above the component placement plate on the upper frame.

A further technical proposal of the present invention is: symmetrically arranged battery racks are arranged on both sides of the upper part of the lower frame.

The further technical solution of the present invention is: the centers of the four sides at the lower end of the lower frame are respectively provided with light-emitting panels.

The further technical scheme of the present invention is: the lower frame assembly also includes a round bar material shovel supporting device; the round bar material shovel supporting device is arranged at the lower front end of the lower frame; the round bar material shovel supporting device includes a shovel arm and a first Rotary drive mechanism; two shovel arms are respectively hingedly installed on both sides of the front lower part of the lower frame at the rear end, and the two shovel arms are respectively bent upward at 5-10° at the front end; the two sets of first rotary drive mechanisms are installed on the lower machine and are respectively associated with the two shovel arms to drive the corresponding shovel arms to rotate around the hinge at the rear end of the shovel arms.

A further technical solution of the present invention is: the lower frame assembly also includes a trailer device; the trailer device is located at the lower front end of the lower frame; the trailer device includes a hook arm and a second rotating drive mechanism; Hingedly installed on both sides of the front lower part of the lower frame, the two hook arms are respectively bent downward at 90° at the front end; two sets of second rotation drive mechanisms are installed on the lower frame and are respectively associated with the two hook arms to The corresponding hook arm is driven to rotate around the hinge at the rear end of the hook arm.

The technical solution of the present invention is: a wood handling operation method, which is applied to the above-mentioned wood handling robot, including four operations of clamping high-position wood, high-level unloading of wood, picking up low-position wood, and low-level unloading of wood; clamping high-position wood and high-level wood unloading Unloading is a continuous operation from front to back, and picking up low-level wood and low-level unloading of wood are sequential operations from front to back;

The high-position wood refers to: the wood placed in the height range of the lifting and moving of the clamping and turning mechanism; the high-level unloading refers to: the unloading of wood in the height range of the clamping and turning mechanism can be lifted and moved; the low-level Timber refers to: timber placed within the height range where the shovel arm can be shoveled; the low-level unloading refers to: unloading wood within the height range where the shovel arm can be shoveled;

In the above four kinds of operations, the wood is a group of straight rod-shaped wood with two opposite flat end faces, and a group of straight rod-shaped wood is a piece of wood or a plurality of wood with the same size bound into a bundle; In the two operations of high-position wood and high-position unloading of wood, the length of the wood is not shorter than the shortest distance that can be formed between two rubber blocks; in the two operations of picking up low-position wood and low-position unloading of wood, the wood is a cylindrical wood , the length of the wood is not shorter than the distance between the two shovel arms;

Before performing wood handling operations, the wood handling robot is in the initial state, in the initial state:

a. The upper frame is at the lowest position of its movement stroke;

b. The carriage does not exceed the front end of the upper frame;

c. The turning frame is in a horizontal state, and the wood clamping area is facing the rear end of the upper frame;

d. The clamping parts of the two L-shaped clamp arms are in the closest state;

e. The push plate does not enter the wood clamping area;

f. Both the shovel arm and the hook arm are rotated to be vertical;

The method of picking up high-level wood is as follows:

S01, adjust the pose of the robot according to the placement of the first group of wood:

a. Start the motor A to adjust the height of the upper frame so that the height of the wood clamping area is adapted to the height of the first group of wood;

b. Start the motor B to drive the turning frame to rotate around the front end of the upper frame until it turns to a horizontal state;

c. Start the two cylinders B synchronously, so that the piston rods of the two cylinders B extend out synchronously, so that the two L-shaped clamp arms move back to expand the distance between the two rubber blocks until the gap between the two rubber blocks distance sufficient to accommodate the ends of the first set of timbers;

d. Control the action of the electric roller to adjust the position and orientation of the robot, so that the orientation of the wood clamping area is compatible with the placement orientation of the first group of wood;

S02, clamping the first group of wood:

a. The two cylinders A are started synchronously, and the drive carriage moves to the front end of the upper frame along the horizontal track, so that the two L-shaped clamp arms protrude from the front end of the upper frame. When the wood clamping area connects the two ends of the first group of wood When contained, cylinder A stops moving;

b. The piston rods of the two cylinders B protrude synchronously at the first speed until the two rubber blocks contact the two ends of the target wood, and the piston rods of the two cylinders B continue to protrude synchronously at the second speed to gradually increase Large clamping force, when the pressure detected by the two pressure sensors reaches the first predetermined value, the wood is firmly clamped between the two rubber blocks without slipping or falling, and the first group of wood is completed clamping;

S03, transfer the first group of wood to the wood placement seat: start the motor B, drive the overturning frame to rotate around the rear end of the upper frame, and when the target wood is turned over to the top of the wood placement seat, the piston rods of the two cylinders B Retract synchronously, unload the target wood, and then the target wood will fall into the wood placement seat;

S04, adjust the posture of the robot according to the placement posture of the second group of wood:

a. Start the motor A to adjust the height of the upper frame so that the height of the clamping turning mechanism is compatible with the placement height of the second group of wood;

b. Start the motor B to drive the turning frame to rotate around the front end of the upper rack until it turns to a horizontal state;

c. Start the two cylinders B synchronously, so that the piston rods of the two cylinders B extend out synchronously, so that the two L-shaped clamp arms move back to expand the distance between the two rubber blocks until the gap between the two rubber blocks distance sufficient to accommodate the ends of the second set of timbers;

d. Control the action of the electric roller to adjust the position and orientation of the robot, so that the orientation of the wood clamping area is compatible with the placement orientation of the second group of wood, and ensure that the activity range of the wood clamping area accommodates the placement position of the second group of wood ;

S05, clamping the second group of timber:

a. The two cylinders A are started synchronously, and the drive carriage moves to the front end of the upper frame along the horizontal track, so that the two L-shaped clamping arms protrude from the front end of the upper frame. When the wood clamping area, the two ends of the second group of wood When contained, cylinder A stops moving;

b. The piston rods of the two cylinders B protrude synchronously at the first speed until the two rubber blocks contact the two ends of the second group of wood, and the piston rods of the two cylinders B continue to protrude synchronously at the second speed. Gradually increase the clamping force. When the pressure detected by the two pressure sensors reaches the first predetermined value, the wood will be firmly clamped between the two rubber blocks without slipping or falling, and the second process will be completed. Clamping of groups of timber;

The high-level unloading method of timber is as follows:

S01, adjust the pose of the robot according to the unloading position of the first group of wood:

a. Control the two motors C to start synchronously, and drive the first group of wood to rotate through the rotation of the two rubber blocks, so that the placement surface of the first group of wood is parallel to the unloading surface of the unloading area;

b. Start the motor A to adjust the height of the upper frame so that the placement surface of the first group of wood is 0.1-1cm higher than the unloading surface of the unloading area;

c. Control the action of the electric roller to adjust the posture of the lower frame, so that the direction of the first group of wood is parallel to the preset unloading direction, and make the edge of the placement surface of the first group of wood and the edge of the unloading surface of the unloading area Right up and down;

S02, unloading the first group of timber:

According to the space capacity of the unloading area, determine which unloading method to use; when the space directly above the unloading area is not enough to accommodate the first group of timbers, use side push unloading; when the space directly above the unloading area is sufficient to accommodate the first group of timbers When extending in, it adopts straight-down unloading;

Side-push unloading is as follows: a. The piston rods of the two cylinders B are continuously retracted synchronously at the second speed to gradually reduce the clamping force. When the pressure detected by the two pressure sensors reaches the second predetermined value, that is Complete the decompression operation; b. The piston rod of the cylinder C is stretched out, and the push plate is driven to extend into the wood clamping area, and the first group of wood is pushed out horizontally from the wood clamping area. After the first group of wood is pushed out, it falls on the unloading the unloading face of the area;

The straight-down unloading is as follows: a. The two cylinders A start synchronously, and the drive carriage moves to the front end of the upper frame along the horizontal track, so that the wood clamping area extends directly above the unloading surface of the unloading area; b. The two cylinders The piston rod of B is continuously and synchronously retracted at the first speed, so that the first group of wood falls from between the two rubber blocks, and after the first group of wood falls, it falls on the unloading surface of the unloading area;

S03, clamping the second group of timber:

a. Start the two cylinders B synchronously, so that the piston rods of the two cylinders B extend out synchronously, so that the two L-shaped clamp arms move back to expand the distance between the two rubber blocks until the distance between the two rubber blocks distance sufficient to accommodate the ends of the second set of timbers;

b. Start the motor B, drive the turning frame to rotate around the axis and turn over the rear end of the upper frame, so that the wood clamping area is turned over to the top of the wood placement seat, and the second group of wood is contained;

c. The piston rods of the two cylinders B protrude synchronously at the first speed until the two rubber blocks contact the two ends of the second group of wood, and the piston rods of the two cylinders B continue to protrude synchronously at the second speed. Gradually increase the clamping force. When the pressure detected by the two pressure sensors reaches the first predetermined value, the wood will be firmly clamped between the two rubber blocks without slipping or falling, and the second process will be completed. Clamping of groups of timber;

S04, adjust the pose of the robot according to the unloading position of the second group of wood:

a. Start the motor B to drive the turning frame holding the second group of wood to turn around the front end of the upper frame until it turns to a horizontal state;

b. Control the two motors C to start synchronously, and drive the second group of wood to rotate through the rotation of the two rubber blocks, so that the placement surface of the second group of wood is parallel to the unloading surface of the unloading area;

b. Start the motor A to adjust the height of the upper frame so that the placement surface of the second group of wood is 0.-cm higher than the unloading surface of the unloading area;

c. Control the action of the electric roller to adjust the position of the lower frame so that the direction of the second group of wood is parallel to the preset unloading direction, and make the edge of the placement surface of the second group of wood and the edge of the unloading surface of the unloading area up and down Is on;

S05, unloading the second group of timber:

According to the space capacity of the unloading area, determine which unloading method to use; when the space directly above the unloading area is not enough to accommodate the second group of timbers, use side push unloading; when the space directly above the unloading area is sufficient to accommodate the second group of timbers When extending in, it adopts straight-down unloading;

Side-push unloading is as follows: a. The piston rods of the two cylinders B are continuously retracted synchronously at the second speed to gradually reduce the clamping force. When the pressure detected by the two pressure sensors reaches the second predetermined value, that is Complete the decompression operation; b. The piston rod of the cylinder C is stretched out, and the push plate is driven to extend into the wood clamping area, and the second group of wood is pushed out horizontally from the wood clamping area. After the second group of wood is pushed out, it falls on the unloading the unloading face of the area;

The straight-down unloading is as follows: a. The two cylinders A start synchronously, and the drive carriage moves to the front end of the upper frame along the horizontal track, so that the wood clamping area extends directly above the unloading surface of the unloading area; b. The two cylinders The piston rod of B is continuously and synchronously retracted at the first speed, so that the second group of wood falls from between the two rubber blocks, and after the second group of wood falls, it falls on the unloading surface of the unloading area;

The method of picking up low-level wood is as follows:

S01, adjust the pose of the robot according to the placement of the wood:

a. Control the action of the electric roller to adjust the position and orientation of the robot, so that the central area of the front end of the lower frame is facing the central area of the low timber in the length direction;

b. Start the two motors E synchronously to drive the two shovel arms to rotate downward synchronously until the front ends of the two shovel arms touch the placement surface of the low wood, and ensure that the connecting line of the front ends of the two shovel arms is parallel to the center of the low wood Line, and confirm that the length of the low wood is longer than the length of the front end of the two shovel arms;

S02, shoveling low wood:

a. Control the action of the electric roller, so that the robot accelerates to move to the front end of the lower frame, so that the low-position wood rolls to the two shovel arms under the action of inertia;

b. Then immediately start the two motors E synchronously to drive the two shovel arms to rotate upwards, so that the low-level wood stays on the two shovel arms and will not slip from the front ends of the two shovel arms;

The method of low-level unloading of timber is as follows:

S01, adjust the pose of the robot according to the unloading position of the low-position wood: control the action of the electric roller to adjust the pose of the lower frame, move the robot to the unloading area, and make the direction of the low-position wood parallel to the preset unloading direction;

S02, unloading low-level wood: start two motors E synchronously to drive the two shovel arms to rotate downwards synchronously until the front ends of the two shovel arms touch the unloading surface of the unloading area, and the low-level wood placed on the two shovel arms is immediately removed from the The front ends of the two shovel arms roll down onto the unloading surface.

A further technical solution of the present invention is: in steps S02 and S05 of the method for picking up high-position timber, the first speed is greater than the second speed, the value range of the first speed is 1-4cm/s, and the value range of the second speed is 0.1 -0.5mm/s.

A further technical solution of the present invention is: in steps S02 and S05 of the method for picking up high-level timber, the first predetermined value is an increase of 50-80N to ensure that the clamped timber does not slip and fall.

A further technical solution of the present invention is: when steps S02 and S05 of the method for picking up high-position wood are completed, if the difference between the pressure values detected by the two pressure sensors is not more than 10%, it means that the clamping posture of the target wood is correct; If the pressure values detected by two pressure sensors differ by more than 10%, it means that the clamping position of the target wood is not correct, and the target wood is unloaded and clamped again.

A further technical solution of the present invention is: in steps S02, S03 and S05 of the timber high-level unloading method, the first speed is greater than the second speed, the value range of the first speed is 1-4cm/s, and the value of the second speed The range is 0.1-0.5mm/s.

A further technical solution of the present invention is: in steps S02, S03 and S05 of the high-level unloading method for timber, the first predetermined value is to increase the minimum pressure by 50-80N to ensure that the clamped timber does not slip and fall; the second predetermined The value is to increase the minimum pressure by 10-20N to ensure that the clamped wood does not slip and fall.

Compared with the prior art, the present invention has the following advantages:

1. It is used for automatic handling and unloading of wood. Compared with manual operation, it greatly reduces the labor intensity of workers. It can realize four operations: clamping high-position wood, high-level unloading of wood, picking up low-level wood, and low-level unloading of wood. Applicable in most usage scenarios.

2. Obtain the front and side views of the wood handling robot through the camera, and provide lighting functions for the wood handling robot through four light-emitting panels. Based on the lighting of the luminescent panel and the shooting pictures of the camera, the remote operator can intuitively and clearly obtain the surrounding environment of the wood handling robot, so that it is convenient to issue movement control instructions to the wood handling robot. Compared with manual handling of wood, it can largely Reduce the collision of wood ends.

Below in conjunction with figure and embodiment the present invention will be further described.

Description of drawings

Fig. 1 is the structural representation of the present invention in the initial state;

Figure 2 is a schematic diagram of the lower frame assembly;

Fig. 3 is a structural schematic diagram of the wood clamping assembly;

Fig. 4 is a schematic diagram of the positional relationship between the upper frame, the lower frame, and the lifting drive mechanism;

Fig. 5 is the state diagram when the S03 step of picking up the high-position timber method ends;

Fig. 6 is the state diagram when the S05 step of timber high position unloading method ends;

Fig. 7 is the state diagram when the S02 step of picking up the low-level timber method ends;

Fig. 8 is a state diagram at the end of step S02 of the timber low-level unloading method.

Legend: lower frame 11; guide rod 111; light-emitting board 112; battery frame 113; electric roller 12; shovel arm 131; motor E132; hook arm 141; motor F142; upper frame 21; slider 211; 212; component placement area 213; motor A221; nut 222; screw mandrel 223; horizontal track 311; carriage 312; frame 3121; 322; Motor B323; L-shaped clamp arm 324; Cylinder B325; Motor C326; Rubber block 327; Cylinder C331;

detailed description

Example 1:

As shown in FIGS. 1-4 , the wood handling robot includes a lower frame assembly, an upper frame assembly, a wood clamping assembly and a camera 100 .

The lower frame assembly includes a lower frame 11 and an electric roller 12 .

The lower frame 11 is a rectangular frame, the four corners of its lower end are provided with roller installation areas, and the four corners of its upper part are provided with guide rods 111 arranged vertically. Four electric rollers 12 are respectively rotatably installed in the four roller installation areas of the lower frame 11, and the four electric rollers 12 can be independently controlled to run. By controlling the rotating speed of each electric roller 12, the robot can go straight or differentially turn.

The upper frame assembly includes an upper frame 21 and a lifting drive mechanism.

The upper frame 21 is a rectangular frame, and the four corners of its lower end are provided with slide blocks 211, and the upper frame 21 is slidably installed on the guide rods 111 at the four corners of the lower frame 11 by the slide blocks 211 at the four corners of its lower end.

Lifting drive mechanism comprises motor A221, nut 222, screw mandrel 223, driving wheel, driven wheel and synchronous belt. The motor A221 is fixedly installed on the lower frame 11, the nut 222 is rotatably installed on the lower end of the upper frame 21, the screw mandrel 223 is vertically arranged, and the lower end of the screw mandrel 223 is rotatably installed on the lower frame 11, and the upper end and the nut 222 screw fittings, the driving wheel is fixedly installed on the machine shaft of the motor A221, the driven wheel is fixedly installed on the rod body at the lower end of the screw mandrel 223, and the synchronous belt is wound between the driving wheel and the driven wheel. The power of the motor A221 is transmitted to the nut 222 through the driving wheel, the synchronous belt, the driven wheel and the screw mandrel 223, and the drive nut 222 rotates up or down along the screw mandrel 223, and then drives the upper frame 21 to rise or fall. There are two groups of elevating driving mechanisms, and the two groups of elevating driving mechanisms jointly provide the elevating driving force for the upper frame 21 .

The timber clamping assembly includes a translational drive mechanism, a clamping turning mechanism and a timber push-out mechanism.

The translation drive mechanism includes a horizontal rail 311 , a carriage 312 and an air cylinder A313. Two horizontal rails 311 are fixedly installed on both sides of the upper end of the upper frame 21 and arranged parallel to each other. The carriage 312 includes a frame 3121, a wood placement seat 3122 fixedly installed in the frame 3121 (the two sides of the wood placement seat 3122 are provided with opposite arc bayonets), and a component mounting plate 3123 fixedly connected to one end of the frame 3121 1. The sliders 3124 fixedly installed on both sides of the frame 3121 , the slider 312 is slidably installed between the two horizontal rails 311 through the two sliders 3124 . The two cylinders A313 are respectively fixedly installed on the two rails 311, the piston rods of the two cylinders A313 protrude toward the same horizontal direction, and are respectively fixedly connected with the two sliders 3124, the piston rods of the two cylinders A313 are synchronously telescopic to Drive the sliding frame 312 to move linearly back and forth along the two horizontal rails 311 , and then make the sliding frame 312 switch between not exceeding the front end of the upper frame 21 and exceeding the front end of the upper frame 21 .

The clamping turning mechanism includes a turning frame 321, a rotating shaft 322, a motor B323, an L-shaped clamp arm 324, a cylinder B325, a motor C326, a rubber block 327 and a pressure sensor (not shown). The overturning frame 321 is T-shaped, and includes a single arm and two oppositely arranged symmetrical arms. The overturning frame 321 is rotatably mounted on the component mounting plate 3123 through a rotating shaft 322 at the end of the single arm. The motor B323 is fixedly installed on the component mounting plate 3123 , and the crankshaft of the motor B323 is connected with the rotating shaft 322 to drive the turning frame 321 to rotate around the rotating shaft 322 . One end of the L-shaped clamping arm 324 is a connecting portion, and the other end is a clamping portion. The two L-shaped clamping arms 324 are respectively slidably connected to the two symmetrical arms through the connecting portion, and the clamping portions of the two L-shaped clamping arms 324 face each other. layout. The two cylinders B325 are respectively fixedly mounted on the two symmetrical arms, and the piston rods of the two cylinders B325 are respectively connected with the two L-shaped clamp arms 324 to drive the L-shaped clamp arms 324 to move along the corresponding symmetrical arms so that the two The clamping portions of the L-shaped clamping arms 324 move away from or approach each other. The two motors C326 are respectively fixedly mounted on the clamping portions of the two L-shaped clamp arms 324 . The two rubber blocks 327 are respectively fixedly connected to the crankshafts of the two motors C326, and arranged facing each other, and a wood clamping area is formed between the two rubber blocks 327. Two pressure sensors are embedded in the rubber block 327 .

Timber pushing out mechanism comprises cylinder C331 and push plate 332. The cylinder C331 is fixedly installed on the single arm, the piston rod of the cylinder C331 is arranged parallel to the single arm, and is located directly below the single arm, and the push plate 332 is fixedly connected to the end of the piston rod of the cylinder C331, and is clamped against the wood The middle part of the area, which is driven by the cylinder C331 to extend into or out of the wood clamping area.

The three cameras 100 are respectively fixedly installed on the front end and both sides of the upper frame 21 to obtain the field of view of the front end and both sides of the upper frame 21 , so as to provide visual support for remote control of the wood handling robot.

Preferably, the middle part of the upper frame 21 is provided with a component placement plate 212, and the upper frame 21 is provided with a component placement area 213 above the component placement plate 212; correspondingly, a compressed gas cylinder (not shown in the figure) is fixedly installed in the component placement area 213 out) and solenoid valve (not shown in the figure), the compressed gas cylinder communicates with cylinder A313 and cylinder C331 through pipelines, and the solenoid valve is arranged on the pipeline between the compressed gas cylinder and cylinder A313, and between the compressed gas cylinder and cylinder C331 between pipes.

Preferably, battery racks 113 arranged symmetrically are arranged on both sides of the upper part of the lower frame 11; The operation of power-demanding components provides power support.

Preferably, light-emitting panels 112 are respectively provided at the centers of the four sides at the lower end of the lower frame 11 . The luminescent board 112 can provide illumination in a dark environment, thereby providing illumination support for remotely controlling the movement of the lower rack assembly.

Preferably, the lower frame assembly further includes a round bar shoveling device. Round bar material shovel holder device is located at the front end bottom of lower frame 11. The round bar shoveling device includes a shovel arm 131 and a first rotation drive mechanism. The two shovel arms 131 are hingedly mounted on both sides of the lower front end of the lower frame 11 at the rear end respectively, and the two shovel arms 131 are respectively bent upward at 5-10° at the front end. The two sets of first rotation driving mechanisms are all mounted on the lower frame 11 and are respectively associated with the two shovel arms 131 to drive the corresponding shovel arms 131 to rotate around the hinge at the rear end of the shovel arms 131 . The first rotation driving mechanism includes a motor E132 and a first transmission assembly, the motor E132 is fixedly installed on the lower frame 11 , and the first transmission assembly is arranged between the motor E132 and the shovel arm 131 . The first transmission assembly is a synchronous belt pair, including a driving wheel A, a driven wheel A and a synchronous belt A, the driving wheel A is fixedly mounted on the crankshaft of the motor E132, and the driven wheel A is fixedly mounted on the articulated shaft of the shovel arm 131 , The synchronous belt is wound between the driving wheel A and the driven wheel A. The power of the motor E132 is transmitted to the shovel arm 131 through the first transmission assembly, so as to drive the shovel arm 131 to rotate around the hinge at the rear end of the shovel arm 131 .

Preferably, the lower frame assembly further includes a trailer arrangement. Trailer device is located at the front end bottom of lower frame 11. The trailer device includes a hook arm 141 and a second rotary drive mechanism. The hook arm 141 is provided with a first hinge and a second hinge at the rear end. The hook arm 141 is bent downward by 90° at the front end. There are two hook arms 141, and the two hook arms 141 are respectively hinged through the first hinge. It is installed on both sides of the lower front end of the lower frame 11. Two sets of second rotation driving mechanisms are installed on the lower frame 11 and are respectively associated with the two hook arms 141 to drive the corresponding hook arms 141 to rotate around the second hinge. The second rotation driving mechanism includes a motor F142 and a second transmission assembly, the motor F142 is fixedly installed on the lower frame 11 , and the second transmission assembly is arranged between the motor F142 and the hook arm 141 . The second transmission assembly is a rocker-link transmission structure, including a rocker arm and a connecting rod. The front end of the rocker arm is fixedly mounted on the shaft of the motor F142, the rear end of the rocker arm is hinged to the front end of the connecting rod, and the rear end of the connecting rod is connected to the front end of the connecting rod. The second hinge of the hook arm 141 is hinged. The power of the motor F142 is transmitted to the hook arm 141 through the second transmission assembly, so as to drive the hook arm 141 to rotate around the second hinge.

Briefly describe the application of the present invention: the above-mentioned wood handling robot is used for wood handling operations, and can realize clamping of high-level wood (see Figure 5), high-level unloading of wood (see Figure 6), picking up low-level wood (see Figure 7), and low-level wood Unloading (referring to Fig. 8) four kinds of operations; Wherein, clamping high-position timber and timber high-position unloading are the operations that are sequentially followed from front to back, and picking up low-position timber and timber low-position unloading are operations that are sequentially continued from front to back. The high-position wood refers to: the wood placed in the height range of the lifting and moving of the clamping and turning mechanism; the high-level unloading refers to: the unloading of wood in the height range of the clamping and turning mechanism can be lifted and moved; the low-level Timber refers to: cylindrical timber placed within the height range where the shovel arm 131 can be scooped; the low-level unloading refers to unloading cylindrical timber within the height range where the shovel arm 131 can scoop.

In the above four operations, the wood is a group of straight rod-shaped wood with two opposite flat end surfaces, and a group of straight rod-shaped wood is a single wood or a plurality of woods of the same size bound into a bundle.

In the two operations of clamping high-position wood and high-position unloading of wood, the length of the wood is not shorter than the shortest distance that can be formed between the two rubber blocks 327 . In the two operations of picking up low-level wood and low-level unloading of wood, the wood is cylindrical wood, and the length of the wood is not shorter than the distance between the two shovel arms 131 .

Before performing wood handling operations, the wood handling robot is in the initial state, in the initial state:

a. The upper frame 21 is at the lowest position of its movement stroke;

b. The carriage 312 does not exceed the front end of the upper frame 21;

c. The overturning frame 321 is in a horizontal state, and the wood clamping area faces the rear end of the upper frame 21;

d. The clamping portions of the two L-shaped clamping arms 324 are in the closest state;

e. The push plate 332 does not enter the wood clamping area;

f. Both the shovel arm 131 and the hook arm 141 are rotated to be vertical.

The method of picking up high-level wood is as follows:

S01, adjust the pose of the robot according to the placement of the first group of wood:

a. Start the motor A221 to adjust the height of the upper frame 21 so that the height of the wood clamping area is adapted to the height of the first group of wood;

b. Start the motor B323 to drive the turning frame 321 to rotate to the front end of the upper frame 21 around the rotating shaft 322 until it turns to a horizontal state;

c. Start the two cylinders B325 synchronously, so that the piston rods of the two cylinders B325 are extended synchronously, so that the two L-shaped clamp arms 324 move back to expand the distance between the two rubber blocks 327 until the two rubber blocks The distance between 327 is sufficient to accommodate the ends of the first set of timbers;

d. Control the action of the electric roller 12 to adjust the position and orientation of the robot, so that the orientation of the wood clamping area is compatible with the placement orientation of the first group of wood.

S02, clamping the first group of wood:

a. The two cylinders A313 start synchronously, and the drive carriage 312 moves to the front end of the upper frame 21 along the horizontal track 311, so that two L-shaped clamping arms 324 protrude from the front end of the upper frame 21. When the wood clamping area will be the first When the two ends of the group of wood are included, the cylinder A313 stops moving;

b. The piston rods of the two cylinders B325 are extended synchronously at the first speed until the two rubber blocks 327 contact the two ends of the target wood, and the piston rods of the two air cylinders B325 continue to be extended synchronously at the second speed to gradually Increase the clamping force. When the pressure detected by the two pressure sensors reaches the first predetermined value, the wood is firmly clamped between the two rubber blocks 327 without slipping or falling, that is, the first step is completed. Clamping of groups of timbers.

S03, transfer the first group of wood to the wood placement seat: start the motor B323, drive the turning frame 321 to turn around the rotating shaft 322 to the rear end of the upper frame 21, when the target wood is turned over to the wood placement seat 3122, two air cylinders The piston rod of B325 retracts synchronously, and the target wood is unloaded, and the target wood falls into the wood placement seat 3122 immediately.

S04, adjust the posture of the robot according to the placement posture of the second group of wood:

a. Start the motor A221 to adjust the height of the upper frame 21 so that the height of the clamping turning mechanism is compatible with the placement height of the second group of timber;

b. Start the motor B323 to drive the turning frame 321 to turn around the rotating shaft 322 to the front end of the upper frame 21 until it turns to a horizontal state;

c. Start the two cylinders B325 synchronously, so that the piston rods of the two cylinders B325 are extended synchronously, so that the two L-shaped clamp arms 324 move back to expand the distance between the two rubber blocks 327 until the two rubber blocks The distance between 327 is sufficient to accommodate the ends of the second set of timbers;

d. Control the action of the electric roller 12 to adjust the position and orientation of the robot, so that the orientation of the wood clamping area is compatible with the placement orientation of the second group of wood, and ensure that the activity range of the wood clamping area accommodates the placement of the second group of wood Location.

S05, clamping the second group of timber:

a. The two cylinders A313 start synchronously, and the drive carriage 312 moves to the front end of the upper frame 21 along the horizontal track 311, so that two L-shaped clamping arms 324 protrude from the front end of the upper frame 21. When the wood clamping area will be the second When the two ends of the group of wood are included, the cylinder A313 stops moving;

b. The piston rods of the two cylinders B325 protrude synchronously at the first speed until the two rubber blocks 327 contact the two ends of the second group of wood, and the piston rods of the two cylinders B325 continue to protrude synchronously at the second speed, Gradually increase the clamping force. When the pressure detected by the two pressure sensors reaches the first predetermined value, the wood is firmly clamped between the two rubber blocks 327 without slipping or falling, and the process is completed. Clamping of the second group of wood.

In steps S02 and S05, the first speed is greater than the second speed, the value range of the first speed is 1-4 cm/s, and the value range of the second speed is 0.1-0.5 mm/s.

In steps S02 and S05, the first predetermined value is the minimum pressure increase of 50-80N to ensure that the clamped wood does not slip and fall.

When steps S02 and S05 are completed, if the difference between the pressure values detected by the two pressure sensors does not exceed 10%, it means that the clamping posture of the target wood is correct; if the difference between the pressure values detected by the two pressure sensors exceeds 10%, it means If the clamping position of the target wood is not correct, unload the target wood and clamp it again.

The high-level unloading method of timber is as follows:

S01, adjust the pose of the robot according to the unloading position of the first group of wood:

a. Control the two motors C326 to start synchronously, and drive the first group of wood to rotate through the rotation of the two rubber blocks 327, so that the placement surface of the first group of wood is parallel to the unloading surface of the unloading area;

b. Start the motor A221 to adjust the height of the upper frame 21 so that the placement surface of the first group of timber is 0.1-1cm higher than the unloading surface of the unloading area;

c. Control the action of the electric roller 12 to adjust the posture of the lower frame 11, so that the direction of the first group of wood is parallel to the preset unloading direction, and make the edge of the placement surface of the first group of wood coincide with the unloading surface of the unloading area The edges are up and down.

S02, unloading the first group of timber:

According to the space capacity of the unloading area, determine which unloading method to use; when the space directly above the unloading area is not enough to accommodate the first group of timbers, use side push unloading; when the space directly above the unloading area is sufficient to accommodate the first group of timbers When extending in, it adopts straight-down unloading;

Side-push unloading is as follows: a. The piston rods of the two cylinders B325 continue to retract synchronously at the second speed to gradually reduce the clamping force. When the pressure detected by the two pressure sensors reaches the second predetermined value, that is Complete the decompression operation; b, the piston rod of the cylinder C331 is stretched out, and the push plate 332 is driven to stretch into the wood clamping area, and the first group of wood is pushed out horizontally from the wood clamping area. After the first group of wood is pushed out, it falls on the the unloading surface of the unloading area;

The straight-down unloading is as follows: a, two cylinders A313 start synchronously, and drive the carriage 312 to move to the front end of the upper frame 21 along the horizontal rail 311, so that the timber clamping area extends directly above the unloading surface of the unloading area; b, The piston rods of the two cylinders B325 continue to retract synchronously at the first speed, so that the first group of wood falls from between the two rubber blocks 327, and after the first group of wood falls, it falls on the unloading surface of the unloading area.

S03, clamping the second group of timber:

a. Synchronously start the two cylinders B325, so that the piston rods of the two cylinders B325 are extended synchronously, so that the two L-shaped clamp arms 324 move back to expand the distance between the two rubber blocks 327 until the two rubber blocks The distance between 327 is sufficient to accommodate the ends of the second set of timbers;

b. Start the motor B323 to drive the overturning frame 321 to turn over the rear end of the upper frame 21 around the rotating shaft 322, so that the wood clamping area is turned over to the top of the wood placement seat 3122, and the second group of wood is included;

c. The piston rods of the two cylinders B325 protrude synchronously at the first speed until the two rubber blocks 327 contact the two ends of the second group of wood, and the piston rods of the two cylinders B325 continue to protrude synchronously at the second speed, Gradually increase the clamping force. When the pressure detected by the two pressure sensors reaches the first predetermined value, the wood is firmly clamped between the two rubber blocks 327 without slipping or falling, and the process is completed. Clamping of the second group of wood.

S04, adjust the pose of the robot according to the unloading position of the second group of wood:

a. Start the motor B323 to drive the overturning frame 321 holding the second group of wood to turn around the rotating shaft 322 to the front end of the upper frame 21 until it turns to a horizontal state;

b. Control the two motors C326 to start synchronously, and drive the second group of wood to rotate through the rotation of the two rubber blocks 327, so that the placement surface of the second group of wood is parallel to the unloading surface of the unloading area;

b. Start the motor A221 to adjust the height of the upper frame 21 so that the placement surface of the second group of timber is 0.1-1cm higher than the unloading surface of the unloading area;

c. Control the action of the electric roller 12 to adjust the position of the lower frame 11, so that the direction of the second group of timber is parallel to the preset unloading orientation, and the edge of the placement surface of the second group of timber is in line with the unloading surface of the unloading area. The edges are right up and down.

S05, unloading the second group of timber:

According to the space capacity of the unloading area, determine which unloading method to use; when the space directly above the unloading area is not enough to accommodate the second group of timbers, use side push unloading; when the space directly above the unloading area is sufficient to accommodate the second group of timbers When extending in, it adopts straight-down unloading;

Side-push unloading is as follows: a. The piston rods of the two cylinders B325 continue to retract synchronously at the second speed to gradually reduce the clamping force. When the pressure detected by the two pressure sensors reaches the second predetermined value, that is Complete the decompression operation; b, the piston rod of the cylinder C331 stretches out, drives the push plate 332 to stretch into the wood clamping area, and pushes the second group of wood horizontally from the wood clamping area. After the second group of wood is pushed out, it falls on the the unloading surface of the unloading area;

The straight-down unloading is as follows: a, two cylinders A313 start synchronously, and drive the carriage 312 to move to the front end of the upper frame 21 along the horizontal rail 311, so that the timber clamping area extends directly above the unloading surface of the unloading area; b, The piston rods of the two cylinders B325 are continuously and synchronously retracted at the first speed, so that the second group of wood falls from between the two rubber blocks 327, and after the second group of wood falls, it falls on the unloading surface of the unloading area.

In steps S02, S03 and S05, the first speed is greater than the second speed, the value range of the first speed is 1-4 cm/s, and the value range of the second speed is 0.1-0.5 mm/s.

In steps S02, S03 and S05, the first predetermined value is the minimum pressure increase of 50-80N to ensure that the clamped wood does not slip and fall; the second predetermined value is to ensure that the clamped wood does not slip and fall. The minimum pressure increases by 10-20N.

The method of picking up low-level wood is as follows:

S01, adjust the pose of the robot according to the placement of the wood:

a. Control the action of the electric roller 12 to adjust the position and orientation of the robot so that the central area of the front end of the lower frame 11 is facing the central area in the length direction of the low timber;

b. Start the two motors E132 synchronously to drive the two shovel arms 131 to rotate downward synchronously until the front ends of the two shovel arms 131 touch the placement surface of the low-level timber, and ensure that the front-end connecting lines of the two shovel arms 131 are parallel to the low position The center line of the wood, and confirm that the length of the low wood is longer than the length of the front end of the two shovel arms 131.

S02, shoveling low wood:

a. Control the action of the electric roller 12, so that the robot accelerates to move to the front end of the lower frame 11, so that the low-position wood rolls onto the two shovel arms 131 under the action of inertia;

b. Then immediately start the two motors E132 synchronously to drive the two shovel arms 131 to rotate upwards, so that the low-level timber stays on the two shovel arms 131 and will not slide off from the front ends of the two shovel arms 131 .

The method of low-level unloading of timber is as follows:

S01, adjust the pose of the robot according to the unloading position of the low-position wood: control the action of the electric roller 12 to adjust the pose of the lower frame 11, move the robot to the unloading area, and make the direction of the low-position wood parallel to the preset unloading direction .

S02, unloading low-level timber: start two motors E132 synchronously to drive the two shovel arms 131 to rotate downward synchronously until the front ends of the two shovel arms 131 touch the unloading surface of the unloading area, and place them on the low position on the two shovel arms 131 Timber rolls down to unloading surface from the front end of two shovel arms 131 immediately.

Claims (1)

1. A wood handling operation method, which is applied to a wood handling robot, is characterized in that: the wood handling robot includes a lower frame assembly, an upper frame assembly, a wood clamping assembly and a camera; The lower frame assembly includes the lower frame, electric rollers, round bar shoveling device and trailer device; the lower frame is a rectangular frame with roller installation areas at the four corners of the lower end and vertically arranged Guide rods; symmetrically arranged battery racks are arranged on both sides of the upper part of the lower frame; light-emitting panels are respectively arranged at the center of the four sides of the lower end of the lower frame; four electric rollers are rotatably installed in the four roller installation areas of the lower frame Inside; the round bar material shovel support device is located at the lower front end of the lower frame; the round bar material shovel support device includes a shovel arm and a first rotation drive mechanism; two shovel arms are respectively hinged at the rear end and installed at the front lower part of the lower frame On both sides, the two shovel arms are bent upwards by 5-10° at the front end; the two sets of first rotation drive mechanisms are installed on the lower frame and are respectively associated with the two shovel arms to drive the corresponding shovel arms around the shovel arms. The hinge at the rear end rotates; the first rotation drive mechanism includes a motor E and a first transmission assembly, the motor E is fixedly installed on the lower frame, the first transmission assembly is arranged between the motor E and the shovel arm, and the first transmission assembly It is a synchronous belt pair, including driving wheel A, driven wheel A and synchronous belt A. The driving wheel A is fixedly installed on the shaft of the motor E, the driven wheel A is fixedly installed on the hinged shaft of the shovel arm, and the synchronous belt is wound on the driving wheel. Between the wheel A and the driven wheel A; the trailer device is located at the lower front end of the lower frame; the trailer device includes a hook arm and a second rotation drive mechanism; On the side, the two hook arms are respectively bent downward by 90° at the front end; two sets of second rotation drive mechanisms are installed on the lower frame, and are respectively associated with the two hook arms to drive the corresponding hook arms around the rear end of the hook arm. hinge rotation; The upper frame assembly includes the upper frame and the lifting drive mechanism; the upper frame is a rectangular frame with sliders at the four corners of the lower end, and the upper frame is slidably installed on the four corners of the lower frame through the sliders at the four corners of the lower end. On the guide rod; the middle part of the upper frame is equipped with a component placement plate, and the upper frame is provided with a component placement area above the component placement plate; the lifting drive mechanism is set between the lower frame and the upper frame to drive the lower frame along the The guide rod moves vertically; The wood clamping assembly includes a translational drive mechanism, a clamping turning mechanism and a wood push-out mechanism; the translational drive mechanism includes a horizontal rail, a carriage and a cylinder A; two horizontal rails are fixedly installed on both sides of the upper end of the upper frame and arranged parallel to each other ;The slide frame includes a frame, a wood placement seat fixedly installed in the frame, a component mounting plate fixedly connected to one end of the frame, and sliders fixedly installed on both sides of the frame. The slide frame is slidably installed on two horizontal rails through two sliders Between; the two cylinders A are fixedly installed on the two rails, the piston rods of the two cylinders A protrude in the same horizontal direction, and are fixedly connected with the two sliders respectively, and the piston rods of the two cylinders A expand and contract synchronously The carriage is driven to reciprocate and linearly move along two horizontal rails; the clamping and turning mechanism includes a turning frame, a rotating shaft, a motor B, an L-shaped clamp arm, a cylinder B, a motor C, a rubber block and a pressure sensor; the turning frame is T-shaped, It includes a single arm and two oppositely arranged symmetrical arms. The flip frame is rotatably installed on the component mounting plate through the rotating shaft at the end of the single arm; the motor B is fixedly mounted on the component mounting plate, and the motor B’s shaft and the rotating shaft Connect to drive the turning frame to rotate around the shaft; one end of the L-shaped clamp arm is a connecting part, and the other end is a clamping part, the connecting part is provided with a socket, and the clamping part is provided with a mounting hole; the two L-shaped clamping arms are respectively Through the sliding connection between the connecting part and the two symmetrical arms, the clamping parts of the two L-shaped clamping arms are arranged facing each other; the two cylinders B are respectively fixed on the two symmetrical arms, and the piston rods of the two cylinders B are respectively connected to the two The L-shaped clamp arms are connected to drive the L-shaped clamp arms to move along the corresponding symmetrical arms, so that the clamping parts of the two L-shaped clamp arms move away from or approach each other; two motors C are fixedly installed on the two L-shaped clamps respectively. On the clamping part of the arm; two rubber blocks are fixedly connected to the shafts of the two motors C respectively, and are arranged facing each other, and a wood clamping area is formed between the two rubber blocks; two pressure sensors are embedded in the Inside the rubber block; the wood pushing mechanism includes a cylinder C and a push plate; the cylinder C is fixedly installed on the single arm, the piston rod of the cylinder C is arranged parallel to the single arm, and is located directly below the single arm, and the push plate is fixedly connected to the cylinder C On the end of the piston rod, facing the middle of the wood clamping area, it is driven by the cylinder C to extend into or out of the wood clamping area; Three cameras are fixedly installed on the front and both sides of the upper rack respectively, so as to obtain the field of view of the front and both sides of the upper rack; The wood handling operation method includes four operations of clamping high-position timber, high-position unloading of timber, picking up low-position timber, and low-position unloading of timber; clamping high-position timber and high-position unloading of timber are consecutive operations from front to back, picking up low-position timber and low-position timber unloading Uninstallation is a sequential operation from front to back; The high-position wood refers to: the wood placed in the height range of the lifting and moving of the clamping and turning mechanism; the high-level unloading refers to: the unloading of wood in the height range of the clamping and turning mechanism can be lifted and moved; the low-level Timber refers to: timber placed within the height range where the shovel arm can be shoveled; the low-level unloading refers to: unloading wood within the height range where the shovel arm can be shoveled; In the above four kinds of operations, the wood is a group of straight rod-shaped wood with two opposite flat end faces, and a group of straight rod-shaped wood is a piece of wood or a plurality of wood with the same size bound into a bundle; In the two operations of high-position wood and high-position unloading of wood, the length of the wood is not shorter than the shortest distance that can be formed between two rubber blocks; in the two operations of picking up low-position wood and low-position unloading of wood, the wood is a cylindrical wood , the length of the wood is not shorter than the distance between the two shovel arms; Before performing wood handling operations, the wood handling robot is in the initial state, in the initial state: a. The upper frame is at the lowest position of its movement stroke; b. The carriage does not exceed the front end of the upper frame; c. The turning frame is in a horizontal state, and the wood clamping area is facing the rear end of the upper frame; d. The clamping parts of the two L-shaped clamp arms are in the closest state; e. The push plate does not enter the wood clamping area; f. Both the shovel arm and the hook arm are rotated to be vertical; The method of picking up high-level wood is as follows: S01, adjust the pose of the robot according to the placement of the first group of wood: a. Start the motor A to adjust the height of the upper frame so that the height of the wood clamping area is adapted to the height of the first group of wood; b. Start the motor B to drive the turning frame to rotate around the front end of the upper frame until it turns to a horizontal state; c. Start the two cylinders B synchronously, so that the piston rods of the two cylinders B extend out synchronously, so that the two L-shaped clamp arms move back to expand the distance between the two rubber blocks until the gap between the two rubber blocks distance sufficient to accommodate the ends of the first set of timbers; d. Control the action of the electric roller to adjust the position and orientation of the robot, so that the orientation of the wood clamping area is compatible with the placement orientation of the first group of wood; S02, clamping the first group of wood: a. The two cylinders A are started synchronously, and the drive carriage moves to the front end of the upper frame along the horizontal track, so that the two L-shaped clamp arms protrude from the front end of the upper frame. When the wood clamping area connects the two ends of the first group of wood When contained, cylinder A stops moving; b. The piston rods of the two cylinders B retract synchronously at the first speed until the two rubber blocks contact the two ends of the target wood, and the piston rods of the two cylinders B continue to retract synchronously at the second speed to gradually increase Large clamping force, when the pressure detected by the two pressure sensors reaches the first predetermined value, the wood is firmly clamped between the two rubber blocks without slipping or falling, and the first group of wood is completed clamping; S03, transfer the first group of wood to the wood placement seat: start the motor B, drive the overturning frame to rotate around the rear end of the upper frame, and when the target wood is turned over to the top of the wood placement seat, the piston rods of the two cylinders B Stretch out synchronously to unload the target wood, and then the target wood will fall into the wood placement seat; S04, adjust the posture of the robot according to the placement posture of the second group of wood: a. Start the motor A to adjust the height of the upper frame so that the height of the clamping turning mechanism is compatible with the placement height of the second group of wood; b. Start the motor B to drive the turning frame to rotate around the front end of the upper rack until it turns to a horizontal state; c. Start the two cylinders B synchronously, so that the piston rods of the two cylinders B extend out synchronously, so that the two L-shaped clamp arms move back to expand the distance between the two rubber blocks until the gap between the two rubber blocks distance sufficient to accommodate the ends of the second set of timbers; d. Control the action of the electric roller to adjust the position and orientation of the robot, so that the orientation of the wood clamping area is compatible with the placement orientation of the second group of wood, and ensure that the activity range of the wood clamping area accommodates the placement position of the second group of wood ; S05, clamping the second group of timber: a. The two cylinders A are started synchronously, and the drive carriage moves to the front end of the upper frame along the horizontal track, so that the two L-shaped clamping arms protrude from the front end of the upper frame. When the wood clamping area, the two ends of the second group of wood When contained, cylinder A stops moving; b. The piston rods of the two cylinders B retract synchronously at the first speed until the two rubber blocks contact the two ends of the second group of wood, and the piston rods of the two cylinders B continue to retract synchronously at the second speed to Gradually increase the clamping force. When the pressure detected by the two pressure sensors reaches the first predetermined value, the wood will be firmly clamped between the two rubber blocks without slipping or falling, and the second process will be completed. Clamping of groups of timber; The high-level unloading method of timber is as follows: S01, adjust the pose of the robot according to the unloading position of the first group of wood: a. Control the two motors C to start synchronously, and drive the first group of wood to rotate through the rotation of the two rubber blocks, so that the placement surface of the first group of wood is parallel to the unloading surface of the unloading area; b. Start the motor A to adjust the height of the upper frame so that the placement surface of the first group of wood is 0.1-1cm higher than the unloading surface of the unloading area; c. Control the action of the electric roller to adjust the posture of the lower frame, so that the direction of the first group of wood is parallel to the preset unloading direction, and make the edge of the placement surface of the first group of wood and the edge of the unloading surface of the unloading area Right up and down; S02, unloading the first group of timber: According to the space capacity of the unloading area, determine which unloading method to use; when the space directly above the unloading area is not enough to accommodate the first group of timbers, use side push unloading; when the space directly above the unloading area is sufficient to accommodate the first group of timbers When extending in, it adopts straight-down unloading; Side-push unloading is as follows: a. The piston rods of the two cylinders B continue to extend synchronously at the second speed to gradually reduce the clamping force. When the pressure detected by the two pressure sensors reaches the second predetermined value, that is Complete the decompression operation; b. The piston rod of the cylinder C is stretched out, and the push plate is driven to extend into the wood clamping area, and the first group of wood is pushed out horizontally from the wood clamping area. After the first group of wood is pushed out, it falls on the unloading the unloading face of the area; The straight-down unloading is as follows: a. The two cylinders A start synchronously, and the drive carriage moves to the front end of the upper frame along the horizontal track, so that the wood clamping area extends directly above the unloading surface of the unloading area; b. The two cylinders The piston rod of B continues to extend synchronously at the first speed, so that the first group of wood falls from between the two rubber blocks, and after the first group of wood falls, it falls on the unloading surface of the unloading area; S03, clamping the second group of timber: a. Start the two cylinders B synchronously, so that the piston rods of the two cylinders B extend out synchronously, so that the two L-shaped clamp arms move back to expand the distance between the two rubber blocks until the distance between the two rubber blocks distance sufficient to accommodate the ends of the second set of timbers; b. Start the motor B, drive the turning frame to rotate around the axis and turn over the rear end of the upper frame, so that the wood clamping area is turned over to the top of the wood placement seat, and the second group of wood is contained; c. The piston rods of the two cylinders B retract synchronously at the first speed until the two rubber blocks contact the two ends of the second group of wood, and the piston rods of the two cylinders B continue to retract synchronously at the second speed to Gradually increase the clamping force. When the pressure detected by the two pressure sensors reaches the first predetermined value, the wood will be firmly clamped between the two rubber blocks without slipping or falling, and the second process will be completed. Clamping of groups of timber; S04, adjust the pose of the robot according to the unloading position of the second group of wood: a. Start the motor B to drive the turning frame holding the second group of wood to turn around the front end of the upper frame until it turns to a horizontal state; b. Control the two motors C to start synchronously, and drive the second group of wood to rotate through the rotation of the two rubber blocks, so that the placement surface of the second group of wood is parallel to the unloading surface of the unloading area; b. Start the motor A to adjust the height of the upper frame so that the placement surface of the second group of wood is 0.1-1cm higher than the unloading surface of the unloading area; c. Control the action of the electric roller to adjust the position of the lower frame so that the direction of the second group of wood is parallel to the preset unloading direction, and make the edge of the placement surface of the second group of wood and the edge of the unloading surface of the unloading area up and down Is on; S05, unloading the second group of timber: According to the space capacity of the unloading area, determine which unloading method to use; when the space directly above the unloading area is not enough to accommodate the second group of timbers, use side push unloading; when the space directly above the unloading area is sufficient to accommodate the second group of timbers When extending in, it adopts straight-down unloading; Side-push unloading is as follows: a. The piston rods of the two cylinders B continue to extend synchronously at the second speed to gradually reduce the clamping force. When the pressure detected by the two pressure sensors reaches the second predetermined value, that is Complete the decompression operation; b. The piston rod of the cylinder C is stretched out, and the push plate is driven to extend into the wood clamping area, and the second group of wood is pushed out horizontally from the wood clamping area. After the second group of wood is pushed out, it falls on the unloading the unloading face of the area; The straight-down unloading is as follows: a. The two cylinders A start synchronously, and the drive carriage moves to the front end of the upper frame along the horizontal track, so that the wood clamping area extends directly above the unloading surface of the unloading area; b. The two cylinders The piston rod of B continues to extend synchronously at the first speed, so that the second group of wood falls from between the two rubber blocks, and after the second group of wood falls, it falls on the unloading surface of the unloading area; The method of picking up low-level wood is as follows: S01, adjust the pose of the robot according to the placement of the wood: a. Control the action of the electric roller to adjust the position and orientation of the robot, so that the central area of the front end of the lower frame is facing the central area of the low timber in the length direction; b. Start the two motors E synchronously to drive the two shovel arms to rotate downward synchronously until the front ends of the two shovel arms touch the placement surface of the low wood, and ensure that the connecting line of the front ends of the two shovel arms is parallel to the center of the low wood Line, and confirm that the length of the low wood is longer than the length of the front end of the two shovel arms; S02, shoveling low wood: a. Control the action of the electric roller, so that the robot accelerates to move to the front end of the lower frame, so that the low-position wood rolls to the two shovel arms under the action of inertia; b. Then immediately start the two motors E synchronously to drive the two shovel arms to rotate upwards, so that the low-level wood stays on the two shovel arms and will not slip from the front ends of the two shovel arms; The method of low-level unloading of timber is as follows: S01, adjust the pose of the robot according to the unloading position of the low-position wood: control the action of the electric roller to adjust the pose of the lower frame, move the robot to the unloading area, and make the direction of the low-position wood parallel to the preset unloading direction; S02, unloading low-level wood: start two motors E synchronously to drive the two shovel arms to rotate downwards synchronously until the front ends of the two shovel arms touch the unloading surface of the unloading area, and the low-level wood placed on the two shovel arms is immediately removed from the The front ends of the two shovel arms roll down onto the unloading surface.

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